CN117948990A - Real-time updating system for retaining wall of unmanned dumping site of surface mine - Google Patents
Real-time updating system for retaining wall of unmanned dumping site of surface mine Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned surface mine, in particular to a real-time updating system for a retaining wall of an unmanned surface mine dump. The system comprises: the unmanned vehicle-mounted subsystem senses the surrounding terrain and obstacle information of the vehicle and sends the running state of the vehicle and the form of the retaining wall to the unmanned ground subsystem; the image video monitoring subsystem tracks the operation area of the unmanned vehicle according to the set unmanned vehicle target, and identifies and judges the form of the retaining wall after the unmanned vehicle operates; and the unmanned ground subsystem establishes a soil discharge field map and updates the form information of the retaining wall according to feedback data of the unmanned vehicle-mounted subsystem and the image video monitoring subsystem. The invention updates the retaining wall of the dumping site in real time, increases the accuracy of the map of the dumping site, further is beneficial to improving the accuracy of stopping the retaining wall when the unmanned vehicle is dumped, improves the utilization rate of the dumping point, and reduces the workload of trimming the retaining wall by the bulldozer.
Description
Technical Field
The invention relates to the technical field of unmanned surface mine, in particular to a real-time updating system for a retaining wall of an unmanned surface mine dump.
Background
At present, unmanned technology of surface mine is rapidly developed, and various companies at home and abroad are developing and testing unmanned systems of mine earthmoving machines, and part of enterprises have operation in the early stage of product input. However, unmanned systems of mining earthmoving machines in the prior art generally have the problems that parking retaining walls are not accurate enough and vehicle soil discharge points are not intelligent enough.
The dumping site, also called a waste rock site, refers to a site where mine mining wastes are intensively discharged. The discharging is the operation of discharging the peeled objects to the discharging field.
When the earth is discharged in the earth discharge field, the unmanned vehicle can not lean on the retaining wall heel well sometimes, and can not completely reject rocks (or waste such as earthwork) in the goods hopper outside the retaining wall when the earth is discharged, part or most of goods fall on the retaining wall, then return to the retaining wall, the work load is increased for the bulldozer when the efficiency is influenced, and the reason is that firstly, the detection of the retaining wall of the earth discharge field is not accurate enough, and secondly, the change update of the retaining wall of the earth discharge field is not timely enough.
Disclosure of Invention
The invention aims to provide a real-time updating system for retaining walls of an unmanned dumping site of an open pit mine, which solves the problem that the dumping of an unmanned vehicle is inaccurate in the prior art.
In order to achieve the above purpose, the invention provides a real-time updating system for a retaining wall of an unmanned dumping site of a surface mine, which comprises an unmanned vehicle-mounted subsystem, a communication subsystem, an image video monitoring subsystem and an unmanned ground subsystem:
the unmanned vehicle-mounted subsystem receives the vehicle operation task and path information instruction of the unmanned ground subsystem, analyzes the task and target path to be executed, controls the vehicle to execute the task, senses surrounding terrain and barrier information, and sends the running state of the vehicle and the form of the retaining wall to the unmanned ground subsystem;
The image video monitoring subsystem tracks the operation area of the unmanned vehicle according to the set unmanned vehicle target, identifies and judges the form of the retaining wall after the unmanned vehicle operates, and feeds the identification result back to the unmanned ground subsystem;
The unmanned ground subsystem establishes a dumping site map and updates retaining wall form information according to feedback data of the unmanned vehicle-mounted subsystem, the unmanned vehicle map acquisition subsystem and the image video monitoring subsystem;
The communication subsystem is connected with the driving vehicle-mounted subsystem, the image video monitoring subsystem and the unmanned ground subsystem in a network mode, and data interaction and data management among the subsystems are provided.
In one embodiment, the wall morphology information includes wall height, thickness, position and orientation angle information.
In an embodiment, the system further comprises an unmanned aerial vehicle map acquisition subsystem, cruise and retaining wall form image acquisition is completed according to the set flight route, and acquisition results are fed back to the unmanned ground subsystem.
In an embodiment, when the dump is first used, the image of the dump is acquired through the unmanned aerial vehicle map acquisition subsystem, and a dump map prototype is obtained.
In an embodiment, in the process that an unmanned vehicle provided with an unmanned vehicle-mounted subsystem runs along the edge of the dumping site, the unmanned ground subsystem receives positioning position information of the vehicle and detected retaining wall form information in real time, and the received positioning position information is processed to form a the first edition map of the dumping site.
In an embodiment, the image video monitoring subsystem scans the planned soil discharge area one by one according to the soil discharge sequence to shoot image information, calculates and models the form of the retaining wall of the soil discharge area through an image recognition algorithm, calculates the relative coordinate information of the retaining wall on a map by combining the positioning position information of the image video monitoring subsystem, calculates and acquires the form information of the retaining wall, and sends the form information to the unmanned ground subsystem.
In one embodiment, the image recognition algorithm comprises a retaining wall template library, wherein the retaining wall template library is obtained through machine vision deep learning training;
The image video monitoring subsystem calculates and models the form of the retaining wall of the soil discharge area through an image recognition algorithm, and the image video monitoring subsystem further comprises:
Calibrating the distance, height and width information of the acquired image, and establishing a relative coordinate system of the image information;
invoking a retaining wall template library to identify retaining walls in the acquired image, and marking the identified retaining walls;
Calculating the marked retaining wall according to the relative coordinate system established during calibration to obtain the contour size, the direction and the relative coordinate position of the marked retaining wall;
and carrying out three-dimensional mapping on the calculated retaining wall according to the positioning coordinate system based on the longitude and latitude coordinate system of the positioning equipment to obtain the actual position and the morphological information of the retaining wall.
In one embodiment, when the unmanned vehicle is discharging soil, the parking position and the azimuth of the first soil discharge are based on the position and the azimuth of the retaining wall acquired by the image video monitoring subsystem;
When a vehicle abuts against the retaining wall, the unmanned vehicle-mounted subsystem collects and obtains the form information of the retaining wall, and the track of the vehicle is adjusted according to the updated form information of the retaining wall.
In an embodiment, after unloading of the vehicle is completed, in the forward lifting process, the unmanned vehicle subsystem collects and obtains form information of the retaining wall, and compares the form information of the retaining wall before unloading with the form information of the retaining wall before unloading, judges whether the thickness and the direction angle of the retaining wall change, and if the thickness and the direction angle of the retaining wall change, sends the newly obtained form information of the retaining wall to the unmanned ground subsystem for updating the form information of the retaining wall.
In one embodiment, while the vehicle is discharging, the unmanned ground subsystem collects pose information of all the vehicle-stopped discharging points, and updates map boundary and retaining wall information of the discharging field.
In an embodiment, the unmanned vehicle-mounted subsystem judges whether the soil discharge point corresponding to the retaining wall is available or not through the change rate of the retaining wall, if not, the information that the soil discharge point which is currently used cannot discharge soil again is sent to the unmanned ground subsystem, and the unmanned ground subsystem updates the retaining wall information of the soil discharge field in real time and seals the soil discharge point.
In an embodiment, the unmanned ground subsystem sends a requirement instruction for cleaning a retaining wall of the dump to the bulldozer according to the use condition of the whole dump and the transportation condition of the vehicle, and the bulldozer cleans the dump and trims the retaining wall;
and the image video monitoring subsystem updates the map boundary and retaining wall information of the dumping site in real time.
In an embodiment, the image video monitoring subsystem judges whether a soil discharge point corresponding to the retaining wall is available, and if not, sends the information that the soil discharge point currently used cannot discharge soil again to the unmanned ground subsystem.
According to the real-time updating system for the retaining wall of the unmanned dumping site of the surface mine, which is provided by the invention, the retaining wall of the dumping site is updated in real time, so that the accuracy of a map of the dumping site is increased, the accuracy of stopping the retaining wall when an unmanned vehicle is dumped is further improved, the utilization rate of a dumping point is improved, and the workload of trimming the retaining wall by a bulldozer is reduced.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals refer to like features throughout, and in which:
FIG. 1 discloses a schematic block diagram of a real-time updating system for a retaining wall of an unmanned dump of a surface mine according to an embodiment of the invention;
fig. 2 discloses a flow chart of a method for updating a retaining wall of an unmanned dump of a surface mine in real time according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the conditions in the prior art, the invention provides a real-time updating system for a retaining wall of an unmanned dump of an open pit mine, which is used for updating the retaining wall of the dump in real time. The real-time updating of the position of the retaining wall increases the accuracy of the map of the dumping site, and further helps to improve the accuracy of stopping the retaining wall when the unmanned vehicle is dumped. After the accuracy of the vehicle stopping retaining wall is improved, the slag such as the transported stones can be completely discharged outside the retaining wall, the utilization rate of the soil discharge point is improved, the workload of trimming the retaining wall by the bulldozer is reduced, the fuel consumption cost of the bulldozer is reduced, the operation efficiency of the whole unmanned transportation system is improved, and the profit margin of mining is improved.
Fig. 1 discloses a schematic block diagram of a real-time updating system for a surface mine unmanned dumping site retaining wall according to an embodiment of the invention, and as shown in fig. 1, the real-time updating system for a surface mine unmanned dumping site retaining wall provided by the invention comprises an unmanned vehicle-mounted subsystem 100, an unmanned aerial vehicle map acquisition subsystem 200, a communication subsystem 300, an unmanned ground subsystem 400 and an image video monitoring subsystem 500,5 subsystem which jointly form the real-time updating system for a dumping site retaining wall.
The unmanned ground subsystem 400 (GMS for short) consists of a database server, a ground control client, a ground communication unit, a central display screen and other devices, is a comprehensive dispatching command center for unmanned transportation operation of the surface mine dumper, and provides clear and visual mining area information comprehensive display and man-machine interaction windows for users.
The functions of the unmanned ground subsystem 400 include vehicle intelligent dispatching, map management, operation monitoring, safety protection, statistical analysis and other functional modules.
The map management function comprises functions of creating, editing, publishing, dynamic fusion, updating in real time, deleting, copying, exporting and the like of the map.
The unmanned vehicle-mounted subsystem 100 (VAP for short) is composed of a vehicle-mounted high-definition camera, a laser radar, a millimeter wave radar, a vehicle-mounted display unit, a GPS inertial navigation device with RTK (Real-TIME KINEMATIC, carrier phase difference) function, a vehicle-mounted industrial personal computer, a vehicle-mounted communication unit and other devices.
The unmanned vehicle-mounted subsystem 100 mainly functions to receive the operation task and path information of the vehicle from the unmanned ground subsystem 400, analyze the task and target path to be executed according to the instruction content, and issue control instructions to the own executor to control the vehicle to execute the task.
During the task execution, the unmanned vehicle-mounted subsystem 100 senses surrounding terrain and obstacle information through sensors and transmits the running state of the vehicle to the unmanned ground subsystem 100 in real time.
In some embodiments, the scheme of using multi-beam laser radar to replace a high-definition camera to perform retaining wall position and form identification is an alternative scheme of the embodiment.
In some embodiments, a scheme of using a detection device such as a laser radar or a light field camera to replace the high-definition camera is an alternative of the present embodiment.
The data communication system 300 uses the existing infrastructure such as 4G/5G in the mine to construct a vehicle-ground communication network by using communication devices such as a vehicle-mounted communication unit and a ground communication unit, and performs the functions of vehicle-ground data, vehicle-vehicle data interaction and data management.
The unmanned aerial vehicle map acquisition subsystem 200 is an unmanned aerial vehicle with a GPS positioning function, and the carrying of an ultra-high definition camera can automatically complete cruising and image acquisition according to a set flight route.
The image video monitoring subsystem 500 integrates an image processing platform, a plurality of sets of image acquisition equipment and GPS positioning equipment, adopts a movable design, adopts a solar panel and a storage battery for power supply, can move positions along with the change of a soil discharge field, has a GPS positioning function of a high-precision RTK, and adopts the image acquisition equipment with infrared night vision and anti-fog snow removal functions, and can be used all-weather.
The image acquisition device is provided with a cradle head and an electric lens, wherein the image acquisition device for monitoring the retaining wall of the dumping site can automatically track a truck unloading area or a bulldozer operation area according to a set truck or bulldozer target, identify and judge the form of the retaining wall after the truck is unloaded and the bulldozer operation is performed, and feed back the identification result to the unmanned ground subsystem 400.
The image acquisition equipment for monitoring the dumping site can be remotely controlled, and can remotely rotate the camera and adjust the focal length to shoot panoramic and detailed images of the dumping site.
In some embodiments, erecting one or more cameras at the dump or at the dump accessories to monitor the overall change of the dump is an alternative to the image video monitoring subsystem 500 in this embodiment.
In some embodiments, using a lidar, a line scan camera, a 3D camera proxy, a binocular vision camera, or a light field camera instead of the image acquisition device in the image video monitoring subsystem 500 in this embodiment for retaining wall morphology information acquisition is an alternative to this solution.
It should be noted that, the 5 subsystems in this embodiment are not necessarily all provided, and can be combined and matched according to actual production conditions of mines, so long as the real-time updating function of the earth-discharging field retaining wall can be realized.
According to the real-time updating system for the retaining wall of the unmanned dumping site of the surface mine, which is provided by the invention, the unmanned vehicle scans the change of the retaining wall by utilizing a backward high-definition camera after dumping and unloading, so that the information of the height, thickness, position and direction angle of the retaining wall is updated in real time, and the information of the height, thickness, position and direction angle of the retaining wall is updated by utilizing an unmanned plane or video monitoring through an image recognition technology after truck unloading and bulldozer operation.
Fig. 2 discloses a flowchart of a method for updating a retaining wall of an unmanned dump in an open pit mine in real time according to an embodiment of the invention, and a scheme for establishing a map of the dump and collecting form information of the retaining wall is described below with reference to fig. 2.
When the system is used for the first time in a dumping site, a high-definition image of the dumping site is acquired through the unmanned aerial vehicle map acquisition subsystem 200, and a map prototype of the dumping site is obtained through image algorithm processing.
Then, the vehicle mounted with the unmanned vehicle-mounted subsystem 100 is driven by remote control to travel along the edge of the dumping site, in the vehicle traveling process, the unmanned vehicle-mounted subsystem 100 receives GPS position information of the vehicle in real time, and after the vehicle travels for one circle, the unmanned vehicle-mounted subsystem 100 processes the received position information according to a map creation algorithm to form a the first edition map of the dumping site.
And then scanning and shooting high-resolution image information on the planned soil discharge areas one by one according to the soil discharge sequence through the image video monitoring subsystem 500, calculating and modeling the form of the retaining wall of the soil discharge areas through an image recognition algorithm, calculating the relative coordinate information of the retaining wall on a map by combining the GPS position information of the image video monitoring subsystem 500, obtaining the position, form, direction, thickness and other information of the retaining wall, and transmitting the information to the unmanned vehicle-mounted subsystem 100.
After the processing of the soil discharge area shot by the image video monitoring subsystem 500 is completed, the unmanned ground subsystem obtains a series of retaining wall outlines, position information and azimuth information, and then the map management module is used for splicing the obtained single-section retaining wall with GPS position coordinate information to obtain the outlines, the position information and the azimuth of the whole soil discharge line, and the soil discharge line information is fused with the the first edition map to generate a formal map of the soil discharge field.
Thus, the construction of the map of the dumping site and the acquisition of the position information of the retaining wall are completed.
The image recognition algorithm comprises a retaining wall template library, wherein the retaining wall template library is obtained by training a large number of retaining wall pictures shot in different forms, different distances and different angles through a machine vision deep learning technology.
The process of calculating and modeling the form of the retaining wall is as follows:
The image acquisition equipment is calibrated before use, and distance, height and width information of the acquired images are mainly calibrated, so that a relative coordinate system of the image information is established.
After receiving an image acquired by image acquisition equipment, the image processing platform automatically calls a retaining wall template library to identify retaining walls in the image, and marks the identified retaining walls; and calculating the marked retaining wall according to the relative coordinate system established during calibration to obtain the contour size, the direction and the relative coordinate position of the marked retaining wall.
Modeling is based on a longitude and latitude coordinate system of the GPS positioning equipment, and three-dimensional mapping is carried out on the calculated retaining wall according to the GPS coordinate system, so that the actual position and the morphological information of the retaining wall are obtained.
The use of the dump row and the real-time retaining wall update scheme are described below in conjunction with fig. 2.
When the unmanned vehicle is used for discharging soil, the parking position and the azimuth of the first soil discharge are based on the position and the azimuth of the retaining wall acquired by the image video monitoring subsystem 500, when the vehicle is propped against the retaining wall, a backward high-definition camera of the unmanned vehicle is used for shooting a high-definition photo of the position of the retaining wall, then the form of the retaining wall is calculated and modeled again through an image recognition algorithm integrated into the unmanned vehicle-mounted subsystem 100, the relative coordinate information of the retaining wall on a map is calculated by combining with GPS (global position system) position information of the vehicle, the information such as the position, the form, the direction and the thickness of the retaining wall is obtained, and the reversing track of the vehicle is properly regulated by the unmanned vehicle-mounted subsystem 100 according to the obtained retaining wall information, so that the vehicle is accurately positioned on the retaining wall.
After the unloading of the vehicle is finished, in the forward lifting process, the unmanned vehicle-mounted subsystem 100 uses the backward high-definition camera again, photographs the retaining wall pictures for a plurality of times, processes the image data in time after photographing is finished, and compares the image data with retaining wall information before unloading to determine whether the retaining wall is piled up or not, and whether the thickness and the direction angle of the retaining wall are changed or not after piling up.
If the change occurs, the new retaining wall contour and direction angle information is sent to the unmanned ground subsystem 400, and the unmanned ground subsystem 400 updates the retaining wall information in time.
The unmanned vehicle subsystem 100 also determines whether the soil discharge point is available by the rate of change of the retaining wall (including the height of the retaining wall, the thickness of the retaining wall, the change of the root of the retaining wall, whether there is a large block, etc.).
If the soil discharge point is unavailable, the information that the currently used soil discharge point cannot discharge soil again is sent to the unmanned ground subsystem 400, the unmanned ground subsystem 400 updates the retaining wall information of the soil discharge field in real time, the soil discharge point is blocked, and vehicles are not arranged to unload the soil discharge point before the bulldozer cleans the soil discharge point.
While the vehicle is discharging, the unmanned ground subsystem 400 collects pose information of all the vehicle-stopped discharging points, and continuously updates map boundary and retaining wall information of the discharging field.
Through the process, the real-time update of the retaining wall of the dumping site in the dumping unloading process is realized.
After receiving the information that the dumping site is unavailable, the unmanned ground subsystem 400 performs comprehensive intelligent judgment according to the service condition of the whole dumping site and the vehicle transportation condition, and if the dumping site retaining wall needs to be cleaned, the unmanned ground subsystem sends the requirement to a vehicle-mounted display unit carried by the bulldozer to prompt the bulldozer to clean the dumping site and trim the retaining wall.
After the bulldozer cleans and trims the retaining wall of the dumping site, the image video monitoring subsystem 500 is used again to take a high-resolution picture of the cleaned and trimmed dumping region, and map boundaries and retaining wall information of the map are updated in real time through an image recognition technology.
The image video monitoring subsystem 500 is used as real-time video image monitoring equipment of the dumping site, monitors the change of the retaining wall after the truck is dumped and the bulldozer works in real time through an image recognition technology, and recognizes the form and the position of the retaining wall.
The specific process is as follows:
1) After the truck enters the dumping site, the position of the truck is automatically identified and tracked through a preset truck model, after the truck is unloaded and driven away from the dumping site retaining wall, image data of the retaining wall are shot, the image data are compared with retaining wall information before unloading, and the form of the retaining wall is calculated and modeled through an image identification technology to determine whether a stock is piled on the retaining wall, whether the thickness and the direction angle of the retaining wall after the stock is piled are changed and whether the dumping point is available.
If the dumping point is not available, the information that the currently used dumping point cannot be dumped again is sent to the unmanned ground subsystem 400, the unmanned ground subsystem 400 updates the retaining wall information of the dumping site in real time, the dumping point is blocked, and vehicles are not arranged to unload the dumping point before the bulldozer cleans the dumping point. Through the process, the information of the retaining wall of the dumping site after dumping is updated, and the process is redundant with the identification of the unmanned vehicle-mounted subsystem 100.
2) After the bulldozer works, high-resolution image data of the retaining wall are shot, the form of the retaining wall is calculated and modeled through an image recognition technology, the relative coordinate information of the retaining wall on a map is calculated by combining the GPS position information of the image video monitoring subsystem, the position, the form, the direction, the thickness and other information of the retaining wall are obtained, and the information is sent to the unmanned ground subsystem 400, so that the information update of the retaining wall of the earth-discharging field retaining wall after the bulldozer works is realized.
The image video monitoring subsystem 500 can be used as a supplementary or auxiliary monitoring means for the detection of retaining walls of a dump in a fully unmanned truck vehicle marshalling operation mode.
The combined bulldozer is used as a main monitoring means for detecting retaining walls of a dumping site in the combined marshalling operation of a bulldozer with or without a positioning device, an angle sensor, a displacement sensor and the like matched with unmanned transportation operation.
The monitoring camera of the image video monitoring subsystem 500 also provides the ground operators with video image data of the dumping site in real time, so that the operators can know the actual situation of the dumping site conveniently.
The unmanned plane map acquisition subsystem 200 is used as an auxiliary means to take high-definition pictures of the dumping site at regular intervals or immediately above the dumping site through preset flight lines and flight intervals or according to ground dispatcher instructions, and also acquires relevant information of the retaining wall through image recognition. Therefore, the situation that the retaining wall picture cannot be acquired in time due to the fact that part of the backward cameras of the vehicle are blocked or failed by dust, the image acquisition equipment of the image video monitoring subsystem 500 is blocked or failed and the like is made up.
Through the four process cycles, the position, the form, the thickness and the direction angle of the retaining wall can be updated in real time in the whole use and trimming process of the dumping site, so that the purpose of automatically updating the retaining wall of the dumping site is achieved.
By updating the retaining wall information of the dumping site in real time, the unmanned ground subsystem can grasp the change of the retaining wall in real time, and is beneficial to intelligent scheduling decision of the whole unmanned transportation system.
After the information of the retaining wall is mastered in real time, the unmanned ground subsystem is facilitated to plan a more reasonable reversing track for the vehicle for discharging soil, so that the vehicle can stop to the edge of the retaining wall more accurately, the transported stones and other dregs can be completely discharged outside the retaining wall, the utilization rate of the soil discharge point is improved, the workload of trimming the retaining wall by the bulldozer is reduced, the fuel consumption cost of the bulldozer is reduced, and the operation efficiency of the whole unmanned transportation system is improved.
The method for updating the retaining wall information of the dumping site in real time is also one of important links of the whole unmanned transportation system, plays a decisive role in the smoothness of operation of the unmanned transportation system, and the implementation of the real-time updating scheme greatly improves the unmanned transportation operation efficiency.
The real-time updating system for the retaining wall of the unmanned dumping site of the surface mine is not only suitable for a pure unmanned transportation operation scene, but also suitable for a transportation operation scene of a shared dumping site of a mixed marshalling of people and unmanned, the dumping site is not required to be divided into the manned dumping site and the unmanned dumping site, and the site utilization efficiency is improved. In limited mine environment in place, can reduce the construction organization degree of difficulty, improve production efficiency.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood and appreciated by those skilled in the art.
As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
The embodiments described above are intended to provide those skilled in the art with a full range of modifications and variations to the embodiments described above without departing from the inventive concept thereof, and therefore the scope of the invention is not limited by the embodiments described above, but is to be accorded the broadest scope consistent with the innovative features recited in the claims.
Claims (12)
1. The real-time updating system for the retaining wall of the unmanned dumping site of the surface mine is characterized by comprising an unmanned vehicle-mounted subsystem, a communication subsystem, an image video monitoring subsystem and an unmanned ground subsystem:
the unmanned vehicle-mounted subsystem receives the vehicle operation task and path information instruction of the unmanned ground subsystem, analyzes the task and target path to be executed, controls the vehicle to execute the task, senses surrounding terrain and barrier information, and sends the running state of the vehicle and the form of the retaining wall to the unmanned ground subsystem;
The image video monitoring subsystem tracks the operation area of the unmanned vehicle according to the set unmanned vehicle target, identifies and judges the form of the retaining wall after the unmanned vehicle operates, and feeds the identification result back to the unmanned ground subsystem;
The unmanned ground subsystem establishes a soil discharge field map and updates retaining wall form information according to feedback data of the unmanned vehicle-mounted subsystem and the image video monitoring subsystem;
The communication subsystem is connected with the unmanned vehicle-mounted subsystem, the image video monitoring subsystem and the unmanned ground subsystem in a network mode, and data interaction and data management among the subsystems are provided.
2. The system for updating the retaining wall of the unmanned dumping site of the surface mine in real time according to claim 1, further comprising an unmanned aerial vehicle map acquisition subsystem, wherein cruise and retaining wall morphological image acquisition is completed according to the set flight route, and the acquisition result is fed back to the unmanned ground subsystem.
3. The system for updating the retaining wall of the unmanned dump of the surface mine in real time according to claim 2, wherein the image of the dump is acquired through the unmanned aerial vehicle map acquisition subsystem when the dump is first used, and a map prototype of the dump is obtained.
4. The real-time updating system for the retaining wall of the unmanned dump of the surface mine according to claim 1, wherein the unmanned vehicle provided with the unmanned vehicle-mounted subsystem receives positioning position information of the vehicle in real time in the process of driving along the edge of the dump, and processes the received positioning position information to form a the first edition map of the dump.
5. The system for updating the retaining wall of the unmanned dumping site of the surface mine in real time according to claim 1, wherein the image video monitoring subsystem scans and shoots image information one by one according to the sequence of dumping the planned dumping region, calculates and models the form of the retaining wall of the dumping region through an image recognition algorithm, calculates the relative coordinate information of the retaining wall on a map by combining the positioning position information of the image video monitoring subsystem, calculates and acquires the form information of the retaining wall and sends the form information to the unmanned ground subsystem.
6. The system for updating the retaining wall of the unmanned dumping site of the surface mine in real time according to claim 5, wherein the image recognition algorithm comprises a retaining wall template library, and the retaining wall template library is obtained through machine vision deep learning training;
The image video monitoring subsystem calculates and models the form of the retaining wall of the soil discharge area through an image recognition algorithm, and the image video monitoring subsystem further comprises:
Calibrating the distance, height and width information of the acquired image, and establishing a relative coordinate system of the image information;
invoking a retaining wall template library to identify retaining walls in the acquired image, and marking the identified retaining walls;
Calculating the marked retaining wall according to the relative coordinate system established during calibration to obtain the contour size, the direction and the relative coordinate position of the marked retaining wall;
and carrying out three-dimensional mapping on the calculated retaining wall according to the positioning coordinate system based on the longitude and latitude coordinate system of the positioning equipment to obtain the actual position and the morphological information of the retaining wall.
7. The real-time updating system for the retaining wall of the unmanned dumping site of the surface mine of claim 1, wherein when the unmanned vehicle is dumped, the parking position and the azimuth of the first dumping are based on the position and the azimuth of the retaining wall acquired by the image video monitoring subsystem;
When a vehicle abuts against the retaining wall, the unmanned vehicle-mounted subsystem collects and obtains the form information of the retaining wall, and the track of the vehicle is adjusted according to the updated form information of the retaining wall.
8. The system for updating the retaining wall of the unmanned dump of the surface mine in real time according to claim 7, wherein after the unloading of the vehicle is completed, the unmanned vehicle-mounted subsystem collects and acquires the form information of the retaining wall in the forward lifting process, and judges whether the thickness and the direction angle of the retaining wall change or not compared with the form information of the retaining wall before the unloading, and if the thickness and the direction angle of the retaining wall change, the newly acquired form information of the retaining wall is sent to the unmanned ground subsystem for updating the form information of the retaining wall.
9. The system for updating the retaining wall of the unmanned dumping site of the surface mine in real time according to claim 7, wherein the unmanned ground subsystem collects pose information of all the vehicle-stopping dumping points while the vehicles are dumping, and updates map boundaries and retaining wall information of the dumping site.
10. The system for updating the retaining wall of the unmanned dumping site of the surface mine in real time according to claim 8, wherein the unmanned vehicle-mounted subsystem judges whether the dumping point corresponding to the retaining wall is available or not according to the change rate of the retaining wall, if not, the information that the dumping point which is currently used cannot be used for dumping is sent to the unmanned ground subsystem, and the unmanned ground subsystem updates the retaining wall information of the dumping site in real time and locks the dumping point.
11. The system for updating the retaining wall of the unmanned dump of the surface mine in real time according to claim 8, wherein the unmanned ground subsystem sends a requirement instruction for cleaning the retaining wall of the dump to a bulldozer according to the use condition of the whole dump and the transportation condition of vehicles, and the bulldozer cleans the dump and repairs the retaining wall;
and the image video monitoring subsystem updates the map boundary and retaining wall information of the dumping site in real time.
12. The system for updating the retaining wall of the unmanned dumping site of the surface mine in real time according to claim 11, wherein the image video monitoring subsystem judges whether the dumping point corresponding to the retaining wall is available, and if not, sends the information that the dumping point currently used cannot be dumped again to the unmanned surface subsystem.
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