Accurate shovel loading system and method for surface mine
阅读说明：本技术 一种露天矿山精确铲装系统及方法 (Accurate shovel loading system and method for surface mine ) 是由 钟小宇 徐振洋 李小帅 孙厚广 徐冬林 李纯阳 衣瑛 崔志平 于 2020-06-12 设计创作，主要内容包括：本发明涉及一种露天矿山精确铲装系统及方法,露天矿山精确铲装系统包括远程计算机、爆堆品位采集系统、收发式无线通信模块、铲斗定位模块、矿岩量测定模块、图像识别系统和处理器。本发明通过计算机内置的地质数据库生成软件,将无人机测得的爆堆三维坐标数据与炮孔化验品位进行结合计算,形成爆堆品位数据库,经由收发,式无线通信模块发送至电铲,通过铲斗定位模块对铲斗斗齿的坐标进行计算,并匹配爆堆品位数据库得到每一铲斗矿石品位,通过矿岩量测定模块计算出铲斗内矿岩重量,通过图像识别系统对铲斗内矿石进行成像,经由图像处理软件处理,得到每一铲斗矿石块度分布情况。解决了露天矿山供矿质量不稳定的问题,提升了矿山精细化生产水平。(The invention relates to an accurate shovel loading system and an accurate shovel loading method for an open-pit mine. According to the method, the three-dimensional coordinate data of the blasting piles measured by the unmanned aerial vehicle and the testing grade of the blast hole are combined and calculated through geological database generation software built in a computer to form a blasting pile grade data base, the blasting pile grade data base is sent to the electric shovel through a receiving and sending wireless communication module, coordinates of bucket teeth of the bucket are calculated through a bucket positioning module and matched with the blasting pile grade data base to obtain the grade of each bucket ore, the weight of the ore rocks in the bucket is calculated through an ore rock quantity measuring module, the ore rocks in the bucket are imaged through an image recognition system, and the grade distribution condition of the ore block degree of each bucket is obtained through image processing software processing. The problem of unstable mineral supply of open mine is solved, the mine production level that becomes more meticulous has been promoted.)
1. The utility model provides an accurate shovel dress system in open mine which characterized in that: the device comprises a remote computer, a transceiving wireless communication module, a mineral rock quantity measuring system, a bucket grade acquisition system, an image identification system and a processor;
the remote computer is internally provided with spectral analysis software and image processing software;
the ore rock mass measuring system comprises a group of magnetic-sensitive sensors, a permanent magnet and two piezoresistive sensors, wherein one group of magnetic-sensitive sensors are three Hall sensors fixed at a groove of a control rod of an electric shovel operation table through screws, the permanent magnet is arranged on the control rod of the electric shovel operation table, and the two groups of piezoresistive sensors are respectively arranged on two sides of a supporting shaft of a base of the electric shovel;
the bucket grade acquisition system comprises a spectral imager for measuring spectral images of the electric shovel bucket, the spectral imager is arranged at the joint of a bucket rod and the bucket, the shooting range covers the whole outline of the bucket, and the spectral imager is provided with a protection device for avoiding equipment damage;
the image recognition system comprises an industrial camera and a camera shooting illuminating lamp, the industrial camera is arranged at the joint of the bucket rod and the bucket, the shooting range covers the whole outline of the bucket, the camera shooting illuminating lamp is arranged above the industrial camera, and the industrial camera and the camera shooting illuminating lamp are both provided with protective devices for avoiding equipment damage;
the processor is arranged in the electric shovel operating room, and the spectral imager, the industrial camera, the piezoresistive sensor and the magnetic sensor are respectively and electrically connected with the processor through data lines;
the processor carries out data transmission with a remote computer center in a wireless communication mode through a transceiving wireless communication module.
2. The surface mine precision shoveling system of claim 1, wherein the processor includes a plurality of sets of I/O interfaces, an a/D converter, a CPU connected to the a/D converter, and a memory module connected to the CPU.
3. The accurate shovel loading system for the surface mine according to claim 1, wherein the transceiver wireless communication module comprises a wireless communication module I and a wireless communication module II, the wireless communication module I is connected with a remote computer and is used for receiving the spectral image and the ore photo sent by the electric shovel and sending the level data of the electric shovel; and the wireless communication module II is connected with the processor and is used for receiving the electric shovel quality bit data sent by the remote computer and sending the spectral image shot by the spectral imager and the ore picture shot by the industrial camera.
4. An accurate shovel loading method for a surface mine is characterized by comprising the following steps:
the method comprises the following steps: when the electric shovel works, the magnetic-sensing sensor at the bottom of the control rod of the operating platform is used for collecting data of the shovel arm of the electric shovel starting to work and circle round, and is mainly used for analyzing whether the electric shovel starts to work or not and completing the work and matching the spectral images and the ore photos.
Step two: the spectral imager is used for shooting the ore in the bucket before the rotation of the shovel arm is finished and the bucket is opened, and transmitting the spectral image to the processor, and then transmitting the spectral image to the spectral analysis software in the computer through the transceiving type wireless communication module to count the grade of the ore in the bucket.
Step three: measuring data increment in the shoveling process of the electric shovel by using two groups of piezoresistive sensors, and calculating the average value of the two groups of data by matching with a magnetic-sensitive sensor to measure the once shoveled ore rock amount of the electric shovel so as to further master the production condition of an operation area;
step four: the industrial camera is used for photographing ores in the bucket before the rotation of the shovel arm is finished and the bucket is opened, pictures are transmitted to the processor, and then the pictures are sent to image processing software in the computer through the transceiving type wireless communication module to count the lumpiness of the ores in the bucket.
Technical Field
The invention relates to the field of mining engineering and mining machinery, in particular to an accurate shoveling and loading system and an accurate shoveling and loading method for a surface mine.
Background
In surface mining, the lumpiness and grade of ore directly affect the efficiency and cost of mechanical crushing and ore dressing. The stability of the lumpiness, the grade and the yield of the ore in the production process is ensured, and the method is the most concerned problem in the production management of all mining and selecting combined enterprises. In the traditional shovel loading operation process, a production manager generally calibrates the grade of the blasting ore by using the tested grade of the drill hole, but due to the throwing effect generated by blasting, the grade problem of shovel loading during operation cannot be accurately reflected by the drill hole grade data; production managers often estimate the daily yield condition by ore removal and rock discharge cars, and the control on the yield is obviously not accurate enough; the evaluation of the rock block size of the ore is obtained only according to the intuitive judgment of an operator, and the manual estimation method has larger error and cannot meet the requirement of accurate shoveling operation. How to determine the ore grade, the ore discharge amount (rock discharge amount) and the ore lumpiness in the shovel loading operation link so as to realize the accurate control of the shovel loading operation is always the direction of domestic mine research.
Disclosure of Invention
The invention aims to provide an accurate shovel loading system and method for an open mine, which are complete in function and high in informatization degree, can calculate and analyze the grade, weight and block degree of each bucket of an electric shovel, improve the accurate shovel loading capacity of the electric shovel, and are beneficial to reducing ore dilution and loss rate.
The purpose of the invention is realized by the following technical scheme:
the invention discloses an accurate shovel loading system for a surface mine, which is characterized in that: the mining shovel comprises a remote computer, a transceiving wireless communication module, a rock mass measuring system, a shovel grade acquisition system, an image identification system and a processor.
The remote computer is internally provided with spectral analysis software and image processing software;
the ore rock mass measuring system comprises a group of magnetic-sensitive sensors, a permanent magnet and two piezoresistive sensors, wherein one group of magnetic-sensitive sensors are three Hall sensors fixed at a groove of a control rod of an electric shovel operation table through screws, the permanent magnet is arranged on the control rod of the electric shovel operation table, and the two groups of piezoresistive sensors are respectively arranged on two sides of a supporting shaft of a base of the electric shovel;
the bucket grade acquisition system comprises a spectral imager for measuring spectral images of the electric shovel bucket, the spectral imager is arranged at the joint of a bucket rod and the bucket, the shooting range covers the whole outline of the bucket, and the spectral imager is provided with a protection device for avoiding equipment damage;
the image recognition system comprises an industrial camera and a camera shooting illuminating lamp, the industrial camera is arranged at the joint of the bucket rod and the bucket, the shooting range covers the whole outline of the bucket, the camera shooting illuminating lamp is arranged above the industrial camera, and the industrial camera and the camera shooting illuminating lamp are both provided with protective devices for avoiding equipment damage;
the processor is arranged in the electric shovel operating room, and the spectral imager, the industrial camera, the piezoresistive sensor and the magnetic sensor are respectively and electrically connected with the processor through data lines;
the processor carries out data transmission with a remote computer center in a wireless communication mode through a transceiving wireless communication module.
Preferably, the processor comprises a plurality of groups of I/O interfaces, an A/D converter, a data collection module connected with the A/D converter, a CPU connected with the data collection module and a storage module connected with the CPU.
Preferably, the transceiving type wireless communication module comprises a wireless communication module I and a wireless communication module II, wherein the wireless communication module I is connected with a remote computer and is used for receiving the spectral image and the ore photo sent by the electric shovel and sending the grade data of the electric shovel; and the wireless communication module II is connected with the processor and is used for receiving the electric shovel quality bit data sent by the remote computer and sending the spectral image shot by the spectral imager and the ore picture shot by the industrial camera.
The invention discloses an accurate shovel loading method for a surface mine, which is characterized by comprising the following steps:
the method comprises the following steps: when the electric shovel works, the magnetic-sensing sensor at the bottom of the control rod of the operating platform is used for collecting data of the shovel arm of the electric shovel starting to work and circle round, and is mainly used for analyzing whether the electric shovel starts to work or not and completing the work and matching the spectral images and the ore photos.
Step two: the spectral imager is used for shooting the ore in the bucket before the rotation of the shovel arm is finished and the bucket is opened, and transmitting the spectral image to the processor, and then transmitting the spectral image to the spectral analysis software in the computer through the transceiving type wireless communication module to count the grade of the ore in the bucket.
Step three: measuring data increment in the shoveling process of the electric shovel by using two groups of piezoresistive sensors, and calculating the average value of the two groups of data by matching with a magnetic-sensitive sensor to measure the once shoveled ore rock amount of the electric shovel so as to further master the production condition of an operation area;
step four: the industrial camera is used for photographing ores in the bucket before the rotation of the shovel arm is finished and the bucket is opened, pictures are transmitted to the processor, and then the pictures are sent to image processing software in the computer through the transceiving type wireless communication module to count the lumpiness of the ores in the bucket.
Compared with the prior art, the invention has the advantages that:
1. the cooperation of the piezoresistive sensor arranged on the supporting shaft of the electric shovel chassis and the magnetic-sensitive sensor arranged at the bottom of the control rod can accurately calculate the rock loading amount, so that a production manager can master the shovel loading working condition conveniently.
2. The spectral imaging instrument and the imaging analysis software are used for performing spectral analysis on the ores in the bucket, so that the grade of each bucket can be accurately mastered, and the ore grade control and the accurate shovel loading can be favorably realized.
3. The industrial camera is used for photographing ores in the electric shovel bucket, the ore block degree distribution condition of each bucket can be obtained after image processing, the method can grasp the whole blasting block degree distribution condition more finely, and the blasting effect is improved.
4. The invention makes up the defects of monitoring the shoveling operation of the electric shovel in the current mine production management, effectively and accurately masters the grade, weight and lumpiness information of the shoveled ore, is beneficial to controlling the grade problem in the shoveling process, and can be matched with vehicle transportation scheduling to optimize the control of the ore quality.
Drawings
FIG. 1 is a block diagram of a surface mine precision shoveling system of the present invention.
FIG. 2 is a schematic view of the system of the present invention mounted on an electric shovel.
FIG. 3 is a schematic diagram of the structure of the magnetic sensor device of the system of the present invention.
Description of reference numerals:
1-a remote computer; 1-spectral analysis software; 1-2-image processing software; 2-transceiving wireless communication module; 3-a rock mass measuring system; 3-1-a magnetic sensor; 3-2-piezoresistive sensor; 4-bucket grade acquisition system; 5-an image recognition system; 5-1-industrial camera; 5-2-camera lighting lamp; 6, a processor; 7-control rod of electric shovel operation table; 8, forming a groove; 9-permanent magnet.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 3, the present invention includes a remote computer, a transceiver wireless communication module, a rock mass measuring system, a bucket grade collecting system, an image recognition system and a processor.
The remote computer 1 is internally provided with spectral analysis software 1-1 and image processing software 1-2;
the ore rock
the bucket grade acquisition system comprises a
the
the processor 6 is arranged in an electric shovel operating room, and the
the processor 6 carries out data transmission with the center of the remote computer 1 in a wireless communication mode through the transceiving type wireless communication module 2.
The processor 6 of the present invention includes a plurality of sets of I/O interfaces, an A/D converter 6-1, a data collection module 6-2 connected to the A/D converter 6-1, a CPU6-3 connected to the data collection module 6-2, and a storage module 6-4 connected to the CPU 6-3.
The transceiving type wireless communication module 2 comprises a wireless communication module I21-and a wireless communication module II 2-2, wherein the wireless communication module I is connected with a remote computer 1, and is used for receiving spectral images and ore photos sent by an electric shovel and sending electric shovel grade data; and the wireless communication module II is connected with the processor 6 and is used for receiving the electric shovel grade data sent by the remote computer and sending the spectral image shot by the spectral imager and the ore picture shot by the industrial camera.
The invention discloses an accurate shovel loading method for a surface mine, which is characterized by comprising the following steps:
the method comprises the following steps: when the electric shovel works, the magnetic-sensing sensor at the bottom of the control rod of the operating platform is used for collecting data of the shovel arm of the electric shovel starting to work and circle round, and is mainly used for analyzing whether the electric shovel starts to work or not and completing the work and matching the spectral images and the ore photos.
Step two: the spectral imager is used for shooting the ore in the bucket before the rotation of the shovel arm is finished and the bucket is opened, and transmitting the spectral image to the processor, and then transmitting the spectral image to the spectral analysis software in the computer through the transceiving type wireless communication module to count the grade of the ore in the bucket.
Step three: measuring data increment in the shoveling process of the electric shovel by using two groups of piezoresistive sensors, and calculating the average value of the two groups of data by matching with a magnetic-sensitive sensor to measure the once shoveled ore rock amount of the electric shovel so as to further master the production condition of an operation area;
step four: the industrial camera is used for photographing ores in the bucket before the rotation of the shovel arm is finished and the bucket is opened, pictures are transmitted to the processor, and then the pictures are sent to image processing software in the computer through the transceiving type wireless communication module to count the lumpiness of the ores in the bucket.
By counting the weight, grade and lumpiness of the ore in each bucket of the electric shovel in all the operation areas of the mine, a production manager can master the quality condition of the ore produced in the mine in real time and timely carry out operation adjustment according to the production requirements of the mine.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
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