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CN113833468A - Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method - Google Patents

Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method Download PDF

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Publication number
CN113833468A
CN113833468A CN202110587836.6A CN202110587836A CN113833468A CN 113833468 A CN113833468 A CN 113833468A CN 202110587836 A CN202110587836 A CN 202110587836A CN 113833468 A CN113833468 A CN 113833468A
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grade
bucket
blasting
ore
pile
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李小帅
高文学
宋肖龙
张声辉
胡宇
刘江超
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Beijing University of Technology
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
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Abstract

本发明涉及一种金属露天矿爆堆品位分布测算系统及精准铲装方法，金属露天矿爆堆品位分布测算系统包括远程终端、爆堆品位采集系统、铲斗定位系统、车载移动终端。本发明通过计算机内置的爆堆品位数据库生成软件，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，经由远程终端发送至电铲移动终端，通过铲斗定位系统对铲斗斗齿的坐标进行计算，匹配爆堆品位数据库得到每一铲斗矿石品位，并且在铲斗跨越矿岩分界线时通过移动终端提醒电铲司机。解决了金属露天矿山矿石损失与贫化严重问题，提升了铲装作业的精准化程度。

Figure 202110587836

The invention relates to a metal open-pit mine blasting grade distribution measuring system and a precise shovel loading method. The metal open-pit mine blasting grade distribution measuring and calculating system includes a remote terminal, a blasting grade acquisition system, a bucket positioning system and a vehicle-mounted mobile terminal. The invention combines the three-dimensional coordinate data of the blasting pile measured by the unmanned aerial vehicle and the test grade of the blast hole through the computer built-in blasting pile grade database generation software to calculate the blasting pile grade database, which is sent to the electric shovel mobile terminal through the remote terminal. The coordinates of the bucket teeth are calculated by the bucket positioning system, and the ore grade of each bucket is obtained by matching the blast pile grade database, and the shovel driver is reminded through the mobile terminal when the bucket crosses the ore-rock boundary. It solves the serious problems of ore loss and dilution in metal open-pit mines, and improves the precision of shovel loading operations.

Figure 202110587836

Description

Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method
Technical Field
The invention belongs to the fields of geotechnical engineering, mining engineering and mining machinery, and particularly relates to a metal strip mine blasting pile grade distribution measuring and calculating system and an accurate shoveling and loading method.
Background
Iron ore, a nonrenewable resource, has been depleted in reserves with long term mining. Meanwhile, in the traditional rough mining process of the mine, because the blasting grade distribution can not be accurately measured and calculated, the ore is often taken as barren rock or mixed into the ore in the shovel loading process, and the loss and dilution of the ore are caused. How to accurately measure and calculate the grade distribution of the blasting pile and further improve the precision of the shoveling operation is an urgent problem to be solved by mine enterprises.
Disclosure of Invention
The invention aims to provide a metal strip mine pile-blasting grade distribution measuring and calculating system and an accurate shovel loading method, which have the advantages of complete functions, simple calculation, capability of accurately measuring pile-blasting grade distribution conditions, capability of improving the accuracy degree of shovel loading operation and contribution to controlling waste of iron ore resources.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a metal strip mine blasting pile grade distribution measuring and calculating system which is characterized by comprising the following steps: the system comprises a remote terminal, a pile burst grade acquisition system, a bucket positioning system and a vehicle-mounted mobile terminal;
software capable of generating a pile-bursting article bit database is arranged in the remote terminal;
the pile-blasting grade acquisition system comprises an unmanned aerial vehicle for measuring pile-blasting three-dimensional coordinates and a system for sampling and testing blast holes;
the bucket positioning system comprises two high-precision vehicle-mounted GPS modules I and II which are arranged on a point A and a point B of the bucket rod, and the connecting line of the positions of the point A and the point B is perpendicular to the bucket and intersects with a point C of the bucket tooth;
the vehicle-mounted mobile terminal can receive and display the explosive sample bit database and the real-time position of the bucket sent by the remote terminal.
The invention discloses a precise shoveling method for a metal strip mine, which is characterized by comprising the following steps of:
the method comprises the following steps: when the roller bit drilling machine drills holes, the mineral powder is taken once at the periphery of the drilled hole every drill depth d m, the mineral powder is taken and then tested, and the sample data p of different depths of each blast hole is obtained after the testijAfter blasting, surveying and mapping the blasting area by using the unmanned aerial vehicle, and finding the position (x) of the blast hole according to the position of the blasting funneli，yi，zi) Combining the test results to obtain the initial grade distribution (x)i，yi，zi-(j-1)d，pij) The method comprises the following steps of generating a blasting pile quality bit database with the size specification of 1m multiplied by 1m of a single ore block by using a distance power inverse ratio method through software built in a remote terminal, and sending the database to a vehicle-mounted mobile terminal, wherein the distance power inverse ratio method comprises the following calculation formula:
Figure BDA0003088350680000021
wherein i is the number of the blast hole, j is the sequence of the sampling points of the blast hole, and pijGrade of j-th sampling of a blast hole numbered i, DijThe distance G from the jth sampling point of the blast hole with the number i to the center of the unit ore blocknThe grade of the nth unit ore block;
step two: measuring the distance a between two points AB and the distance b between two points BC according to the real-time three-dimensional coordinates (x) of a high-precision vehicle-mounted GPS module I arranged at the point A of the bucket arm1，y1，z1) And real-time three-dimensional coordinates (x) of high-precision vehicle-mounted GPS module II at point B2，y2，z2) Calculating real-time three-dimensional coordinates (x) of the C point3，y3，z3) The calculation formula is as follows:
Figure BDA0003088350680000022
Figure BDA0003088350680000023
Figure BDA0003088350680000024
after the coordinates of the point C are obtained, three-dimensional coordinates of two points E, F of bucket teeth at two ends of the bucket can be further calculated, and after the EC distance e and the CF distance f are measured because the E, C, F three points are collinear with each other horizontally and are perpendicular to the AB straight line, instantaneous three-dimensional coordinates (x and x) of the two points E, F can be calculated according to the following formula5，y5，z5)、(x6，y6，z6)：
Figure BDA0003088350680000025
Figure BDA0003088350680000031
According to the explosive pile level data base and the real-time positions of the bucket teeth, the ore grade of each bucket can be accurately obtained, and when the coordinates of the buckets are located on the boundary of ore rocks, the mobile terminal can give a warning to a driver, so that waste rocks are prevented from being mixed or the ore is prevented from being lost.
Compared with the prior art, the invention has the advantages that:
1. the method can accurately measure and calculate the grade distribution of the blasting pile and establish a more accurate blasting pile grade data base.
2. According to the invention, the bucket tooth position of the bucket can be accurately obtained by utilizing the high-precision positioning module and the corresponding calculation method, and the bucket tooth coordinate is combined with the pile blasting sample position data base, so that the grade of each bucket ore can be accurately controlled, and the ore rock distinguishing and accurate operation in the shoveling and loading process can be favorably realized.
3. The invention improves the monitoring of the shovel loading operation link, effectively grasps the grade of the mined ore and is beneficial to reducing the loss and dilution of the ore.
Drawings
Fig. 1 is a flow chart of the working principle of the present invention.
FIG. 2 is a layout diagram of a metal strip mine blasting pile grade distribution measuring and calculating system.
FIG. 3 is a schematic diagram of the plane coordinate calculation of the point C of the electric bucket tooth.
FIG. 4 is a schematic diagram of the calculation of the elevation coordinates of the C point of the teeth of the electric bucket.
FIG. 5 is a schematic illustration of the two-point coordinate calculation of the electric bucket tooth E, F.
FIG. 6 is a schematic diagram of the calculation of the explosive pile number data base.
Description of reference numerals:
1-a remote terminal; 2-a pile-blasting grade acquisition system; 21-unmanned aerial vehicle; 22-a grade assay system; 3-bucket positioning system; 31-high precision vehicle GPS module I; 32-high precision vehicle GPS module II; 4-vehicle mobile terminal; 5-electric dipper stick; 6-blasting pile; 7, blast hole; 8-blast hole grade testing points; 9-calculating point of burst grade.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the invention comprises a remote terminal 1, a burst grade acquisition system 2, a bucket positioning system 3 and a vehicle-mounted mobile terminal 4,
software capable of generating a detonation product bit database is arranged in the remote terminal 1;
the explosive pile grade acquisition system 2 comprises an unmanned aerial vehicle 21 for measuring three-dimensional coordinates of an explosive pile and a system 22 for sampling and testing blast holes;
the bucket positioning system 3 comprises two high-precision vehicle-mounted GPS modules I31 and II 32 which are arranged on a point A and a point B of the bucket rod 5;
the explosive pile level data base generation software can generate an explosive pile level data base according to the three-dimensional explosive pile coordinate measured by the unmanned aerial vehicle 21 and the blast hole grade test result.
And the vehicle-mounted mobile terminal 4 is installed in the electric shovel operating room, is electrically connected with the bucket positioning system 3 and is in wireless transmission with a remote terminal.
The invention relates to a method for accurately shoveling and loading a metal strip mine, which comprises the following specific implementation steps of:
the method comprises the following steps: when the roller bit drilling machine drills holes, the mineral powder is taken once at the periphery of the drilled hole every drill depth d m, the mineral powder is taken and then tested, and the sample data p of different depths of each blast hole is obtained after the testijAfter blasting, surveying and mapping the blasting area by using the unmanned aerial vehicle, and finding the position (x) of the blast hole according to the position of the blasting funneli，yi，zi) Combining the test results to obtain the initial grade distribution (x)i，yi，zi-(j-1)d，pij) The distance power inverse ratio method is used by the explosive pile product bit database generation software built in the remote terminal 1
Figure BDA0003088350680000041
Generating a blasting product bit database with the size specification of 1m multiplied by 1m of a single ore block, and wirelessly transmitting the database to the electric shovel vehicle-mounted mobile terminal 4;
step two: measuring the distance a between two points AB and the distance b between two points BC according to the real-time three-dimensional coordinates (x) of a high-precision vehicle-mounted GPS module I31 arranged at the point A of the arm1，y1，z1) And the real-time three-dimensional coordinates (x) of the high-precision vehicle-mounted GPS module II 32 at the point B2，y2，z2) Calculating real-time three-dimensional coordinates (x) of the C point3，y3，z3) The calculation formula is as follows:
Figure BDA0003088350680000042
Figure BDA0003088350680000051
Figure BDA0003088350680000052
after the coordinate of the point C is obtained, three-dimensional coordinates of two points E, F of bucket teeth at two ends of the bucket can be further calculated, because the three points E, C, F are in the same horizontal collinear line and are vertical to the line AB, after the EC distance e and the CF distance f are measured,the instantaneous three-dimensional coordinates (x) of the two points E, F can be calculated according to the following formula5，y5，z5)、(x6，y6，z6)：
Figure BDA0003088350680000053
Figure BDA0003088350680000054
The ore grade of each bucket can be accurately obtained by referring to the explosive pile level data base and the real-time positions of the bucket teeth, and when the coordinates of the bucket are located on the boundary of the ore rocks, the mobile terminal 4 can give a warning to a driver to avoid mixing of waste rocks or loss of the ore.
The foregoing is only a basic idea of the invention and is not intended to limit the invention, and all simple modifications, changes and equivalent structural changes made to the above embodiments according to the technical spirit of the invention still fall within the protection scope of the technical solution of the invention.

Claims (2)

1.一种金属露天矿爆堆品位分布测算系统，其特征在于：包括远程终端、爆堆品位采集系统、铲斗定位系统、车载移动终端；1. a metal open-pit mine blasting heap grade distribution measuring and calculating system, is characterized in that: comprise remote terminal, blasting heap grade acquisition system, bucket positioning system, vehicle-mounted mobile terminal; 远程终端内置生成爆堆品位数据库的软件；The remote terminal has built-in software for generating the explosion grade database; 爆堆品位采集系统包括用于测量爆堆三维坐标的无人机和对炮孔取样化验的系统；The blasting pile grade acquisition system includes a drone for measuring the three-dimensional coordinates of the blasting pile and a system for sampling and testing blast holes; 铲斗定位系统包括安装在斗杆A点和B点上的二个高精度车载GPS模块I和高精度车载GPS模块II，A、B两点位置的连线与铲斗垂直并相交于斗齿C点；The bucket positioning system includes two high-precision vehicle-mounted GPS modules I and II installed on points A and B of the stick. The line connecting the two points A and B is perpendicular to the bucket and intersects with the bucket teeth. point C; 车载移动终端接收并显示远程终端发送的爆堆品位数据库和铲斗实时位置。The vehicle-mounted mobile terminal receives and displays the detonation grade database and the real-time position of the bucket sent by the remote terminal. 2.应用如权利要求1所述的一种金属露天矿爆堆品位分布测算系统的方法，其特征在于，包括下列步骤：2. the method of applying a kind of metal open-pit mine blasting heap grade distribution measuring system as claimed in claim 1, is characterized in that, comprises the following steps: 步骤一：在牙轮钻机打孔时，每钻深d m在钻孔周边取矿粉一次，取矿粉后进行化验，化验后得到每个炮孔不同深度的品位数据pij，爆破后利用无人机对爆区进行测绘，根据爆破漏斗位置找到炮孔位置(xi，yi，zi)，结合化验结果得到初始品位分布情况(xi，yi，zi-(j-1)d，pij)，通过远程终端内置软件，利用距离幂次反比法
Figure FDA0003088350670000011
生成单个矿块尺寸规格为1m×1m×1m的爆堆品位数据库，并将数据库发送至车载移动终端；Step 1: When drilling a hole with a roller cone drill, take ore powder around the drill hole once per drilling depth dm , and test it after taking the ore powder. The man-machine maps the blasting area, finds the position of the blasting hole ( xi , yi , zi ) according to the position of the blasting funnel, and obtains the initial grade distribution ( xi , yi , zi -(j-1) according to the test results) d, p ij ), through the built-in software of the remote terminal, using the distance inverse power method
Figure FDA0003088350670000011
Generate a single ore block size specification of 1m × 1m × 1m explosion grade database, and send the database to the vehicle mobile terminal; 式中，i为炮孔编号，j为炮孔取样点顺序，pij为编号为i的炮孔第j次取样的品位，Dij为编号为i的炮孔第j次取样点距离单元矿块中心的距离，Gn为第n个单元矿块的品位；In the formula, i is the number of the blasthole, j is the sequence of the sampling points of the blasthole, pij is the grade of the jth sampling of the blasthole numbered i, and Dij is the distance of the jth sampling point of the blasthole numbered i from the unit mine. The distance from the center of the block, G n is the grade of the nth unit block; 步骤二：测量出AB两点距离a，BC两点距离b，根据安装在斗杆A点处的高精度车载GPS模块I的实时三维坐标(x1，y1，z1)和B点处的高精度车载GPS模块II的实时三维坐标(x2，y2，z2)，计算C点的实时三维坐标(x3，y3，z3)，计算公式如下：Step 2: Measure the distance a of AB and BC, according to the real-time three-dimensional coordinates (x 1 , y 1 , z 1 ) of the high-precision vehicle-mounted GPS module I installed at point A of the stick and at point B The real-time three-dimensional coordinates (x 2 , y 2 , z 2 ) of the high-precision vehicle-mounted GPS module II are calculated, and the real-time three-dimensional coordinates (x 3 , y 3 , z 3 ) of point C are calculated.
Figure FDA0003088350670000012
Figure FDA0003088350670000012
Figure FDA0003088350670000021
Figure FDA0003088350670000021
Figure FDA0003088350670000022
Figure FDA0003088350670000022
 求得C点坐标后，进一步计算铲斗两端斗齿E、F两点三维坐标，由于E、C、F三点同水平共线且与AB直线垂直，测出EC距离e，CF距离f后，根据如下公式计算出E、F两点的瞬时三维坐标(x5，y5，z5)、(x6，y6，z6)：After obtaining the coordinates of point C, further calculate the three-dimensional coordinates of the two points E and F of the bucket teeth at both ends of the bucket. Since the three points E, C, and F are collinear with the level and perpendicular to the AB line, the EC distance e and CF distance f are measured. Then, the instantaneous three-dimensional coordinates (x 5 , y 5 , z 5 ) and (x 6 , y 6 , z 6 ) of points E and F are calculated according to the following formulas:
Figure FDA0003088350670000023
Figure FDA0003088350670000023
Figure FDA0003088350670000024
Figure FDA0003088350670000024
 根据爆堆品位数据库和斗齿实时位置，得到每一铲斗矿石品位，并且当铲斗坐标位于矿岩边界时，移动终端给予司机警示，避免废石混入或矿石损失。According to the blast pile grade database and the real-time position of the bucket teeth, the ore grade of each bucket is obtained, and when the bucket coordinates are located at the boundary of the ore rock, the mobile terminal will give the driver a warning to avoid waste rock mixing or ore loss.
CN202110587836.6A 2021-05-28 2021-05-28 Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method Pending CN113833468A (en)

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