CN104533528A - Surface mine fine mining system adopting GNSS (Global Navigation Satellite System) technology and surface mine fine mining method - Google Patents
Surface mine fine mining system adopting GNSS (Global Navigation Satellite System) technology and surface mine fine mining method Download PDFInfo
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- CN104533528A CN104533528A CN201510035325.8A CN201510035325A CN104533528A CN 104533528 A CN104533528 A CN 104533528A CN 201510035325 A CN201510035325 A CN 201510035325A CN 104533528 A CN104533528 A CN 104533528A
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- 238000005065 mining Methods 0.000 title claims abstract description 278
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005516 engineering process Methods 0.000 title claims abstract description 21
- 229910052500 inorganic mineral Inorganic materials 0.000 claims description 19
- 239000011707 mineral Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000001932 seasonal effect Effects 0.000 claims 1
- 230000006399 behavior Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 8
- 238000009412 basement excavation Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
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- 238000005304 joining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
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- 239000002184 metal Substances 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000010878 waste rock Substances 0.000 description 1
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- 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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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
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Abstract
The invention provides a surface mine fine mining system adopting a GNSS (Global Navigation Satellite System) technology and a surface mine fine mining method. The surface mine fine mining system comprises at least one GNSS difference base station, a fine mining position server and a plurality of fine mining terminals, wherein the fine mining position server is internally provided with mine measurement data; and the fine mining terminals are used for calculating to obtain current positions of fine mining terminal scraper pans according to difference correction data provided by the GNSS difference base station and feeding back scraper pan position information to the fine mining position server. By utilizing the surface mine fine mining system, intuitive ore body thickness/depth/quality information is provided, accurate guidance is provided for mining operation of a digging operator, ore body condition is updated in real time, and the surface mine fine mining system also has the effect of early warning cross-border mining behaviors.
Description
Technical field
The present invention relates to mineral products acquisition technique field, especially, relate to a kind of meticulous mining system of surface mine and the mining methods that adopt GNSS (Global Navigation SatelliteSystem, GLONASS (Global Navigation Satellite System)) technology.
Background technology
The main exploitation instrument of surface mine is mining backacter.Current mining pattern is, mine portion formulates mining task according to existing mine locating data, survey data, delimits mining region and mining target every day.Each mining excavator arrives mining sites according to about setting the goal in advance and carries out digging operation.
This kind of pattern has two problems: the first, cannot judge how deeply should dig at every turn, easily causes leakage to adopt waste mineral resources or adopt more to cause the grade of ore to decline.Because along with digging operation carries out, excavator excavation site continues to advance, and cannot know the concrete condition of ore body below current scraper bowl during excavation.Digging operator can only rely on and realize discreet value and naked eyes and check and judge that it is how dark that this digs, and do not have a kind of effective measure.
The second, the emphasis of mining, ore dressing ensures that the grade of ore is stablized.Current delimitation one panel region mining, thinks that this panel region has average grade value, and in fact the grade of ore of a panel region presents differentiation with place difference.These differentiation are often directly ignored by digging operation, and the grade of ore can be caused to stablize, and bring the first time initial error of the grade of ore.Although the stable of the final grade of ore must join ore deposit to realize by combining, this error can affect joins ore deposit precision.
3rd problem, each mining region be corresponding mineral rights everyone own, exploitation of crossing the border must cause dispute, leads to a dispute and causes the waste of unnecessary cost.But digging operation is the mineral rights border that cannot judge to delimit at present, easily causes exploitation of crossing the border, causes mining dispute.
In sum, the exploitation of current surface mine extensive style exist easily leak adopt cause the wasting of resources, easier adopting cause the grade of ore to decline, too extensively cause grade of ore instability to increase joining ore deposit error.
Disclose a kind of by sensor in " opencut meticulous mining information Acquire and process system " literary composition of appointing peak etc. to deliver on metal mine for 2013 for Wuhan University of Technology, signal hardware conditioning device, the system that data collecting card and computer form, mine is sampled, air quality, stope is out of shape, blasting vibration, waste-rock yard displacement, ground settlement, the aspects such as stability of slope are monitored, constitute based on sensor technology, virtual instrument technique, set up a collection Safe production technology information, hidden danger signal monitoring data and early warning decision commander module to become more meticulous mining information Acquire and process system in the opencut of one, Real-time Collection and transmission are carried out to strip mining transformation information, optimize production safety management for opencut and basic data is provided.
This study provides complete system integration technology, for joining ore deposit, ore dressing, scheduling provide information platform, mining processes is monitored from macroscopic view, but but cannot be that direct control person---mining processes personnel provide visual information of digging up mine accurately in mining, cannot guide field mining, cannot solve exist in the practical operation of mine site adopt by mistake, leak problems such as adopting, adopt more.
Summary of the invention
The object of the invention is that providing a kind of adopts the meticulous mining system of the surface mine of GNSS technology and mining methods, to solve the adopting of mine site, to leak technical problems such as adopting, adopt more by mistake.
For achieving the above object, the invention provides and a kind ofly adopt the meticulous mining system of the surface mine of GNSS technology, comprise at least one GNSS difference base station, meticulous mining sites server and the multiple meticulous mining terminal with both wireless connections;
Described meticulous mining sites server is built-in with Mining survey data, described Mining survey data comprises earth's surface digital elevation model and the mining area raw spy data in whole mining area, the raw grade of ore, the ore distance earth's surface degree of depth, the ore body its thickness information visited data and comprise the distribution of whole mining area in described mining area;
Described meticulous mining terminal comprises network data link module, locating module and meticulous mining bootstrap module,
Described network data link module is used for meticulous mining sites server, the transmission of GNSS difference base station and receives data,
Described locating module calculates the current location of described meticulous mining terminal scraper bowl according to the differential correcting data that GNSS difference base station provides, and resolved by built-in inertia measuring module and obtain position of bucket, to meticulous mining sites server feedback position of bucket information;
Mining area below scraper bowl current location raw spy data are carried out graphic software platform by described meticulous mining bootstrap module.
Preferably, described locating module is RTK locating module.
Preferably, described Mining survey data also comprises the boundary information that mineral rights is arranged;
Described meticulous mining terminal also comprises the exploitation warning module that crosses the border, and when exceeding the border that mineral rights arranges in scraper bowl current location, gives the alarm.
Preferably, cross the border described in exploitation warning module alarm be word alarm, audible alarm, indicator lamp flicker alarm at least any one.
Preferably, described meticulous mining sites server upgrades Mining survey data after receiving the position of bucket data of described meticulous mining terminal transmission.
Preferably, Mining survey data update method seeks common ground for adopting scraper bowl Grid Track cloud data and existing Mining survey data, cuts rear renewal existing mining amount data to earth's surface digital elevation model.
Present invention also provides a kind of online meticulous mining methods of surface mine utilizing the meticulous mining system of surface mine of above-mentioned employing GNSS technology, comprise the following steps:
A, at the built-in Mining survey data of meticulous mining sites server, described Mining survey data comprises earth's surface digital elevation model and the mining area raw spy data in whole mining area, and described mining area raw spy data comprise the grade of ore, the ore distance earth's surface degree of depth, ore body its thickness information under each position, mining area;
B, meticulous mining terminal self are resolved and are received the differential correcting data of GNSS difference base station, and the accurate position of bucket data of final output, are sent to meticulous mining sites server;
C, meticulous mining sites server send the raw spy in the mining area data of current location to meticulous mining terminal, and the raw data of visiting in described mining area are: the grade of ore under current location, the ore distance earth's surface degree of depth, ore body its thickness information;
The grade of ore below D, the current position of bucket of meticulous mining terminal graphic software platform, the ore body distance earth's surface degree of depth, ore body its thickness information.
Preferably, when the Mining survey data that meticulous mining sites server is built-in also comprises the boundary information that mineral rights arranges, also step e is comprised after step c:
Step e: when exceeding the border that mineral rights arranges in the position of meticulous mining terminal scraper bowl, give the alarm.
Preferably, further comprising the steps of:
Step F: meticulous mining terminal continues to send position of bucket stroke to meticulous mining sites server, and position of bucket stroke is with seasonal effect in time series position of bucket track cloud data;
Step G: meticulous mining sites server is by this position of bucket track cloud data and existing Mining survey data (comprise mining area surface digital elevation model (DEM), data are visited in mining area life) the crossing Mining survey data calculating renewable meticulous mining sites server.
The present invention has following beneficial effect:
1, mineral products boundary position is intuitively provided:
According to the precise position information of current mining excavator scraper bowl, intuitively dynamically reflect that ore body distance earth's surface below current scraper bowl how far, orebody thickness is how many, and the mining for digging operation person provides accurate guidance.Effectively prevent from the ore caused not because excavation depth from leaking to adopt, avoid the waste of mineral resources, effectively prevent because of excavation depth judge not to and the ore that causes is adopted more, help to stablize the grade of ore.
2, the ore body situation below the current scraper bowl of real-time update:
According to the information transmission between meticulous mining terminal and meticulous mining sites server, the Orebody Grade that can dynamically calculate below current scraper bowl is specifically how many, and the meticulous grade data of mining process are fed back to server.
3, early warning is crossed the border mining behavior:
Set up fence, exploitation behavior of crossing the border can be judged whether, and early warning is in time reminded, and avoids causing property right dispute.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the preferred embodiment of the present invention;
Wherein, 1, GNSS difference base station, 2, meticulous mining sites server, 3, meticulous mining terminal, 31, network data link module, 32, locating module, 33, meticulous mining bootstrap module, 34, cross the border exploitation warning module.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can limit according to claim and cover is implemented.
See Fig. 1, this application provides and a kind ofly adopt the meticulous mining system of the surface mine of GNSS technology, comprise at least one GNSS difference base station 1, meticulous mining sites server 2 and the multiple meticulous mining terminal 3 with both wireless connections; GNSS difference base station 1 for providing differential correcting data to meticulous mining terminal 3, assisted Extraction high position calculation accuracy; Meticulous mining sites server 2 stores mine related data and provides it to meticulous mining terminal 3, and upgrades related data according to the change of twice position, front and back.
Described meticulous mining sites server 2 is built-in with Mining survey data, described Mining survey data comprises earth's surface digital elevation model and the mining area raw spy data in whole mining area, and described mining area raw spy data comprise the grade of ore, the ore distance earth's surface degree of depth, ore body its thickness information under whole mining area;
Described meticulous mining terminal 3 comprises network data link module 31 and the locating module 32 be connected with network data link module 31, meticulous mining bootstrap module 33.Network data link module 31 is for transmitting with meticulous mining sites server 2 and receive data, the position of bucket information feed back such as calculated by locating module 32 gives meticulous mining sites server 2, and the raw data transfer of visiting in the mining area of being transmitted by meticulous mining sites server 2 is to meticulous mining bootstrap module 33.Network data link module 31 is also for the transmission of GNSS difference base station with receive data.
Described locating module 32 calculates the scraper bowl current location of meticulous mining terminal according to the differential correcting data that GNSS difference base station 1 provides, to meticulous mining sites server feedback position of bucket information.GNSS difference base station 1 is for assisted Extraction high position calculation accuracy, and it self does not resolve the position of current scraper bowl.
Described locating module can select RTK (Real-Time Kinematic) locating module, adopts carrier phase dynamic real-time difference method, also can obtain Centimeter Level positioning precision in real time in the wild.
Raw for mining area below scraper bowl current location data (such as the grade of ore, the ore body distance earth's surface degree of depth, ore body its thickness) of visiting are carried out graphic software platform, the information needed when convenient operation person identifies and obtains mining by described meticulous mining bootstrap module 33.
For ensureing that data are accurate, described meticulous mining sites server is after the position of bucket data receiving described meticulous mining terminal transmission, and renewable Mining survey data, to be consistent with actual conditions.Update method can be and adopts scraper bowl Grid Track cloud data and existing mining area surface digital elevation model (DEM, Digital Elevation Model), raw data of visiting seek common ground, then DEM is cut, by common factor portion markings for exploit, then have updated existing mining amount data.
In addition, for avoiding the accident of digging up mine of crossing the border, Mining survey data also comprises the boundary information that mineral rights is arranged; Correspondingly, meticulous mining terminal then also comprises the exploitation warning module 34 that crosses the border, and when exceeding the border that mineral rights arranges in the current location of scraper bowl, gives the alarm, and reminds operator to note border.Alarm can be word alarm, audible alarm, indicator lamp flicker alarm at least any one.
Disclosed herein as well is a kind of online meticulous mining methods of surface mine utilizing the meticulous mining system of surface mine of above-mentioned employing GNSS technology, comprise the following steps:
A, at the built-in Mining survey data of meticulous mining sites server, described Mining survey data comprises earth's surface digital elevation model (DEM) and the mining area raw spy data in whole mining area, and mining area is raw visits the grade of ore, the ore distance earth's surface degree of depth, the ore body its thickness information that distribute under data comprise each position, mining area;
DEM is the individual event digital land value model model that zeroth order is simple, and the landforms characteristics such as the gradient, slope aspect and change of slope can generate on the basis of DEM.
B, meticulous mining terminal self are resolved and are received the differential correcting data of GNSS difference base station, and the more accurate position of bucket data of final output, are sent to meticulous mining sites server;
C, meticulous mining sites server send the raw spy in the mining area data of current location to meticulous mining terminal, and the raw data of visiting in described mining area are: the grade of ore under current location, the ore distance earth's surface degree of depth, ore body its thickness information;
The grade of ore below D, the current position of bucket of meticulous mining terminal graphic software platform, the ore body distance earth's surface degree of depth, ore body its thickness information.
When the Mining survey data that mining sites server meticulous in steps A is built-in also comprises the boundary information that mineral rights arranges, then also comprise step e after step c:
Step e: when exceeding the border that mineral rights arranges in the position of meticulous mining terminal scraper bowl, give the alarm.
For keeping the data on meticulous mining sites server consistent with reality, also can step F be comprised:
Step F: meticulous mining terminal continues to send position of bucket stroke to meticulous mining sites server, and position of bucket stroke is with seasonal effect in time series position of bucket track cloud data;
Step G: meticulous mining sites server is according to this position of bucket track cloud data and existing Mining survey data (comprise mining area surface digital complex demodulation, data are visited in mining area life) the crossing Mining survey data calculating renewable meticulous mining sites server.
Specific embodiment is as follows:
The basic mining process of embodiment one, the application.
A, at the built-in Mining survey data of meticulous mining sites server, described Mining survey data comprises earth's surface digital elevation model (DEM) and the mining area raw spy data in whole mining area, and mining area is raw visits the grade of ore, the ore distance earth's surface degree of depth, the ore body its thickness information that distribute under data comprise each position, mining area;
B, open meticulous mining terminal and be connected with GNSS difference base station and meticulous mining sites server, meticulous mining terminal receives the differential correcting data of GNSS difference base station and self resolves position, and accurate position of bucket is sent to meticulous mining sites server;
C, meticulous mining sites server receive position of bucket, and the mining area of current location raw spy data are sent to meticulous mining terminal;
Mining area below D, the current position of bucket of meticulous mining terminal graphic software platform is raw visits data.
E, operating personnel start mining according to the figure of meticulous mining terminal.
The mining process of embodiment two, prompting boundary information.
A, at the built-in Mining survey data of meticulous mining sites server, described Mining survey data comprises the raw boundary information visited data and mineral rights and arrange in the earth's surface digital elevation model (DEM) in whole mining area, mining area, and mining area is raw visits the grade of ore, the ore distance earth's surface degree of depth, the ore body its thickness information that distribute under data comprise each position, mining area;
B, open meticulous mining terminal and be connected with GNSS difference base station and meticulous mining sites server, meticulous mining terminal receives the differential correcting data of GNSS difference base station and self resolves position, and accurate position of bucket is sent to meticulous mining sites server;
C, meticulous mining sites server receive position of bucket, and the mining area of current location raw spy data are sent to meticulous mining terminal;
Mining area below D, the current position of bucket of meticulous mining terminal graphic software platform is raw visits data;
E, operating personnel start mining according to the figure of meticulous mining terminal;
F, meticulous mining terminal receive the differential correcting data of GNSS difference base station and self resolve position for the N time, and the position of bucket of accurate the N time mining is sent to meticulous mining sites server;
G, meticulous mining sites server receive the position of bucket of the N time, find this position and overlapping margins, or are positioned at the border warning region preset, and give the alarm;
H, operating personnel receive alarm, examine current location or mobile position of bucket.
The raw mining process visiting data of embodiment three, meticulous mining sites server real-time update.
A, at the built-in Mining survey data of meticulous mining sites server, described Mining survey data comprises earth's surface digital elevation model (DEM) and the mining area raw spy data in whole mining area, and mining area is raw visits the grade of ore, the ore distance earth's surface degree of depth, the ore body its thickness information that distribute under data comprise each position, mining area;
B, open meticulous mining terminal A and be connected with GNSS difference base station and meticulous mining sites server, meticulous mining terminal A receives the differential correcting data of GNSS difference base station and self resolves position, and accurate scraper bowl A position is sent to meticulous mining sites server;
C, meticulous mining sites server receive scraper bowl A position, and the mining area of current location raw spy data are sent to meticulous mining terminal A;
Mining area below D, the current position of bucket of meticulous mining terminal A graphic software platform is raw visits data;
E, operating personnel start mining according to the figure of meticulous mining terminal A;
Accurate position of bucket is sent to meticulous mining sites server the 2nd time by F, meticulous mining terminal A;
G, meticulous mining sites server are by this scraper bowl A location track cloud data, crossingly with existing Mining survey data (comprise mining area surface digital complex demodulation, mining area is raw visit data) to calculate, the common factor part of cutting DEM, upgrades existing mining amount data;
H, meticulous mining sites server receive scraper bowl A position the 3rd time, and the mining area of the current location after renewal raw spy data are sent to meticulous mining terminal A;
After I, meticulous mining sites server receive the position of scraper bowl B, C near scraper bowl A, the mining area of the current location after renewal raw spy data are sent to meticulous mining terminal B, C.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. adopt the meticulous mining system of the surface mine of GNSS technology, it is characterized in that, comprise at least one GNSS difference base station, meticulous mining sites server and the multiple meticulous mining terminal with both wireless connections;
Described meticulous mining sites server is built-in with Mining survey data, described Mining survey data comprises the earth's surface digital elevation model in whole mining area and mining area is raw visits data, and described mining area is raw to be visited data and comprise the grade of ore in whole mining area, the ore distance earth's surface degree of depth and ore body its thickness information;
Described meticulous mining terminal comprises network data link module, locating module and meticulous mining bootstrap module,
Described network data link module is used for meticulous mining sites server and the transmission of GNSS difference base station and receives data;
Described locating module calculates the current location of described meticulous mining terminal scraper bowl according to the differential correcting data that GNSS difference base station provides, to meticulous mining sites server feedback position of bucket information;
Mining area below scraper bowl current location raw spy data are carried out graphic software platform by described meticulous mining bootstrap module.
2. according to claim 1ly a kind ofly adopt the meticulous mining system of the surface mine of GNSS technology, it is characterized in that, described locating module is RTK locating module.
3. according to claim 1ly a kind ofly adopt the meticulous mining system of the surface mine of GNSS technology, it is characterized in that, described Mining survey data also comprises the boundary information that mineral rights is arranged;
Described meticulous mining terminal also comprises the exploitation warning module that crosses the border, and when exceeding the border that mineral rights arranges in scraper bowl current location, gives the alarm.
4. according to claim 3ly a kind ofly adopt the meticulous mining system of the surface mine of GNSS technology, it is characterized in that, described in cross the border the alarm of exploitation warning module be in word alarm, audible alarm, indicator lamp flicker alarm at least any one.
5. according to claim 1ly a kind ofly adopt the meticulous mining system of the surface mine of GNSS technology, it is characterized in that, described meticulous mining sites server upgrades Mining survey data after receiving the position of bucket data that described meticulous mining terminal sends.
6. according to claim 5ly a kind ofly adopt the meticulous mining system of the surface mine of GNSS technology, it is characterized in that, Mining survey data update method seeks common ground for adopting scraper bowl Grid Track cloud data and existing Mining survey data, cuts rear renewal existing mining amount data to earth's surface digital elevation model.
7. utilize the online meticulous mining methods of surface mine of the meticulous mining system of surface mine of the employing GNSS technology described in any one of claim 1-6, it is characterized in that, comprise the following steps:
A, at the built-in Mining survey data of meticulous mining sites server, described Mining survey data comprises earth's surface digital elevation model and the mining area raw spy data in whole mining area, and described mining area raw spy data comprise the grade of ore, the ore distance earth's surface degree of depth, ore body its thickness information under each position, mining area;
B, meticulous mining terminal self are resolved and are received the differential correcting data of GNSS difference base station, and the accurate position of bucket data of final output, are sent to meticulous mining sites server;
C, meticulous mining sites server send the raw spy in the mining area data of current location to meticulous mining terminal, and the raw data of visiting in the mining area of described current location are: the grade of ore under current location, the ore distance earth's surface degree of depth, ore body its thickness information;
The grade of ore below D, the current position of bucket of meticulous mining terminal graphic software platform, the ore body distance earth's surface degree of depth, ore body its thickness information.
8. the online meticulous mining methods of surface mine according to claim 7, is characterized in that, when the Mining survey data that meticulous mining sites server is built-in also comprises the boundary information that mineral rights arranges, also comprise step e after step c:
Step e: when exceeding the border that mineral rights arranges in the position of meticulous mining terminal scraper bowl, give the alarm.
9. the online meticulous mining methods of surface mine according to claim 7, is characterized in that, comprise the following steps:
Step F: meticulous mining terminal continues to send position of bucket stroke to meticulous mining sites server, and position of bucket stroke is with seasonal effect in time series position of bucket track cloud data;
Step G: meticulous mining sites server calculates crossing with the existing Mining survey data comprising mining area surface digital elevation model, data are visited in mining area life for this position of bucket track cloud data, upgrades the Mining survey data of meticulous mining sites server.
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| CN106640081A (en) * | 2016-08-25 | 2017-05-10 | 中国黄金集团内蒙古矿业有限公司 | Strip mine drilling and blasting design, construction and management method |
| CN106969676A (en) * | 2017-03-16 | 2017-07-21 | 福建省新华都工程有限责任公司 | It is a kind of to improve the cloth hole method for trimming of demolition effect based on RTK blastholes location technology |
| CN106988746A (en) * | 2017-05-04 | 2017-07-28 | 云南华联锌铟股份有限公司 | A kind of outdoor mining methods that become more meticulous of slight slope and thin ore body |
| CN107780938A (en) * | 2016-08-30 | 2018-03-09 | 丹东东方测控技术股份有限公司 | A kind of method for realizing opencut excavating equipment control ore mine grade |
| CN108093475A (en) * | 2017-12-29 | 2018-05-29 | 重庆地质矿产研究院 | Mine personnel positioning device and method |
| CN108227566A (en) * | 2017-12-15 | 2018-06-29 | 浙江海洋大学 | Engineering explosion slope monitoring and guard system |
| CN108425675A (en) * | 2018-04-11 | 2018-08-21 | 云南华联锌铟股份有限公司 | A kind of surface mine orebody shape is accurately positioned and the method for back production |
| CN114151087A (en) * | 2021-11-11 | 2022-03-08 | 神华北电胜利能源有限公司 | Opencut coal mine coal blending method and device based on electric shovel high-precision coordinates |
| CN114401524A (en) * | 2021-11-26 | 2022-04-26 | 江苏徐工工程机械研究院有限公司 | RTK base station monitoring system and method for unmanned mine transportation |
| CN116151482A (en) * | 2023-04-12 | 2023-05-23 | 北京四象爱数科技有限公司 | Method, device, equipment and medium for predicting mining earthwork of open-pit mining area |
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| CN114151087B (en) * | 2021-11-11 | 2023-10-10 | 神华北电胜利能源有限公司 | Method and device for blending coal in open pit coal mine based on high-precision coordinates of electric shovel |
| CN114401524A (en) * | 2021-11-26 | 2022-04-26 | 江苏徐工工程机械研究院有限公司 | RTK base station monitoring system and method for unmanned mine transportation |
| CN116151482A (en) * | 2023-04-12 | 2023-05-23 | 北京四象爱数科技有限公司 | Method, device, equipment and medium for predicting mining earthwork of open-pit mining area |
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