CN109778942B - A centering control system and method for an electric shovel in an open-pit mine - Google Patents

Abstract

The system comprises a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket space positioning unit and an upper computer; the truck model recognition unit comprises a truck model recognition camera, a truck model database is built in the upper computer, a deep learning program is embedded in the upper computer, the truck parking position projection calibration unit comprises a projector and a projector position adjusting frame, and the electric shovel bucket space positioning unit comprises a three-dimensional imaging double CCD camera. The method comprises the following steps: the bucket moves to a blanking area; the truck enters a blanking area, a car hopper contour image is obtained through a car model recognition camera, and a car hopper pattern is obtained through image matching; adjusting the distance between the projector and the bucket, projecting a truck roof line and a truck rear wheel position calibration line through the projector, and stopping the truck according to the line; centering the truck with the bucket; the bucket is spatially positioned by the three-dimensional imaging double CCD cameras, and the contour line of the stockpile is identified by the deep learning training process, so that the coal charging efficiency is ensured to be maximized.

Description

A centering control system and method for an electric shovel in an open-pit mine

technical field

The invention belongs to the technical field of open-pit mining, and in particular relates to a centering control system and method of an electric shovel in an open-pit mine.

Background technique

For large-scale open-pit mines using the single-bucket-truck process, the electric shovel is the main production equipment. The efficiency of the electric shovel not only affects the cost of mining and installation, but also affects the production cost of blasting, transportation and soil discharge. There are many factors that affect the efficiency of electric shovels, and some factors also interact with each other. The main influencing factors include the matching of shovels, loading methods, working surface parameters, and management systems.

The cycle time of an electric shovel loading a bucket includes digging time, heavy-load turning time, unloading time and no-load turning time. Practice has shown that no matter what loading and truck replacement methods are used, the unloading time accounts for a very large proportion of the total loading time of the electric shovel, and sometimes even 2-3 truck replacements are required.

At present, some open-pit mines are trying to use new technologies to realize truck positioning. These new technologies include truck positioning based on photoelectric sensors or light reflection principles, using GPS technology for truck positioning, and laser scanning ranging technology for truck positioning.

However, the above-mentioned several new technologies for truck positioning cannot effectively solve the problems of accurate positioning and truck offset, and cannot really guide the electric shovel spreader to perform fast and accurate operations.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides an electric shovel centering control system and method for open-pit mines, which can effectively solve problems such as accurate positioning and truck offset, and can guide the electric shovel spreader to perform fast and accurate operations, maximizing Maximizing the use efficiency of excavators and trucks and reducing non-production dwell time are of great significance to improving economic benefits.

In order to achieve the above object, the present invention adopts the following technical solutions: a centering control system for electric shovels in open-pit mines, including a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket spatial positioning unit, and a host computer; The vehicle type identification unit includes a vehicle type identification camera, the vehicle type identification camera is located above the electric shovel bucket, and the profile image of the truck body is acquired through the vehicle type identification camera; a truck type database is established in the host computer, and the vehicle type identification The truck body outline image acquired by the camera is used for image matching with the truck model database, and the actual style of the truck body is obtained through the image matching process; the truck parking position projection calibration unit includes a projector and a projector position adjustment frame, and the The position adjustment frame of the projector is installed on the cantilever of the electric shovel. The projector is installed on the position adjustment frame of the projector, and the truck top alignment line and the truck rear wheel position calibration line are projected on the ground through the projector. The position of the truck is adjusted based on the line and the position calibration line of the rear wheel of the truck; the space positioning unit of the electric shovel bucket includes a three-dimensional imaging dual CCD camera, and the three-dimensional imaging dual CCD camera is installed under the sky wheel on the top of the electric shovel cantilever , real-time positioning of the spatial position of the electric shovel bucket through three-dimensional imaging dual CCD cameras; the upper computer is embedded with a deep learning program, and recognizes the contour line of the stockpile in the truck bucket through the training process of the deep learning program , using the relative positional relationship between the current stockpile outline and the truck body to judge the blanking position of the electric shovel bucket, and the electric shovel driver controls the electric shovel bucket to move according to the judgment result; there is a display screen in the electric shovel cab , the images acquired by the three-dimensional imaging dual CCD cameras are transmitted to the display screen in real time, and the real-time positions of the electric shovel bucket and the truck are displayed in real time through the display screen.

A method for controlling the centering of an electric shovel in an open-pit mine, using the described centering control system for an electric shovel in an open-pit mine, comprising the following steps:

Step 1: Control the electric shovel bucket to complete the coal shoveling action, and then move the electric shovel bucket that has completed the coal shoveling action to the blanking area;

Step 2: Drive the truck into the blanking area, acquire the outline image of the truck body through the model recognition camera, and then match the acquired outline image of the truck body with the truck model database until the actual style of the truck body is obtained ;

Step 3: Automatically adjust the distance between the projector and the electric shovel bucket, and then project the truck top line and truck rear wheel position calibration line on the ground through the projector, and guide the truck driver to park the truck according to the line;

Step 4: During the process of parking the truck according to the line, the truck driver needs to constantly adjust the position of the truck until the center line of the truck is aligned with the rotation axis of the electric shovel bucket;

Step 5: Real-time positioning of the spatial position of the electric shovel bucket through three-dimensional imaging dual CCD cameras to ensure that the coal in the electric shovel bucket can fall on the center line of the truck;

Step 6: Through the training process of the deep learning program, identify the contour line of the stockpile in the truck body, and use the relative positional relationship between the current stockpile contour line and the truck body to determine the blanking position of the electric shovel bucket, and drive the electric shovel The operator controls the electric shovel bucket to move according to the judgment result to ensure the maximization of coal loading efficiency;

Step 7: After the electric shovel bucket has finished unloading, drive the truck out of the unloading area.

Beneficial effects of the present invention:

The electric shovel centering control system and method for open-pit mines of the present invention can effectively solve problems such as accurate positioning and truck offset, can guide the electric shovel spreader to perform fast and accurate operations, and maximize the use efficiency of excavators and trucks. Reducing non-production residence time is of great significance to improving economic efficiency.

Description of drawings

Fig. 1 is the structure schematic diagram of a kind of surface mine electric shovel centering control system of the present invention;

In the figure, 1—electric shovel bucket, 2—truck body, 3—projector, 4—electric shovel cantilever, 5—three-dimensional imaging dual CCD camera, 6—sky wheel.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a centering control system for an electric shovel in an open-pit mine includes a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket spatial positioning unit, and a host computer; the truck model identification unit includes a vehicle type identification unit camera, the vehicle type recognition camera is located above the electric shovel bucket 1, and the profile image of the truck body 2 is acquired by the vehicle type recognition camera; The outline image of the truck body 2 is used for image matching with the truck model database, and the actual style of the truck body 2 is obtained through the image matching process; the truck parking position projection calibration unit includes a projector 3 and a projector position adjustment frame, and the projection The position adjustment frame of the instrument is installed on the cantilever 4 of the electric shovel, and the projector 3 is installed on the position adjustment frame of the projector, and the truck top alignment line and the rear wheel position calibration line of the truck are projected on the ground by the projector 3, and the truck driver uses The position of the truck is adjusted based on the truck top line and the truck rear wheel position calibration line; the electric shovel bucket space positioning unit includes a three-dimensional imaging dual CCD camera 5, and the three-dimensional imaging dual CCD camera 5 is installed on the electric shovel boom 4 Under the sky wheel 6 on the top, the spatial position of the electric shovel bucket 1 is positioned in real time through the three-dimensional imaging dual CCD camera 5; the upper computer is embedded with a deep learning program, and the truck body is adjusted through the training process of the deep learning program. 2 to identify the contour line of the stockpile, and use the relative positional relationship between the current stockpile contour line and the truck body 2 to judge the blanking position of the electric shovel bucket 1, and the electric shovel driver controls the electric shovel bucket 1 according to the judgment result Moving; a display screen is provided in the cab of the electric shovel, and the images acquired by the three-dimensional imaging dual CCD cameras 5 are transmitted to the display screen in real time, and the real-time positions of the electric shovel bucket 1 and the truck are displayed in real time through the display screen.

A method for controlling the centering of an electric shovel in an open-pit mine, using the described centering control system for an electric shovel in an open-pit mine, comprising the following steps:

Step 1: Control the electric shovel bucket 1 to complete the coal shoveling action, and then move the electric shovel bucket 1 that has completed the coal shoveling action to the blanking area;

Step 2: Drive the truck into the blanking area, acquire the outline image of the truck body 2 through the model recognition camera, and then match the acquired outline image of the truck body 2 with the truck model database until the truck body 2 is obtained the actual style of

Step 3: Automatically adjust the distance between the projector 3 and the electric shovel bucket 1, and then project the truck top line and truck rear wheel position calibration line on the ground through the projector 3, and guide the truck driver to park the truck according to the line;

Step 4: During the process of parking the truck according to the line, the truck driver needs to constantly adjust the position of the truck until the center line of the truck is aligned with the rotation axis of the electric shovel bucket 1;

Step 5: Real-time positioning of the spatial position of the electric shovel bucket 1 through the three-dimensional imaging dual CCD camera 5, so as to ensure that the coal in the electric shovel bucket 1 can fall on the center line of the truck; Falling on the center line of the truck, a coordinate system can be established, and the position of the center line of the truck can be judged through the established coordinate system, because during the unloading process of the electric shovel bucket 1, the rotation axis of the electric shovel bucket 1 is in line with the truck’s The state of the centerline alignment remains unchanged, so the rotation axis of the electric shovel bucket 1 can be used as a reference and a space coordinate system can be established, so that it is easy to determine the position of the center line of the truck body 2 in the space coordinate system The positions of all points in ;

Step 6: Through the training process of the deep learning program, identify the contour line of the stockpile in the truck body 2, and use the relative positional relationship between the current stockpile contour line and the truck body 2 to judge the discharge position of the electric shovel bucket 1, The electric shovel driver controls the electric shovel bucket 1 to move according to the judgment result, so as to ensure the maximization of coal loading efficiency;

Step 7: After the electric shovel bucket 1 finishes unloading, drive the truck out of the unloading area.

The solutions in the embodiments are not intended to limit the scope of patent protection of the present invention, and all equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims (2)

1. A centering control system for an electric shovel in an open-pit mine, characterized in that: it includes a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket spatial positioning unit, and a host computer; the truck model identification unit includes a vehicle type identification unit Camera, the vehicle type recognition camera is located above the electric shovel bucket, and the outline image of the truck body is acquired by the vehicle type recognition camera; a truck model database is established in the host computer, and the truck body obtained by the vehicle type recognition camera The contour image is used for image matching with the truck model database, and the actual style of the truck body is obtained through the image matching process; the truck parking position projection calibration unit includes a projector and a projector position adjustment frame, and the projector position adjustment frame is installed On the cantilever of the electric shovel, the projector is installed on the projector position adjustment frame, and the truck top alignment line and the truck rear wheel position calibration line are projected on the ground through the projector, and the truck driver uses the truck top alignment line and the truck rear wheel position calibration line The position calibration line is used to adjust the position of the truck; the electric shovel bucket space positioning unit includes a three-dimensional imaging dual CCD camera, and the three-dimensional imaging dual CCD camera is installed under the sky wheel on the top of the electric shovel cantilever, through the three-dimensional imaging dual CCD The camera performs real-time positioning of the spatial position of the electric shovel bucket; the host computer is embedded with a deep learning program, and through the training process of the deep learning program, it recognizes the outline of the stockpile in the truck bucket, and uses the current stockpile The relative position relationship between the contour line and the truck body judges the blanking position of the electric shovel bucket, and the electric shovel driver controls the electric shovel bucket to move according to the judgment result; a display screen is installed in the electric shovel cab, and the three-dimensional imaging double The images captured by the CCD camera are transmitted to the display screen in real time, and the real-time positions of the electric shovel bucket and the truck are displayed in real time through the display screen. 2. A centering control method for electric shovels in open-pit mines, which adopts the centering control system for electric shovels in open-pit mines according to claim 1, is characterized in that it comprises the steps: Step 1: Control the electric shovel bucket to complete the coal shoveling action, and then move the electric shovel bucket that has completed the coal shoveling action to the blanking area; Step 2: Drive the truck into the blanking area, acquire the outline image of the truck body through the model recognition camera, and then match the acquired outline image of the truck body with the truck model database until the actual style of the truck body is obtained ; Step 3: Automatically adjust the distance between the projector and the electric shovel bucket, and then project the truck top line and truck rear wheel position calibration line on the ground through the projector, and guide the truck driver to park the truck according to the line; Step 4: During the process of parking the truck according to the line, the truck driver needs to constantly adjust the position of the truck until the center line of the truck is aligned with the rotation axis of the electric shovel bucket; Step 5: Real-time positioning of the spatial position of the electric shovel bucket through three-dimensional imaging dual CCD cameras to ensure that the coal in the electric shovel bucket can fall on the center line of the truck; Step 6: Through the training process of the deep learning program, identify the contour line of the stockpile in the truck body, and use the relative positional relationship between the current stockpile contour line and the truck body to determine the blanking position of the electric shovel bucket, and drive the electric shovel The operator controls the electric shovel bucket to move according to the judgment result to ensure the maximization of coal loading efficiency; Step 7: After the electric shovel bucket has finished unloading, drive the truck out of the unloading area.

Images