Vehicle-mounted high-energy laser cracking rock control system and method

Abstract

The invention belongs to the technical field of hard rock efficient crushing, and provides a vehicle-mounted high-energy laser rock cracking control system and method. The vehicle-mounted high-energy laser rock cracking control system comprises the steps that surrounding environment information of an electric flat car in the moving process is obtained through a second image obtaining and analyzing unit; the electric flat carriage control unit generates a first control instruction according to the stored electric flat carriage motion path and the surrounding environment information; the electric flat carriage controls the electric flat carriage to move to a rock breaking designated position; the type of the rock to be broken is obtained through a first image obtaining and analyzing unit, and real-time condition information of the laser cracking rock is obtained after a laser emitting unit is started; the laser control unit obtains laser emission parameters corresponding to the type of the current to-be-broken rock, adjusts the laser emission parameters after receiving the real-time condition information of the laser cracking rock obtained by the first image obtaining and analyzing unit, and generates a second control instruction according to the laser emission parameters; and the laser emitting unit is controlled to start emitting laser to break rocks.

Description

Technical Field

[0001] The present invention relates to the technical field of efficient hard rock crushing, and in particular to a vehicle-mounted high-energy laser rock cracking control system and method. Background Art

[0002] As resource mining, hydropower projects and transportation projects continue to increase in depth, rock strength is also increasing. The increase in rock strength has greatly increased the difficulty of rock crushing and excavation, reduced the efficiency of rock crushing, and increased the wear of mechanical tools, resulting in a significant extension of the cycle of deep hard rock crushing and excavation, and a significant increase in costs.

[0003] At the same time, most of the current rock crushing solutions are that the operator drives the rock breaking vehicle to the designated location and uses the rock breaking device to complete the rock breaking work based on the survey data and previous rock breaking experience. Due to the different types of rocks, the experience of operators varies from person to person, resulting in unsatisfactory rock breaking results. In addition, the existing rock breaking solutions rarely pay attention to the evolution state of the rock during the rock breaking process, which may lead to the interruption of the rock breaking work.

[0004] Therefore, in order to improve the efficiency of deep hard rock crushing, a new and efficient rock crushing solution is urgently needed. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle-mounted high-energy laser rock cracking control system and method, which can fully automatically complete the entire rock breaking process and greatly improve the rock breaking efficiency.

[0006] The present invention solves the technical problem and adopts the following technical solution: In one aspect, the present invention provides a vehicle-mounted high-energy laser rock fracturing control system, comprising: The electric flat car is used to control the electric flat car to move to a designated rock breaking position after receiving a first control instruction from the electric flat car control unit; An electric flat car control unit is arranged on the electric flat car, stores a motion path of the electric flat car, and is used to generate a first control instruction according to the stored motion path of the electric flat car and the surrounding environment information acquired by the second image acquisition and analysis unit; The laser emitting unit is arranged at the front end of the robot arm and is carried on the electric flat car through the robot arm, and is used to control the laser emitting unit to start emitting laser to break rocks after receiving the second control instruction of the laser control unit; A laser control unit is arranged on the electric flat car, and stores laser emission parameters corresponding to the type of rock to be broken, and is used to obtain the laser emission parameters corresponding to the current type of rock to be broken after receiving the type of rock to be broken obtained by the first image acquisition and analysis unit, and is used to adjust the laser emission parameters after receiving the real-time situation information of the laser fractured rock obtained by the first image acquisition and analysis unit, and generate a second control instruction according to the laser emission parameters; The first image acquisition and analysis unit is arranged on the electric flat car, and is used to obtain the type of rock to be broken after the electric flat car moves to the designated rock breaking position, and obtain the real-time situation information of the laser-fracturing rock after the laser emission unit is started, and send it to the laser control unit; The second image acquisition and analysis unit is arranged on the electric flat car, and is used to acquire the surrounding environment information of the electric flat car during the movement, and send it to the electric flat car control unit.

[0007] As a further optimization, it also includes a mechanical arm control unit, and the mechanical arm control unit is arranged on the electric flat car; After the electric flat car moves to the designated rock breaking position, the electric flat car control unit notifies the robotic arm control unit; The manipulator control unit is used to generate a third control instruction based on the position of the rock to be broken acquired by the first image acquisition and analysis unit after receiving the notification from the electric flat car control unit, and control the manipulator arm to adjust to a predetermined height and a predetermined posture after receiving the third control instruction; When the robot arm is adjusted to a predetermined height and a predetermined posture, the laser control unit is notified through the robot arm control unit. After receiving the notification from the robot arm control unit, the laser control unit sends the generated second control instruction to the laser emission unit.

[0008] As a further optimization, the electric flat car is also provided with a position sensor; The second image acquisition and analysis unit is started after the electric flat car receives the first control instruction and before the electric flat car moves, and acquires the surrounding environment information in real time during the movement of the electric flat car; When the second image acquisition and analysis unit is started, the current position of the electric flat car is acquired through the position sensor, and it is determined whether the electric flat car is at the starting point of the motion path. When the electric flat car is at the starting point of the motion path, the electric flat car moves according to the motion path; During the movement of the electric flat car, the second image acquisition and analysis unit acquires the surrounding environment information in real time, and determines whether to optimize the motion path based on the surrounding environment information. If optimized, the electric flat car control unit is notified to control the electric flat car to move to the designated rock breaking position according to the optimized motion path; When the electric flat car moves to the designated rock breaking position, the second image acquisition and analysis unit is notified to be turned off through the electric flat car control unit, and the first image acquisition and analysis unit is notified to be started through the electric flat car control unit.

[0009] As a further optimization, the determining whether to optimize the motion path based on the surrounding environment information refers to: According to the surrounding environment information obtained, the ground depression degree information, slope information and obstacle information in front of the electric flat car in the movement path are obtained. When the ground depression degree is lower than the preset depression degree, the slope is lower than the preset slope, there is no obstacle, and when there is an obstacle, the size of the obstacle is smaller than the specified size, the movement path is not optimized; otherwise, the movement path is optimized.

[0010] As a further optimization, when the first image acquisition and analysis unit is started, image information of the rock to be broken is obtained, and the current type and position of the rock to be broken are determined based on the image information, and the type of rock to be broken is notified to the laser control unit, and the position of the rock to be broken is notified to the robotic arm control unit.

[0011] As a further optimization, when the robotic arm control unit receives the notification from the first image acquisition and analysis unit, it determines whether the maximum height of the robotic arm can reach the height of the rock to be broken based on the position of the rock to be broken. If it can be reached, the robotic arm is controlled to adjust to a predetermined height and a predetermined posture.

[0012] As a further optimization, the electric flat car is also provided with a lifting platform, and the bottom surface of the mechanical arm is fixed on the surface of the lifting platform; When the maximum height of the robotic arm cannot reach the height of the rock to be broken, the robotic arm control unit notifies the electric flat car control unit, which calculates the difference between the height of the rock to be broken and the maximum height of the robotic arm, and raises the lifting platform according to the difference, so that the robotic arm can reach the predetermined height, and controls the robotic arm to adjust to the predetermined height and predetermined posture.

[0013] As a further optimization, the laser emission parameters corresponding to the type of rock to be broken include laser spot size, laser irradiation power and laser irradiation time; The adjustment of the laser emission parameters refers to: The image information of the laser-fractured rock is obtained by the first image acquisition and analysis unit, and the crack area information, the opening information and the length information of the rock are obtained based on the image information, and the information is used as the real-time situation information; During the laser irradiation process at the current rock position to be broken, it is determined in real time whether the type of rock has changed. If no change occurs, it is determined whether the crack area information, opening information and length information correspond to the preset crack area information, preset opening information and preset length information. If not, the laser control unit is notified to linearly increase or decrease the laser spot size, laser irradiation power and laser irradiation time until they correspond.

[0014] As a further optimization, during the laser irradiation process at the current rock position to be broken, if the type of rock has not changed, after the laser irradiation time reaches a predetermined time or the rock is judged to reach a predetermined rock breaking state based on the crack area information, the opening information and the length information, the laser control unit is notified through the first image acquisition and analysis unit to control the laser emission unit to be turned off, and the mechanical arm control unit is notified to adjust the mechanical arm to the next rock position to be broken; During the laser irradiation process at the current rock position to be broken, if the type of rock changes, the image information of the rock at the time of the change will be sent to the remote management and control center, and the remote management and control center will determine whether to continue the laser irradiation process at the current rock position to be broken.

[0015] On the other hand, the present invention also provides a vehicle-mounted high-energy laser rock fracturing control method, which is applied to the vehicle-mounted high-energy laser rock fracturing control system, and comprises the following steps: The electric flat car control unit, the laser control unit, the first image acquisition and analysis unit and the second image acquisition and analysis unit are arranged on the electric flat car, and the laser emission unit is arranged on the electric flat car through a mechanical arm; The second image acquisition and analysis unit acquires the surrounding environment information of the electric flat car during the movement, and sends it to the electric flat car control unit; The electric flat car control unit generates a first control instruction according to the stored motion path of the electric flat car and the surrounding environment information acquired by the second image acquisition and analysis unit; After receiving the first control instruction from the electric flat car control unit, the electric flat car controls the electric flat car to move to the designated rock breaking position; After the electric flat car moves to the designated rock breaking position, the type of rock to be broken is obtained through the first image acquisition and analysis unit, and after the laser emission unit is started, the real-time situation information of the laser-fracturing rock is obtained and sent to the laser control unit; The laser control unit obtains laser emission parameters corresponding to the current type of rock to be broken after receiving the type of rock to be broken obtained by the first image acquisition and analysis unit, and adjusts the laser emission parameters after receiving the real-time situation information of the laser fracturing rock obtained by the first image acquisition and analysis unit, and generates a second control instruction according to the laser emission parameters; After receiving the second control instruction from the laser control unit, the laser emitting unit controls the laser emitting unit to start emitting laser to break the rock.

[0016] The beneficial effects of the present invention are as follows: through the above-mentioned vehicle-mounted high-energy laser rock cracking control system and method, firstly, an electric flat car control unit, a laser control unit, a first image acquisition and analysis unit and a second image acquisition and analysis unit are arranged on the electric flat car, and the laser emission unit is arranged on the electric flat car through a mechanical arm to complete the hardware configuration work of the entire rock breaking work; secondly, the surrounding environment information of the electric flat car during the movement is obtained by the second image acquisition and analysis unit, and sent to the electric flat car control unit, the electric flat car control unit generates a first control instruction according to the stored electric flat car motion path and the surrounding environment information obtained by the second image acquisition and analysis unit, and the electric flat car controls the electric flat car to move to the designated rock breaking position after receiving the first control instruction of the electric flat car control unit, thereby enabling the electric flat car to complete the automatic driving work according to the set moving path according to the actual situation at the rock breaking site, and also can complete the optimization of the moving path according to the sudden working conditions at the site.

[0017] After the electric flat car moves to the designated rock breaking position, the type of rock to be broken is obtained through the first image acquisition and analysis unit, and the real-time situation information of the laser fractured rock is obtained after the laser emission unit is started, and sent to the laser control unit. After receiving the type of rock to be broken obtained by the first image acquisition and analysis unit, the laser control unit obtains the laser emission parameters corresponding to the current type of rock to be broken, and after receiving the real-time situation information of the laser fractured rock obtained by the first image acquisition and analysis unit, the laser emission parameters are adjusted, and a second control instruction is generated according to the laser emission parameters; after receiving the second control instruction of the laser control unit, the laser emission unit controls the laser emission unit to start emitting laser to break the rock. Therefore, the laser emission parameters can be automatically adjusted according to the type of rock to be broken and the evolution state of the rock during the laser fracture process with the help of the first image acquisition and analysis unit, thereby automatically completing the entire laser rock breaking work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of a vehicle-mounted high-energy laser rock fracturing control method in Example 2 of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations. Example 1

[0020] This embodiment provides a vehicle-mounted high-energy laser rock fracturing control system, wherein the system can be composed of the following parts: The electric flat car is used to control the electric flat car to move to a designated rock breaking position after receiving a first control instruction from the electric flat car control unit; An electric flat car control unit is arranged on the electric flat car, stores a motion path of the electric flat car, and is used to generate a first control instruction according to the stored motion path of the electric flat car and the surrounding environment information acquired by the second image acquisition and analysis unit; The laser emitting unit is arranged at the front end of the robot arm and is carried on the electric flat car through the robot arm, and is used to control the laser emitting unit to start emitting laser to break rocks after receiving the second control instruction of the laser control unit; A laser control unit is arranged on the electric flat car, and stores laser emission parameters corresponding to the type of rock to be broken, and is used to obtain the laser emission parameters corresponding to the current type of rock to be broken after receiving the type of rock to be broken obtained by the first image acquisition and analysis unit, and is used to adjust the laser emission parameters after receiving the real-time situation information of the laser fractured rock obtained by the first image acquisition and analysis unit, and generate a second control instruction according to the laser emission parameters; The first image acquisition and analysis unit is arranged on the electric flat car, and is used to obtain the type of rock to be broken after the electric flat car moves to the designated rock breaking position, and obtain the real-time situation information of the laser-fracturing rock after the laser emission unit is started, and send it to the laser control unit; The second image acquisition and analysis unit is arranged on the electric flat car, and is used to acquire the surrounding environment information of the electric flat car during the movement, and send it to the electric flat car control unit.

[0021] In the above system, firstly, the second image acquisition and analysis unit can be used to assist the electric flat car to automatically drive to the designated rock breaking position; secondly, after the electric flat car reaches the designated rock breaking position, the first image acquisition and analysis unit can be used to obtain the type of rock to be broken to obtain initial laser emission parameters. During the rock breaking process, the first image acquisition and analysis unit can also be used to obtain real-time information on the laser fracturing of the rock, so as to adjust the laser emission parameters. While being able to automatically complete the entire rock breaking work, the accuracy of rock breaking can also be guaranteed.

[0022] It should be pointed out that before the laser is launched, the height and posture of the robotic arm are still in the initial state. Due to different rock breaking positions, the types and heights of rocks to be broken are different. Therefore, after the electric flat car moves to the designated rock breaking position, the height and posture of the robotic arm need to be adjusted according to the actual rock breaking needs to carry out subsequent rock breaking work. Therefore, the control of the robotic arm also needs to be configured with a corresponding control unit to complete the robotic arm adjustment work before laser launch. Therefore, a vehicle-mounted high-energy laser fracturing rock control system in this embodiment also needs to include a robotic arm control unit, which is arranged on the electric flat car.

[0023] Here, after the electric flat car moves to the designated rock breaking position, the electric flat car control unit notifies the robotic arm control unit; the robotic arm control unit is used to generate a third control instruction based on the position of the rock to be broken obtained by the first image acquisition and analysis unit after receiving the notification from the electric flat car control unit, and control the robotic arm to adjust to a predetermined height and a predetermined posture after the robotic arm receives the third control instruction; when the robotic arm is adjusted to the predetermined height and a predetermined posture, the laser control unit is notified through the robotic arm control unit, and the laser control unit sends the generated second control instruction to the laser emission unit after receiving the notification from the robotic arm control unit.

[0024] It should be pointed out that, since the electric flat car is required to automatically drive to the designated rock breaking position according to the actual working conditions at the rock breaking site in this embodiment, and the electric flat car may not be at the initial position of the motion path, in order to be able to control the electric flat car to accurately reach the initial position of the motion path, it is necessary to sense the position information of the electric flat car. At the same time, since the second image acquisition and analysis unit can sense the surrounding environment information, after the electric flat car reaches the starting point of the motion path, the motion path can be optimized through the surrounding environment information. Therefore, in this embodiment, the electric flat car can also be provided with a position sensor; wherein the second image acquisition and analysis unit is started after the electric flat car receives the first control instruction and before the electric flat car moves, and acquires the surrounding environment information in real time during the movement of the electric flat car; when the second image acquisition and analysis unit is started, the current position of the electric flat car is acquired through the position sensor, and it is determined whether the electric flat car is at the starting point of the motion path. When the electric flat car is at the starting point of the motion path, the electric flat car moves according to the motion path.

[0025] Here, during the movement of the electric flat car, the surrounding environment information is acquired in real time through the second image acquisition and analysis unit, and whether to optimize the motion path is determined based on the surrounding environment information. If optimized, the electric flat car control unit is notified to control the electric flat car to move to the designated rock breaking position according to the optimized motion path; when the electric flat car moves to the designated rock breaking position, the second image acquisition and analysis unit is notified to be turned off through the electric flat car control unit, and the first image acquisition and analysis unit is notified to be started through the electric flat car control unit.

[0026] Of course, if the electric flat car itself is at the starting point of the moving path, and it is judged based on the surrounding environment information that the motion path does not need to be optimized, the electric flat car will automatically complete the automatic driving work of driving to the designated rock breaking position according to the initial motion path. However, the actual rock breaking site conditions are complex and changeable, and in most cases the motion path needs to be optimized; at the same time, the first image acquisition and analysis unit can be turned off after the electric flat car reaches the designated rock breaking position to save system energy efficiency and extend its service life.

[0027] Specifically, in this embodiment, the judgment condition of whether the motion path is optimized or not generally needs to consider the degree of bottom depression, slope, presence or absence of obstacles, and the size of obstacles when there are obstacles during the movement of the electric flat car. Therefore, in this embodiment, the judgment of whether to optimize the motion path based on the surrounding environment information may refer to: According to the surrounding environment information obtained, the ground depression degree information, slope information and obstacle information in front of the electric flat car in the movement path are obtained. When the ground depression degree is lower than the preset depression degree, the slope is lower than the preset slope, there is no obstacle, and when there is an obstacle, the size of the obstacle is smaller than the specified size, the movement path is not optimized; otherwise, the movement path is optimized.

[0028] Here, when considering whether to optimize the motion path, unless the degree of depression is too large, the slope is too large, or the obstacle is too large, otherwise, since the electric flat car is generally heavy, in order to save the energy consumption of the electric flat car, it is also necessary to ensure that the increased travel distance of the motion path is not too long. Therefore, in this case, the travel distance of the original motion path can be obtained, and then the optimized travel distance can be obtained. The difference between the latter and the former should not exceed the preset difference.

[0029] It should be pointed out that since the laser emission parameters correspond to the type of rock to be broken, and after the electric flat car reaches the designated rock breaking position, the laser emission unit cannot be directly turned on to break the rock, and the robotic arm needs to be adjusted. Therefore, in this embodiment, after the first image acquisition and analysis unit is started, the image information of the rock to be broken is obtained, and the current type and position of the rock to be broken are determined based on the image information, and the type of rock to be broken is notified to the laser control unit, and the position of the rock to be broken is notified to the robotic arm control unit.

[0030] Generally, the height and posture of the robotic arm can be adjusted, and the adjustment of the posture can generally meet the requirements of most rock breaking sites. However, since the height of the rock to be broken is unknown, there is a situation where the maximum height of the robotic arm cannot reach the position of the rock to be broken. In this case, even if the robotic arm is adjusted to the maximum height and the laser emission unit is turned on for laser rock breaking, the rock breaking work is likely to fail. Therefore, in this embodiment, a lifting platform can be set for the electric flat car to complete the adjustment of the robotic arm. Therefore, in this embodiment, when the robotic arm control unit receives the notification from the first image acquisition and analysis unit, it determines whether the maximum height of the robotic arm can reach the height of the rock to be broken based on the position of the rock to be broken. When it can be reached, the robotic arm is controlled to adjust to a predetermined height and a predetermined posture.

[0031] Therefore, the electric flat car described in this embodiment may also be provided with a lifting platform, and the bottom surface of the mechanical arm is fixed on the surface of the lifting platform; When the maximum height of the robotic arm cannot reach the height of the rock to be broken, the robotic arm control unit notifies the electric flat car control unit, which calculates the difference between the height of the rock to be broken and the maximum height of the robotic arm, and raises the lifting platform according to the difference, so that the robotic arm can reach the predetermined height, and controls the robotic arm to adjust to the predetermined height and predetermined posture.

[0032] After the robotic arm is adjusted, the corresponding laser emission parameters can be matched according to the type of rock to be broken. Generally, for different types of rocks, the laser spot size, laser irradiation power and laser irradiation time of the laser emission unit directly affect the rock breaking effect and efficiency. Therefore, in this embodiment, the laser emission parameters corresponding to the type of rock to be broken should at least include the laser spot size, laser irradiation power and laser irradiation time.

[0033] Since the first image acquisition and analysis unit is used in this embodiment to monitor the rock evolution state during the rock breaking process, it is likely that the laser emission parameters need to be adjusted during the rock breaking process to better complete the rock breaking work. Therefore, in this embodiment, the adjustment of the laser emission parameters may refer to: The image information of the laser-fractured rock is obtained by the first image acquisition and analysis unit, and the crack area information, the opening information and the length information of the rock are obtained based on the image information, and the information is used as the real-time situation information; During the laser irradiation process at the current rock position to be broken, it is determined in real time whether the type of rock has changed. If no change occurs, it is determined whether the crack area information, opening information and length information correspond to the preset crack area information, preset opening information and preset length information. If not, the laser control unit is notified to linearly increase or decrease the laser spot size, laser irradiation power and laser irradiation time until they correspond.

[0034] It should be noted that, in this embodiment, during the laser irradiation process at the current rock position to be broken, if the type of rock has not changed, after the laser irradiation time reaches a predetermined time or the rock is judged to reach a predetermined rock breaking state based on the crack area information, the opening information and the length information, the laser control unit is notified through the first image acquisition and analysis unit to control the laser emitting unit to be turned off, and the mechanical arm control unit is notified to adjust the mechanical arm to the next rock position to be broken; During the laser irradiation process at the current rock position to be broken, if the type of rock changes, the image information of the rock at the time of the change will be sent to the remote management and control center, and the remote management and control center will determine whether to continue the laser irradiation process at the current rock position to be broken.

[0035] Here, the staff of the remote management and control center will manually judge whether it is necessary to continue the subsequent laser irradiation process based on the image information of the rock when the rock type changes, and whether it is necessary to adjust the laser emission parameters and the height and position of the robotic arm when continuing the subsequent laser irradiation process. When adjustment is needed, just send the relevant control instructions to the robotic arm control unit or the laser emission unit. Example 2

[0036] Based on Example 1, this example provides a vehicle-mounted high-energy laser rock fracturing control method, the flow chart of which can be seen in Figure 1 , wherein the method comprises the following steps: S1, setting the electric flat car control unit, the laser control unit, the first image acquisition and analysis unit and the second image acquisition and analysis unit on the electric flat car, and setting the laser emission unit on the electric flat car through a mechanical arm; S2, obtaining the surrounding environment information of the electric flat car during the movement through the second image acquisition and analysis unit, and sending it to the electric flat car control unit; S3, the electric flat car control unit generates a first control instruction according to the stored motion path of the electric flat car and the surrounding environment information acquired by the second image acquisition and analysis unit; S4, after receiving the first control instruction of the electric flat car control unit, the electric flat car controls the electric flat car to move to the designated rock breaking position; S5. After the electric flat car moves to the designated rock breaking position, the type of rock to be broken is obtained through the first image acquisition and analysis unit, and after the laser emission unit is started, the real-time information of the laser fracturing rock is obtained and sent to the laser control unit; S6, after receiving the type of rock to be broken obtained by the first image acquisition and analysis unit, the laser control unit obtains laser emission parameters corresponding to the current type of rock to be broken, and after receiving the real-time situation information of the laser fracturing rock obtained by the first image acquisition and analysis unit, adjusts the laser emission parameters, and generates a second control instruction according to the laser emission parameters; S7. After receiving the second control instruction from the laser control unit, the laser emitting unit controls the laser emitting unit to start emitting laser to break rocks.

[0037] According to the description of Example 1, the application scenario and implementation principle of this embodiment are consistent with those of Example 1, and therefore will not be described in detail.

[0038] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle-mounted high-energy laser rock fracturing control system, characterized in that: include: The electric flat car is used to control the electric flat car to move to a designated rock breaking position after receiving a first control instruction from the electric flat car control unit; An electric flat car control unit is arranged on the electric flat car, stores a motion path of the electric flat car, and is used to generate a first control instruction according to the stored motion path of the electric flat car and the surrounding environment information acquired by the second image acquisition and analysis unit; The laser emitting unit is arranged at the front end of the robot arm and is carried on the electric flat car through the robot arm, and is used to control the laser emitting unit to start emitting laser to break rocks after receiving the second control instruction of the laser control unit; A laser control unit is arranged on the electric flat car, and stores laser emission parameters corresponding to the type of rock to be broken, and is used to obtain the laser emission parameters corresponding to the current type of rock to be broken after receiving the type of rock to be broken obtained by the first image acquisition and analysis unit, and is used to adjust the laser emission parameters after receiving the real-time situation information of the laser fractured rock obtained by the first image acquisition and analysis unit, and generate a second control instruction according to the laser emission parameters; The first image acquisition and analysis unit is arranged on the electric flat car, and is used to obtain the type of rock to be broken after the electric flat car moves to the designated rock breaking position, and obtain the real-time situation information of the laser-fractured rock after the laser emission unit is started, and send it to the laser control unit; The second image acquisition and analysis unit is arranged on the electric flat car, and is used to acquire the surrounding environment information of the electric flat car during the movement, and send it to the electric flat car control unit.

2. A vehicle-mounted high-energy laser rock fracturing control system according to claim 1, characterized in that: It also includes a mechanical arm control unit, which is arranged on the electric flat car; After the electric flat car moves to the designated rock breaking position, the electric flat car control unit notifies the robotic arm control unit; The manipulator control unit is used to generate a third control instruction based on the position of the rock to be broken obtained by the first image acquisition and analysis unit after receiving the notification from the electric flat car control unit, and control the manipulator arm to adjust to a predetermined height and a predetermined posture after receiving the third control instruction; When the robot arm is adjusted to a predetermined height and a predetermined posture, the laser control unit is notified through the robot arm control unit. After receiving the notification from the robot arm control unit, the laser control unit sends the generated second control instruction to the laser emission unit.

3. The vehicle-mounted high-energy laser rock fracturing control system according to claim 1 is characterized in that: The electric flat car is also provided with a position sensor; The second image acquisition and analysis unit is started after the electric flat car receives the first control instruction and before the electric flat car moves, and acquires the surrounding environment information in real time during the movement of the electric flat car; When the second image acquisition and analysis unit is started, the current position of the electric flat car is acquired through the position sensor, and it is determined whether the electric flat car is at the starting point of the motion path. When the electric flat car is at the starting point of the motion path, the electric flat car moves according to the motion path; During the movement of the electric flat car, the second image acquisition and analysis unit acquires the surrounding environment information in real time, and determines whether to optimize the movement path based on the surrounding environment information. If optimized, the electric flat car control unit is notified to control the electric flat car to move to the designated rock breaking position according to the optimized movement path; When the electric flat car moves to the designated rock breaking position, the second image acquisition and analysis unit is notified to be turned off through the electric flat car control unit, and the first image acquisition and analysis unit is notified to be started through the electric flat car control unit.

4. A vehicle-mounted high-energy laser rock fracturing control system according to claim 3, characterized in that: The determining whether to optimize the motion path based on the surrounding environment information refers to: According to the surrounding environment information obtained, the ground depression degree information, slope information and obstacle information in front of the electric flat car in the movement path are obtained. When the ground depression degree is lower than the preset depression degree, the slope is lower than the preset slope, there is no obstacle, and when there is an obstacle, the size of the obstacle is smaller than the specified size, the movement path is not optimized; otherwise, the movement path is optimized.

5. The vehicle-mounted high-energy laser rock fracturing control system according to claim 2 is characterized in that: When the first image acquisition and analysis unit is started, the image information of the rock to be broken is acquired, and the type and position of the rock to be broken are determined based on the image information. The type of rock to be broken is notified to the laser control unit, and the position of the rock to be broken is notified to the robotic arm control unit.

6. A vehicle-mounted high-energy laser rock fracturing control system according to claim 5, characterized in that: When the robotic arm control unit receives the notification from the first image acquisition and analysis unit, it determines whether the maximum height of the robotic arm can reach the height of the rock to be broken based on the position of the rock to be broken. If it can reach it, the robotic arm is controlled to adjust to a predetermined height and a predetermined posture.

7. A vehicle-mounted high-energy laser rock fracturing control system according to claim 6, characterized in that: The electric flat car is also provided with a lifting platform, and the bottom surface of the mechanical arm is fixed on the surface of the lifting platform; When the maximum height of the robotic arm cannot reach the height of the rock to be broken, the robotic arm control unit notifies the electric flat car control unit, which calculates the difference between the height of the rock to be broken and the maximum height of the robotic arm, and raises the lifting platform according to the difference, so that the robotic arm can reach the predetermined height, and controls the robotic arm to adjust to the predetermined height and predetermined posture.

8. A vehicle-mounted high-energy laser rock fracturing control system according to claim 7, characterized in that: The laser emission parameters corresponding to the type of rock to be broken include laser spot size, laser irradiation power and laser irradiation time; The adjustment of the laser emission parameters refers to: The image information of the laser-fractured rock is obtained by the first image acquisition and analysis unit, and the crack area information, the opening information and the length information of the rock are obtained based on the image information, and the information is used as the real-time situation information; During the laser irradiation process at the current rock position to be broken, it is determined in real time whether the type of rock has changed. If no change occurs, it is determined whether the crack area information, opening information and length information correspond to the preset crack area information, preset opening information and preset length information. If not, the laser control unit is notified to linearly increase or decrease the laser spot size, laser irradiation power and laser irradiation time until they correspond.

9. A vehicle-mounted high-energy laser rock fracturing control system according to any one of claims 5 to 8, characterized in that: During the laser irradiation process at the current rock position to be broken, if the type of rock has not changed, after the laser irradiation time reaches a predetermined time or the rock is judged to reach a predetermined rock breaking state based on the crack area information, the opening information and the length information, the laser control unit is notified through the first image acquisition and analysis unit to control the laser emission unit to be turned off, and the mechanical arm control unit is notified to adjust the mechanical arm to the next rock position to be broken; During the laser irradiation process at the current rock position to be broken, if the type of rock changes, the image information of the rock at the time of the change will be sent to the remote management and control center, and the remote management and control center will determine whether to continue the laser irradiation process at the current rock position to be broken.

10. A vehicle-mounted high-energy laser fracturing rock control method, applied to a vehicle-mounted high-energy laser fracturing rock control system according to any one of claims 1 to 9, characterized in that: The steps include: The electric flat car control unit, the laser control unit, the first image acquisition and analysis unit and the second image acquisition and analysis unit are arranged on the electric flat car, and the laser emission unit is arranged on the electric flat car through a mechanical arm; The second image acquisition and analysis unit acquires the surrounding environment information of the electric flat car during the movement, and sends it to the electric flat car control unit; The electric flat car control unit generates a first control instruction according to the stored motion path of the electric flat car and the surrounding environment information acquired by the second image acquisition and analysis unit; After receiving the first control instruction from the electric flat car control unit, the electric flat car controls the electric flat car to move to the designated rock breaking position; After the electric flat car moves to the designated rock breaking position, the type of rock to be broken is obtained through the first image acquisition and analysis unit, and after the laser emission unit is started, the real-time situation information of the laser-fracturing rock is obtained and sent to the laser control unit; The laser control unit obtains laser emission parameters corresponding to the current type of rock to be broken after receiving the type of rock to be broken obtained by the first image acquisition and analysis unit, and adjusts the laser emission parameters after receiving the real-time situation information of the laser fracturing rock obtained by the first image acquisition and analysis unit, and generates a second control instruction according to the laser emission parameters; After receiving the second control instruction from the laser control unit, the laser emitting unit controls the laser emitting unit to start emitting laser to break the rock.

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