Ore sample collecting device and method for prospecting

Abstract

The invention discloses an ore sample collection device and method for prospecting, and belongs to the technical field of ore sample collection. The device comprises a crawler belt moving platform, an intelligent control system, a mechanical arm system, a sample storage unit and a sensor module; the intelligent control system comprises a vehicle-mounted controller and a control terminal; the vehicle-mounted controller is connected with the crawler moving platform, the mechanical arm system, the sample storage unit and the sensor module; the control terminal is wirelessly connected with the vehicle-mounted controller; the mechanical arm system comprises a mechanical arm, a multifunctional collecting head is arranged on the mechanical arm, and the multifunctional collecting head comprises a drilling head, a cutting head and a grabbing head; the sample storage unit comprises a storage box; the sensor module comprises a geological radar, a temperature and humidity sensor, a pressure sensor and a spectrum analyzer. The device is specially designed for prospecting ore sample collection, ore sample collection equipment is intelligently designed according to the scheme, prospecting ore sample collection is conducted through the remote control technology, adaptability is high, efficiency is high, and the manual labor amount is small.

Description

Technical Field

[0001] The present invention relates to the technical field of ore sample collection, and particularly relates to an ore sample collection device and method for prospecting. Background Art

[0002] In the field of mineral resource exploration, ore sample collection is a key step in obtaining geological information, analyzing ore body composition, and evaluating resource reserves. Traditional ore sample collection methods mainly rely on manual operation or simple mechanical equipment, and these methods have many limitations under complex geological conditions.

[0003] Poor adaptability: Complex geological conditions (such as hard rock formations, loose soil layers, etc.) have extremely high requirements for collection equipment, and traditional equipment is difficult to meet diverse needs.

[0004] Low efficiency: Traditional equipment has a single function and low operation efficiency.

[0005] Large amount of manual labor: Manual operation involves a large amount of labor and is only applicable to small-scale exploration tasks.

[0006] Therefore, it is of great practical significance to develop an intelligent ore sample collection device with strong adaptability, high efficiency, and small amount of manual labor. Summary of the Invention

[0007] In view of the above deficiencies of the prior art, the present invention provides an ore sample collection device and method for prospecting; the ore sample collection device and method for prospecting are designed specifically for ore sample collection in prospecting. This solution conducts intelligent design on the ore sample collection equipment, uses remote control technology for ore sample collection in prospecting, and has strong adaptability, high efficiency, and small amount of manual labor.

[0008] To solve the above technical problems, an ore sample collection device for prospecting provided by the present invention includes a crawler mobile platform, an intelligent control system, a robotic arm system, a sample storage unit, and a sensor module; the intelligent control system includes a vehicle-mounted controller respectively connected to the crawler mobile platform, the robotic arm system, the sample storage unit, and the sensor module, and a control terminal wirelessly connected to the vehicle-mounted controller; the robotic arm system includes a robotic arm, and a multi-functional collection head is arranged on the robotic arm, and the multi-functional collection head includes a drill head, a cutting head, and a grasping head; the sample storage unit includes a storage box; the sensor module includes a ground penetrating radar, a temperature and humidity sensor, a pressure sensor, and a spectral analyzer.

[0009] In a further improvement of the present invention, the crawler mobile platform adopts a remotely controlled electric crawler platform, and a GPS positioning system and an automatic navigation system are arranged on the crawler mobile platform.

[0010] In a further improvement of the present invention, the robotic arm adopts a multi-joint design and has six degrees of freedom; a force feedback sensor is arranged inside the robotic arm.

[0011] In a further improvement of the present invention, the robotic arm adopts an AI vision robotic arm, and the AI vision robotic arm includes a high-resolution camera and an image recognition algorithm, which are used to identify the position of the sampling point and the shape of the ore sample in real time, and adjust the movement trajectory of the robotic arm through the vehicle-mounted controller.

[0012] In a further improvement of the present invention, the drill bit head adopts a water-cooled mode.

[0013] In a further improvement of the present invention, the storage box includes a temperature-controlled box body and a box cover rotatably connected to the temperature-controlled box body. The temperature-controlled box body is connected to an electric cylinder, and the electric cylinder is connected to the box cover.

[0014] In a further improvement of the present invention, at least two storage boxes are provided.

[0015] A method for collecting ore samples using the ore sample collection device described above provided by the present invention includes the following steps: Step S1, the operator starts the device through the remote control terminal. The GPS positioning system of the crawler mobile platform determines the current position, and plans the travel path according to the preset exploration route. The automatic navigation function guides the crawler mobile platform to the target area. Step S2, after reaching the target area, the ground penetrating radar in the sensor module is started to scan the distribution of underground ore bodies and generate a three-dimensional model of the underground structure; the temperature and humidity sensor and the pressure sensor monitor the surface and underground environmental parameters in real time; the vehicle-mounted controller analyzes the ore body distribution according to the ground penetrating radar and sensor data and determines the best sampling point. Step S3, according to the instruction of the vehicle-mounted controller, the robotic arm system moves above the target sampling point; the force feedback sensor at the end of the robotic arm monitors the position and force in real time. The drill bit head is started, and the appropriate drilling mode is selected according to the geological conditions. The drill bit operates at a preset drilling speed and depth, and the cooling device prevents the drill bit from overheating; after drilling is completed, the multi-functional collection head at the end of the robotic arm is switched to the grasping head to extract the ore sample from the drill hole. Step S4, the ore sample extracted by the robotic arm is sent to the spectral analyzer in the sensor module for preliminary component analysis. The analysis result is transmitted to the vehicle-mounted controller in real time for judging the sample type and quality. According to the spectral analysis result, the vehicle-mounted controller classifies the sample. Step S5, the classified ore samples are sent into the corresponding storage boxes by the robotic arm; at the same time, the classification data is sent to the control terminal through wireless transmission. Step S5, after the collection is completed, the vehicle-mounted controller plans the next exploration route according to the instruction of the control terminal or automatically and continues to execute a new collection task.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention is designed specifically for prospecting ore sample collection. This solution intelligently designs the ore sample collection equipment and uses remote control technology to collect prospecting ore samples, with strong adaptability, high efficiency, and small manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the background art or the technical solution of the present invention, the drawings used in combination in the prior art or the specific embodiments are briefly introduced below; obviously, the structures, proportions, sizes, etc. shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of the present invention. Therefore, they do not have technical substance significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0018] Figure 1 It is a schematic flowchart of the implementation process of the specific embodiment of the present invention.

[0019] Figure 2 It is a schematic structural diagram of the specific embodiment of the present invention.

[0020] As shown in the figure: 1. Crawler mobile platform; 2. Manipulator 2; 3. Spectral analyzer; 4. Storage box. SPECIFIC EMBODIMENTS

[0021] In order to enable those skilled in the art of the present technology to better understand the technical solutions in the present invention, 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 only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0022] At the same time, the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. cited in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. The change or adjustment of its relative relationship, without substantial change in the technical content, should also be regarded as the scope in which the present invention can be implemented.

[0023] Meanwhile, in the description of this specification, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "linkage" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In the field of mineral resource exploration, ore sample collection is a key step in obtaining geological information, analyzing ore body composition, and evaluating resource reserves. Traditional ore sample collection methods mainly rely on manual operations or simple mechanical equipment, and these methods have many limitations under complex geological conditions.

[0025] Poor adaptability: Complex geological conditions (such as hard rock formations, loose soil layers, etc.) have extremely high requirements for collection equipment, and traditional equipment is difficult to meet diverse needs.

[0026] Low efficiency: Traditional equipment has a single function and low operation efficiency.

[0027] Large amount of manual labor: Manual operations involve a large amount of labor and are only applicable to small-scale exploration tasks.

[0028] Therefore, it is of great practical significance to develop an intelligent ore sample collection device with strong adaptability, high efficiency, and small amount of manual labor.

[0029] The design concept of this application is to design an intelligent prospecting robot that uses remote control technology to collect ore samples for prospecting, with strong adaptability, high efficiency, and small amount of manual labor.

[0030] As Figure 1 shown, this application provides an ore sample collection device for prospecting, including a tracked mobile platform 1, an intelligent control system, a robotic arm system, a sample storage unit, a sensor module, a modular expandable tool interface, and an environment adaptive energy management system.

[0031] The tracked mobile platform 1 adopts a remotely controlled electric track structure, with a flexible solar film covering its surface, and a kinetic energy recovery device integrated on the track drive wheel axle.

[0032] The intelligent control system includes a vehicle-mounted controller respectively connected to the tracked mobile platform 1, the robotic arm system, the sample storage unit, and the sensor module, and a control terminal wirelessly connected to the vehicle-mounted controller; the vehicle-mounted controller is connected to each subsystem through a 5G communication module, and an adaptive geological matching algorithm module and a blockchain data deposit and certification system are built in.

[0033] The blockchain data storage and certification system adopts the Hyperledger Fabric architecture, including local nodes and cloud nodes. The ore sample data is encrypted by SHA-256 to generate a unique hash value, and judicial institution verification is realized through smart contracts.

[0034] The robotic arm system includes a robotic arm 2, and a multi-functional acquisition head is arranged on the robotic arm 2. The multi-functional acquisition head includes a drilling head (water-cooled drilling head), a cutting head, and a grasping head (supporting multiple operation modes such as drilling, cutting, and grasping). The sensor module includes a ground-penetrating radar, a temperature and humidity sensor, a pressure sensor, and a spectral analyzer 3. The ground-penetrating radar is installed at the bottom of the crawler mobile platform and is connected to the vehicle-mounted controller through an RS485 interface; the ground-penetrating radar is used to detect the distribution of underground ore bodies, with a detection depth of 100 meters and a resolution of 1 centimeter; the temperature and humidity sensor and the pressure sensor are used to monitor the geological environment in real time; the spectral analyzer 3 is used to perform a preliminary component analysis on the collected ore samples to provide a reference for subsequent laboratory research. The spectral analyzer 3 supports visible light and infrared spectroscopy analysis, with an accuracy of 0.1 nm.

[0035] The sample storage unit includes at least two storage boxes. The storage boxes are driven by electric cylinders to open and close the lids, and are arranged in the middle of the crawler mobile platform; the storage boxes can better maintain the original characteristics of the ore samples (such as humidity and temperature) and avoid sample deterioration; the design with two or more boxes supports classified storage and improves operation efficiency.

[0036] The modular and expandable tool interface is arranged at the end of the main robotic arm and adopts a magnetic adsorption quick-release structure, including 12-pin gold-plated electrical contacts (3 power pins, 4 data pins, and 5 ground pins), supporting the replacement of a soil heavy metal detector or a groundwater sampling tube; the modular and expandable tool interface uses a standardized quick-release interface to support the expansion of tools (such as heavy metal detectors and groundwater sampling tubes), can quickly switch function modules, realize multi-purpose use of one machine (prospecting, environmental monitoring, disaster warning), and reduce equipment costs; the maximum load current of the modular and expandable tool interface is 10 A, supports plug-and-play, and automatically loads the corresponding control program through the vehicle-mounted controller when replacing tools.

[0037] The environment-adaptive energy management system includes a flexible solar film, a kinetic energy recovery device, and a power management unit. The solar film is connected to the power management unit of the vehicle-mounted controller through a DC-DC converter.

[0038] The power management unit dynamically allocates power according to the task priority. When drilling, it preferentially supplies power to the robotic arm system, and when performing spectral analysis, it preferentially supplies power to the sensor module; it optimizes energy consumption according to the task priority (such as preferentially supplying power to the robotic arm during drilling), and the battery life is extended to 72 hours.

[0039] Among them, the tracked mobile platform 1 is equipped with a GPS positioning system and an automatic navigation system. The automatic navigation system plans the path in real time based on the SLAM algorithm, can operate according to the preset route, realize high-precision autonomous navigation, adapt to complex terrain, and reduce human intervention; the tracked mobile platform 1 can adapt to complex terrain and is convenient for prospecting; the tracked mobile platform 1 has a built-in lithium battery or battery power system.

[0040] Among them, the robotic arm 2 adopts a multi-joint design, has at least 6 degrees of freedom, and can move flexibly in three-dimensional space; a force feedback sensor is arranged in the robotic arm 2 to monitor the force conditions during the collection process in real time to avoid damage to samples or equipment.

[0041] Among them, the robot arm 2 adopts an AI visual robot arm, which is more convenient for transmitting visual information to the operator of the control terminal; the AI visual robot arm includes a high-resolution industrial camera and an image recognition algorithm based on a convolutional neural network, which is used to identify the sampling point position and the ore sample shape in real time, and adjust the movement trajectory of the robot arm through the on-board controller. The robot arm 2 can adopt Yabo Intelligent DOFBOT-SE AI visual robot arm, DOFBOT-PRO AI visual robot arm, etc. Users can also use other models of AI visual robot arms. The specific selection is determined by the user according to his own situation.

[0042] Or a robotic arm system, including a main robotic arm and a secondary robotic arm, the main robotic arm is fixed to the mounting base at the front end of the crawler mobile platform by bolts, has 6 degrees of freedom, and is provided with a multifunctional acquisition head at the end, the secondary robotic arm is installed at the rear of the crawler mobile platform through a slide rail, and is equipped with a miniature laser cutting head at the end; wherein, the main robotic arm is an AI visual robotic arm equipped with a high-resolution industrial camera and an image recognition algorithm based on a convolutional neural network, the laser cutting head of the secondary robotic arm has a power range of 10-100W, and the output is adjusted by a PID controller; the distance between the main robotic arm and the secondary robotic arm is 1.2 meters, and the two achieve action synchronization through a 5G communication module, with a delay of ≤50ms; dual-arm collaboration is achieved through low-latency communication to reduce sampling time; the laser power is adaptively adjusted to adapt to mineral samples of different hardness (such as from soft clay to hard granite).

[0043] Among them, the drilling head adopts a water-cooling mode to prevent the drill bit from overheating and damage, and ensure that the drill bit works normally in a high-temperature environment. The water-cooled drilling head has a built-in temperature sensor, which is linked with the adaptive geological matching algorithm module to control the coolant flow. The water-cooled drilling head is linked with the temperature sensor to effectively control the drill bit temperature (≤80°C), extend the drill bit life, and adapt to continuous operation in high-temperature formations.

[0044] Among them, the storage box 4 includes a temperature-controlled box body and a box cover rotatably connected to the temperature-controlled box body. The temperature-controlled box body is connected to an electric cylinder, and the electric cylinder is connected to the box cover. Among them, at least two storage boxes 4 are provided. For the storage box 4, a finished small refrigerator or a cold storage box can be directly purchased.

[0045] As Figure 2 shown, the present application provides a method for collecting ore samples of an ore sample collection device for prospecting, including the following steps Step S1, the operator starts the device through the remote control terminal. The GPS positioning system of the crawler mobile platform 1 determines the current position, and plans the traveling path according to the preset exploration route. The automatic navigation function guides the crawler mobile platform 1 to the target area. Step S2, after reaching the target area, the ground penetrating radar in the sensor module is activated to scan the distribution of underground ore bodies, generate a three-dimensional model of the underground structure, and the adaptive geological matching algorithm module dynamically adjusts the drilling parameters in combination with the data of the pressure sensor. The temperature and humidity sensor and the pressure sensor monitor the surface and underground environmental parameters in real time. The vehicle-mounted controller analyzes the distribution of ore bodies according to the data of the ground penetrating radar and the sensors, and determines the best sampling point. Step S3, according to the instruction of the vehicle-mounted controller, the robotic arm system moves above the target sampling point. The force feedback sensor at the end of the robotic arm 2 monitors the position and the force condition in real time. The drill head is activated, and a suitable drilling mode is selected according to the geological conditions. The drill bit operates at a preset drilling speed and depth, and the cooling device prevents the drill bit from overheating. After the drilling is completed, the multi-functional collection head at the end of the robotic arm 2 is switched to the grasping head, and the ore sample is extracted from the drill hole. Step S4, the ore sample extracted by the robotic arm 2 is sent to the spectral analyzer 3 in the sensor module for preliminary composition analysis. The analysis result is transmitted to the vehicle-mounted controller in real time for judging the sample type and quality. According to the spectral analysis result, the vehicle-mounted controller classifies the samples, and the data is encrypted and stored by the blockchain system. Step S5, the classified ore samples are sent into the corresponding storage box 4 by the robotic arm 2; at the same time, the classification data is sent to the control terminal through wireless transmission. Step S5, after the collection is completed, the power management unit monitors the remaining power in real time, gives priority to ensuring the power supply of the key task modules, and the vehicle-mounted controller plans the next exploration route according to the instruction of the control terminal or automatically, and continues to execute a new collection task.

[0046] Advantages of the present application Strong adaptability: The device can adapt to a variety of complex geological conditions and meet diverse collection requirements.

[0047] High precision: Through the cooperation of the intelligent control system and the sensor module, high-precision ore sample collection and analysis are realized.

[0048] Comprehensive functions: Integrates functions of collection, analysis, storage and monitoring, improving operation efficiency.

[0049] Intelligent: Supports remote control and automatic navigation, reducing manual intervention and operation difficulty.

[0050] Rich data: Real-time monitors geological parameters, providing comprehensive data support for prospecting operations.

[0051] The present invention provides a multi-dimensional intelligent ore sample collection device with strong adaptability, high precision and comprehensive functions, which can meet the ore sample collection requirements under complex geological conditions; the device integrates a variety of advanced technologies, realizing the intelligence and automation of ore sample collection, and providing efficient and accurate technical support for mineral resource exploration.

[0052] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all be within the scope of the present invention. / Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A device for collecting ore samples for prospecting, characterized in that, It includes a crawler mobile platform, an intelligent control system, a robotic arm system, a sample storage unit, and a sensor module; the intelligent control system includes a vehicle-mounted controller respectively connected to the crawler mobile platform, the robotic arm system, the sample storage unit, and the sensor module, and a control terminal wirelessly connected to the vehicle-mounted controller; the robotic arm system includes a robotic arm, and a multi-functional acquisition head is arranged on the robotic arm, and the multi-functional acquisition head includes a drilling probe, a cutting head, and a grasping head; the sample storage unit includes a storage box; the sensor module includes a ground penetrating radar, a temperature and humidity sensor, a pressure sensor, and a spectral analyzer.

2. The ore sample collection device for prospecting according to claim 1, characterized in that, The crawler mobile platform adopts a remotely controlled electric crawler platform, and a GPS positioning system and an automatic navigation system are arranged on the crawler mobile platform.

3. The ore sample collection device for prospecting according to claim 1, wherein, The robotic arm adopts a multi-joint design and has 6 degrees of freedom; a force feedback sensor is arranged inside the robotic arm.

4. The ore sample collection device for prospecting according to claim 3, wherein, The robotic arm adopts an AI vision robotic arm.

5. The ore sample collection device for prospecting according to claim 1, characterized in that, The drilling probe adopts a water-cooled mode.

6. The ore sample collection device for prospecting according to claim 1, characterized in that, The storage box includes a temperature-controlled box body and a box cover rotatably connected to the temperature-controlled box body. The temperature-controlled box body is connected to an electric cylinder, and the electric cylinder is connected to the box cover.

7. The ore sample collection device for prospecting according to claim 6, characterized in that, At least two storage boxes are provided.

8. A method for collecting ore samples using the ore sample collection device described in claim 1, characterized in that, It includes the following steps Step S1, the operator starts the device through the remote control terminal. The GPS positioning system of the crawler mobile platform determines the current position, and plans the travel path according to the preset exploration route. The automatic navigation function guides the crawler mobile platform to the target area; Step S2, after reaching the target area, the ground penetrating radar in the sensor module is started to scan the distribution of underground ore bodies and generate a three-dimensional model of the underground structure; the temperature and humidity sensor and the pressure sensor continuously monitor the surface and underground environmental parameters; The vehicle-mounted controller analyzes the ore body distribution situation according to the ground penetrating radar and sensor data and determines the optimal sampling point; Step S3, the robotic arm system moves to above the target sampling point according to the instruction of the vehicle-mounted controller; the force feedback sensor at the end of the robotic arm continuously monitors the position and force condition. The drilling probe is started, and the appropriate drilling mode is selected according to the geological conditions. The drill bit operates at the preset drilling speed and depth, and the cooling device prevents the drill bit from overheating; After the drilling is completed, the multi-functional acquisition head at the end of the robotic arm switches to the grasping head to extract the ore sample from the drill hole; Step S4, the ore sample extracted by the robotic arm is sent to the spectral analyzer in the sensor module for preliminary composition analysis. The analysis result is transmitted to the vehicle-mounted controller in real time for judging the sample type and quality. According to the spectral analysis result, the vehicle-mounted controller classifies the sample; Step S5, the classified ore samples are sent into the corresponding storage boxes by the robotic arm; at the same time, the classification data is sent to the control terminal through wireless transmission; Step S5, after the acquisition is completed, the vehicle-mounted controller plans the next exploration route according to the instruction of the control terminal or automatically and continues to execute a new acquisition task.

Images