A method, system and device for real-time detection of ore grade distribution

Abstract

The application provides a kind of ore grade distribution real-time detection method, system and equipment, it is related to mining technical field, method mainly includes: based on the operation map of mining area, centralized control center determines blast design hole coordinate;Automatic drill travels to a hole position and is in position;Automatic drill carries out drilling operation, obtains drill cuttings and records operation parameters in real time;Automatic detection platform is sampled to drill cuttings by sample collection device continuously by continuous flow;Through drying, tabletting, analysis processing, ore grade content and internal profile structure diagram, and match corresponding hole data;Based on ore grade content, internal profile structure diagram and hole data, single-hole model characteristic curve is obtained by fusion;The above operation is carried out to all hole positions;The average value of the single-hole model characteristic curve of adjacent hole positions is calculated, and curve fitting is carried out to obtain the ore grade spatial distribution imaging map.The scheme can provide intuitive guidance for ore dressing of mine, and can greatly improve the mining efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of mining technology, and in particular to a method, system and equipment for real-time detection of ore grade distribution. Background Technology

[0002] Currently, the conventional method for analyzing ore grade mainly involves sending ore powder to a laboratory for testing after blasting operations. This process is not only time-consuming but also cumbersome. Although the technologies for ore sampling and sample preparation are quite mature, the processes are relatively fragmented and cannot yet be automated. Under these circumstances, it is impossible to obtain the precise distribution of ore grade in the formation in a timely manner, thus affecting the efficiency and quality of mining operations.

[0003] With the continuous development of intelligent technology, how to apply it to the field of real-time detection technology of mineral grade distribution has become a major research topic. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, and equipment for real-time detection of mineral grade distribution, so as to solve at least one of the above-mentioned technical problems existing in the prior art.

[0005] Firstly, to solve the above-mentioned technical problems, the present invention provides a method for real-time detection of mineral grade distribution, comprising:

[0006] Step 1: Based on the operation map of the mining area, the control center determines the coordinates of the blasting design boreholes;

[0007] Step 2: The remote operation platform controls the automatic drilling rig to move to a specific hole position and take it into place;

[0008] Step 3: The automatic drilling rig obtains borehole location data and rig position data through a satellite positioning device, and obtains formation structure parameters and attitude information through a sensing system; based on the formation structure parameters, the central control center calculates the drilling parameters; based on the drilling parameters and attitude information, the remote operation platform controls the automatic drilling rig to perform drilling operations, obtain drill cuttings, and record operation parameters in real time; the operation parameters include position, depth, pressure, speed, ore grade, and dip angle, etc.

[0009] Step 4: The automatic detection platform continuously samples the drill cuttings using a sample collection device; dries the samples using a drying device; shapes the samples using a tablet pressing device; and performs breakdown-induced spectroscopy and X-ray tomography on the samples using an analysis device to obtain the mineral grade content and internal cross-sectional structure diagram, and matches the corresponding pore location data.

[0010] Step 5: Based on the mineral grade content, the internal profile structure diagram, and the borehole data, a single-bore model characteristic curve is obtained by fusion. Then, the single-bore model characteristic curve undergoes gain amplification, difference adjustment, and fidelity preservation processing. The fidelity preservation processing refers to performing confirmatory factor analysis using structural equation modeling based on adjacent borehole data. Specifically, this includes calculating the covariance of adjacent single-bore model characteristic curves, performing reliability and validity analysis and fit testing, selecting curves with path coefficients greater than 0.7 between latent variables and factor loadings greater than 0.49 between manifest variables, filtering distorted curves, and automatically filling interpolation. This maximizes the fuzzy interval prediction of the mineral grade trend trajectory around the sample.

[0011] Step 6: For the remaining holes, perform steps 2 to 5 one by one and perform differential calibration to obtain the single-hole model characteristic curves for all holes.

[0012] Step 7: Based on the single-hole model characteristic curves of all borehole locations, calculate the average value of the single-hole model characteristic curves of adjacent borehole locations, and perform characteristic curve fitting of adjacent borehole locations to obtain a spatial distribution imaging map of mineral grade.

[0013] Using the above method, drill cuttings are sampled at each borehole during the blasting drilling process, and then dried, pressed, and analyzed in real time to obtain detection data. Based on this data, a single-hole characteristic curve is constructed, and the single-hole characteristic curves of adjacent boreholes are fitted to obtain an image of the spatial distribution of ore grade. This fully utilizes the timing advantage of the blasting drilling process to efficiently and quickly obtain an image of the spatial distribution of ore grade, providing intuitive guidance for subsequent mining operations.

[0014] In one feasible implementation, step 3 specifically includes the following process:

[0015] Step 31: Using an airborne positioning device, such as a GNSS sensor device, send local positioning data to a positioning base station, such as a CORS differential base station, to perform coordinate positioning and dual correction calculation of fuselage attitude to obtain the geodetic coordinates of the borehole location.

[0016] Step 32: Refresh local location;

[0017] Step 33: After logical processing using the airborne azimuth sensor, the current drilling depth of the drill bit is obtained, and combined with the hole elevation parameters, the bottom elevation of the hole is obtained.

[0018] Step 34: Collect equipment parameters in real time through the airborne sensing system and input them into the airborne ECU. The equipment parameters include oil pressure, current, voltage, displacement, depth, water temperature and oil temperature, etc.

[0019] Step 35: Based on the geodetic coordinates of the borehole location and the elevation of the bottom of the borehole, the center coordinates of the drill rod are calculated using the positioning system and the drilling rig model; the drilling rig model refers to the three-dimensional mathematical model of the drilling rig itself, including the relative position of the drill rod center to the drilling rig reference point;

[0020] Step 36: By adjusting and collecting the posture of the automatic drilling rig boom and the drilling angle of the push beam, posture information is obtained. The posture information includes front and rear tilt angles, left and right tilt angles, drilling rig orientation, and drilling frame erection hole position, etc.

[0021] Step 37: Based on the attitude information, perform borehole guidance to achieve borehole locking and automatic control of rock drilling parameters.

[0022] Through the above steps, the parameters required for drilling operations can be obtained quickly and in real time, and the automatic drilling machine can be controlled through a remote operation platform to carry out drilling operations, thereby ensuring operational accuracy and production safety.

[0023] In one feasible implementation, the sample quantity in step 4 is as follows: the sample location is 18 meters deep, the number of samples is 6 per well, the particle diameter is less than or equal to 2 cm, and the sample weight is 200 grams.

[0024] In one feasible implementation, the drying temperature of the drying device is 200 degrees Celsius to ensure that the moisture content of the sample quickly drops below 10%.

[0025] In one feasible implementation, after the tablet compression device shapes the sample, the sample thickness is less than or equal to 40 cm, which facilitates subsequent testing.

[0026] In one feasible implementation, the breakdown-induced spectroscopy detection involves emitting a high-energy pulsed laser beam onto the sample using a laser, exciting the ore body to emit photons of a specific wavelength, and then detecting the ore body's properties and composition using spectroscopy. Specific detection conditions include:

[0027] Sampling method: continuous sampling;

[0028] Detection time: 1-2 seconds;

[0029] Detection distance: 15-50cm;

[0030] Scanned area: 5μm²;

[0031] Humidity: less than 85%.

[0032] Laser-induced spectroscopy can quickly and accurately detect the properties and composition of minerals, making it ideal for real-time detection.

[0033] In one feasible implementation, step 7 further includes a digital twin process: defining a meta-model based on the internal cross-sectional structure diagram; constructing a surface shape model of the drilling area using laser scanning point clouds; establishing the correspondence between the drill cuttings body of each borehole based on the mineral grade content and corresponding borehole location data; and mapping the surface mineral grade distribution of the drilling area in real time in virtual space based on the meta-model, the surface shape model, the mineral grade content and its borehole location data, and combined with airborne sensor data such as machine location data, stratigraphic structure parameters, and attitude information, thereby constructing an intuitive three-dimensional model of the stratigraphic structure and ore in real time.

[0034] In one feasible implementation, during the mapping process of the digital twin, the meta-model, the surface shape model, the mineral grade content, and the corresponding borehole location data are used as three types of path data. By using, for example, an extended Kalman filter algorithm, the covariance between the characteristic curves of each single borehole model is calculated, and a covariance matrix is ​​constructed to eliminate mapping errors. This enables deep knowledge mining of the predicted trajectory of each single borehole and mixes and localizes various types of sensor data to ensure that the digital twin effect is realistic and reliable.

[0035] Secondly, based on the same inventive concept, this application also provides a real-time mineral grade distribution detection system, including: a central control center, a remote operation platform, an automatic drilling rig, an automatic detection platform, and a wireless transmission module.

[0036] The central control center outputs the coordinates of the blasting design boreholes to the remote operation platform based on the operation map of the mining area.

[0037] The remote operation platform controls the automatic drilling rig to travel to the designed hole position based on the hole position coordinates, detects the hole position data, machine position data, formation structure parameters and attitude information, and sends the formation structure parameters to the central control center.

[0038] The centralized control center calculates drilling parameters based on formation structure parameters and sends them to the remote operation platform.

[0039] The remote operation platform controls the automatic drilling rig to perform drilling operations based on drilling parameters and attitude information, obtains drill cuttings, records operation parameters in real time, and transports the drill cuttings to the automatic detection platform.

[0040] The automatic detection platform performs sorting, drying, pressing and analysis on the drill cuttings to obtain the mineral grade content and internal cross-sectional structure diagram, and matches the corresponding borehole location data, which is then sent to the central control center.

[0041] The central control center, based on the mineral grade content, internal profile structure diagram and borehole data, fuses to obtain a single-hole model feature curve, and fits the single-hole model feature curves of all boreholes with the feature curves of adjacent boreholes to obtain a spatial distribution imaging map of mineral grade.

[0042] The wireless transmission module is used to transmit data and instructions within the system.

[0043] The system described above can be used to design blasting locations in the mining area, automatically perform drilling and real-time detection of ore grade, and simultaneously construct an imaging map of the spatial distribution of ore grade, providing intuitive guidance for subsequent mining operations.

[0044] In one feasible implementation, a task management subsystem is also included, which takes the job parameters as input, performs statistical calculations, outputs job reports and operation logs, and sends them to the web for visualization and query.

[0045] In one feasible implementation, the task management subsystem also includes a data reading interface to facilitate subsequent data management and data analysis.

[0046] In one feasible implementation, a digital twin module is also included. This digital twin module defines a meta-model based on the internal cross-sectional structure diagram; constructs a surface shape model of the drilling area using laser scanning point clouds; establishes a correspondence between drill cuttings bodies for each borehole based on the mineral grade content and corresponding borehole location data; and performs real-time mapping of the surface mineral grade distribution of the drilling area in virtual space based on the meta-model, the surface shape model, the mineral grade content and its borehole location data, combined with machine location data, formation structure parameters, and attitude information. This mapping reflects the entire lifecycle trajectory of the formation ore and provides a more intuitive representation of the formation mineral grade distribution.

[0047] In one feasible implementation, the control communication of the real-time mineral grade distribution detection system adopts a serial bus system, and the remote communication adopts a serial bus system converted to TCP / IP protocol. This allows the PC, WEB and mobile terminals to be synchronized from the same source, and the digital twin imaging error is ≤0.5m.

[0048] Thirdly, based on the same inventive concept, this application also provides a real-time detection device for mineral grade distribution, including an automatic drilling rig and an automatic detection platform:

[0049] The automatic drilling rig includes a drilling mechanism, sensors, and a traveling mechanism.

[0050] The drilling mechanism is movably mounted at one end of the traveling mechanism and is used to drill blasting holes in the ground; the end of the drilling mechanism that contacts the ground is equipped with a dust removal device for collecting drill cuttings generated during drilling.

[0051] The sensors are mounted on the drilling mechanism and include a GNSS sensor, an azimuth sensor, and a pressure sensor: the GNSS sensor is mounted on the top of the drill frame; the azimuth sensor is mounted at the power head of the drill frame and connected by a pin; the pressure sensor is mounted in the middle of the drill frame.

[0052] The walking mechanism includes electric wheels, an industrial control computer, a hydraulic system, and a power system: the hydraulic system is used to drive the drilling mechanism to move; the power system is used to supply power to the real-time ore grade distribution detection equipment; the industrial control computer is electrically connected to the electric wheels, the hydraulic system, and the power system respectively, and is used to control the cooperative operation of each part;

[0053] One end of the automatic detection platform is hinged to the end of the traveling mechanism away from the drilling mechanism, and specifically includes a control box, an air compressor, a sample collection device, a drying device, a tablet pressing device, an analysis device, and a conveyor belt.

[0054] The control box is electrically connected to the air compressor, the sample collection device, the drying device, the tablet pressing device, the analytical device, and the conveyor belt, respectively, for controlling the coordinated operation of each part. One end of the air compressor is connected to the bottom of the drilling mechanism, and the other end is connected to the input end of the sample collection device, for supplying air to the work, slag discharge, and slag delivery stages of the drilling mechanism. The sample collection device is used to divert and sample drill cuttings. The drying device, the tablet pressing device, and the analytical device are arranged sequentially at the rear of the sample collection device and interconnected by the conveyor belt, for automatically electrothermal drying, pressing, and analyzing the samples. In this way, after the ore at the same drilling depth is separated into large drill blocks at the air compressor, the drill cuttings sequentially enter the sample collection device, the drying device, the tablet pressing device, and the analytical device. Through overall control by the control box, the drilling speed of the drill frame is ensured to be consistent with the sample diversion speed and the conveying speed, thereby facilitating the establishment of a one-to-one correspondence between the borehole depth of the sample source and the analytical results.

[0055] The equipment has a reasonable layout and compact structure, and can realize automatic drilling, sampling and testing analysis operations in mining areas.

[0056] In one feasible implementation, the hydraulic system includes a first hydraulic cylinder, a second hydraulic cylinder, an electro-hydraulic valve, an electro-pneumatic control valve, and a hydraulic oil tank.

[0057] The first hydraulic cylinder is used to rotate the drilling mechanism along the first hinge axis;

[0058] The second hydraulic cylinder is used to rotate the drilling mechanism along the second hinge axis, thus providing greater freedom of movement.

[0059] The electro-hydraulic valve is installed in the oil circuit of the first hydraulic cylinder, the second hydraulic cylinder and the hydraulic oil tank, and is used to control the first hydraulic cylinder and the second hydraulic cylinder.

[0060] The electro-pneumatic control valve is installed in the air circuit between the air compressor and the down-the-hole hammer, and is used to control the down-the-hole hammer. The down-the-hole hammer is a prior art technology that adopts dry operation, using air as both power and slag removal medium, and can perform high-frequency impact on the bottom of the hole without polluting the environment.

[0061] In one feasible implementation, the power system includes a diesel generator and a diesel tank:

[0062] The power output terminal of the diesel generator is connected to the power input terminal of the electric vehicle wheel; the fuel input terminal of the diesel generator is connected to the output terminal of the diesel tank.

[0063] In one feasible implementation, the automatic drilling rig further includes an onboard ECU, which is electrically connected to the electric wheel, the sensor, the control box, etc., to facilitate data and command processing.

[0064] In one feasible implementation, both the control box and the airborne ECU are equipped with 5G terminals for sending and receiving data and commands in real time.

[0065] In one feasible implementation, the analytical device includes a laser-induced breakdown spectrometer (LIBS) with an embedded X-ray computed tomography (CT) module. LIBS is a prior art technique, and its principle is briefly described as follows: a high-energy pulsed laser beam is emitted from a laser towards the mineral powder, causing the energy to be locally coupled into the ore body and reach the mineral's breakdown threshold, resulting in its stripping and vaporization. The ionized atoms then interact with air to generate ions, which excite photons of a specific wavelength in the tested ore body. The properties and composition of the ore body are determined by spectral detection. HRXCT, also a prior art technique, works by measuring the attenuation coefficient of X-rays within the drill cuttings to obtain the two-dimensional distribution characteristics of the drill cuttings profile, and then reconstructing the tomographic image using a grayscale valve.

[0066] In one feasible implementation, the air compressor is a high-pressure screw air compressor.

[0067] In one feasible implementation, the real-time mineral grade distribution detection device further includes surround-view cameras distributed around the walking mechanism to capture images of the surrounding environment, facilitating the operation of the device to avoid obstacles while moving.

[0068] In one feasible implementation, the real-time mineral grade distribution detection device also includes an electronic fence, which is set around the safe working area and used to determine the safe working area by infrared coils. When the device moves out of the safe working area of ​​the electronic fence, the electronic fence will issue an alarm to issue a timely warning to prevent accidents such as equipment falling off cliffs or into water.

[0069] In one feasible implementation, a shock-absorbing device is provided at the hinge joint between the automatic detection platform and the traveling mechanism to prevent the automatic detection platform from being affected by the vibration transmitted from the traveling mechanism due to the drilling operation of the automatic drilling rig, thereby ensuring the stable operation of the equipment on the automatic detection platform and ensuring the accuracy of the analysis results.

[0070] In one feasible implementation, the shock-absorbing device is a spring.

[0071] By adopting the above technical solution, the present invention has the following beneficial effects:

[0072] The method, system, and equipment for real-time detection of mineral grade distribution provided by this invention can realize functions such as automatic walking, automatic drilling, and real-time analysis. During the real-time drilling process, computer three-dimensional dynamic simulation is applied to generate a spatial distribution imaging map of mineral grade, providing intuitive guidance for mineral processing and significantly improving mining efficiency and quality. Attached Figure Description

[0073] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0074] Figure 1 This is a flowchart of a real-time detection method for mineral grade distribution provided in an embodiment of the present invention;

[0075] Figure 2 A detailed flowchart of step 3 provided in this embodiment of the invention;

[0076] Figure 3 A diagram of a real-time mineral grade distribution detection system provided in an embodiment of the present invention;

[0077] Figure 4 This is a three-dimensional side view of the real-time mineral grade distribution detection device provided in an embodiment of the present invention;

[0078] Figure 5 for Figure 4 The main view;

[0079] Figure 6 for Figure 4 Top view.

[0080] Figure label:

[0081] 1-Automatic drilling rig; 10-Drilling mechanism; 11-GNSS sensor; 12-Aperture sensor; 13-Pressure sensor; 14-Dust removal device; 2-Automatic detection platform; 20-Control box; 21-Air compressor; 22-Sampling device; 23-Drying device; 24-Tableting device; 25-Analytical device; 26-Diverter pipe; 3-Walking mechanism; 30-Industrial computer; 31-Hydraulic system; 310-First hydraulic cylinder; 311-Second hydraulic cylinder; 32-Onboard ECU; 33-Power system; 34-Electric wheel; 35-Hinge. Detailed Implementation

[0082] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0084] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0085] The present invention will be further explained below with reference to specific embodiments.

[0086] It should also be noted that the specific embodiments or implementation methods described below are a series of optimized settings listed by the present invention to further explain the specific content of the invention, and these settings can be combined or used in conjunction with each other.

[0087] Example 1:

[0088] like Figure 1 As shown, the real-time detection method for mineral grade distribution provided in this embodiment includes:

[0089] Step 1: Based on the operation map of the mining area, the control center determines the coordinates of the blasting design boreholes;

[0090] Step 2: The remote operation platform controls the automatic drilling rig to move to a specific hole position and take it into place;

[0091] Step 3: The automatic drilling rig obtains borehole location data and rig position data through a satellite positioning device, and obtains formation structure parameters and attitude information through a sensing system; based on the formation structure parameters, the central control center calculates the drilling parameters; based on the drilling parameters and attitude information, the remote operation platform controls the automatic drilling rig to perform drilling operations, obtain drill cuttings, and record operation parameters in real time; the operation parameters include position, depth, pressure, speed, ore grade, and dip angle;

[0092] Step 4: The automatic detection platform continuously samples the drill cuttings using a sample collection device; dries the samples using a drying device; shapes the samples using a tablet pressing device; and performs breakdown-induced spectroscopy and X-ray tomography on the samples using an analysis device to obtain the mineral grade content and internal cross-sectional structure diagram, and matches the corresponding pore location data.

[0093] Step 5: Based on the mineral grade content, the internal cross-sectional structure diagram and the borehole data, a single borehole model feature curve is obtained by fusion, and then the single borehole model feature curve is subjected to gain amplification, differential adjustment and fidelity preservation processing.

[0094] Step 6: For the remaining holes, perform steps 2 to 5 one by one and perform differential calibration to obtain the single-hole model characteristic curves for all holes.

[0095] Step 7: Based on the single-hole model characteristic curves of all borehole locations, calculate the average value of the single-hole model characteristic curves of adjacent borehole locations, and perform characteristic curve fitting of adjacent borehole locations to obtain a spatial distribution imaging map of mineral grade.

[0096] Using the above method, drill cuttings are sampled at each borehole during the blasting drilling process, and then dried, pressed, and analyzed in real time to obtain detection data. Based on this data, a single-hole model characteristic curve is constructed, and the characteristic curves of adjacent boreholes are fitted to obtain a spatial distribution image of ore grade. This fully utilizes the timing advantage of the blasting drilling process to efficiently and quickly obtain ore grade distribution data and generate a spatial distribution image of ore grade, providing intuitive guidance for subsequent mineral processing.

[0097] Furthermore, such as Figure 2As shown, the specific process of step 3 includes:

[0098] Step 31: Using the airborne positioning device, i.e. the GNSS sensor device, send the local positioning data to the positioning base station, such as the CORS differential base station, to perform coordinate positioning and dual correction calculation of the fuselage attitude to obtain the geodetic coordinates of the hole location.

[0099] Step 32: Refresh local location;

[0100] Step 33: After logical processing using the airborne azimuth sensor, the current drilling depth of the drill bit is obtained, and combined with the hole elevation parameters, the bottom elevation of the hole is obtained.

[0101] Step 34: Collect equipment parameters in real time through the airborne sensing system and input them into the airborne ECU. The equipment parameters include oil pressure, current, voltage, displacement, depth, water temperature and oil temperature.

[0102] Step 35: Based on the geodetic coordinates of the borehole location and the elevation of the bottom of the borehole, the center coordinates of the drill rod are calculated using the positioning system and the drilling rig model; the drilling rig model refers to the three-dimensional mathematical model of the drilling rig itself, including the relative position of the drill rod center to the drilling rig reference point;

[0103] Step 36: By adjusting and collecting the posture of the automatic drilling rig boom and the drilling angle of the push beam, posture information is obtained. The posture information includes front and rear tilt angles, left and right tilt angles, drilling rig orientation, and drilling frame erection hole position.

[0104] Step 37: Based on the attitude information, perform borehole guidance to achieve borehole locking and automatic control of rock drilling parameters.

[0105] Through the above steps, the parameters required for drilling operations can be obtained quickly and in real time, and the automatic drilling machine can be controlled through a remote operation platform to carry out drilling operations, thereby ensuring operational accuracy and production safety.

[0106] Furthermore, the sample quantity in step 4 is as follows: the sample location is 18 meters deep, the number of samples is 6 per well, the particle diameter is less than or equal to 2 cm, and the sample weight is 200 grams.

[0107] Furthermore, the drying temperature of the drying device is 200 degrees Celsius to ensure that the moisture content of the sample quickly drops below 10%.

[0108] Furthermore, after the tablet compression device shapes the sample, the sample thickness is less than or equal to 40 cm, which facilitates subsequent testing.

[0109] Furthermore, the breakdown-induced spectroscopy detection involves emitting a high-energy pulsed laser beam onto the sample using a laser, exciting the ore body to emit photons of a specific wavelength, and then detecting the ore body's properties and composition using spectroscopy. Specific detection conditions include:

[0110] Sampling method: continuous sampling;

[0111] Detection time: 1-2 seconds;

[0112] Detection distance: 15-50cm;

[0113] Scanned area: 5μm²;

[0114] Humidity: less than 85%.

[0115] Laser-induced spectroscopy can quickly and accurately detect the properties and composition of minerals, making it ideal for real-time detection.

[0116] Furthermore, step 7 also includes a digital twin process: defining a meta-model based on the internal cross-sectional structure diagram; constructing a surface shape model of the drilling area through laser scanning point cloud; establishing the correspondence between the drill cuttings body of each hole based on the mineral grade content and corresponding hole location data; and mapping the surface mineral grade distribution of the drilling area in real time in virtual space based on the meta-model, the surface shape model, the mineral grade content and its hole location data, and combined with airborne sensor data such as machine location data, stratigraphic structure parameters, and attitude information, thereby constructing an intuitive three-dimensional model of the stratigraphic structure and ore in real time.

[0117] Furthermore, in the mapping process of the digital twin, the meta-model, the surface shape model, the mineral grade content, and the corresponding borehole location data are used as three types of path data. An extended Kalman filter algorithm is employed to calculate the covariance between the characteristic curves of each single-bore model, constructing a covariance matrix to eliminate mapping errors. This achieves deep knowledge mining of the predicted trajectory of each single borehole and integrates and localizes various sensor data to ensure the digital twin effect is realistic and reliable. The extended Kalman filter algorithm is a prior art technique that uses the state equation of a linear system to optimally estimate the system state through system input and output observation data. Of course, other algorithms known in the art can also be used to achieve the same technical effect, depending on actual needs.

[0118] Example 2:

[0119] like Figure 3 As shown in the figure, this embodiment provides a real-time detection system for ore grade distribution, including: a centralized control center, a remote operation platform, an automatic drilling rig, an automatic detection platform, and a wireless transmission module.

[0120] The centralized control center, based on the mining area's operational map, outputs the coordinates of the blasting design borehole positions to the remote operation platform. The remote operation platform, based on these coordinates, controls the automatic drilling rig to travel to the designed borehole position, detects borehole position data, rig position data, geological structure parameters, and attitude information, and sends the geological structure parameters to the centralized control center. The centralized control center, based on the geological structure parameters, calculates the drilling parameters and sends them to the remote operation platform. The remote operation platform, based on the drilling parameters and attitude information, controls the automatic drilling rig to perform drilling operations, obtaining drill cuttings and recording operational parameters in real time, and then transports the drill cuttings to the automatic detection platform. The automatic detection platform separates, dries, presses, and analyzes the drill cuttings to obtain the ore grade content and internal profile structure diagram, matches the corresponding borehole position data, and sends it to the centralized control center. The centralized control center, based on the ore grade content, internal profile structure diagram, and borehole position data, fuses them to obtain a single-hole model feature curve, and performs adjacent-hole feature curve fitting on the single-hole model feature curves of all borehole positions to obtain a spatial distribution imaging map of the ore grade.

[0121] The wireless transmission module is used to transmit data and instructions within the system.

[0122] The system described above can be used to design blasting locations in the mining area, automatically perform drilling and real-time detection of ore grade, and simultaneously construct a spatial distribution map of ore grade, providing intuitive guidance for subsequent mining operations.

[0123] Furthermore, it also includes a task management subsystem, which takes the job parameters as input, performs statistical calculations, outputs job reports and operation logs, and sends them to the web for easy visualization and query.

[0124] Furthermore, the task management subsystem also includes a data reading interface to facilitate subsequent data management and analysis.

[0125] Furthermore, it also includes a digital twin module, which defines a meta-model based on the internal cross-sectional structure diagram; constructs a surface shape model of the drilling area through laser scanning point cloud; establishes the correspondence between drill cuttings bodies for each borehole based on the mineral grade content and corresponding borehole location data; and performs real-time mapping of the surface mineral grade distribution of the drilling area in virtual space based on the meta-model, the surface shape model, the mineral grade content and its borehole location data, combined with machine location data, formation structure parameters and attitude information, to reflect the full-cycle trajectory process of the formation ore and more intuitively display the distribution of formation mineral grade.

[0126] Furthermore, the control communication of the real-time mineral grade distribution detection system adopts a serial bus system, and the remote communication adopts a serial bus system converted to TCP / IP protocol. This allows the PC, WEB and mobile terminals to be synchronized from the same source, and the digital twin imaging error is ≤0.5m.

[0127] Example 3:

[0128] like Figure 4 As shown, this embodiment provides a real-time detection device for ore grade distribution, including an automatic drilling rig 1 and an automatic detection platform 2:

[0129] The automatic drilling rig 1 includes a drilling mechanism 10, a GNSS sensor 11, an azimuth sensor 12, a pressure sensor 13, and a traveling mechanism 3.

[0130] The drilling mechanism 10 is movably disposed at one end of the traveling mechanism 3, and includes a drill frame and an impact down-the-hole hammer for drilling blasting holes on the ground; the end of the drilling mechanism 10 that contacts the ground is provided with a dust removal device 14 for collecting drill cuttings generated during drilling.

[0131] The GNSS sensor 11 is located on the top of the drill frame; the azimuth sensor 12 is located at the power head of the drill frame and is connected by a pin; the pressure sensor 13 is located in the middle of the drill frame.

[0132] The walking mechanism 3 includes electric vehicle wheels 34, an industrial control computer 30, a hydraulic system 31, and a power system 33: the hydraulic system 31 is used to drive the drilling mechanism 10 to move; the power system 33 is used to supply power to the real-time ore grade distribution detection equipment; the industrial control computer 30 is electrically connected to the electric vehicle wheels 34, the hydraulic system 31, and the power system 33 respectively, and is used to control the cooperative operation of each part;

[0133] like Figure 5 As shown, the bottom of the automatic detection platform 2 is provided with wheels, and one end of the automatic detection platform 2 is hinged to the end of the walking mechanism 3 away from the drilling mechanism 10 through a hinge 35, so that the automatic detection platform 2 can be pulled and moved.

[0134] The automatic detection platform 2 specifically includes a control box 20, an air compressor 21, a sample collection device 22, a drying device 23, a tablet pressing device 24, an analysis device 25, and a conveyor belt.

[0135] The control box 20 is electrically connected to the air compressor 21, the sampling device 22, the drying device 23, the tablet pressing device 24, the analysis device 25, and the conveyor belt, respectively, and is used to control the coordinated operation of each part; one end of the air compressor 21 is connected to the bottom of the drilling mechanism 10 through the diverter pipe 26, and the other end is connected to the input end of the sampling device 22, which is used to supply air for the impact down-the-hole hammer to perform work, discharge slag, and feed slag to the sampling device 22; the sampling device 22 is used to divert and sample drill cuttings; the drying device 23, the tablet pressing device 24, and the sample collection device 25 are all connected to the air compressor 21, the sampling device 22, the drying device 23, the tablet pressing device 24, the analysis device 25, and the conveyor belt, respectively, to control the coordinated operation of each part; one end of the air compressor 21 is connected to the bottom of the drilling mechanism 10 through the diverter pipe 26, and the other end is connected to the input end of the sampling device 22, which is used to supply air for the impact down-the-hole hammer to perform work, discharge slag, and feed slag to the sampling device 25; the sampling device 22 is used to divert and sample drill cuttings; the drying device 23, the tablet pressing device 24, and the sample collection device 25 are all connected to the air compressor 21, the sampling device 22, the drying device 23, the tablet pressing device 24, the analysis device 25, and the conveyor belt 25, respectively, to control the coordinated operation of each part; one end of the air compressor 21 is connected to the bottom of the drilling mechanism 10 through the diverter pipe 26, and the other end of the sampling device 22 is connected to the input end of the sampling device 23, and the sample collection device 24 is connected to the input end of the sampling device 2 Device 24 and the analytical device 25 are sequentially arranged at the rear of the sample collection device 22 and connected by a conveyor belt. They are used for electrothermal drying, pressing and shaping, and analysis of the samples. In this way, after the large drill blocks of ore at the same drilling depth are removed at the air compressor 21, the drill cuttings sequentially enter the sample collection device 22, the drying device 23, the pressing device 24 and the analytical device 25. The overall control is achieved by the control box 20 to ensure that the drilling speed of the drill frame is consistent with the sample diversion speed and the conveying speed, thereby facilitating the establishment of a one-to-one correspondence between the borehole depth of the sample source and the analysis results.

[0136] The equipment has a reasonable layout and compact structure, and can realize automatic drilling, sampling and testing operations in mining areas.

[0137] Furthermore, such as Figure 6 As shown, the hydraulic system 31 includes a first hydraulic cylinder 310, a second hydraulic cylinder 311, an electro-hydraulic valve, an electro-pneumatic control valve, and a hydraulic oil tank.

[0138] The first hydraulic cylinder 310 is used to rotate the drilling mechanism along the first hinge axis;

[0139] The second hydraulic cylinder 311 is used to rotate the drilling mechanism along the second hinge axis, thus providing greater freedom of movement.

[0140] The electro-hydraulic valve is installed in the oil circuit of the first hydraulic cylinder 310, the second hydraulic cylinder 311 and the hydraulic oil tank, and is used to control the first hydraulic cylinder 310 and the second hydraulic cylinder 311.

[0141] The electro-pneumatic control valve is installed in the air circuit between the air compressor 21 and the impact down-the-hole hammer, and is used to control the impact down-the-hole hammer. The impact down-the-hole hammer is existing technology, adopts dry operation, uses air as both power and slag removal medium, can perform high-frequency impact on the bottom of the hole, and does not pollute the environment.

[0142] Furthermore, the power system 33 includes a diesel generator and a diesel tank:

[0143] The power output terminal of the diesel generator is connected to the power input terminal of the electric vehicle wheel 34; the fuel input terminal of the diesel generator is connected to the output terminal of the diesel tank.

[0144] The automatic drilling rig also includes an onboard ECU 32, which is electrically connected to the electric vehicle wheel 34, the GNSS sensor 11, the azimuth sensor 12, the pressure sensor 13, and the control box 20, respectively, to facilitate data and command processing.

[0145] Furthermore, both the control box 20 and the airborne ECU 32 are equipped with 5G terminals for sending and receiving data and commands in real time.

[0146] Furthermore, the analysis device 25 includes a laser-induced breakdown spectrometer, which is embedded with an X-ray tomography module. Laser-induced breakdown (LIBS) is a prior art technology. Its principle can be briefly described as follows: a high-energy pulsed laser beam is emitted from a laser towards the mineral powder, causing the energy to be locally coupled into the ore body and reach the breakdown threshold of the mineral, resulting in its stripping and vaporization. The ionized atoms then interact with air to produce ions, which excite photons of a specific wavelength in the tested ore body. The properties and composition of the ore body are determined through spectral detection, with a detection accuracy of 0.01%. The X-ray tomography (HRXCT) is also a prior art technology. Its principle is to measure the attenuation coefficient of X-rays inside the drill cuttings to obtain the two-dimensional distribution characteristics of the drill cuttings profile. The tomographic image is reconstructed using a grayscale valve, thereby obtaining the submicron-level structure inside the drill cuttings.

[0147] Furthermore, the air compressor 21 is a high-pressure screw air compressor. Of course, it can also be other air compressors known in the art to achieve the same technical effect.

[0148] Furthermore, the real-time mineral grade distribution detection device also includes surround-view cameras, which are distributed around the walking mechanism 3 to capture images of the surrounding environment, making it easier to control the device to avoid obstacles while moving.

[0149] Furthermore, the real-time mineral grade distribution detection equipment also includes an electronic fence, which is set around the safe working area and used to determine the safe working area by infrared coils. When the equipment moves out of the safe working area of ​​the electronic fence, the electronic fence will issue an alarm to issue a timely warning in order to prevent accidents such as equipment falling off cliffs or into water.

[0150] Furthermore, a shock-absorbing device is provided at the hinge 35 between the automatic detection platform 2 and the walking mechanism 3 to prevent the automatic detection platform 2 from being affected by the vibration transmitted from the walking mechanism 3 due to the drilling operation of the automatic drilling machine 1, thereby ensuring the smooth operation of the equipment on the automatic detection platform 2 and thus ensuring the accuracy of the analysis results.

[0151] Preferably, the shock-absorbing device is a spring.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for real-time detection of ore grade distribution, characterized in that, The application relates to a method for realizing ore grade spatial distribution imaging based on drilling data, which comprises the following steps: step 1, based on a mine area operation map, a centralized control center determines blast design hole coordinate; step 2, a remote operation platform controls an automatic drilling machine to walk to a certain hole position and to be positioned; step 3, the automatic drilling machine obtains hole position data and machine position data through a satellite positioning device, obtains stratum structure parameters and attitude information through a sensing system, the centralized control center calculates drilling parameters based on the stratum structure parameters, the remote operation platform controls the automatic drilling machine to carry out drilling operation based on the drilling parameters and the attitude information, and drilling cuttings are obtained and operation parameters are recorded in real time; step 4, an automatic detection platform carries out continuous split sampling on the drilling cuttings through a sample collecting device; the sample is dried through a drying device, the sample is shaped through a tabletting device, and the sample is subjected to breakdown induced spectroscopy detection and X-ray tomography through an analysis device, so that ore grade content and internal profile structure diagrams are obtained, and corresponding hole position data are matched; step 5, based on the ore grade content, the internal profile structure diagram and the hole position data, single-hole model characteristic curves are fused to carry out gain amplification, differential adjustment and fidelity processing on the single-hole model characteristic curves; step 6, for the remaining hole positions, steps 2-5 are executed one by one, and differential calibration is carried out to obtain single-hole model characteristic curves of all hole positions; and step 7, based on the single-hole model characteristic curves of all hole positions, average values of single-hole model characteristic curves of adjacent hole positions are calculated, adjacent hole position characteristic curve fitting is carried out, and an ore grade spatial distribution imaging diagram is obtained. The step 3 comprises the following steps: step 31, through an on-board positioning device, local positioning data are sent, coordinate positioning and machine body attitude double correction calculation are carried out, and hole position geodetic coordinates are obtained; step 32, the local position is refreshed; step 33, through an on-board angle sensor, drilling depth of a drill bit is obtained after logical processing, and in combination with hole position elevation parameters, hole bottom elevation is obtained; step 34, through an on-board sensing system, equipment parameters are collected in real time and are input into an on-board ECU; step 35, based on the hole position geodetic coordinates and the hole bottom elevation, through positioning system and drilling machine model calculation, drilling rod center coordinates are obtained; step 36, through adjustment and collection of the attitude of an automatic drilling machine arm frame and the drilling angle of a pushing beam, attitude information is obtained; and step 37, based on the attitude information, drilling direction is guided. The step 7 further comprises a digital twinning process: a meta-model is defined based on the internal profile structure diagram; a drilling area ground shape model is constructed through laser scanning point clouds; a drilling cutting body corresponding relationship of each hole position is established based on the ore grade content and corresponding hole position data; and drilling area ore grade distribution mapping in a virtual space is carried out in real time based on the meta-model, the ground shape model, the ore grade content and the hole position data, in combination with the machine position data, the stratum structure parameters and the attitude information. The application further discloses a system for realizing ore grade spatial distribution imaging based on drilling data, which comprises a centralized control center, a remote operation platform, an automatic drilling machine, an automatic detection platform and a wireless transmission module: the centralized control center outputs blast design hole coordinate to the remote operation platform based on a mine area operation map; ​ ​ ​ ​ ​ 2. The method of claim 1, wherein, ​ ​ ​ ​ ​ ​ ​ ​ 3. The method of claim 1, wherein, ​ 4. A system for real-time detection of ore grade distribution, characterized by ​ ​ The remote operation platform controls the automatic drilling machine to walk to the designed hole position based on the hole position coordinates, detects hole position data, machine position data, stratum structure parameters and attitude information, and sends the stratum structure parameters to the centralized control center; The centralized control center calculates drilling parameters based on the stratum structure parameters and sends them to the remote operation platform; The remote operation platform controls the automatic drilling machine to perform drilling operations based on the drilling parameters and attitude information, obtains drill cuttings and records operation parameters in real time, and sends the drill cuttings to the automatic detection platform; The automatic detection platform performs shunting, drying, tabletting and analysis on the drill cuttings, obtains ore grade content and internal profile structure diagram, matches corresponding hole position data, and sends them to the centralized control center; The centralized control center fuses single-hole model characteristic curves based on the ore grade content, internal profile structure diagram and hole position data, performs adjacent hole position characteristic curve fitting on single-hole model characteristic curves of all hole positions, and obtains ore grade spatial distribution imaging diagram; The wireless transmission module is used for transmitting data and instructions within the system.

5. The system of claim 4, wherein, It also includes a task management subsystem that inputs the operation parameters, outputs operation reports and operation logs through statistical calculation, and sends them to the WEB end.

6. The system of claim 4, wherein, It also includes a digital twin module that defines a meta-model based on the internal profile structure diagram, constructs a drilling area surface shape model through laser scanning point cloud, establishes a drill cutting ontology corresponding relationship of each hole position based on the ore grade content and corresponding hole position data, and performs drilling area surface ore grade distribution mapping in virtual space in real time based on the meta-model, surface shape model, ore grade content and hole position data, combined with machine position data, stratum structure parameters and attitude information.

7. The system of claim 6, wherein, The control communication adopts a serial bus system, and the remote communication adopts a serial bus system to TCP / IP protocol.

8. A device for real-time detection of ore grade distribution using the method according to any one of claims 1 to 3, characterized in that, It includes an automatic drilling machine and an automatic detection platform: The automatic drilling machine includes a drilling mechanism, a sensor and a walking mechanism: The drilling mechanism is movably arranged at one end of the walking mechanism; the end of the drilling mechanism contacting the ground is provided with a dust removal device; The sensor is arranged on the drilling mechanism and includes a GNSS sensor, a position angle sensor and a pressure sensor; the GNSS sensor is arranged at the top of the drilling frame; the position angle sensor is arranged at the power head of the drilling frame and is connected through a latch; the pressure sensor is arranged at the middle of the drilling frame; The walking mechanism includes electric wheels, an industrial computer, a hydraulic system and a power system; the hydraulic system is used to drive the drilling mechanism to move; the power system is used to power the ore grade distribution real-time detection equipment; the industrial computer is electrically connected with the electric wheels, the hydraulic system and the power system respectively; One end of the automatic detection platform is hingedly connected with the end of the walking mechanism away from the drilling mechanism, and includes a control box, an air compressor, a sample collection device, a drying device, a tabletting device, an analysis device and a conveyor belt: The control box is electrically connected with the air compressor, the sample collecting device, the drying device, the tabletting device, the analysis device and the conveying belt respectively; one end of the air compressor is connected with the bottom of the drilling mechanism, and the other end is connected with the input end of the sample collecting device; the sample collecting device is used for sampling the drill cuttings by shunting; The drying device, the tabletting device and the analysis device are sequentially arranged at the rear of the sample collecting device and are connected with each other through the conveying belt.

9. The apparatus of claim 8, wherein, The analysis device comprises a laser-induced breakdown spectrometer, and an X-ray tomography module is embedded in the laser-induced breakdown spectrometer.

10. The apparatus of claim 8, wherein, A surround view camera is further included, which is arranged around the walking mechanism.

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