An integrated emergency treatment equipment for mine inspection and firefighting

Abstract

The present invention discloses an integrated emergency response device for mine inspection and firefighting, comprising a visual monitoring module, a SLAM high-precision mapping module, and a manipulator emergency response module mounted on a mobile vehicle; the visual monitoring module is used to monitor the mine slope in real time and acquire image information; the SLAM high-precision mapping module is used to identify the slope surface features of the mine slope based on the acquired image information and output the identified slope surface feature information; the SLAM high-precision mapping module is used to locate the mine based on the location and map, and to construct a three-dimensional point cloud map, capable of identifying the location of an ongoing geological disaster; the manipulator emergency response module is used to suppress the formation and spread of geological disasters; and the mobile vehicle is used to achieve autonomous navigation based on the three-dimensional point cloud map. The present invention achieves a high degree of automation and precision in mine safety monitoring and emergency response, greatly improving response speed and processing efficiency, and ensuring the safe production of mines and the sustainable development of their economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical fields of robots, mine safety and mining machinery, and in particular to an integrated emergency treatment equipment for mine inspection and spraying. Background Art

[0002] In open-pit mines, tailings ponds, highways, and other areas, geological disasters such as slope cracking and landslides often pose a threat to the safety of personnel and facilities. Traditional methods for monitoring and handling geological disasters rely primarily on manual inspections and repairs, which are subject to low efficiency, high safety risks, and delayed emergency response. While some mines have achieved preliminary environmental monitoring through sensors and image recognition technology, existing shotcrete equipment typically requires manual operation, which can be limited in special or hazardous geographical environments, making it impossible to provide timely emergency response in the early stages of geological disasters. Furthermore, the lack of automated precision positioning and mapping technology restricts the inspection, assessment, and operational accuracy of mining robots.

[0003] Currently, LiDAR SLAM technology, computer vision technology, and ROS robotics technology have made significant progress in environmental perception, positioning and navigation, and intelligent analysis. In terms of SLAM technology, various LiDAR SLAM algorithms such as LOAM and LEGO-LOAM can achieve centimeter-level high-precision positioning and three-dimensional environmental modeling, enabling robots to conduct precise inspections in complex environments such as mines. In computer vision technology, algorithms such as semantic segmentation and object detection driven by deep learning enable robots to automatically analyze geological hazard patterns in images, providing early warning of hazardous areas and disasters such as landslides and collapses. Furthermore, current mobile robot technologies such as autonomous obstacle avoidance and path planning are becoming increasingly mature, enabling robots to better adapt to the complex and changing mining environment.

[0004] Despite certain progress in core technologies, there is still no intelligent patrol and emergency integrated equipment that can be successfully applied to mining environments. Existing geotechnical survey robots are mainly used for static detection and cannot achieve long-distance patrol, while fire-fighting spray robots mainly focus on fire-fighting applications. Therefore, there is an urgent need for an integrated patrol and spray equipment that integrates high-precision map construction, real-time slope hazard identification, and automatic spraying by robotic arms, so as to improve the monitoring and handling efficiency of geological disasters in mines and other areas and ensure the safety of personnel and property. Summary of the Invention

[0005] The purpose of the present invention is to provide an integrated emergency treatment equipment for mine inspection and rescue, so as to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above objectives, the present invention provides an integrated emergency treatment equipment for mine inspection and firefighting, comprising:

[0007] A visual monitoring module, which is used to monitor the mine slope in real time and obtain image information; identify the slope surface characteristics of the mine slope based on the obtained image information, and output the identified slope surface characteristic information;

[0008] SLAM high-precision mapping module, which is used to locate according to the position and map, and to build a three-dimensional point cloud map, and can identify the location of geological disasters in progress;

[0009] A manipulator emergency processing module, the manipulator emergency processing module is used to receive and process the information identified by the visual monitoring module and the SLAM high-precision mapping module, and suppress the formation and spread of geological disasters based on the identified information;

[0010] A mobile vehicle, the visual monitoring module, the SLAM high-precision mapping module and the manipulator emergency processing module are all installed on the mobile vehicle, and the mobile vehicle is used to achieve autonomous navigation according to the three-dimensional point cloud map.

[0011] Preferably, the visual monitoring module uses a camera to monitor the mine slope in real time and obtain RGB images and depth data.

[0012] Preferably, the slope features identified by the visual monitoring module include features of geological disasters that have occurred, as well as precursor features before a geological disaster occurs.

[0013] Preferably, the manipulator emergency processing module includes:

[0014] A six-axis industrial manipulator, wherein the six-axis industrial manipulator is mounted on the mobile vehicle;

[0015] High-pressure jetting system, which suppresses the formation and spread of geological disasters by spraying;

[0016] A manipulator control system, configured to receive and process information identified by the visual monitoring module and the SLAM high-precision mapping module, and control the movement of the six-axis industrial manipulator to achieve targeted injection of the high-pressure injection system;

[0017] A power supply module is used to supply power to the electrical equipment.

[0018] Preferably, the manipulator control system includes:

[0019] An industrial computer, configured to receive information collected by the visual monitoring module and the SLAM high-precision mapping module, and process the received information;

[0020] A DSP processor, the DSP processor is used to receive instructions issued by the industrial computer and control the movement of the six-axis industrial robot according to the instructions;

[0021] The communication module is used to realize real-time communication between the industrial computer and the six-axis industrial robot.

[0022] Preferably, the high-pressure injection system comprises:

[0023] a mortar tank, the mortar tank being mounted on the mobile vehicle;

[0024] a shotcrete pipe, the shotcrete pipe being connected to the mortar tank and fixed to the six-axis industrial manipulator;

[0025] An air volume booster is provided at one end of the spraying pipe away from the mortar tank, and is used to provide spraying power for the concrete slurry in the spraying pipe.

[0026] Preferably, the air volume booster is a screw-type air volume booster.

[0027] Preferably, the spraying pipeline adopts a special wear-resistant mortar transport pipe.

[0028] Compared with the prior art, the present invention has the following advantages and technical effects:

[0029] The integrated mine inspection and spraying emergency treatment equipment provided by the present invention significantly improves the automated monitoring and rapid emergency response capabilities of geological disasters in metal mines through integrated technical means. The visual monitoring module and the SLAM high-precision mapping module in the present invention work together to monitor subtle changes in the slope in real time around the clock, and accurately identify the location and scale of geological disasters such as landslides, providing accurate target positioning for emergency grouting treatment. The introduction of the manipulator emergency treatment module, combined with the efficient grouting path planning module, can quickly perform targeted grouting on potentially dangerous areas detected in the slope. The spraying distance of the grouting machine can reach up to 60 meters, which can adapt to most mining scenarios. Different grouting path planning is provided for different types of landslide hazards, which can promptly prevent or slow the development of disasters and effectively reduce the risk of casualties and economic losses.

[0030] The present invention realizes high automation and precision of mine safety monitoring and emergency disposal, greatly improves response speed and processing efficiency, and ensures safe production in mines and sustainable development of their economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a structural diagram of the integrated emergency treatment equipment for mine inspection and rescue according to the present invention;

[0033] Figure 2 This is a schematic diagram of the wireless control principle of the manipulator of the present invention;

[0034] Figure 3 This is a schematic diagram of the flow-type landslide spraying path of the present invention;

[0035] Figure 4 Schematic diagram of the spraying path for cracked landslide of the present invention, wherein: (a) is the spiral filling method, (b) is the optimal flat spraying path, and (c) is the planned flat spraying path;

[0036] In the figure: 1. Visual monitoring module; 2. SLAM high-precision mapping module; 3. Six-axis industrial robot; 4. High-pressure injection system; 5. Mobile vehicle; 6. Air volume booster. DETAILED DESCRIPTION

[0037] It should be noted that, unless there is a conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other. The embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0038] The present invention provides an integrated emergency treatment equipment for mine inspection and firefighting, comprising:

[0039] Visual Monitoring Module 1 uses an RGB-D camera and an Intel Realsense D455i depth camera to monitor mine slopes in real time, acquiring RGB images and depth data. It introduces an improved YOLO series target detection algorithm to parse input image or video stream data. This allows for accurate identification of existing geological disasters such as landslides and collapses, outputting key information such as the disaster's location coordinates, scope, and scale. It can also capture possible slope features that may appear before a landslide occurs, such as fallen trees, piping, and foreign object intrusion, providing a basis for subsequent risk assessment and shotcrete emergency response.

[0040] The SLAM high-precision mapping module 2 includes a solid-state lidar unit, an IMU unit, and a GPS unit for data acquisition, as well as a preprocessing unit, a feature extraction and feature matching unit, an IMU pre-integration unit, and a back-end optimization unit for data processing. The solid-state lidar unit and the IMU unit form an autonomous positioning and mapping system, which uses the optimized Fast-lio2 algorithm to quickly construct a detailed three-dimensional point cloud map of the mine slope with a positioning accuracy of centimeters. By comparing different frames of the three-dimensional point cloud map, the micro-changes of the slope can be intuitively observed, and the location of the landslide can be identified, providing support for the autonomous navigation and manipulator positioning of the subsequent intelligent equipment.

[0041] The robotic arm emergency processing module is used to receive and process the information identified by the visual monitoring module and the SLAM high-precision mapping module, and accurately locate the key parts of the disaster based on the risk assessment results. The robotic arm movement is used to realize the automatic spraying of fluid materials at fixed points to quickly suppress the formation and spread of geological disasters. The types of landslides that may occur are divided into cracking type and flow type. According to different types, one of the two spraying methods, flat spraying or filling, is selected to better prevent the landslide from further deteriorating.

[0042] The mobile vehicle 5, the visual monitoring module 1, the SLAM high-precision mapping module 2 and the manipulator emergency processing module are all installed on the mobile vehicle 5, and the mobile vehicle 5 is used to achieve autonomous navigation according to the three-dimensional point cloud map.

[0043] Furthermore, the manipulator emergency handling module includes:

[0044] A six-axis industrial robot 3 is installed on a mobile vehicle 5;

[0045] High-pressure jetting system 4, which suppresses the formation and spread of geological disasters by spraying;

[0046] The manipulator control system is used to receive and process the information recognized by the visual monitoring module 1 and the SLAM high-precision mapping module 2, and control the movement of the six-axis industrial manipulator 3 to achieve the fixed-point injection of the high-pressure injection system 4; the manipulator control system includes:

[0047] The industrial computer is used to receive the information collected by the visual monitoring module 1 and the SLAM high-precision mapping module 2, and process the received information;

[0048] DSP processor, the DSP processor is used to receive instructions from the industrial computer and control the movement of the six-axis industrial robot 3 according to the instructions;

[0049] Communication module,The industrial computer and the six-axis industrial robot 3 achieve real-time communication through the communication module and the DSP processor.

[0050] Power module: The power module is used to supply power to electrical devices.

[0051] Six-axis industrial robot 3: It can be roughly divided into three parts: the upper arm, the lower arm, and the hand. It consists of six metal brackets and a servo. The servo consists of a large DC motor, a position feedback potentiometer, a reduction gear, and a circuit control board. It is the key to the entire emergency response. By receiving the pulse width modulation signal from the industrial computer to rotate the corresponding angle, the robot arm can complete the emergency spraying work.

[0052] The DSP processor uses the TMS320F28335DSP microprocessor. The DSP processor consists of two parts: the SCI module and the ePWM. The SCI module receives the instruction bytes transmitted by the WiFi module through asynchronous serial communication. The ePWM connects all the mechanical axes through the synchronous clock signal and controls the DSP to output six independent pulse width modulation signals to control the rotation angles of the six servos of the six-axis robot.

[0053] The chip model used for the communication module is QCA9377, which is integrated into the industrial computer. This chip is used to build a WiFi module and then connected to the DSP serial communication module and DSP processor to achieve real-time communication between the industrial computer and the robot.

[0054] Furthermore, the high-pressure injection system 4 includes:

[0055] A mortar tank is mounted on a mobile vehicle 5;

[0056] Shotcrete pipe: The shotcrete pipe adopts a special wear-resistant mortar transport pipe. The shotcrete pipe is connected to the mortar tank and is fixed on the six-axis industrial robot 3;

[0057] The air volume booster 6 is arranged at one end of the shotcrete pipe away from the mortar tank. The air volume booster 6 is used to provide injection power for the concrete slurry in the shotcrete pipe. The air volume booster 6 selects a screw-type air volume booster 6, and a variable speed drive (VSD) is used to increase energy efficiency, thereby enhancing the fluidity of the semi-fluid concrete slurry in the conveying pipe. Even if the slurry is transported over a long distance, it can ensure that the sand and gravel in the slurry are fully mixed with water to avoid separation, thereby ultimately achieving the goal of shotcrete operation after long-distance transportation.

[0058] Furthermore, the present invention also includes a grouting path planning module. The grouting path planning module uses an improved potential landslide identification model based on a three-dimensional point cloud map, dangerous areas and disaster information to judge the development trend of disasters and provide decision support for the parameter setting of the manipulator emergency grouting. Among them, the flat spraying path is a long-distance and large-area spraying operation, in which viscous semi-fluid concrete slurry is sprayed on the entire landslide to form the main body of the spraying support, effectively preventing the further spread of the mobile landslide. For some cracked landslides, local filling can be carried out by densely filling the crack center with mortar. The manipulator will extend the grouting nozzle into the crack center for filling, eliminating the internal cavity of the support structure and effectively reducing the cracking speed. Among them, any point cloud in space is filled with C i Expressed as follows:

[0059] C i ={p i-ji}(ji=1,2,…,ni) Formula 1

[0060] The method for treating landslide using the present invention is as follows:

[0061] For the potential landslide of mobile type, the long distance and large area requirements of the spraying operation, as well as the spraying characteristics of the viscous semi-fluid concrete slurry, must be considered first. The specific spraying path α is roughly in the form of Figure 3 As shown: After identifying the specific location of the flowing landslide, the angle and injection pressure of the manipulator and the spraying machine are adjusted to enable them to evenly cover each area. Spraying starts from the lowest point of the landslide and gradually moves upward. This helps to utilize the gravity effect to make the concrete slurry flow on the landslide surface and fill the uneven areas. The manipulator performs circular motion upward to circulate the spraying, and the viscous semi-fluid concrete slurry is evenly dispersed, covering a wider wall area. This swing ensures sufficient overlap between the lateral spraying paths and promotes the mutual combination of concrete slurry layers of adjacent tracks. This not only enhances the adhesion effect of the concrete slurry on the wall, but also improves the overall strength of the spraying structure.

[0062] For crack-type landslide hazards, first determine the location that needs to be filled from the 3D point cloud map, layer the segmented point cloud, use the inner contour point method to extract the crack contour and construct a spiral filling path such as Figure 4 As shown, the specific implementation steps are as follows:

[0063] 1 Divide n sectors P based on the current coordinate system n , where the point is set to p ij ;

[0064] 2. Find the contour points of the fan, let the point cloud p of the i-th fan be ij The distance from the origin is d ij , each contour point is oi , then:

[0065]

[0066]

[0067] o i =p im Formula 4

[0068] 3 After obtaining the crack point cloud position and posture data, expand it into a spiral line for layered filling. Assuming that the internal offset distance of the spiral line is 2R, then the layer c=min(d oi ) / 2R, after obtaining the spraying path of one layer, remove the point cloud of this layer and repeat the operation for the remaining point clouds. Assuming that the thickness of the target layer point cloud is H fc , then we have:

[0069]

[0070] Repeat the above three steps until the point cloud is minimized, and the integration of the spraying path of each layer is the total path β.

[0071] The integrated mine inspection and rescue emergency response equipment provided by the present invention integrates a visual monitoring module (1), a SLAM high-precision mapping module (2), a shotcrete path planning module, and a manipulator emergency response module. By integrating a high-precision robotic autonomous positioning and three-dimensional environmental modeling unit, an intelligent slope hazard identification algorithm, and a manipulator emergency shotcrete processing unit, it forms a closed-loop solution from slope anomaly perception and risk assessment to rapid response. This system not only enables unmanned inspection of mine slopes around the clock but also captures subtle slope changes, enabling rapid emergency response to early-stage landslides. This significantly improves the automation, precision, and response speed of mine geological hazard monitoring and response, thereby effectively ensuring the safe production and economic benefits of mining projects.

[0072] The above are merely preferred embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A mine inspection and firefighting integrated emergency treatment equipment, characterized in that: include: A visual monitoring module (1), the visual monitoring module (1) is used to monitor the mine slope in real time and obtain image information; and to identify the slope surface characteristics of the mine slope based on the obtained image information, and output the identified slope surface characteristic information; A SLAM high-precision mapping module (2), wherein the SLAM high-precision mapping module (2) is used for positioning according to a position and a map, and for constructing a three-dimensional point cloud map, and is capable of identifying the location of a geological disaster that is occurring; A manipulator emergency processing module, the manipulator emergency processing module is used to receive and process information identified by the visual monitoring module (1) and the SLAM high-precision mapping module (2), and to suppress the formation and spread of geological disasters based on the identified information; A mobile vehicle (5), wherein the visual monitoring module (1), the SLAM high-precision mapping module (2) and the manipulator emergency processing module are all installed on the mobile vehicle (5), and the mobile vehicle (5) is used to achieve autonomous navigation according to a three-dimensional point cloud map; The manipulator emergency treatment module comprises a high-pressure jetting system (4), and the high-pressure jetting system (4) suppresses the formation and spread of geological disasters by means of spraying; The high-pressure injection system (4) comprises: A mortar tank, the mortar tank being mounted on the mobile vehicle (5); a shotcrete pipe, the shotcrete pipe being in communication with the mortar tank; An air volume booster (6) is provided at one end of the spraying pipe away from the mortar tank, and is used to provide spraying power for the concrete slurry in the spraying pipe.

2. The integrated emergency treatment equipment for mine inspection and rescue according to claim 1 is characterized in that: The visual monitoring module (1) uses a camera to monitor the mine slope in real time and obtain RGB images and depth data.

3. The integrated emergency treatment equipment for mine inspection and rescue according to claim 2 is characterized in that: The slope features identified by the visual monitoring module (1) include features of geological disasters that have occurred, and also include features of precursors before a geological disaster occurs.

4. The integrated emergency treatment equipment for mine inspection and rescue according to claim 1 is characterized in that: The manipulator emergency processing module also includes: A six-axis industrial manipulator (3), the six-axis industrial manipulator (3) is mounted on the mobile vehicle (5), and the spraying pipeline is fixed on the six-axis industrial manipulator (3); A manipulator control system, the manipulator control system is used to receive and process information identified by the visual monitoring module (1) and the SLAM high-precision mapping module (2), and control the movement of the six-axis industrial manipulator (3) to achieve fixed-point injection of the high-pressure injection system (4); A power supply module is used to supply power to the electrical equipment.

5. The integrated emergency treatment equipment for mine inspection and rescue according to claim 4 is characterized in that: The robot control system includes: An industrial computer, the industrial computer is used to receive information collected by the visual monitoring module (1) and the SLAM high-precision mapping module (2), and process the received information; A DSP processor, the DSP processor is used to receive instructions issued by the industrial computer and control the movement of the six-axis industrial robot (3) according to the instructions; A communication module is provided, wherein the industrial computer and the six-axis industrial manipulator (3) realize real-time communication via the communication module and the DSP processor.

6. The integrated emergency treatment equipment for mine inspection and rescue according to claim 1 is characterized in that: The air volume booster (6) is a screw-type air volume booster (6).

7. The integrated emergency treatment equipment for mine inspection and rescue according to claim 1 is characterized in that: The spraying pipeline adopts a special wear-resistant mortar transportation pipe.

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