Injection method, device and system for rock stratum solidification

Abstract

The embodiment of the invention provides a spraying method, device and system for rock stratum solidification, relates to a wireless control technology, and aims to solve the problem that a device for spraying water mortar on land has limitation and cannot work in an unmanned area. Comprising a first control device and a first unmanned aerial vehicle; the first control device is used for sending a first control instruction to the first unmanned aerial vehicle, receiving image data and spectral data of a to-be-operated area returned by the first unmanned aerial vehicle, determining a rock stratum type of the to-be-operated area so as to determine a mortar matching strategy, and sending a second control instruction to the first unmanned aerial vehicle; the first unmanned aerial vehicle is provided with a high-resolution camera and a spectrum sensor, obtains image data and spectrum data of a to-be-operated area, sends the image data and the spectrum data to the first control device, is provided with an injection device, and controls the injection device to inject mortar according to injection parameters carried by the second control instruction, the mortar is formed by mixing according to a mortar proportioning strategy.

Description

Technical Field

[0001] The invention relates to the field of wireless control, and in particular to a jetting method, device and system for rock formation solidification. Background Art

[0002] Shotcrete technology is a method of spraying concrete materials at high speed onto the construction surface through high-pressure spraying equipment. This technology is usually used in tunnels, ramps, rock support, waterproofing engineering and other fields. Its construction process includes mixing raw materials such as cement, sand, aggregate, etc., and then spraying the concrete materials through the spraying equipment using high-pressure airflow to form a solid concrete layer on the surface that needs to be reinforced or covered.

[0003] Due to the heavy weight of concrete and the high energy consumption of shotcrete, concrete shotcrete equipment is generally land-based equipment, such as concrete hoisting shotcrete machine, remote-controlled concrete auxiliary shotcrete truck, and concrete pump truck for tunnels, etc. However, land-based equipment has limitations and cannot meet the requirements of concrete shotcrete work in the process of rock solidification in unmanned areas. Summary of the invention

[0004] The present invention provides a jetting method, device and system for rock formation solidification to overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, the present invention provides a jetting system for rock formation solidification, comprising: a first control device and a first drone; wherein:

[0006] The first control device is used to send a first control instruction to the first UAV, receive image data and spectral data of the area to be operated returned by the first UAV, determine the rock formation type of the area to be operated according to the image data and the spectral data, determine the mortar ratio strategy according to the rock formation type, and send a second control instruction to the first UAV;

[0007] The first UAV is used to carry a high-resolution camera and a spectral sensor according to the first control instruction, automatically fly to the area to be operated, obtain the image data and the spectral data of the area to be operated through the high-resolution camera and the spectral sensor, send the image data and the spectral data to the first control device, carry a spraying device according to the second control instruction, and control the spraying device to spray mortar in the area to be operated according to the spraying parameters carried by the second control instruction, wherein the mortar is mixed according to the mortar proportioning strategy.

[0008] Optionally, the method in which the first control device determines the type of rock formation in the area to be operated according to the image data and the spectral data includes:

[0009] Acquire color and texture features from the image data, acquire spectral features from the spectral data, and acquire morphological features based on the color and texture features and the spectral features;

[0010] The morphological features are input into a machine learning model to obtain the rock formation type of the area to be operated, wherein the machine learning model is obtained by training a U-type network of the machine learning model using known geological information and annotated rock formation data.

[0011] Optionally, after inputting the morphological features into a machine learning model to obtain the rock formation type of the area to be operated, the method further includes:

[0012] The field sampling samples are compared and analyzed with the rock formation type to obtain the rock formation type accuracy results, and the machine learning model is adjusted and optimized according to the rock formation type accuracy results.

[0013] Optionally, in the case where the rock layer type is a hard rock layer, the mortar proportioning strategy is: cement mortar, with a water-cement ratio ranging from 0.4 to 0.5, wherein cement: ordinary Portland cement, sand: diameter less than 5 mm, fineness modulus of 2.4 to 2.8, stone powder content of 10% to 18%, moisture content of 4% to 6%, and accelerator: alkali-free accelerator.

[0014] Optionally, in the case where the rock formation type is a siliceous rock formation, the mortar proportioning strategy is: silicate mortar, a water-cement ratio ranging from 0.4 to 0.5, wherein cement: ordinary silicate cement, sand: diameter less than 5 mm, fineness modulus of 2.4 to 2.8, stone powder content of 10% to 20%, moisture content of 4% to 6%, accelerator: alkali-free accelerator, admixture: wollastonite powder, the adding ratio is 10% to 15%.

[0015] Optionally, when the rock layer type is a sandy rock layer, the mortar ratio strategy is: magnesia mortar or improved mortar, wherein cement: magnesia cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, moisture content 4%-6%. Accelerator: alkali-free accelerator.

[0016] Optionally, when the rock layer type is clay rock layer, the mortar ratio strategy is: polymer modified mortar, wherein cement: ordinary silicate cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, water content 4%-6%. Accelerator: alkali-free accelerator, anti-cracking agent: the dosage is 0.8-1% of the weight of cement.

[0017] Optionally, in the case where the rock formation type is a fractured rock formation, the mortar proportioning strategy is: mortar with good fluidity, wherein cement: ordinary Portland cement, sand: diameter less than 2 mm, water content 4% to 6%, accelerator: alkali-free accelerator, and water-cement ratio is 0.5 to 0.6.

[0018] Optionally, the jetting system for rock formation solidification further comprises: a second drone;

[0019] The first control device is further configured to generate an injection strategy, send the second control instruction to the first UAV according to the injection strategy, and send a third control instruction to the second UAV;

[0020] The second UAV is used to carry a blowing device, and according to the third control instruction, the blowing device is started to blow air before the first UAV sprays mortar.

[0021] Optionally, the jetting system for rock formation solidification further comprises: a third drone;

[0022] The first control device is further configured to generate an injection strategy, send the second control instruction to the first UAV according to the injection strategy, and send a fourth control instruction to the third UAV;

[0023] The third UAV is used to carry a water spraying device. According to the fourth control instruction, before the first UAV sprays mortar, the water spraying device is started to spray water. During the process of the first UAV spraying mortar, the water spraying device is controlled to cooperate with the spraying device to spray water.

[0024] Optionally, the injection system for rock formation solidification further includes: a second control device;

[0025] The second control device is used to control the flight height of the first UAV and the spraying angle of the spraying device when the first UAV controls the spraying device to spray mortar according to the spraying parameters carried by the second control instruction.

[0026] In a second aspect, the present invention provides a spraying device for rock formation solidification, comprising: an unmanned aerial vehicle body, a suspension part and a carrying device, wherein the suspension part is arranged below the unmanned aerial vehicle body, fixedly connected to the unmanned aerial vehicle body, and movably connected to the carrying device, and the carrying device comprises: a high-resolution camera, a spectral sensor and a spraying device;

[0027] The injection device for rock formation solidification is used to receive a first control instruction sent by a first control device, and according to the first control instruction, carry the high-resolution camera and the spectral sensor, automatically fly to the area to be operated, obtain the image data and the spectral data of the area to be operated through the high-resolution camera and the spectral sensor, send the image data and the spectral data to the first control device, receive a second control instruction sent by the first control device, carry the injection device through the suspension part, and in the area to be operated, according to the injection parameters carried by the second control instruction, control the injection device to spray mortar, wherein the mortar is mixed according to a mortar ratio strategy, and the mortar ratio strategy is determined by the first control device according to the image data and the spectral data to determine the rock formation type of the area to be operated.

[0028] Optionally, the injection device includes: a raw material container, a motor, a rotating blade, an air compression component and a nozzle; the motor is connected to the rotating blade for controlling the rotation of the rotating blade; the rotating blade extends into the raw material container from the side wall of the raw material container for stirring the mortar in the raw material container; one end of the air compression component is connected to the bottom of the raw material container, and the other end is connected to the nozzle, for pressurizing the mortar flowing out of the bottom of the raw material container and injecting it through the nozzle.

[0029] Optionally, the carrying device also includes any one of the following devices: a blowing device and a water spraying device.

[0030] In a third aspect, the present invention provides a jetting method for rock formation solidification, the method comprising:

[0031] The first control device sends a first control instruction to the first UAV;

[0032] The first UAV automatically flies to the area to be operated according to the first control instruction, obtains the image data and the spectral data of the area to be operated through the high-resolution camera and spectral sensor carried by the first UAV, and sends the image data and the spectral data to the first control device;

[0033] The first control device determines the type of rock formation in the area to be operated according to the image data and the spectral data, determines a mortar ratio strategy according to the type of rock formation, and sends a second control instruction to the first UAV;

[0034] In the area to be operated, the first UAV controls the spraying device carried by the first UAV to spray mortar according to the spraying parameters carried by the second control instruction, wherein the mortar is mixed according to the mortar proportioning strategy.

[0035] Optionally, the first control device determines the type of rock formation in the area to be operated according to the image data and the spectral data, including:

[0036] Acquire color and texture features from the image data, acquire spectral features from the spectral data, and acquire morphological features based on the color and texture features and the spectral features;

[0037] The morphological features are input into a machine learning model to obtain the rock formation type of the area to be operated, wherein the machine learning model is obtained by training a U-type network of the machine learning model using known geological information and annotated rock formation data.

[0038] Optionally, after inputting the morphological features into a machine learning model to obtain the rock formation type of the area to be operated, the method further includes:

[0039] The field sampling samples are compared and analyzed with the rock formation type to obtain the rock formation type accuracy results, and the machine learning model is adjusted and optimized according to the rock formation type accuracy results.

[0040] Optionally, in the case where the rock layer type is a hard rock layer, the mortar proportioning strategy is: cement mortar, with a water-cement ratio ranging from 0.4 to 0.5, wherein cement: ordinary Portland cement, sand: diameter less than 5 mm, fineness modulus of 2.4 to 2.8, stone powder content of 10% to 18%, moisture content of 4% to 6%, and accelerator: alkali-free accelerator.

[0041] Optionally, in the case where the rock formation type is a siliceous rock formation, the mortar proportioning strategy is: silicate mortar, a water-cement ratio ranging from 0.4 to 0.5, wherein cement: ordinary silicate cement, sand: diameter less than 5 mm, fineness modulus of 2.4 to 2.8, stone powder content of 10% to 20%, moisture content of 4% to 6%, accelerator: alkali-free accelerator, admixture: wollastonite powder, the adding ratio is 10% to 15%.

[0042] Optionally, when the rock layer type is a sandy rock layer, the mortar ratio strategy is: magnesia mortar or improved mortar, wherein cement: magnesia cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, moisture content 4%-6%. Accelerator: alkali-free accelerator.

[0043] Optionally, when the rock layer type is clay rock layer, the mortar ratio strategy is: polymer modified mortar, wherein cement: ordinary silicate cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, water content 4%-6%. Accelerator: alkali-free accelerator, anti-cracking agent: the dosage is 0.8-1% of the weight of cement.

[0044] Optionally, in the case where the rock formation type is a fractured rock formation, the mortar proportioning strategy is: mortar with good fluidity, wherein cement: ordinary Portland cement, sand: diameter less than 2 mm, water content 4% to 6%, accelerator: alkali-free accelerator, and water-cement ratio is 0.5 to 0.6.

[0045] According to the technical solution provided by the embodiment of the present invention, the first UAV can obtain image data and spectral data of the area to be operated through a high-resolution camera and a spectral sensor, so that the first control device can determine the rock type of the area to be operated according to the image data and the spectral data, and thus determine the mortar ratio strategy according to the rock type, so that the technical solution provided by the embodiment of the present invention can set different mortar ratio strategies for different rock types to achieve better rock solidification effect; due to the injection parameters carried by the second control instruction, the first UAV can carry a fixed amount of mortar according to the injection parameters, avoiding the problem of excessive energy consumption of the first UAV caused by carrying too much mortar; because the first UAV can carry a spraying device to control the spraying device to spray mortar, the technical solution provided by the embodiment of the present invention can spray mortar in unmanned areas to perform rock solidification operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0047] Figure 1 A schematic diagram of a system of a jetting system for rock formation solidification provided in an embodiment of the present invention;

[0048] Figure 2 It is a structural schematic diagram of a spraying device for rock formation solidification provided in an embodiment of the present invention;

[0049] Figure 3 for Figure 2 The schematic diagram of the structure of a jetting device in a jetting device for rock formation solidification provided in an embodiment of the present invention is shown;

[0050] Figure 4 It is a flow chart of the steps of a jetting method for rock formation solidification provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0052] Reference Figure 1 , shows a system schematic diagram of a jetting system for rock formation solidification provided by an embodiment of the present invention. The jetting system for rock formation solidification may include: a first control device 101 and a first unmanned aerial vehicle 102.

[0053] The first control device 101 is used to send a first control instruction to the first drone 102, receive image data and spectral data of the area to be operated returned by the first drone 102, determine the rock formation type of the area to be operated based on the image data and spectral data, determine the mortar ratio strategy based on the rock formation type, and send a second control instruction to the first drone 102.

[0054] The first UAV 102 is used to carry a high-resolution camera and a spectral sensor according to a first control instruction, automatically fly to the area to be operated, obtain image data and spectral data of the area to be operated through the high-resolution camera and the spectral sensor, and send the image data and spectral data to the first control device 101. According to the second control instruction, the first UAV 102 is equipped with a spraying device, and in the area to be operated, according to the spraying parameters carried by the second control instruction, the spraying device is controlled to spray mortar, wherein the mortar is mixed according to the mortar ratio strategy.

[0055] In this embodiment, the spectral sensor may be a multi-spectral sensor and / or a hyperspectral sensor, and the spectral data may be multi-spectral data and / or hyperspectral data. Of course, in actual use, the spectral sensor may also be of other types or models, which will not be described in detail here.

[0056] In this embodiment, the method for the first control device to determine the type of rock formation in the area to be operated based on the image data and the spectral data may include:

[0057] First, the color and texture features are obtained from the image data, the spectral features are obtained from the spectral data, and the morphological features are obtained based on the color and texture features and the spectral features.

[0058] In this embodiment, color and texture features may include: RGB values, grayscale histograms, and Gabor filter features, etc.; spectral features may include: vegetation indices such as Normalized Difference Vegetation Index (NDVI) and Enhanced Vegetation Index (EVI) or rock formation characteristic spectral curves, etc.; morphological features may include: shape, size, and distribution, etc.

[0059] Then, the morphological features are input into the machine learning model to obtain the rock formation type of the area to be operated, wherein the machine learning model is obtained by training a U-type network of the machine learning model using known geological information and annotated rock formation data.

[0060] In order to make the machine learning model more accurate, optionally, after inputting the morphological features into the machine learning model and obtaining the rock formation type of the area to be operated, it can also include comparing and analyzing the field sampling samples with the rock formation type to obtain the rock formation type accuracy results, and adjusting and optimizing the machine learning model according to the rock formation type accuracy results.

[0061] Through the above method, the rock type of the area to be operated can be accurately determined, so that a suitable mortar ratio strategy can be selected according to the rock type, thereby improving the rock solidification effect.

[0062] In order to further improve the accuracy of the rock formation type obtained by the machine learning model, in this embodiment, color and texture features are obtained from the image data, and spectral features are obtained from the spectral data. Before obtaining the morphological features based on the color and texture features and the spectral features, a step of preprocessing the data may also be included, that is, stitching and orthorectifying the high-resolution images, and performing spectral correction on the spectral data. Optionally, in this embodiment, the first drone 102 may also be equipped with a laser radar to obtain laser radar data through the laser radar. At this time, the step of data preprocessing may also include: performing point cloud processing on the radar data.

[0063] In this embodiment, the mortar proportioning strategies may specifically include the following five types:

[0064] 1. When the rock layer type is hard rock layer, the mortar ratio strategy is: cement mortar, water-cement ratio range is 0.4-0.5, among which, cement: ordinary Portland cement, sand: diameter less than 5mm, fineness modulus is 2.4-2.8, stone powder content is 10%-18%, water content is 4%-6%, and accelerator is alkali-free accelerator.

[0065] For rock formations with higher hardness, use high-strength mortar with good permeability resistance to ensure the firmness and durability of the mortar.

[0066] 2. When the rock layer type is siliceous rock layer, the mortar proportioning strategy is: silicate mortar, the water-cement ratio range is 0.4-0.5, among which, cement: ordinary silicate cement, sand: diameter less than 5mm, fineness modulus is 2.4-2.8, stone powder content is 10%-20%, moisture content is 4%-6%, accelerator: alkali-free accelerator, admixture: wollastonite powder, the adding ratio is 10%-15%.

[0067] For rock formations containing more siliceous components, silicate mortar can be used, and a certain proportion of wollastonite powder can be added to improve the adhesion and compressive strength of the mortar and the rock formation.

[0068] 3. In the case of sandy rock formation, the mortar ratio strategy is: magnesia mortar or improved mortar, in which cement: magnesia cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, moisture content 4%-6%. Accelerator: alkali-free accelerator.

[0069] For rock formations containing more sandy components, magnesium mortar or improved mortar can be used to improve the adhesion and stability of the mortar to the sandy rock formations.

[0070] 4. In the case of clay rock, the mortar ratio strategy is: polymer modified mortar, in which cement: ordinary silicate cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, moisture content 4%-6%. Accelerator: alkali-free accelerator, anti-cracking agent: dosage is 0.8-1% of the weight of cement.

[0071] Clay rock strata have strong water absorption, and polymer modified mortar with good impermeability can be selected to improve the adhesion and water resistance between the mortar and clay rock strata.

[0072] 5. When the rock layer type is fractured rock layer, the mortar ratio strategy is: mortar with good fluidity, in which cement: ordinary Portland cement, sand: diameter less than 2mm, water content 4% to 6%, accelerator: alkali-free accelerator, water-cement ratio is 0.5 to 0.6.

[0073] If there are many cracks in the rock formation, you can fill them first. Choose mortar with good fluidity and add an appropriate amount of crack filler to ensure that the mortar fills the cracks and is tightly combined with the rock formation.

[0074] Of course, the above five mortar proportioning strategies are only specific examples. In actual use, different mortar proportioning strategies can be set according to different rock formation types, which will not be described one by one here.

[0075] In this embodiment, the first control instruction may carry the location information of the area to be operated, such as longitude and latitude coordinates, etc. The first UAV 102 may determine the area to be operated according to the location information such as longitude and latitude coordinates and start the flight.

[0076] In this embodiment, the injection parameters carried by the second control instruction may include: the latitude and longitude coordinates of the injection location, the shape and size of the injection, etc. The first drone 102 may carry a fixed amount of mortar according to the shape and size of the injection, so as to avoid the problem of excessive energy consumption of the drone due to carrying too much mortar, or the problem of being unable to complete the rock formation solidification due to carrying too little mortar.

[0077] In this embodiment, the first control device can be a personal computer, a server, or a mobile terminal with data processing capabilities. This embodiment does not specifically limit the first control device. In actual use, the specific form of the first control device can be determined as needed.

[0078] According to the technical solution provided by the embodiment of the present invention, the first UAV can obtain image data and spectral data of the area to be operated through a high-resolution camera and a spectral sensor, so that the first control device can determine the rock type of the area to be operated according to the image data and the spectral data, and thus determine the mortar ratio strategy according to the rock type, so that the technical solution provided by the embodiment of the present invention can set different mortar ratio strategies for different rock types to achieve better rock solidification effect; due to the injection parameters carried by the second control instruction, the first UAV can carry a fixed amount of mortar according to the injection parameters, avoiding the problem of excessive energy consumption of the first UAV caused by carrying too much mortar; because the first UAV can carry a spraying device to control the spraying device to spray mortar, the technical solution provided by the embodiment of the present invention can spray mortar in unmanned areas to perform rock solidification operations.

[0079] The embodiment of the present invention also provides a jetting system for rock formation solidification, the system and Figure 1 The same as shown, except that it also includes: a second drone.

[0080] The first control device 101 is further configured to generate an injection strategy, send the second control instruction to the first UAV according to the injection strategy, and send the third control instruction to the second UAV;

[0081] The second UAV is used to carry a blowing device, and according to the third control instruction, the blowing device is started to blow air before the first UAV sprays mortar.

[0082] In this embodiment, the spray strategy may include: the time of sending the second control instruction and the third control instruction, for example: sending the second control instruction one hour after the third control instruction is sent, or, after sending the third control instruction, if a blowing end response is received from the second drone, sending the second control instruction.

[0083] This embodiment achieves Figure 1 On the basis of the beneficial effects brought by the illustrated embodiment, before spraying the mortar, air can be blown to the location where the mortar is sprayed to blow away interferences such as debris, loose soil, and broken stones, thereby making the rock formation more solidified.

[0084] The embodiment of the present invention also provides a jetting system for rock formation solidification, the system and Figure 1 It is basically the same as shown, except that it also includes: a third drone.

[0085] The first control device 101 is further configured to generate an injection strategy, send the second control instruction to the first UAV according to the injection strategy, and send a fourth control instruction to the third UAV;

[0086] The third UAV is used to carry a water spraying device. According to the fourth control instruction, before the first UAV sprays mortar, the water spraying device is started to spray water. During the process of the first UAV spraying mortar, the water spraying device is controlled to cooperate with the spraying device to spray water.

[0087] In this embodiment, the spraying strategy may include: the time of sending the second control instruction and the fourth control instruction, for example: sending the second control instruction one hour after the fourth control instruction is sent, or, after sending the fourth control instruction, if a water spraying end response is received from the third drone, sending the second control instruction; during the mortar spraying process, the water spraying time and water spraying amount, etc.

[0088] This embodiment achieves Figure 1 On the basis of the beneficial effects brought by the shown embodiment, before spraying the mortar, water can be sprayed on the location where the mortar is to be sprayed to wet the working surface, so that the sprayed mortar can be more solid. During the process of spraying the mortar, water can be sprayed in conjunction with the spraying of the mortar, so that the mortar and water can undergo a hydration reaction, ensuring that the surface of the rock formation cracks is evenly covered.

[0089] The embodiment of the present invention also provides a jetting system for rock formation solidification, the system and Figure 1 It is basically the same as shown, except that it also includes: a second control device.

[0090] The second control device is used to control the flight height of the first UAV and the spraying angle of the spraying device when the first UAV controls the spraying device to spray mortar according to the spraying parameters carried by the second control instruction.

[0091] This embodiment achieves Figure 1 Based on the beneficial effects brought by the illustrated embodiment, the first UAV can be remotely controlled by the second control device, thereby achieving better operating results.

[0092] Reference Figure 2 , showing a schematic structural diagram of a jetting device for rock stratum solidification provided by an embodiment of the present invention, the jetting device for rock stratum solidification may include: a drone body 21, a suspension portion 22 and a carrying device 23, wherein the suspension portion 22 is arranged below the drone body 21, fixedly connected to the drone body 21, and movably connected to the carrying device 23, and the carrying device 23 includes: a high-resolution camera, a spectral sensor and a jetting device.

[0093] The injection device for rock formation solidification is used to receive a first control instruction sent by a first control device, and according to the first control instruction, carry the high-resolution camera and the spectral sensor, automatically fly to the area to be operated, obtain the image data and the spectral data of the area to be operated through the high-resolution camera and the spectral sensor, send the image data and the spectral data to the first control device, receive a second control instruction sent by the first control device, carry the injection device through the suspension part, and in the area to be operated, according to the injection parameters carried by the second control instruction, control the injection device to spray mortar, wherein the mortar is mixed according to a mortar ratio strategy, and the mortar ratio strategy is determined by the first control device according to the image data and the spectral data to determine the rock formation type of the area to be operated.

[0094] Alternatively, if Figure 3 As shown, the injection device includes: a raw material container 31, a motor 32, a rotating blade 33, an air compression component 34 and a nozzle 35; the motor 32 is connected to the rotating blade 33, and is used to control the rotation of the rotating blade 33; the rotating blade 33 extends from the side wall of the raw material container 31 into the raw material container 31, and is used to stir the mortar in the raw material container 31; one end of the air compression component 34 is connected to the bottom of the raw material container 31, and the other end is connected to the nozzle 35, and is used to pressurize the mortar flowing out of the bottom of the raw material container 31 and inject it through the nozzle 35.

[0095] Optionally, the carrying device also includes any one of the following devices: a blowing device and a water spraying device.

[0096] The specific implementation of the injection device for rock formation solidification described in this embodiment can be found in the injection system for rock formation solidification described in the above embodiments, and will not be repeated here.

[0097] According to the technical solution provided by the embodiment of the present invention, the first UAV can obtain image data and spectral data of the area to be operated through a high-resolution camera and a spectral sensor, so that the first control device can determine the rock type of the area to be operated according to the image data and the spectral data, and thus determine the mortar ratio strategy according to the rock type, so that the technical solution provided by the embodiment of the present invention can set different mortar ratio strategies for different rock types to achieve better rock solidification effect; due to the injection parameters carried by the second control instruction, the first UAV can carry a fixed amount of mortar according to the injection parameters, avoiding the problem of excessive energy consumption of the first UAV caused by carrying too much mortar; because the first UAV can carry a spraying device to control the spraying device to spray mortar, the technical solution provided by the embodiment of the present invention can spray mortar in unmanned areas to perform rock solidification operations.

[0098] Reference Figure 4 , shows a flow chart of a method for rock formation solidification provided by an embodiment of the present invention, the method may include the following steps:

[0099] Step 401: The first control device sends a first control instruction to the first UAV;

[0100] Step 402: the first UAV automatically flies to the area to be operated according to the first control instruction, obtains the image data and the spectral data of the area to be operated through the high-resolution camera and spectral sensor carried by the first UAV, and sends the image data and the spectral data to the first control device;

[0101] Step 403: the first control device determines the type of rock formation in the area to be operated according to the image data and the spectral data, determines a mortar ratio strategy according to the type of rock formation, and sends a second control instruction to the first UAV;

[0102] Step 404: the first UAV controls the spraying device carried by the first UAV to spray mortar in the area to be operated according to the spraying parameters carried by the second control instruction, wherein the mortar is mixed according to the mortar proportioning strategy.

[0103] Optionally, the first control device determines the type of rock formation in the area to be operated according to the image data and the spectral data, including:

[0104] Acquire color and texture features from the image data, acquire spectral features from the spectral data, and acquire morphological features based on the color and texture features and the spectral features;

[0105] The morphological features are input into a machine learning model to obtain the rock formation type of the area to be operated, wherein the machine learning model is obtained by training a U-type network of the machine learning model using known geological information and annotated rock formation data.

[0106] Optionally, after inputting the morphological features into a machine learning model to obtain the rock formation type of the area to be operated, the method further includes:

[0107] The field sampling samples are compared and analyzed with the rock formation type to obtain the rock formation type accuracy results, and the machine learning model is adjusted and optimized according to the rock formation type accuracy results.

[0108] Optionally, in the case where the rock layer type is a hard rock layer, the mortar proportioning strategy is: cement mortar, with a water-cement ratio ranging from 0.4 to 0.5, wherein cement: ordinary Portland cement, sand: diameter less than 5 mm, fineness modulus of 2.4 to 2.8, stone powder content of 10% to 18%, moisture content of 4% to 6%, and accelerator: alkali-free accelerator.

[0109] Optionally, in the case where the rock formation type is a siliceous rock formation, the mortar proportioning strategy is: silicate mortar, a water-cement ratio ranging from 0.4 to 0.5, wherein cement: ordinary silicate cement, sand: diameter less than 5 mm, fineness modulus of 2.4 to 2.8, stone powder content of 10% to 20%, moisture content of 4% to 6%, accelerator: alkali-free accelerator, admixture: wollastonite powder, the adding ratio is 10% to 15%.

[0110] Optionally, when the rock layer type is a sandy rock layer, the mortar ratio strategy is: magnesia mortar or improved mortar, wherein cement: magnesia cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, moisture content 4%-6%. Accelerator: alkali-free accelerator.

[0111] Optionally, when the rock layer type is clay rock layer, the mortar ratio strategy is: polymer modified mortar, wherein cement: ordinary silicate cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, water content 4%-6%. Accelerator: alkali-free accelerator, anti-cracking agent: the dosage is 0.8-1% of the weight of cement.

[0112] Optionally, in the case where the rock formation type is a fractured rock formation, the mortar proportioning strategy is: mortar with good fluidity, wherein cement: ordinary Portland cement, sand: diameter less than 2 mm, water content 4% to 6%, accelerator: alkali-free accelerator, and water-cement ratio is 0.5 to 0.6.

[0113] The specific implementation of the injection method for rock formation solidification described in this embodiment can be found in the injection system for rock formation solidification described in the above embodiments, which will not be described again here.

[0114] According to the technical solution provided by the embodiment of the present invention, the first UAV can obtain image data and spectral data of the area to be operated through a high-resolution camera and a spectral sensor, so that the first control device can determine the rock type of the area to be operated according to the image data and the spectral data, and thus determine the mortar ratio strategy according to the rock type, so that the technical solution provided by the embodiment of the present invention can set different mortar ratio strategies for different rock types to achieve better rock solidification effect; due to the injection parameters carried by the second control instruction, the first UAV can carry a fixed amount of mortar according to the injection parameters, avoiding the problem of excessive energy consumption of the first UAV caused by carrying too much mortar; because the first UAV can carry a spraying device to control the spraying device to spray mortar, the technical solution provided by the embodiment of the present invention can spray mortar in unmanned areas to perform rock solidification operations.

[0115] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0116] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0117] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A jetting system for rock formation solidification, characterized in that: include: A first control device and a first drone; wherein, The first control device is used to send a first control instruction to the first UAV, receive image data and spectral data of the area to be operated returned by the first UAV, determine the rock formation type of the area to be operated according to the image data and the spectral data, determine the mortar ratio strategy according to the rock formation type, and send a second control instruction to the first UAV; The first UAV is used to carry a high-resolution camera and a spectral sensor according to the first control instruction, automatically fly to the area to be operated, obtain the image data and the spectral data of the area to be operated through the high-resolution camera and the spectral sensor, send the image data and the spectral data to the first control device, carry a spraying device according to the second control instruction, and control the spraying device to spray mortar in the area to be operated according to the spraying parameters carried by the second control instruction, wherein the mortar is mixed according to the mortar proportioning strategy.

2. The system according to claim 1, characterized in that The method in which the first control device determines the type of rock formation in the area to be operated according to the image data and the spectral data includes: Acquire color and texture features from the image data, acquire spectral features from the spectral data, and acquire morphological features based on the color and texture features and the spectral features; The morphological features are input into a machine learning model to obtain the rock formation type of the area to be operated, wherein the machine learning model is obtained by training a U-type network of the machine learning model using known geological information and annotated rock formation data.

3. The system according to claim 2, characterized in that After inputting the morphological features into the machine learning model to obtain the rock formation type of the area to be operated, the method further includes: The field sampling samples are compared and analyzed with the rock formation type to obtain the rock formation type accuracy results, and the machine learning model is adjusted and optimized according to the rock formation type accuracy results.

4. The system according to claim 1, characterized in that In the case where the rock layer type is a hard rock layer, the mortar proportioning strategy is: cement mortar, the water-cement ratio range is 0.4-0.5, wherein cement: ordinary Portland cement, sand: diameter less than 5mm, fineness modulus is 2.4-2.8, stone powder content is 10%-18%, water content is 4%-6%, and accelerator: alkali-free accelerator.

5. The system according to claim 1, characterized in that In the case where the rock layer type is a siliceous rock layer, the mortar proportioning strategy is: silicate mortar, the water-cement ratio range is 0.4-0.5, wherein cement: ordinary silicate cement, sand: diameter less than 5mm, fineness modulus is 2.4-2.8, stone powder content is 10%-20%, moisture content is 4%-6%, accelerator: alkali-free accelerator, admixture: wollastonite powder, the adding ratio is 10%-15%.

6. The system according to claim 1, characterized in that In the case where the rock layer type is a sandy rock layer, the mortar ratio strategy is: magnesia mortar or improved mortar, wherein cement: magnesia cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, moisture content 4%-6%. Accelerator: alkali-free accelerator.

7. The system according to claim 1, characterized in that In the case where the rock layer type is clay rock layer, the mortar ratio strategy is: polymer modified mortar, wherein cement: ordinary silicate cement, sand: diameter less than 5mm, fineness modulus 2.4-2.8, stone powder content 10%-20%, moisture content 4%-6%. Accelerator: alkali-free accelerator, anti-cracking agent: the dosage is 0.8-1% of the weight of cement.

8. The system according to claim 1, characterized in that In the case where the rock layer type is a fractured rock layer, the mortar proportioning strategy is: mortar with good fluidity, wherein cement: ordinary Portland cement, sand: diameter less than 2 mm, water content 4% to 6%, accelerator: alkali-free accelerator, and water-cement ratio of 0.5 to 0.

6.

9. The system according to claim 1, characterized in that Also includes: Second drone; The first control device is further configured to generate an injection strategy, send the second control instruction to the first UAV according to the injection strategy, and send a third control instruction to the second UAV; The second drone is used to carry a blowing device, and according to the third control instruction, the blowing device is started to blow air before the first drone sprays mortar.

10. The system according to claim 1, characterized in that Also includes: The third drone; The first control device is further configured to generate an injection strategy, send the second control instruction to the first UAV according to the injection strategy, and send a fourth control instruction to the third UAV; The third UAV is used to carry a water spraying device. According to the fourth control instruction, before the first UAV sprays mortar, the water spraying device is started to spray water. During the process of the first UAV spraying mortar, the water spraying device is controlled to cooperate with the spraying device to spray water.

11. The system according to claim 1, characterized in that Also includes: a second control device; The second control device is used to control the flight height of the first UAV and the spraying angle of the spraying device when the first UAV controls the spraying device to spray mortar according to the spraying parameters carried by the second control instruction.

12. A jetting device for rock formation solidification, characterized in that: include: A drone body, a suspension part and a carrying device, wherein the suspension part is arranged below the drone body, fixedly connected to the drone body, and movably connected to the carrying device, and the carrying device includes: a high-resolution camera, a spectral sensor and a jet device; The injection device for rock formation solidification is used to receive a first control instruction sent by a first control device, and according to the first control instruction, carry the high-resolution camera and the spectral sensor, automatically fly to the area to be operated, obtain the image data and the spectral data of the area to be operated through the high-resolution camera and the spectral sensor, send the image data and the spectral data to the first control device, receive a second control instruction sent by the first control device, carry the injection device through the suspension part, and in the area to be operated, control the injection device to spray mortar according to the injection parameters carried by the second control instruction, wherein the mortar is mixed according to a mortar ratio strategy, and the mortar ratio strategy is determined by the first control device according to the image data and the spectral data to determine the rock formation type of the area to be operated.

13. The device according to claim 12, characterized in that The injection device includes: a raw material container, a motor, a rotating blade, an air compression component and a nozzle; the motor is connected to the rotating blade and is used to control the rotation of the rotating blade; the rotating blade extends into the raw material container from the side wall of the raw material container and is used to stir the mortar in the raw material container; one end of the air compression component is connected to the bottom of the raw material container, and the other end is connected to the nozzle, and is used to pressurize the mortar flowing out of the bottom of the raw material container and inject it through the nozzle.

14. The device according to claim 12, characterized in that The carrying device also includes any one of the following devices: a blowing device and a water spraying device.

15. A jetting method for rock formation solidification, characterized in that: The method comprises: The first control device sends a first control instruction to the first UAV; The first UAV automatically flies to the area to be operated according to the first control instruction, obtains the image data and the spectral data of the area to be operated through the high-resolution camera and spectral sensor carried by the first UAV, and sends the image data and the spectral data to the first control device; The first control device determines the type of rock formation in the area to be operated according to the image data and the spectral data, determines a mortar ratio strategy according to the type of rock formation, and sends a second control instruction to the first UAV; In the area to be operated, the first UAV controls the spraying device carried by the first UAV to spray mortar according to the spraying parameters carried by the second control instruction, wherein the mortar is mixed according to the mortar proportioning strategy.

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