Remote liquid oxygen filling robot and method for air energy rock breaking technology

Abstract

The invention discloses a remote liquid oxygen filling robot and method for an air energy rock breaking technology, and belongs to the technical field of mining and rock breaking. The device comprises a Dewar tank, an electric cabinet, a supercharging device, a cable drum, a walking chassis mechanism, a motor pump mechanism, a control valve group, an aluminum pipe shearing device and a protective cover, the protective cover is installed on the top of the walking chassis mechanism, and the Dewar tank, the electric cabinet, the supercharging device, the cable drum, the motor pump mechanism, the control valve group and the aluminum pipe shearing device are fixedly arranged on the protective cover. The outlet end of the Dewar tank is connected with a motor pump mechanism through a supercharging device, a control valve set is installed at the outlet end of the motor pump mechanism, a long cable of the cable drum is electrically connected with the electric cabinet, and the supercharging device, the walking chassis mechanism, the motor pump mechanism, the control valve set and the aluminum pipe shearing device are all electrically connected with the electric cabinet. The defects of an existing air energy filling technology are overcome, and the defects include the problem of volatilization of a conveying pipeline in long-distance operation of liquid oxygen filling and the problem of potential safety hazards in short-distance operation.

Description

Technical Field

[0001] The invention relates to a remote liquid oxygen filling robot and method for air energy rock breaking technology, belonging to the technical field of mining and rock breaking. Background Art

[0002] In mining and construction projects, rocks often need to be crushed for excavation or construction; traditional rock crushing methods mainly rely on high-energy materials such as explosives. Although such methods have high rock crushing efficiency, they have great safety risks and serious environmental damage. Using gas energy to crush rocks is a relatively safe and environmentally friendly alternative technology. Its basic principle is to use compressed gas to quickly release energy to achieve crushing.

[0003] However, the existing gas-powered rock-breaking technology has certain limitations during operation. For example, during the process of transporting and filling liquid oxygen, long-distance transport of liquid oxygen is prone to volatilization and state changes, resulting in the inability to effectively inject liquid oxygen into the rock fracture holes, thereby affecting the rock-breaking effect. For this reason, short-distance operation is often required to ensure the stability of liquid oxygen during the transportation process, but this brings personal safety risks to the operator, such as possible liquid oxygen leakage, early explosion and other accidents.

[0004] In response to the above problems, one idea is to use remote control and intelligent technology to design a liquid filling robot to complete the liquid oxygen filling task remotely, thereby solving the safety risks of direct manual operation and optimizing the transportation and filling process of liquid oxygen. However, the relevant technology still needs to be further developed and improved, especially in the robot's control system design, safety monitoring, and ease of operation. Innovation is needed to provide more efficient, stable and safe rock breaking services. In summary, the development of a new type of intelligent remote control liquid filling robot for gas energy rock breaking has important practical value for improving the safety and efficiency of rock crushing operations.

[0005] Therefore, it is urgent to propose a remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology to solve the above technical problems. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the existing air energy filling technology, including the volatilization problem of the transmission pipeline in the long-distance operation of liquid oxygen filling, and the potential safety hazard problem of close-range operation. A brief overview of the present invention is given below to provide a basic understanding of certain aspects of the present invention. It should be understood that this overview is not an exhaustive overview of the present invention. It is not intended to identify the key or important parts of the present invention, nor is it intended to limit the scope of the present invention.

[0007] The technical solution of the present invention:

[0008] Solution 1: A remote-controlled intelligent liquid oxygen filling robot for air energy rock breaking technology, including a dewar tank, an electric control box, a pressurizing device, a cable reel, a walking chassis mechanism, a motor pump mechanism, a control valve group, an aluminum tube cutting device and a shield. A shield is installed on the top of the walking chassis mechanism, and a dewar tank, an electric control box, a pressurizing device, a cable reel, a motor pump mechanism, a control valve group and an aluminum tube cutting device are fixedly arranged on the shield. The outlet end of the dewar tank is connected to the motor pump mechanism through the pressurizing device, and the outlet end of the motor pump mechanism is installed with a control valve group. The long cable of the cable reel is electrically connected to the electric control box, and the pressurizing device, the walking chassis mechanism, the motor pump mechanism, the control valve group and the aluminum tube cutting device are all electrically connected to the electric control box.

[0009] Preferably: it also includes a lighting lamp, and the lighting lamp is fixedly installed on the outside of the protective cover.

[0010] Preferably, it also includes an air-cooled radiator, which is placed on one side of the Dewar tank and is electrically connected to the electric control box.

[0011] Preferably: the aluminum tube cutting device comprises a base, a slide, an upper cutter, a lower cutter and a telescopic rod, the base is fixedly mounted on the shield, the lower cutter is fixedly mounted on the top of the base, the upper cutter is arranged above the lower cutter, and the upper cutter is slidably connected to the base through the slide, and the two ends of the telescopic rod are respectively connected to the upper cutter and the base.

[0012] Preferably: it also includes a flow tracking system, a precise positioning device and a liquid-filled aluminum tube cutting module, the electric control box is electrically connected to the flow tracking system, the precise positioning device and the liquid-filled aluminum tube cutting module, the liquid-filled aluminum tube cutting module is connected to the aluminum tube cutting device through the electric control box, the flow tracking system is connected to the control valve group through the electric control box, and the precise positioning device is connected to the walking chassis mechanism through the electric control box.

[0013] Solution 2: A remote-controlled intelligent liquid oxygen filling method for air-energy rock breaking technology is realized by relying on a remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology described in Solution 1:

[0014] Step 1, determining the amount of liquid oxygen filled into the crack hole of the dewar tank by means of a flow meter display reading, and closing the filling switch by remote control;

[0015] Step 2, after filling with liquid oxygen, start the aluminum tube cutting device to cut off the connected liquid-filled aluminum tube, which makes it easier for the filling machine to evacuate the filling site.

[0016] The present invention has the following beneficial effects:

[0017] The present invention avoids the existing air energy filling technology, which requires manual button operation to fill liquid oxygen and long-distance operation. The liquid oxygen delivery pipeline is too long, and the liquid oxygen is easy to volatilize. It cannot be guaranteed that liquid oxygen is delivered to the fracture hole, thereby affecting the rock breaking effect. Even at a long distance, the rock breaking effect will not be affected. At the same time, close-range operation also reduces the probability of causing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a stereoscopic image of a remote-controlled intelligent liquid oxygen filling robot used in air-energy rock breaking technology;

[0019] Figure 2 It is a perspective view of the aluminum tube shearing device of the present invention.

[0020] In the figure: 1-Dewar tank, 2-electric control box, 3-lighting lamp, 4-boosting device, 5-cable reel, 6-tool box, 7-travel chassis mechanism, 8-air cooling radiator, 9-motor pump mechanism, 10-control valve group, 11-aluminum tube cutting device, 12-shield, 111-base, 112-slide, 113-upper tool, 114-lower tool, 115-telescopic rod. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0022] The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is a non-detachable connection including but not limited to conventional fixed connection methods such as folding connection, rivet connection, bonding connection and welding connection. The detachable connection includes but not limited to conventional detachable methods such as threaded connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, it is assumed that at least one connection method can always be found in the existing connection methods to achieve the function. Those skilled in the art can choose according to their needs. For example: a fixed connection is selected as a welding connection, and a detachable connection is selected as a hinge connection.

[0023] Specific implementation method 1: Combination Figure 1-Figure 2The present embodiment is described. The present embodiment is a remote-controlled intelligent liquid oxygen filling robot for air energy rock breaking technology, comprising a dewar tank 1, an electric control box 2, a pressurizing device 4, a cable reel 5, a walking chassis mechanism 7, a motor pump mechanism 9, a control valve group 10, an aluminum tube cutting device 11 and a shield 12. The walking chassis mechanism 7 is provided with a shield 12 on the top, and the dewar tank 1, the electric control box 2, the pressurizing device 4, the cable reel 5, the motor pump mechanism 9, the control valve group 10 and the aluminum tube cutting device 11 are fixedly arranged on the shield 12. The outlet end of the dewar tank 1 is connected to the motor pump mechanism 9 through the pressurizing device 4, and the outlet end of the motor pump mechanism 9 is provided with the control valve group 10. The long cable of the cable reel 5 is electrically connected to the electric control box 2, and the pressurizing device 4, the walking chassis mechanism 7, the motor pump mechanism 9, the control valve group 10 and the aluminum tube cutting device 11 are all electrically connected to the electric control box 2.

[0024] The dewar tank 1 is a container for storing and using liquid oxygen. The electric control box 2 is required to be explosion-proof and oil-proof. It adopts the design of explosion-proof electrical control cabinet. The box has an explosion-proof certificate and the protection level is IP66. It provides the whole machine power supply and leakage protection, and can be switched between near control and remote control. The booster device 4 increases the filling pressure for filling liquid; the cable reel 5 has a long cable, which is an explosion-proof cable; the walking chassis mechanism 7 is a crawler walking mechanism, which realizes the walking, backward and turning functions of the whole machine, and has good obstacle crossing ability and stability to ensure that the robot moves and operates on various uneven rocky terrains. The motor pump mechanism 9 adopts a three-phase asynchronous motor (MA standard) with a 71ml / r load-sensitive plunger pump to provide power for the whole machine. The control valve group 10 adopts a five-link electro-hydraulic proportional multi-way valve to control each action hydraulic actuator, which can be operated manually or remotely. The shield 12 protects each device to avoid damage.

[0025] The electric control box 2 absorbs power from the outside through the cable drum 5. The electric control box 2 can be remotely controlled to control the switch and working state of the booster device 4, the walking chassis mechanism 7, the motor pump mechanism 9, the control valve group 10, and the aluminum tube cutting device 11. The booster device 4 provides pressure power for the liquid oxygen filled into the crack hole by the Dewar tank 1 through the liquid-filled aluminum tube.

[0026] It also includes a lighting lamp 3. The outer side of the protective cover 12 is fixedly installed with the lighting lamp 3. The lighting lamp 3 has three to four lighting lamps in total. It is manufactured strictly in accordance with the MA requirements to provide working lighting for the whole vehicle and is equipped with a walking sound and light alarm device.

[0027] It also includes an air-cooled radiator 8, which is placed on one side of the Dewar tank 1 and is electrically connected to the electric control box 2. The air-cooled radiator 8 reduces the temperature of the hydraulic oil and prolongs its service life.

[0028] The utility model also comprises a tool box 6 for storing commonly used maintenance tools or remote controllers.

[0029] The aluminum tube shearing device 11 includes a base 111, a slide 112, an upper cutter 113, a lower cutter 114 and a telescopic rod 115. The base 111 is fixedly mounted on the shield 12, the lower cutter 114 is fixedly mounted on the top of the base 111, the upper cutter 113 is arranged above the lower cutter 114, and the upper cutter 113 is slidably connected to the base 111 through the slide 112, and the two ends of the telescopic rod 115 are respectively connected to the upper cutter 113 and the base 111. The telescopic rod 115 is an electric telescopic rod or a pneumatic telescopic rod, which drives the upper cutter 113 and the lower cutter 114 to close after the liquid filling is completed, so as to cut the liquid-filled aluminum tube.

[0030] The liquid-filled aluminum tube is precisely docked with the outlet end of the dewar tank through a high-precision docking device, and has automatic positioning and docking functions. Using the sensor and automatic alignment module of the high-precision docking device, the pipeline at the outlet end of the dewar tank can be aligned with the liquid-filled aluminum tube to ensure the safe inflow of liquid oxygen. A flexible connector can be used between the dewar tank and the liquid-filled aluminum tube. This structure can tolerate misalignment within a certain range, thereby achieving a stable connection and preventing liquid leakage.

[0031] After the liquid oxygen is filled to a preset amount, the liquid-filled aluminum tube is automatically cut off by the aluminum tube cutting device 11. The cutting action is executed by the positioning command of the control system to ensure that the aluminum tube is cut off at the preset position without additional manual intervention. To ensure safety, the aluminum tube cutting device 11 immediately recycles or closes the shearing port after cutting to prevent liquid oxygen leakage.

[0032] It also includes a wireless remote control transmitter and receiver. In addition to controlling the left and right travel, the pipe cutting device, and the cable drum dial, the wireless remote control transmitter and receiver can be equipped with two or three 24V dials for liquid filling switches, equipment switches, etc. It can be optionally equipped with a display screen to display system pressure, liquid filling flow and other parameters, and an emergency stop button;

[0033] It also includes a flow tracking system, a precise positioning device and a liquid-filled aluminum tube cutting module. The electric control box 2 is electrically connected to the flow tracking system, the precise positioning device and the liquid-filled aluminum tube cutting module. The liquid-filled aluminum tube cutting module is connected to the aluminum tube cutting device 11 through the electric control box 2. The flow tracking system is connected to the control valve group 10 through the electric control box 2. The precise positioning device is connected to the walking chassis mechanism 7 through the electric control box 2. The electric control box 2 is externally connected to a remote control.

[0034] Specific implementation method 2: Combination Figure 1-Figure 2 This embodiment is described based on the specific embodiment 1. A remote control intelligent liquid oxygen filling method for air energy rock breaking technology in this embodiment includes:

[0035] Step 1, the traveling chassis mechanism 7 drives the electric control box 2, the booster device 4, the cable drum 5, the traveling chassis mechanism 7, the motor pump mechanism 9, the control valve group 10, the aluminum tube cutting device 11 and the protective cover 12 arranged on the top thereof to be transported to the designated cracking hole;

[0036] Step 2, determining the amount of liquid oxygen filled into the crack-causing hole by the Dewar tank 1 through the liquid-filled aluminum tube by means of the flow meter display reading, and closing the filling switch on the control valve group 10 through the electric control box 2;

[0037] Step 3, after filling with liquid oxygen, start the aluminum tube cutting device 11 to cut off the connected liquid-filled aluminum tube. After cutting, the walking chassis mechanism 7 drives the electric control box 2, the booster device 4, the cable reel 5, the walking chassis mechanism 7, the motor pump mechanism 9, the control valve group 10, the aluminum tube cutting device 11 and the protective cover 12 to evacuate the liquid filling site.

[0038] Before determining the amount of liquid oxygen filled into the crack-causing hole by the Dewar tank 1 through the liquid-filled aluminum tube by means of the flow meter reading in step 2, the Dewar tank 1 is brought to the designated construction position by means of a flow tracking system and a precise positioning device;

[0039] The flow tracking system is intended to monitor the flow rate and pressure of liquid oxygen in real time to ensure that the liquid oxygen can be accurately and stably delivered to the target location. The flow tracking system includes a flow meter, a pressure sensor and a control unit, the control unit is connected to the flow meter and the pressure sensor respectively, and the control unit is connected to the electric control box 2.

[0040] Flow meter: used to monitor the flow rate of liquid oxygen in the pipeline. A mass flow meter (Coriolis flow meter) is used to ensure accurate measurement of liquid flow.

[0041] Pressure sensor: Install piezoelectric pressure sensors at key locations in fluid pipelines to monitor the liquid oxygen pressure in the pipeline in real time.

[0042] Control unit: Use a PLC controller to process the data fed back by the flow meter and pressure sensor, and adjust the output through control logic.

[0043] The control steps of the flow tracking system include:

[0044] Step 1.11, data acquisition: The flow meter and pressure sensor measure the liquid oxygen flow rate (unit: L / min) and system pressure (unit: Pa) in real time, and the collected data is transmitted to the central control unit (PLC controller).

[0045] Step 1.12, flow-pressure relationship modeling: The relationship between flow and pressure can be described by the following formula:

[0046] Q=k·P n

[0047] in:

[0048] Q is the flow rate (L / min).

[0049] P is pressure (Pa).

[0050] k is a constant that represents the characteristics of the system.

[0051] n is the exponent of flow and pressure, which is usually 1 in liquid systems but can be adjusted according to actual system needs.

[0052] The control system establishes a mathematical model based on the relationship between flow and pressure to determine the trend of liquid oxygen flow and pressure changes.

[0053] Step 1.13, feedback regulation: The control system adjusts the flow rate by comparing the error between the current flow rate and the target flow rate using PID control (proportional-integral-differential control):

[0054]

[0055] in:

[0056] u(t) is the control signal, which is used to adjust the opening of the regulating valve.

[0057] e(t)=Q arget -Q measured is the flow error (the difference between the target flow and the actual flow).

[0058] K P , K i , K d is the gain coefficient of PID control.

[0059] Step 1.14, flow adjustment: The regulating valve adjusts the flow of liquid oxygen according to the control signal to ensure that the output flow is consistent with the preset target.

[0060] PID closed-loop control is adopted, with real-time data from flow meter and pressure sensor as feedback input, to gradually adjust the valve opening to ensure accurate and controllable flow.

[0061] Using a dynamic flow compensation algorithm, the system can automatically adjust flow output to ensure stability when environmental conditions or pipeline resistance changes.

[0062] The purpose of the precise positioning device is to ensure that the liquid oxygen can be accurately transferred into the cracking hole and the liquid-filled aluminum tube is cut at the correct position. This system usually involves space construction, positioning tracking and precise control of the actuator.

[0063] The precise positioning device combines the laser radar (LiDAR), inertial measurement unit (IMU) and GPS positioning system methods for spatial construction and positioning. The following are the working principles and steps of the precise positioning device:

[0064] Step 1.21, design the laser radar;

[0065] The robot's spatial model is constructed by scanning the surrounding environment in real time and acquiring distance data through lidar.

[0066] Through laser scanning, the system maps the relative distance to the target location and accurately locates it through algorithms such as triangulation.

[0067] Step 1.22, based on the laser radar, set up IMU and GPS positioning;

[0068] The inertial measurement unit (IMU) can provide the robot's acceleration and angular velocity information in three-dimensional space, thereby calculating the robot's motion trajectory and position.

[0069] In outdoor environments, positioning combined with GPS (Global Positioning System) can provide higher spatial accuracy.

[0070] Step 1.23, real-time positioning: The system obtains information about the robot's current position and target position in real time through devices such as laser radar, IMU and GPS. In the spatial modeling process, a remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology in this embodiment draws a relative position map (two-dimensional and three-dimensional) based on sensor feedback data.

[0071] Step 1.24, target positioning calculation: The positioning system uses a data fusion algorithm (Kalman filter) to fuse the data from multiple sensors and accurately calculate the current position and target position of the robot. The Kalman filter formula is:

[0072]

[0073] in:

[0074] Estimation of the robot's state (such as position and velocity).

[0075] z(k) is the observation data of the sensor.

[0076] H is the observation matrix and K(k) is the Kalman gain.

[0077] Through Kalman filtering, positioning accuracy is improved and errors can be effectively suppressed.

[0078] Step 1.25, path planning and target achievement: By analyzing the real-time positioning data, the control system plans the optimal path according to the preset path planning algorithm (Dijkstra algorithm) and guides the robot to move towards the target position.

[0079] Step 1.26, precise docking and filling operation: In this embodiment, when a remote-controlled intelligent liquid oxygen filling robot used for air-energy rock breaking technology reaches the target position, the actuator (nozzle, aluminum tube cutter) is adjusted to ensure that the liquid-filled aluminum tube is accurately docked with the target position to ensure that the filling process is not disturbed by the outside world.

[0080] Step 1.27, design the control and feedback mechanism of the precise positioning device;

[0081] The precise positioning system has a feedback mechanism, which adjusts the moving path of the remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology in this embodiment through sensor data. When the remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology in this embodiment deviates from the target position, the control system will adjust the robot's movement according to the error to ensure accurate docking. The feedback control formula is as follows:

[0082]

[0083] in:

[0084] u(t) is the control signal that adjusts the robot's movement speed and direction.

[0085] e(t) is the positioning error, which indicates the difference between the current positioning and the target position.

[0086] Use PID position control to adjust the position of the liquid-filled aluminum tube in real time so that it gradually approaches the target coordinates.

[0087] A multi-sensor fusion algorithm is used to combine data from the LiDAR, inertial measurement unit (IMU) and GPS positioning system to compensate for positioning errors caused by vibration or displacement, ensuring precise alignment with the target.

[0088] After the liquid oxygen is filled to a preset amount, the aluminum tube shearing control module ensures that the aluminum tube is sheared at a designated position through precise positioning.

[0089] The aluminum tube shearing control module includes a shear displacement sensor, which can monitor the shearing position in real time to ensure shearing accuracy.

[0090] The aluminum tube cutting control module compares the preset coordinates with the actual coordinates to confirm the cutting position, and after reaching the designated position, sends a cutting signal, and the aluminum tube cutting device (11) performs the cutting action.

[0091] The aluminum tube shearing control module uses displacement sensor data feedback and combines with a closed-loop control system to adjust the position of the shearing device to ensure precise shearing at the set point, thereby achieving precise control and safe delivery of liquid oxygen.

[0092] The electrical control box 2 is also provided with an emergency stop system and a multiple leakage monitoring and alarm system. In order to ensure that a remote-controlled intelligent liquid oxygen filling robot used for air-energy rock breaking technology in this embodiment can respond to abnormal situations in time and ensure safety during operation, an emergency stop system and a multiple leakage monitoring and alarm system are designed.

[0093] The emergency stop system is to stop all operations immediately when an emergency occurs during the operation of the robot to ensure the safety of equipment and personnel. The emergency stop system includes an emergency stop button (EMB), sensors and control systems, and electrical relays and actuators.

[0094] Emergency stop button (EMB): Set on the robot's control panel and handheld remote control device, the operator can trigger an emergency stop by pressing the button.

[0095] Sensors and control systems: The system is equipped with multiple sensors (such as flow, pressure, temperature sensors, etc.). When abnormal data is detected (such as excessive liquid oxygen flow, excessive pipeline pressure, etc.), an emergency stop is automatically triggered.

[0096] Electrical relays and actuators: used to shut down the robot's power system, including electric motors, pneumatic systems, etc., and quickly cut off the power or gas source.

[0097] Triggering conditions of the emergency stop system:

[0098] First, the operator triggers a stop command via the manual emergency stop button.

[0099] Then, the monitoring system (such as flow meter, pressure sensor, temperature sensor) detects abnormal conditions beyond the safety range (such as abnormal increase in flow, pressure, and temperature) and automatically triggers a stop signal.

[0100] Stop command execution of the emergency stop system:

[0101] After receiving the emergency stop signal, the control system immediately sends instructions to each execution module (such as motor, hydraulic device, etc.) to cut off the power source and stop the liquid oxygen flow output.

[0102] All parts of the robot (such as liquid oxygen flow control valve, electric motor, shearing device, etc.) will stop working quickly and the system will enter a safe standby mode.

[0103] Subsequent monitoring of the emergency stop system:

[0104] After an emergency stop, the robot system will perform a self-check to check if there are any safety hazards. If necessary, the system can be reset manually or remotely.

[0105] Key calculation formulas for emergency stop systems (applicable to flow / pressure abnormality triggers)

[0106] Assume that the maximum flow threshold is set to Q max , the maximum pressure is P max , if the flow or pressure exceeds the set threshold, an emergency stop is triggered. The formula is as follows:

[0107] Q actual >Q max or P actual >P max

[0108] When the above conditions are met, an emergency stop signal is sent to stop the robot from running.

[0109] The multiple leak monitoring and alarm system is used to monitor the possible leakage during the robot's liquid oxygen delivery process in real time, issue an alarm in time and take corresponding measures. Through the combination of multiple sensors and complex alarm control algorithms, it ensures that liquid oxygen will not leak to areas where it should not leak during the entire delivery process. The multiple leak monitoring and alarm system includes gas leak sensors, pressure sensors, temperature sensors, control modules and alarm systems.

[0110] Gas leakage sensor: A highly sensitive liquid oxygen gas leakage sensor is used to detect whether there is leakage in the liquid oxygen pipeline between the robot and the dewar tank.

[0111] Pressure sensor: monitors the pressure in the liquid oxygen pipeline. If the pressure value drops abnormally, it may mean a leak.

[0112] Temperature sensor: When liquid oxygen leaks, its temperature will change. The temperature sensor can be used to monitor abnormal temperature fluctuations and further determine whether a leak has occurred.

[0113] Control module and alarm system: The sensor data is processed by the intelligent control unit. If a leak is detected, the alarm is immediately activated and a signal is sent.

[0114] The data collection steps of the multiple leak monitoring and alarm system are as follows:

[0115] Various sensors (gas leak sensor, pressure sensor, temperature sensor) continuously monitor the condition of the liquid oxygen pipeline.

[0116] The gas leak sensor detects changes in gas concentration in real time, while the pressure sensor and temperature sensor detect whether there are significant changes (such as a sudden drop in pressure or a sharp fluctuation in temperature).

[0117] The abnormality detection and alarm triggering steps of the multiple leak monitoring and alarm system are as follows:

[0118] Step 1.31, gas leakage detection: If the gas leakage sensor detects that the liquid oxygen concentration exceeds the safety value (for example, the liquid oxygen concentration exceeds the set threshold C max ), triggering an alarm immediately.

[0119] Step 1.32, abnormal pressure monitoring: If the pressure sensor detects that the pressure in the pipeline drops by more than a preset value (such as ΔP max ), a leak is considered to have occurred and an alarm is triggered.

[0120] Step 1.33, abnormal temperature change: When liquid oxygen leaks, it will cause the local temperature to drop. If the temperature change exceeds the set threshold (such as ΔT max ), can also serve as a warning sign of a leak.

[0121] When a leak or abnormal pressure / temperature change is detected, the control system will activate the alarm mechanism (such as sound and light alarm, remote alarm notification, etc.) and send a signal to the operator or monitoring system.

[0122] Emergency stop linkage of multiple leak monitoring and alarm systems: If a leak is detected, the system will immediately link the emergency stop function, shut down the liquid oxygen flow, and cut off the electrical and pneumatic sources to prevent the leak from expanding.

[0123] The robot automatically enters safe mode and performs a self-check to detect the location of the leak source.

[0124] The key calculation formula of the multiple leak monitoring and alarm system is as follows:

[0125] Gas leakage concentration formula

[0126] C actual >C max

[0127] If the actual measured gas concentration C actual Exceeding the set maximum safe concentration C max , triggering the leakage alarm.

[0128] Pressure change formula

[0129] ΔP actual =P initial -P current

[0130] If the pressure changes ΔP actual Exceeds the set threshold ΔP max , then the alarm signal is triggered.

[0131] Temperature change formula

[0132] ΔT actual =T initial -T current

[0133] If the temperature changes ΔT actual Exceeds the set threshold ΔT max , a leak alarm is triggered.

[0134] These two systems ensure the safety and reliability of the robot during liquid oxygen filling and rock breaking operations by integrating sensors, control algorithms and automatic response mechanisms.

[0135] In order to achieve multi-parameter synchronous real-time monitoring of the robot's position, direction, heading, liquid pressure and flow, a sensor array is set on a remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology in this embodiment. The sensor array includes multiple sensor elements that can perform high-precision measurements on different parameters. The sensor array will be responsible for synchronously monitoring the robot's motion state, environmental state and liquid state during its operation, and timely feedback to the control system.

[0136] The sensor array consists of multiple types of sensors, each of which is responsible for monitoring different physical quantities (such as position, direction, heading, pressure, flow, etc.). The sensor array can collect this data synchronously and transmit the results to the central processing unit for processing. The sensor array includes position sensors, direction / heading sensors, liquid pressure sensors, and flow sensors.

[0137] Position sensor: A total station (RTK GPS) can be used to accurately measure the current position of the robot. In addition, an inertial measurement unit (IMU) can be used to measure the robot's angle change, posture, acceleration, etc. The IMU combines an accelerometer, gyroscope, and magnetometer to accurately track the robot's position and direction in three-dimensional space.

[0138] Direction / heading sensors include magnetometers and gyroscopes. Magnetometers are used to measure the direction of the robot. Magnetometers are usually combined with IMUs to determine the heading of the robot. Gyroscopes are used to measure the angular velocity of the robot, thereby calculating the direction and posture of the robot.

[0139] Liquid pressure sensor is used for piezoelectric pressure sensor to monitor the pressure in liquid oxygen flow pipeline. This pressure sensor can accurately measure the pressure change of liquid oxygen pipeline to determine whether there is any abnormality, such as leakage.

[0140] Flow sensor:

[0141] Mass flow meter: Use Coriolis flow meter to measure liquid oxygen flow. This flow meter can reflect the delivery status of liquid in the pipeline by monitoring gas flow rate or liquid flow rate.

[0142] In order to enable the sensors to work synchronously and transmit data to the central processing unit, a suitable network architecture needs to be designed.

[0143] Sensor Data Acquisition and Processing for Sensor Arrays

[0144] Each sensor transmits the collected values ​​to the central control unit through the wireless sensor network (WSN).

[0145] Data synchronization of sensor arrays: The collection moment of each sensor will be marked with a timestamp to ensure that all data are collected and processed synchronously within the same time window.

[0146] Data fusion of sensor array: The central processing unit fuses the data from different sensors and uses the Kalman filter method to reduce noise and obtain more accurate real-time data.

[0147] Construction of sensor array

[0148] 1. Position and orientation sensor (IMU+GPS):

[0149] The IMU and GPS modules use time synchronization technology to ensure real-time update of position and direction information.

[0150] IMU provides information such as the robot's displacement, posture, acceleration, etc. in the local environment, while GPS provides precise position within a larger range.

[0151] 2. Flow and pressure sensor (Coriolis flowmeter + piezoelectric pressure sensor):

[0152] These sensors can communicate with the central controller via the CAN bus.

[0153] The flow meter monitors the flow rate and flow rate of liquid oxygen, and the pressure sensor monitors the pressure in the pipeline. Depending on the actual working conditions, if the flow rate or pressure exceeds the normal range, an alarm is triggered.

[0154] Sensor array implementation method

[0155] 1) Position and direction synchronous monitoring method

[0156] Position synchronization: Use IMU and GPS sensor fusion to obtain the current position of the robot. IMU provides motion information in a short period of time, while GPS provides accurate global position. IMU and GPS data are combined through the following formula:

[0157] P robot (t) = P GPS (t)+P IMU (t)

[0158] Among them, P robot is the robot position, P GPS is the GPS positioning result, P IMU It is the IMU positioning information.

[0159] Direction synchronization: By combining the sensor data of the magnetometer, gyroscope and accelerometer, the sensor fusion algorithm (Kalman filter) is applied to calculate the robot's direction and heading. For example, the magnetic field direction output by the magnetometer can help correct the drift error of the gyroscope to obtain accurate heading information.

[0160] 2) Liquid pressure and flow synchronous monitoring method

[0161] Pressure synchronization: The pressure sensor monitors the liquid pressure in the pipeline in real time, using the following formula:

[0162] P(t)=k1·F measured (t)+b

[0163] Where P(t) is the liquid pressure, F measured (t) is the measured force signal, k1 and b are the calibration coefficients of the sensor. Flow synchronization: The flow sensor (mass flow meter) can calculate the liquid flow rate by the following formula:

[0164] Q(t)=A·V(t)

[0165] Where Q(t) is the flow rate, A is the pipe cross-sectional area, and V(t) is the fluid velocity.

[0166] Sensor array control and feedback system

[0167] 1) Control system

[0168] Sensor data access: Sensor data is transmitted to the central processing unit (PLC controller) in real time through the communication interface.

[0169] Data processing and synchronization: The central control unit uses the sensor data fusion algorithm (Kalman filter) to synchronously process data such as position, direction, pressure, flow, etc., and output a unified real-time status.

[0170] Real-time feedback and alarm: Based on the synchronously processed data, if an abnormality is found (such as excessive flow or high pressure), the control system will immediately issue an alarm signal and take action according to the set threshold (such as emergency stop, adjustment of liquid flow, etc.).

[0171] 2) Feedback system

[0172] The control system will feed back the processing results to the operator or remote monitoring system through wireless communication. The system will update the robot's working status in real time and issue necessary warnings to the operator.

[0173] Calculation formula and control logic of sensor array

[0174] Position and direction fusion formula

[0175] P robot (t) = P GPS (t)+P IMU (t)

[0176] θ robot (t) = f(θ IMU (t),θ mag (t))

[0177] Among them, P robot (t) is the robot position, θ robot (t) is the direction, θ IMU (t) is the angle measured by IMU, θ mag (t) is the direction measured by the magnetometer.

[0178] Flow and pressure monitoring formula

[0179] P(t)=k1·F measured (t)+b

[0180] Q(t)=A·V(t)

[0181] By building a sensor array and combining data synchronization and processing algorithms, the robot can monitor multiple parameters in real time, including its position, direction, heading, pressure, flow, etc. Through precise data fusion and control feedback, the robot can ensure high efficiency and safety in liquid oxygen filling and rock breaking operations.

[0182] It also includes an adaptive control unit, which is a key part of a remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology in this embodiment. It automatically adjusts the actuator action based on sensor array feedback and preset parameters to ensure the accuracy and efficiency of the filling process. The adaptive control system must be able to respond to changing field conditions (such as pressure, flow, temperature, etc.) in real time and achieve precise adjustment of the actuator by optimizing the control strategy. The adaptive control unit includes a sensor array, an actuator, an adaptive controller and a feedback mechanism:

[0183] Sensor array: used to monitor on-site conditions in real time, such as flow, pressure, temperature, liquid filling status, etc.

[0184] Actuator: responsible for adjusting the angle, position and liquid flow of the nozzle (composed of electric actuator, servo motor, proportional valve, etc.).

[0185] Adaptive controller: Based on sensor data and preset parameters, an adaptive algorithm adjusts the operation of the actuator in real time.

[0186] Feedback mechanism: monitor the action of the actuator in real time and feed back to the control system for dynamic adjustment.

[0187] First, it is necessary to collect field condition data in real time and transmit this data to the adaptive control unit. The sensors used include:

[0188] Flow sensor: real-time monitoring of liquid flow (unit: L / min).

[0189] Pressure sensor: monitors the pressure in the liquid filling system (unit: Pa).

[0190] Temperature sensor: monitors the temperature of the liquid (unit: ℃).

[0191] Position sensor: Get the nozzle position or angle in real time.

[0192] Liquid filling status sensor: Ultrasonic sensor used to monitor the liquid status (such as filling depth or liquid volume) in the filling hole.

[0193] These sensor data are input into the adaptive control unit through the data acquisition module.

[0194] The core of adaptive control is to adjust the parameters of the controller so that it can adjust the action of the actuator in real time according to the sensor data. By combining MRAC, adaptive gain scheduling and PID control, the robot system can adaptively adjust the control strategy in a changing environment to ensure control accuracy and stability.

[0195] The method of the adaptive control unit to perform model reference adaptive control (MRAC) is as follows:

[0196] The working principle of the model reference adaptive controller is to compare the behavior of the system with the reference model and dynamically adjust the control parameters according to the deviation. Its basic formula is:

[0197] θ(t)=K·(y(t)-y ref (t))

[0198] in:

[0199] θ(t) is a parameter of the controller (eg, a control signal of an actuator).

[0200] y(t) is the actual output of the system (eg nozzle position, flow rate, etc.).

[0201] y ref (t) is the output of the reference model (target value, such as preset flow, preset pressure, etc.).

[0202] K is the adaptive gain, which is used to adjust the response speed of the system.

[0203] By adjusting the gain K, the control system can adaptively adjust the actuator under different working conditions to achieve precise control.

[0204] The adaptive gain scheduling method of the adaptive control unit is as follows:

[0205] The adaptive gain scheduling method adjusts the controller gain based on real-time feedback data according to the current state of the system. For example, a higher gain is required to maintain accuracy at low flow rates, while a lower gain is required to avoid overshoot at high flow rates. The formula for adaptive gain scheduling is as follows:

[0206] K adaptive =K0+ΔK(t)

[0207] in:

[0208] K adaptive is the adjusted gain.

[0209] K0 is the initial gain.

[0210] ΔK(t) is the gain change that is dynamically adjusted based on real-time feedback data.

[0211] The adaptive control unit PID control (proportional-integral-differential control) method is as follows:

[0212] PID control is a common adaptive control method, which is widely used in precision control systems. When controlling nozzle position, flow rate and pressure, the PID control formula can be used for adjustment:

[0213]

[0214] in:

[0215] u(t) is the control output (such as motor speed, valve opening, etc.).

[0216] e(t) is the error, that is, the difference between the set value and the actual value (such as the difference between the set flow rate and the actual flow rate).

[0217] K P is the proportional gain, K i is the integral gain, K d is the differential gain.

[0218] The integral and differential parts of e(t) can be calculated through real-time feedback.

[0219] The key to PID control is to adjust K P , K i , K d To achieve fast response and high-precision control.

[0220] The adaptive control unit can ensure that the robot automatically adjusts the angle, position and filling volume of the nozzle under different working environments and conditions, thereby achieving accurate and efficient liquid filling.

[0221] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined, and those skilled in the art can exhaust all possibilities based on the mathematical knowledge of arrangement and combination. Therefore, the present invention will no longer describe the technical solutions after arrangement and combination one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present invention.

[0222] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote-controlled intelligent liquid oxygen filling robot for air energy rock breaking technology, characterized in that: The invention comprises a dewar tank (1), an electric control box (2), a pressure boosting device (4), a cable drum (5), a walking chassis mechanism (7), a motor pump mechanism (9), a control valve group (10), an aluminum tube shearing device (11) and a protective cover (12). The top of the walking chassis mechanism (7) is provided with the protective cover (12), and the dewar tank (1), the electric control box (2), the pressure boosting device (4), the cable drum (5), the motor pump mechanism (9), the control valve group (10) are fixedly provided on the protective cover (12). The invention relates to a dewar tank (1) and an aluminum tube shearing device (10), wherein the outlet end of the dewar tank (1) is connected to a motor pump mechanism (9) through a booster device (4), a control valve group (10) is installed at the outlet end of the motor pump mechanism (9), a long cable provided by the cable reel (5) is electrically connected to an electric control box (2), and the booster device (4), the walking chassis mechanism (7), the motor pump mechanism (9), the control valve group (10) and the aluminum tube shearing device (11) are all electrically connected to the electric control box (2).

2. According to claim 1, a remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology is characterized in that: It also comprises a lighting lamp (3), and the lighting lamp (3) is fixedly mounted on the outside of the protective cover (12).

3. A remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology according to claim 2, characterized in that: It also includes an air-cooling radiator (8), which is placed on one side of the Dewar tank (1) and is electrically connected to the electric control box (2).

4. A remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology according to claim 3, characterized in that: The aluminum tube shearing device (11) comprises a base (111), a slide (112), an upper cutter (113), a lower cutter (114) and a telescopic rod (115); the base (111) is fixedly mounted on the shield (12); the lower cutter (114) is fixedly mounted on the top of the base (111); the upper cutter (113) is arranged above the lower cutter (114); the upper cutter (113) is slidably connected to the base (111) via the slide (112); and two ends of the telescopic rod (115) are respectively connected to the upper cutter (113) and the base (111).

5. A remote-controlled intelligent liquid oxygen filling robot for air-energy rock breaking technology according to claim 4, characterized in that: It also includes a flow tracking system, a precise positioning device and a liquid-filled aluminum tube shearing module. The electric control box (2) is electrically connected to the flow tracking system, the precise positioning device and the liquid-filled aluminum tube shearing module. The liquid-filled aluminum tube shearing module is connected to the aluminum tube shearing device (11) through the electric control box (2). The flow tracking system is connected to the control valve group (10) through the electric control box (2). The precise positioning device is connected to the walking chassis mechanism (7) through the electric control box (2).

6. A remote-controlled intelligent liquid oxygen filling method for air-energy rock-breaking technology is realized by relying on a remote-controlled intelligent liquid oxygen filling robot for air-energy rock-breaking technology as described in claim 5, characterized in that: include: Step 1, the walking chassis mechanism (7) drives the electric control box (2), the booster device (4), the cable reel (5), the walking chassis mechanism (7), the motor pump mechanism (9), the control valve group (10), the aluminum tube cutting device (11) and the protective cover (12) arranged on the top thereof to be transported to the designated cracking hole; Step 2, determining the amount of liquid oxygen filled into the crack-causing hole through the liquid-filled aluminum tube from the Dewar tank (1) by means of a flow meter display reading, and closing the filling switch on the control valve group (10) through the electric control box (2); Step 3, after the liquid oxygen is filled, the aluminum tube shearing device (11) is started to shear the connected liquid-filled aluminum tube. After shearing, the traveling chassis mechanism (7) drives the electric control box (2), the booster device (4), the cable drum (5), the traveling chassis mechanism (7), the motor pump mechanism (9), the control valve group (10), the aluminum tube shearing device (11) and the protective cover (12) to evacuate the liquid filling site.

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