Unmanned vehicle sampling equipment for geological exploration and method thereof

Abstract

The invention discloses an unmanned vehicle sampling device for geological exploration and a method thereof, and relates to the technical field of geological exploration equipment. The device comprises an exploration vehicle, a drilling part is arranged on one side of the exploration vehicle, a sampling and collecting unit is arranged on one side of the drilling part, and a collecting box in the sampling and collecting unit is arranged below a collecting hopper; the weighing part is arranged below the collecting hopper and is used for weighing the collecting box to obtain the weight M of the sample; the camera shooting piece obtains a sample volume V through image processing by shooting a sample accumulation appearance; the sample density can be obtained through a density calculation formula; the scraping piece is arranged on one side of the collecting hopper; and the compaction piece is arranged on one side of the scraping piece. According to the device, by arranging the weighing part and the camera shooting part, the height of a scraping plate of the scraping part and the pressing force of a pressing plate of the pressing part can be flexibly adjusted according to collected real-time data, the problem caused by sample density difference is effectively solved, and accurate control over the sample collection amount is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological exploration equipment, and particularly to an unmanned vehicle sampling device and method for geological exploration. Background Art

[0002] In geological exploration work, unmanned vehicle sampling equipment has gradually become an important exploration tool due to its advantages such as high automation and the ability to operate in complex terrains. The sampling equipment carried by the unmanned vehicle can reach areas that are difficult for humans to access, efficiently collect geological samples, and provide key data support for geological research.

[0003] Currently, after an unmanned exploration vehicle completes field sampling operations, a conveying device is usually used to transport the collected samples into a collection box. To ensure the regularity of sample collection, after the samples enter the collection box, a scraper is used to scrape off the excess samples, and then a compaction member is used to compact the samples in the collection box. However, it is found in actual applications that due to the often different densities of the collected samples, this processing method has limitations. When the sample density is large, when the compaction member applies pressure to compact the samples, the excessive reaction force will cause the collection box to bear stress beyond the design load, resulting in deformation or even damage; when the sample density is small, the scraper scrapes off the samples at a fixed height, which will cause a large amount of samples to be removed. After compaction, the number of samples in the final collection box is much lower than expected and cannot meet the requirements of subsequent detection and analysis.

[0004] The reason for this problem is mainly that in the existing sample processing system of unmanned exploration vehicles, the height of the scraper and the pressure of the compaction member are both set as fixed parameters. In the actual working conditions where there are significant differences in sample density, it is impossible to flexibly adjust according to the actual physical properties of the samples, resulting in difficulty in accurately controlling the sample collection amount while ensuring the integrity of the collection box during the sample processing process. Therefore, we propose an unmanned vehicle sampling device and method for geological exploration to solve the above problems. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an unmanned vehicle sampling device and method for geological exploration, which solves the problems that when the sample density is large, when the compaction member applies pressure to compact the samples, the excessive reaction force will cause the collection box to bear stress beyond the design load, resulting in deformation or even damage; when the sample density is small, the scraper scrapes off the samples at a fixed height, which will cause a large amount of samples to be removed. After compaction, the number of samples in the final collection box is much lower than expected and cannot meet the requirements of subsequent detection and analysis.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: An unmanned vehicle sampling device and method for geological exploration, including an exploration vehicle, on one side of which a drilling component is provided, and on one side of the drilling component, a sampling and collection unit is provided. The sampling and collection unit includes a collection hopper, a collection box, a scraping component, a compaction component, a weighing component, and a camera component; The collection box is arranged under the collection hopper and is used for collecting the samples inside the collection hopper; the scraping component is arranged on one side of the collection hopper and is used for scraping the samples that overflow the top of the collection box; the compaction component is arranged on one side of the scraping component and is used for compacting the samples inside the collection box; the weighing component is arranged under the collection hopper and is used for weighing the collection box in real time; the camera component is arranged on one side of the collection hopper and is used for taking real-time pictures of the stacking height of the samples in the collection box.

[0007] Preferably, the drilling component includes a bracket, a casing, and a drill bit; For the casing, a driving component is arranged on one side of the bracket. The casing is movably inserted into the interior of the driving component, and the driving component is used for driving the casing to rotate and horizontally move inside the bracket; the drill bit is arranged on the other side of the casing, and a material conveying hole is opened inside the drill bit.

[0008] Preferably, the drilling component further includes a spiral auger, a baffle shaft, a rotating motor, and an elastic conduit; The spiral auger is arranged inside the casing and is used for conveying the samples; the baffle shaft is arranged inside the spiral auger; the rotating motor is arranged on one side of the driving component, and the output shaft of the rotating motor is fixedly assembled with the spiral auger; for the elastic conduit, one end of the elastic conduit communicates with the driving component, and the other end of the elastic conduit communicates with the collection hopper.

[0009] Preferably, the scraping component includes a support plate, an extension bar, a support plate, a scraper, an electric push rod, and a guide rod; The extension bar is arranged under the support plate; the scraper is fixedly assembled on one side of the extension bar; the electric push rod is fixedly assembled on the top of the support plate, and the output shaft of the electric push rod is fixedly assembled with the extension bar. The electric push rod is used for pushing the extension bar to slide vertically; the guide rods are fixedly assembled on both sides of the extension bar, and the guide rods are slidably connected inside the support plate; The compaction component includes a fixed frame, a first push-pull cylinder, and a pressing plate; The first push-pull cylinder is fixedly assembled on the top of the fixed frame; for the pressing plate, the output shaft of the first push-pull cylinder is fixedly assembled with the pressing plate, and the pressing plate is used for pressing the samples into the interior of the collection box.

[0010] Preferably, a dropping box is arranged on one side of the collecting hopper, the collecting box is vertically arranged inside the dropping box, and the dropping box comprises a support plate, a rotating shaft, a sprocket, a cross chain and a driving motor; The support plate is fixedly assembled at the bottom of the dropping box; the rotating shaft is rotatably connected to both sides inside the support plate, the rotating shafts are symmetrically arranged, the outer surface of the rotating shaft abuts against the collecting box, and the lengths of the rotating shafts are one long and one short; the sprocket is fixedly assembled at the end of the rotating shaft; the cross chain is sleeved on the outer surface of the sprocket, the cross chain meshes with the sprocket, and the cross chain is used to drive the sprockets to rotate synchronously towards the direction of the collecting box; the driving motor is arranged at one end of the support plate, and the output shaft of the driving motor is fixedly assembled with the rotating shaft on one side.

[0011] Preferably, a conveyor belt is arranged below the dropping box, the conveyor belt is used to convey the collecting box to below the collecting hopper, a blocking block is installed on one side of the collecting hopper, the blocking block is used to prevent the collecting box from sliding out, a second push-pull cylinder is arranged on one side of the conveyor belt, and the second push-pull cylinder is used to push the collecting box after loading to one side, and a push block is fixedly assembled on the output shaft of the second push-pull cylinder.

[0012] Preferably, a collecting box is arranged on one side of the exploration vehicle, the inner wall of the collecting box abuts against the top of the collecting box, a partition board is arranged inside the collecting box, the partition board divides the inside of the collecting box into multiple identical small spaces, a flip board is hinged on one side of the small space, and a torsion spring is arranged at the connection between the flip board and the collecting box, and the torsion spring is used to reset the flip board.

[0013] Preferably, moving members are arranged on both sides of the collecting box, and the moving members comprise guide bars, threaded rods, driving motors, guide rods, sliders, bearing blocks, third push-pull cylinders and connecting blocks; The guide bars are fixedly assembled inside the exploration vehicle; the threaded rods are arranged on one side of the collecting box, and the threaded rods are rotatably connected to the guide bars; the driving motors are arranged on one side of the threaded rods, and the output shafts of the driving motors are rotatably connected to the threaded rods; the guide rods are arranged on the other side of the collecting box, and the guide rods are fixedly connected to the guide bars; the sliders are slidably connected inside the guide bars, and the sliders are in threaded cooperation with the threaded rods; the bearing blocks are fixedly assembled on one side of the sliders; the third push-pull cylinders are arranged inside the bearing blocks; the connecting blocks are fixedly assembled at both ends of the collecting box, and the connecting blocks are fixedly assembled with the output shafts of the third push-pull cylinders.

[0014] Preferably, S1: Drive the sleeve to rotate through the driving member, thereby driving the drill bit to rotate, and then drill and crush the stone material; S2. The rotary motor drives the spiral auger to rotate, conveying the crushed stone samples through the elastic conduit into the interior of the collection hopper. S3. The exploration vehicle monitors the collection box in real time through the weighing component and the imaging component, and adjusts the height of the scraping component and the pressing force of the compaction component in real time according to the monitoring results. The specific implementation logic is as follows: Input variables: The sample weight measured by the current weighing component The sample stacking height measured by the current imaging component The maximum safe weight of the collection box. Exceeding this weight may cause damage to the collection box or excessive samples. The minimum target weight of the collection box. Below this weight, scraping is reduced and compaction is increased. The maximum safe height of the collection box. Exceeding this height may cause sample overflow or uneven stacking. The minimum target height of the collection box. Below this height, compaction is increased. Control variables: The position of the scraping component, The lower, the more samples are scraped. : The pressing force of the compaction component, The greater, the greater the pressing force.

[0015] Intermediate variables: : The deviation between the weight and the target weight,

[0016] : The deviation between the height and the target height,

[0017] : The target weight, set as

[0018] : The target height, set as

[0019] Control strategy The control strategy of the system is to adjust the scraping component and the compaction component based on the feedback of weight and height: 1. Excessive weight : The scraping component is lowered, is reduced, scraping more samples The pressing force of the compaction component is reduced Decrease to avoid over-compaction 2. Light weight : The scraping part rises Increase, scrape fewer samples The compaction force of the compaction part increases Increase, increase compaction Too high height : Increase scraping or compaction, but the height is related to the weight, and weight control is preferred Too low height : Reduce scraping or increase compaction Functional relationship Position of the scraping part : The position of the scraping part is related to the weight deviation Related:

[0020]

[0021] : The maximum position of the scraping part rises completely : The gain coefficient of the weight deviation determines the sensitivity of the scraping part to weight changes Limit:

[0022] Compaction force of the compaction part : The compaction force of the compaction part is related to the weight deviation Related:

[0023] : Basic compaction force : Gain coefficient of the weight deviation Limit:

[0024] Influence of height: Introduce the adjustment term of height:

[0025]

[0026] Where and are the gain coefficients of the height deviation Based on the above analysis, the mathematical expression of the logical model is as follows: Target value:

[0027]

[0028] Deviation calculation:

[0029]

[0030] Control function: 1. Position of scraping part:

[0031] 2. Force of compaction part:

[0032] Parameter description: : Sensitivity of scraping part to weight deviation : Sensitivity of scraping part to height deviation : Sensitivity of compaction part to weight deviation : Sensitivity of compaction part to height deviation.

[0033] S4. Transport the collection box to the inside of the collection bin through the second push-pull cylinder to isolate the sample.

[0034] The present invention discloses an unmanned vehicle sampling device and method for geological exploration, and its beneficial effects are as follows: 1. By setting a weighing part and a camera part, the device can monitor the weight and stacking height of the sample in the collection box in real time. Based on the collected real-time data, the scraper height of the scraping part and the pressing force of the pressing plate of the compaction part can be flexibly adjusted, effectively solving the problems caused by sample density differences. When the sample density is large, it is possible to avoid the compaction part applying too much pressure on the collection box, preventing the collection box from deforming and breaking due to stress exceeding the design load; when the sample density is small, the scraping height of the scraper is reasonably controlled to reduce unnecessary removal of the sample, ensuring that the number of samples in the collection box meets the requirements of subsequent detection and analysis, and achieving precise control of the sample collection volume.

[0035] 2. In the drop box of the device, different lengths of rotating shafts are used in combination with sprockets and crossed chains to realize the batch-by-batch dropping of the collection box, ensuring the orderly supply of the collection box; at the same time, the cooperation of structures such as the conveyor belt, the blocking block, and the second push-pull cylinder improves the stability of the collection box during transportation and placement, effectively preventing the collection box from tipping over.

[0036] 3. The design of the partition board and the flip board inside the collection box, combined with the function of the moving part, can realize the isolated storage of samples, facilitate the classification management and subsequent analysis of samples, and improve the efficiency and accuracy of geological exploration work. Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0038] Figure 1 Schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the top structure of the exploration vehicle of the present invention; Figure 3 Schematic diagram of the drilling part of the present invention; Figure 4 Schematic diagram of the inside of the drop box of the present invention; Figure 5 Schematic diagram of the sampling and collection unit of the present invention; Figure 6 Schematic diagram of the camera part and the weighing part of the present invention; Figure 7 Schematic diagram of the adjustable scraping part of the present invention; Figure 8 Schematic diagram of the compaction part of the present invention; Figure 9 Schematic diagram of the structure of the moving part of the present invention; Figure 10 Schematic diagram of the torsion spring structure of the present invention.

[0039] In the figure: 1. Exploration vehicle; 2. Drilling component; 21. Bracket; 22. Casing; 23. Drill probe; 24. Screw auger; 25. Material blocking shaft; 26. Rotating motor; 27. Elastic catheter; 3. Sampling and collection unit; 31. Collection hopper; 32. Collection box; 33. Scraping component; 331. Support plate; 332. Extension strip; 333. Scraper; 334. Electric push rod; 335. Vertical rod; 34. Compacting component; 341. Fixed frame; 342. First push-pull cylinder; 343. Pressing plate; 35. Box dropping box; 351. Support base; 352. Rotating shaft; 353. Sprocket; 354. Cross chain; 355. Driving motor; 36. Conveyor belt; 37. Blocking block; 38. Second push-pull cylinder; 39. Pushing block; 310. Collection box; 311. Partition; 312. Flipping plate; 313. Torsion spring; 314. Weighing component; 315. Imaging component; 4. Moving component; 41. Guide strip; 42. Threaded rod; 43. Servo motor; 44. Guide rod; 45. Slide block; 46. Bearing block; 47. Third push-pull cylinder; 48. Connecting block. Detailed implementation mode

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] The embodiment of the present application provides an unmanned vehicle sampling device and method for geological exploration, which solves the problem that when the sample density is large, when the compaction component compresses the sample by applying pressure, the excessive reaction force will cause the collection box to bear stress beyond the designed load, resulting in deformation or even damage; and when the sample density is small, scraping the sample at a fixed height by the scraper will cause a large amount of samples to be removed. After compaction, the number of samples in the final collection box is much lower than expected, unable to meet the subsequent detection and analysis requirements.

[0042] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the specification drawings and specific implementation modes.

[0043] The present invention provides an unmanned vehicle sampling device and method for geological exploration as Figures 1 - 10 shown.

[0044] Embodiment 1: It includes an exploration vehicle 1. A drilling component 2 is arranged on one side of the exploration vehicle 1. A sampling and collection unit 3 is arranged on one side of the drilling component 2. The sampling and collection unit 3 includes a collection hopper 31, a collection box 32, a scraping component 33, a compaction component 34, a weighing component 314, and an imaging component 315; The collection box 32 is arranged below the collection hopper 31, and the collection box 32 is used to collect the samples inside the collection hopper 31; the scraping member 33 is arranged on one side of the collection hopper 31, and the scraping member 33 is used to scrape the samples that overflow the top of the collection box 32; the compaction member 34 is arranged on one side of the scraping member 33, and the compaction member 34 is used to compact the samples inside the collection box 32. The weighing member 314 is arranged below the collection hopper 31, and the weighing member 314 is used to weigh the collection box 32 in real time; the imaging member 315 is arranged on one side of the collection hopper 31, and the imaging member 315 is used to take a real-time picture of the stacking height of the samples in the collection box 32.

[0045] The drilling member 2 includes a bracket 21, a casing 22 and a drill bit 23; for the casing 22, a driving member is arranged on one side of the bracket 21, the casing 22 is movably inserted inside the driving member, and the driving member is used to drive the casing 22 to rotate and horizontally move inside the bracket 21; the drill bit 23 is arranged on the other side of the casing 22, and a material conveying hole is opened inside the drill bit 23. The drilling member 2 further includes a spiral auger 24, a material blocking shaft 25, a rotating motor 26 and an elastic conduit 27; the spiral auger 24 is arranged inside the casing 22, and the spiral auger 24 is used for conveying the samples; the material blocking shaft 25 is arranged inside the spiral auger 24; the rotating motor 26 is arranged on one side of the driving member, and the output shaft of the rotating motor 26 is fixedly assembled with the spiral auger 24; for the elastic conduit 27, one end of the elastic conduit 27 communicates with the driving member, and the other end of the elastic conduit 27 communicates with the collection hopper 31.

[0046] In this embodiment, when actually using this unmanned vehicle sampling device for geological exploration, first drive the unmanned vehicle to the area to be explored. Start the driving member in the drilling member 2 to drive the casing 22 to rotate, and then drive the drill bit 23 to rotate to drill and crush the stone material. At the same time, the rotating motor 2 drives the spiral auger 24 to rotate. Under the action of the spiral auger 24, the crushed stone material samples pass through the material conveying hole opened inside the drill bit 23 and are conveyed to the inside of the collection hopper 31 through the elastic conduit 27. Subsequently, the samples in the collection hopper 31 fall into the collection box 32 below, completing the process of sample drilling to preliminary collection.

[0047] The present invention discloses an unmanned vehicle sampling device and method for geological exploration. On the basis of Embodiment 1, more specifically, as shown in the attached Figures 1 - 10 shown.

[0048] Embodiment 2: It includes an exploration vehicle 1, a drilling member 2 is arranged on one side of the exploration vehicle 1, and a sampling and collection unit 3 is arranged on one side of the drilling member 2. The sampling and collection unit 3 includes a collection hopper 31, a collection box 32, a scraping member 33, a compaction member 34, a weighing member 314 and an imaging member 315; The collection box 32 is arranged under the collection hopper 31, and the collection box 32 is used to collect the samples inside the collection hopper 31; the scraping member 33 is arranged on one side of the collection hopper 31, and the scraping member 33 is used to scrape the samples overflowing from the top of the collection box 32; the compaction member 34 is arranged on one side of the scraping member 33, and the compaction member 34 is used to compact the samples inside the collection box 32. The weighing member 314 is arranged under the collection hopper 31, and the weighing member 314 is used to weigh the collection box 32 in real time; the imaging member 315 is arranged on one side of the collection hopper 31, and the imaging member 315 is used to take a real-time photo of the stacking height of the samples in the collection box 32.

[0049] The scraping member 33 includes a support plate 331, an extension bar 332, a support plate 331, a scraper 333, an electric push rod 334 and a vertical rod 335; The extension bar 332 is arranged under the support plate 331; the scraper 333 is fixedly assembled on one side of the extension bar 332; the electric push rod 334 is fixedly assembled on the top of the support plate 331, and the output shaft of the electric push rod 334 is fixedly assembled with the extension bar 332. The electric push rod 334 is used to push the extension bar 332 to slide vertically; the vertical rods 335 are fixedly assembled on both sides of the extension bar 332, and the vertical rods 335 are slidably connected inside the support plate 331; The compaction member 34 includes a fixed frame 341, a first push-pull cylinder 342 and a pressing plate 343; The first push-pull cylinder 342 is fixedly assembled at the top of the fixed frame 341; for the pressing plate 343, the output shaft of the first push-pull cylinder 342 is fixedly assembled with the pressing plate 343, and the pressing plate 343 is used to press the sample into the interior of the collection box 32. A box-dropping box 35 is arranged on one side of the collection hopper 31, the collection box 32 is vertically arranged inside the box-dropping box 35, and the box-dropping box 35 includes a support base 351, a rotating shaft 352, a sprocket 353, a cross chain 354 and a driving motor 355; the support base 351 is fixedly assembled at the bottom of the box-dropping box 35; the rotating shaft 352 is rotatably connected to both sides inside the support base 351, the rotating shafts 352 are symmetrically arranged, the outer surface of the rotating shaft 352 abuts against the collection box 32, and the lengths of the rotating shafts 352 are one long and one short; the sprocket 353 is fixedly assembled at the end of the rotating shaft 352; the cross chain 354 is sleeved on the outer surface of the sprocket 353, the cross chain 354 meshes with the sprocket 353, the cross chain 354 is used to drive the sprockets 353 to rotate synchronously towards the direction of the collection box 32, a housing is sleeved on the outer surface of the cross chain 354, and a clamping bar is arranged inside the housing, and the clamping bar is used to prevent the cross chain 354 from falling off the sprocket 353; the driving motor 355 is arranged at one end of the support base 351, the output shaft of the driving motor 355 is fixedly assembled with the rotating shaft 352 on one side, a conveyor belt 36 is arranged below the box-dropping box 35, the conveyor belt 36 is used to convey the collection box 32 to below the collection hopper 31, a blocking block 37 is installed on one side of the collection hopper 31, and the blocking block 37 is used to prevent the collection box 32 from sliding out. A second push-pull cylinder 38 is arranged on one side of the conveyor belt 36, and the second push-pull cylinder 38 is used to push the loaded collection box 32 to one side, and a push block 39 is fixedly assembled on the output shaft of the second push-pull cylinder 38.

[0050] In this embodiment, in the supply link of the collection box 32, the driving motor 355 in the box-dropping box 35 is started to drive the rotating shaft 352 to rotate. Through the transmission of the sprocket 353 and the cross chain 354, the two rotating shafts 352 rotate synchronously towards the direction of the collection box 32, so that the collection boxes 32 fall into the conveyor belt 36 from the box-dropping box 35 in sequence and in batches. The conveyor belt 36 conveys the collection box 32 to below the collection hopper 31 to receive the sample. While receiving the sample, the weighing member 314 and the imaging member 315 at the bottom of the collection box 32 monitor the weight and the sample stacking height of the collection box 32 in real time, and adjust the height of the scraping plate 333 and the compaction force of the compaction member 34 in real time according to the weight and the sample stacking height of the collection box 32. When the collection box 32 is loaded, the second push-pull cylinder 38 pushes the push block 39 to push the collection box 32 to one side. During the movement of the collection box 32, the scraping plate 333 of the scraping member 33 scrapes the sample overflowing from the top of the collection box 32, and then the collection box 32 enters below the compaction member 34 and is compressed to form a sample.

[0051] The present invention discloses an unmanned vehicle sampling device and method for geological exploration. More specifically, on the basis of Embodiments 1 and 2, according to the attached Figures 1 - 10 as shown.

[0052] Embodiment 3: It includes an exploration vehicle 1. A drilling member 2 is arranged on one side of the exploration vehicle 1. A sampling collection unit 3 is arranged on one side of the drilling member 2. The sampling collection unit 3 includes a collection hopper 31, a collection box 32, a scraping member 33, a compaction member 34, a weighing member 314, and a camera member 315; The collection box 32 is arranged under the collection hopper 31, and the collection box 32 is used to collect the samples inside the collection hopper 31; the scraping member 33 is arranged on one side of the collection hopper 31, and the scraping member 33 is used to scrape the samples overflowing from the top of the collection box 32; the compaction member 34 is arranged on one side of the scraping member 33, and the compaction member 34 is used to compact the samples inside the collection box 32. The weighing member 314 is arranged under the collection hopper 31, and the weighing member 314 is used to weigh the collection box 32 in real time; the camera member 315 is arranged on one side of the collection hopper 31, and the camera member 315 is used to take a real-time photo of the stacking height of the samples in the collection box 32.

[0053] A collection box 310 is arranged on one side of the exploration vehicle 1. The inner wall of the collection box 310 abuts against the top of the collection box 32. A partition 311 is arranged inside the collection box 310. The partition 311 divides the interior of the collection box 310 into multiple identical small spaces. A flip plate 312 is hinged on one side of the small space. A torsion spring 313 is arranged at the connection between the flip plate 312 and the collection box 310. The torsion spring 313 is used to reset the flip plate 312. Moving members 4 are arranged on both sides of the collection box 310. The moving members 4 include a guide bar 41, a threaded rod 42, a servo motor 43, a guide rod 44, a slider 45, a bearing block 46, a third push-pull cylinder 47, and a connection block 48; the guide bar 41 is fixedly assembled inside the exploration vehicle 1; the threaded rod 42 is arranged on one side of the collection box 310, and the threaded rod 42 is rotatably connected to the guide bar 41; the servo motor 43 is arranged on one side of the threaded rod 42, and the output shaft of the servo motor 43 is rotatably connected to the threaded rod 42; the guide rod 44 is arranged on the other side of the collection box 310, and the guide rod 44 is fixedly connected to the guide bar 41; the slider 45 is slidably connected inside the guide bar 41, and the slider 45 is in threaded cooperation with the threaded rod 42; the bearing block 46 is fixedly assembled on one side of the slider 45; the third push-pull cylinder 47 is arranged inside the bearing block 46; the connection block 48 is fixedly assembled at both ends of the collection box 310, and the connection block 48 is fixedly assembled with the output shaft of the third push-pull cylinder 47.

[0054] S1. Drive the casing 22 to rotate through the driving member, and then drive the drill bit 23 to rotate, so as to drill and break the stone materials; S2. The rotary motor 26 drives the spiral auger 24 to rotate, convey the crushed stone samples, and convey them to the inside of the collection hopper 31 through the elastic conduit 27; S3. The exploration vehicle 1 monitors the collection box 32 in real time through the weighing member 314 and the imaging member 315, and adjusts the height of the scraping member 33 and the pressing force of the compaction member 34 in real time according to the monitoring results. The specific implementation logic is as follows: Input variables: The weight of the sample measured by the current weighing member 314 The stacking height of the sample measured by the current imaging member 315 The maximum safe weight of the collection box 32 Exceeding this weight will cause damage to the collection box 32 or too many samples The minimum target weight of the collection box 32 Below this weight, scraping is reduced and compaction is increased The maximum safe height of the collection box 32 Exceeding this height will cause sample overflow or uneven stacking The minimum target height of the collection box 32 Below this height, compaction is increased Control variables: The position of the scraping member 33, The lower, the more samples are scraped : The pressing force of the compaction member 34, The greater, the greater the pressing force.

[0055] Intermediate variables: : The deviation between the weight and the target weight,

[0056] : The deviation between the height and the target height,

[0057] : The target weight, set as

[0058] : The target height, set as

[0059] Control strategy The control strategy of the system is to adjust the scraping member 33 and the compaction member 34 based on the feedback of weight and height: 1. Excessive weight : The scraping member 33 is lowered, Decrease and scrape more samples The compaction force of compactor 34 decreases Decrease to avoid over-compaction 2. Lighter weight : The scraper 33 rises Increase and scrape fewer samples The compaction force of compactor 34 increases Increase and increase compaction Too high in height : Increase scraping or compaction, but height is related to weight, and weight control is preferred Too low in height : Reduce scraping or increase compaction Functional relationship The position of scraper 33 : The position of scraper 33 is related to the weight deviation Related:

[0060]

[0061] : The maximum position of scraper 33 rises completely : The gain coefficient of the weight deviation determines the sensitivity of scraper 33 to weight changes Limitations:

[0062] The compaction force of compactor 34 : The compaction force of compactor 34 is related to the weight deviation Related:

[0063] : The basic compaction force : The gain coefficient of the weight deviation Limitations:

[0064] The influence of height: Introduce the adjustment term of height:

[0065]

[0066] Where and are the gain coefficients of the height deviation Based on the above analysis, the mathematical expression of the logical model is as follows: Target value:

[0067]

[0068] Deviation calculation:

[0069]

[0070] Control function: 1. Position of scraping member 33:

[0071] 2. Force of compaction member 34:

[0072] Parameter description: : Sensitivity of scraping member 33 to weight deviation : Sensitivity of scraping member 33 to height deviation : Sensitivity of compaction member 34 to weight deviation : Sensitivity of compaction member 34 to height deviation.

[0073] S4. The collection box 32 is conveyed into the interior of the collection bin 310 through the second push-pull cylinder 38 to isolate the sample.

[0074] In this embodiment, after scraping, the first push-pull cylinder 342 of the compaction member 34 pushes the pressing plate 343 to press the sample into the interior of the collection box 32 to ensure stable storage of the sample in the collection box 32. Subsequently, the second push-pull cylinder 38 conveys the collection box 32 into the interior of the collection bin 310. The collection bin 310 is displaced and adjusted through the moving member 4. The servo motor 43 in the moving member 4 is started to drive the threaded rod 42 to rotate, so that the slider 45 that is in threaded cooperation with the threaded rod 42 and slides inside the guide bar 41 moves, thereby driving the bearing block 46 and the third push-pull cylinder 47 to move. The third push-pull cylinder 47 pushes the connecting block 48 to drive the collection bin 310 to move. During the movement, the partition plate 311 inside the collection bin 310 divides the box body into multiple small spaces. The flip plate 312 is in the initial closed state under the action of the torsion spring 313. When the collection box 32 falls into the small space, the collection box 32 pushes the flip plate 312 to open, and after falling, the flip plate 312 resets under the action of the torsion spring 313 to achieve isolated storage of the sample, which is convenient for subsequent classification management and analysis of the sample.

[0075] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and what is described in the above-mentioned embodiments and the specification is only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An unmanned vehicle sampling device for geological exploration, including an exploration vehicle (1), and a drilling component (2) is arranged on one side of the exploration vehicle (1), characterized in that, A sampling and collection unit (3) is provided on one side of the drilling component (2), and the sampling and collection unit (3) includes: A collection hopper (31); A collection box (32) which is arranged under the collection hopper (31), and the collection box (32) is used for collecting the samples inside the collection hopper (31); A scraping member (33) which is arranged on one side of the collection hopper (31), and the scraping member (33) is used for scraping the samples that overflow the top of the collection box (32); A compaction member (34) which is arranged on one side of the scraping member (33), and the compaction member (34) is used for compacting the samples inside the collection box (32); A weighing member (314) which is arranged under the collection hopper (31), and the weighing member (314) is used for weighing the collection box (32) in real time; A camera member (315) which is arranged on one side of the collection hopper (31), and the camera member (315) is used for taking real-time pictures of the stacking height of the samples in the collection box (32).

2. The unmanned vehicle sampling device for geological exploration according to claim 1, wherein: The drilling component (2) includes: A bracket (21); A casing (22), a driving member is arranged on one side of the bracket (21), the casing (22) is movably inserted inside the driving member, and the driving member is used for driving the casing (22) to rotate and horizontally move inside the bracket (21); A drill head (23) which is arranged on the other side of the casing (22), and a material conveying hole is formed inside the drill head (23).

3. The unmanned vehicle sampling device for geological exploration according to claim 2, characterized in that: The drilling component (2) further includes: A spiral auger (24) which is arranged inside the casing (22), and the spiral auger (24) is used for conveying the samples; A material blocking shaft (25) which is arranged inside the spiral auger (24); A rotating motor (26) which is arranged on one side of the driving member, and the output shaft of the rotating motor (26) is fixedly assembled with the spiral auger (24); An elastic conduit (27), one end of the elastic conduit (27) communicates with the driving member, and the other end of the elastic conduit (27) communicates with the collection hopper (31).

4. The unmanned vehicle sampling device for geological exploration according to claim 1, characterized in that: The scraping member (33) includes: A support plate (331); An extension bar (332) which is arranged under the support plate (331); A scraper (333) which is fixedly assembled on one side of the extension bar (332); An electric push rod (334) which is fixedly assembled on the top of the support plate (331), the output shaft of the electric push rod (334) is fixedly assembled with the extension bar (332), and the electric push rod (334) is used for pushing the extension bar (332) to slide vertically; Vertical rods (335) which are fixedly assembled on both sides of the extension bar (332), and the vertical rods (335) are slidably connected inside the support plate (331); The compaction member (34) includes: A fixing frame (341); A first push-pull cylinder (342) which is fixedly assembled on the top of the fixing frame (341); A pressing plate (343), the output shaft of the first push-pull cylinder (342) is fixedly assembled with the pressing plate (343), and the pressing plate (343) is used for pressing the samples into the inside of the collection box (32).

5. The unmanned vehicle sampling device for geological exploration according to claim 1, characterized in that: On one side of the collection hopper (31), a box - dropping box (35) is provided. The collection box (32) is vertically arranged inside the box - dropping box (35). The box - dropping box (35) includes: A support base (351) which is fixedly assembled at the bottom of the box - dropping box (35); A rotating shaft (352) which is rotatably connected to both sides inside the support base (351). The rotating shafts (352) are symmetrically arranged. The outer surface of the rotating shaft (352) abuts against the collection box (32). The lengths of the rotating shafts (352) are one long and one short; A sprocket wheel (353) which is fixedly assembled at the end of the rotating shaft (352); A cross - chain (354) which is sleeved on the outer surface of the sprocket wheel (353). The cross - chain (354) meshes with the sprocket wheel (353). The cross - chain (354) is used to drive the sprocket wheels (353) to rotate synchronously towards the direction of the collection box (32); A driving motor (355) which is arranged at one end of the support base (351). The output shaft of the driving motor (355) is fixedly assembled with one of the rotating shafts (352).

6. The unmanned vehicle sampling device for geological exploration according to claim 5, characterized in that: Below the box - dropping box (35), a conveyor belt (36) is provided. The conveyor belt (36) is used to convey the collection box (32) to the lower part of the collection hopper (31). A blocking block (37) is installed on one side of the collection hopper (31). The blocking block (37) is used to prevent the collection box (32) from sliding out. On one side of the conveyor belt (36), a second push - pull cylinder (38) is provided. The second push - pull cylinder (38) is used to push the collection box (32) loaded with materials to one side. The output shaft of the second push - pull cylinder (38) is fixedly assembled with a push block (39).

7. The unmanned vehicle sampling device for geological exploration according to claim 1, characterized in that: On one side of the exploration vehicle (1), a collection box (310) is provided. The inner wall of the collection box (310) abuts against the top of the collection box (32). Inside the collection box (310), a partition board (311) is provided. The partition board (311) divides the interior of the collection box (310) into multiple identical small spaces. On one side of the small space, a flip - plate (312) is hinged. A torsion spring (313) is arranged at the connection between the flip - plate (312) and the collection box (310). The torsion spring (313) is used to reset the flip - plate (312).

8. The unmanned vehicle sampling device for geological exploration according to claim 7, characterized in that: On both sides of the collection box (310), moving parts (4) are provided. The moving parts (4) include: A guiding strip (41) which is fixedly assembled inside the exploration vehicle (1); A threaded rod (42) which is arranged on one side of the collection box (310). The threaded rod (42) is rotatably connected to the guiding strip (41); A servo motor (43) which is arranged on one side of the threaded rod (42). The output shaft of the servo motor (43) is rotatably connected to the threaded rod (42); A guiding rod (44) which is arranged on the other side of the collection box (310). The guiding rod (44) is fixedly connected to the guiding strip (41); A slider (45) which is slidably connected inside the guiding strip (41). The slider (45) is in threaded cooperation with the threaded rod (42); A bearing block (46) which is fixedly assembled on one side of the slider (45); The third push-pull cylinder (47) is arranged inside the bearing block (46); The connecting blocks (48) are fixedly assembled at both ends of the collection box (310), and the connecting blocks (48) are fixedly assembled with the output shaft of the third push-pull cylinder (47).

9. A method for using an unmanned vehicle sampling device for geological exploration, according to the unmanned vehicle sampling device for geological exploration described in claims 1-8, characterized in that: It includes the following steps: S1. Drive the sleeve (22) to rotate through the driving member, and then drive the drill probe (23) to rotate, so as to drill and crush the stone material; S2. The rotating motor (26) drives the spiral auger (24) to rotate, conveys the crushed stone sample, and conveys it to the inside of the collection hopper (31) through the elastic conduit (27); S3. The exploration vehicle (1) monitors the collection box (32) in real time through the weighing member (314) and the imaging member (315), and adjusts the height of the scraping member (33) and the pressing force of the compaction member (34) in real time according to the monitoring results. The specific implementation logic is as follows: Input variables: The sample weight measured by the current weighing member (314) Sample stacking height measured by the current imaging element (315) The maximum safe weight of the collection box (32), exceeding which will cause damage to the collection box (32) or excessive samples The minimum target weight of the collection box (32), below which scraping is reduced and compaction is increased The maximum safe height of the collection box (32), exceeding which will cause sample overflow or uneven accumulation The minimum target height of the collection box (32), below which compaction is increased Control variables: Position of the scraping member (33), The lower it is, the more samples are scraped : The compaction force of the compaction member (34), the greater it is, the greater the compaction force; Intermediate variables: : Deviation of weight from the target weight, ; : The deviation between the height and the target height, ; : Target weight, set as ; : Target height, set as ; Control strategy The control strategy of the system is to adjust the scraping member (33) and the compaction member (34) based on the feedback of weight and height:

1. Excessive weight, : The scraping member (33) is lowered, reduced, scraping more samples The force of the compaction member (34) is reduced, Reduced to avoid over-compaction 2. Light weight : The scraping member (33) rises, Increase, scrape fewer samples The force of the compaction member (34) increases, Increase, increase compaction The height is too high, : Increase scraping or compaction, but the height is related to the weight, and weight control is preferred Too low height, : Reduce scraping or increase compaction Functional relationship Position of the scraping member (33) : Position and weight deviation of the scraping member (33) Relevant: ； ； : Maximum position of the scraping member (33), fully raised : Gain coefficient of weight deviation, determining the sensitivity of the scraping member (33) to weight changes Restriction: ; Compaction member (34) force :[[]]END]] Compaction piece (34) force and weight deviation Related to: ； : Basic compaction force : Gain coefficient of weight deviation Limit: ;; Influence of height: Introduce the adjustment term of height: ； ； Among them and are the gain coefficients of the height deviation Based on the above analysis, the mathematical expression of the logic model is as follows: Target value: ； ； ； ； Deviation calculation: Control function: ； 1. Position of the scraping member (33): ； 2. Force of the compaction member (34): : Sensitivity of the scraping member (33) to weight deviation : Sensitivity of the scraping member (33) to height deviation : Sensitivity of the compaction member (34) to weight deviation : Sensitivity of the compaction member (34) to height deviation; Parameter description: S4. Convey the collection box (32) to the inside of the collection box (310) through the second push-pull cylinder (38) to realize the isolation of the sample.

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