Laser and high-pressure airflow coupling rock breaking system and method

Abstract

The invention discloses a laser and high-pressure airflow coupling rock breaking system which comprises a transfer platform, a pose adjusting module, a laser module, a jet flow module, a data acquisition module and a control module. The transfer platform is used for transferring other modules; the laser module is used for generating laser and melting and damaging the rock by using the laser; the jet flow module is used for generating air flow and purging the molten substance by using the air flow; the pose adjusting module is used for adjusting the tail end poses of the laser module and the jet module; the data acquisition module is used for acquiring the state information of the above modules and the crushed rock, and inputting the acquired information as a feedback signal to the control module; and the control module is used for controlling the work of other modules, outputting signals to enable the transfer platform and the pose adjusting module to cooperate to realize the tail ends of the laser module and the jet flow module to move according to a planned pose track, and controlling the tail end of the laser module to output laser beams and the tail end of the jet flow module to output airflow. According to the invention, non-contact, safe and pollution-free rock breaking operation can be realized.

Description

Technical Field

[0001] The present invention relates to the cutting-edge technical fields of rock and soil mechanics, impact dynamics and ray optics, and in particular to a laser and high-pressure airflow coupled rock breaking system and method. Background Art

[0002] As geotechnical engineering advances into extreme environments like deep earth and the deep sea, traditional mechanical rock breaking methods are increasingly facing challenges such as low efficiency, severe equipment wear, and poor environmental adaptability. While some emerging rock breaking methods have emerged for extreme environments, such as microwave, water jet, and electric pulse, these methods are associated with high costs and potential safety risks.

[0003] The principle of combined rock breaking using laser irradiation and high-pressure airflow is to induce a phase change in the rock through laser irradiation, forming a molten core and causing internal damage through thermal stress. Simultaneously, the molten material formed by the continuous sweeping of the high-pressure airflow expands the heat-affected zone, triggering rock fragmentation around the molten core. The laser-airflow coupled rock breaking process is influenced by over ten parameters, including laser parameters, jet parameters, and motion parameters. By specifying appropriate control parameters, efficient, environmentally friendly, and energy-saving rock breaking operations can be achieved. Due to its advantages of being non-contact, having a wide range of transmission media, and having strong energy concentration, combined laser and high-pressure airflow rock breaking can continue to operate in extreme environments such as deep underground and deep sea, where traditional mechanical rock breaking is unsustainable. It is a highly promising new rock breaking technology.

[0004] However, the current progress in the application of combined laser and high-pressure airflow rock breaking, from theory to practice, still faces two challenges. First, there is a lack of a solid foundation for physical experiments and numerical simulations. Compared to the sweeping effect produced by low-pressure gas-assisted laser rock breaking, the high-pressure jet simultaneously expands the internal stress development of the rock, requiring new understanding of the rock damage evolution and fragmentation mechanism under the combined action. Second, the combined action of laser and airflow is affected by a large number of control parameters, and how to specify these parameters to achieve simple, efficient, continuous, and energy-saving rock breaking requires in-depth consideration. To address these issues, it is necessary to build a test platform for combined laser irradiation and airflow impact rock breaking. Based on physical numerical research, numerical methods and neural networks should be combined to optimize parameters to enhance its feasibility and practicality. Summary of the Invention

[0005] The present invention provides a laser and high-pressure airflow coupled rock breaking system and method to solve the technical problems existing in the known technology.

[0006] The technical solution adopted by the present invention to solve the technical problems existing in the known technology is:

[0007] A laser and high-pressure airflow coupled rock breaking system, comprising a transfer platform, a posture adjustment module, a laser module, a jet module, a data acquisition module and a control module;

[0008] The transfer platform is used to transfer the posture adjustment module, laser module, jet module, data acquisition module and control module;

[0009] The laser module is used to generate laser light and irradiate the laser light on the rock to melt and break the rock;

[0010] The jet module is used to generate airflow and use it to sweep the molten material produced by laser irradiation, reduce thermal effects and expand the damaged area;

[0011] The posture adjustment module is used to adjust the postures of the laser module and the jet module so that the laser beam output from the laser module and the airflow output from the jet module are incident at the set position of the rock according to the set incident angle.

[0012] The data acquisition module is used to collect status information of the transfer platform, posture adjustment module, laser module, jet module and crushed rock, and input the collected information as feedback signal to the control module;

[0013] The control module is used to control the operation of the transfer platform, posture adjustment module, laser module, and jet module. It has a trajectory planning unit for planning the posture trajectories of the end points of the laser module and the jet module. Based on the feedback signal from the data acquisition module, the control module outputs a signal to enable the transfer platform and the posture adjustment module to cooperate to realize the movement of the end points of the laser module and the jet module according to the planned posture trajectory, and controls the output of the laser beam at the end of the laser module and the output of the airflow at the end of the jet module.

[0014] Furthermore, the data acquisition module includes: a global positioning unit for collecting the spatial position of the transfer platform; a posture detection unit for collecting the postures of the ends of the laser module and the jet module relative to the transfer platform; and a visual sensor for collecting the state of the laser beam output by the laser module, the state of the airflow output by the jet module, and the state of the crushed rock.

[0015] Furthermore, the posture adjustment module includes a three-axis translation slide and a three-axis rotation turntable. The three-axis rotation turntable is installed on the three-axis translation slide. The three moving axes of the three-axis translation slide are perpendicular to each other, and the three rotation axes of the three-axis rotation turntable are perpendicular to each other. The ends of the laser module and the jet module are fixed to the end of the three-axis rotation turntable. The posture detection unit includes a displacement sensor for detecting the displacement of the three-axis translation slide in the three moving axis directions and an angle sensor for detecting the rotation angles of the three-axis rotation turntable around the three rotation axes.

[0016] Furthermore, the posture adjustment module includes a translation slide and a multi-joint robotic arm located on the translation slide; the ends of the laser module and the jet module are fixed to the end of the robotic arm; the posture detection unit includes a displacement sensor for detecting the displacement of the translation slide in the direction of the moving axis and an angle sensor for detecting the rotation angle of each joint.

[0017] Furthermore, the jet module includes an air hose reel and an air compressor, an air storage device, an electromagnetic pressure regulating valve, an electromagnetic stop valve and a nozzle connected in sequence through pipelines; the air compressor is used to generate compressed air of a specified pressure; the air storage device is used to store the compressed air generated by the air compressor; the electromagnetic pressure regulating valve is used to adjust the output gas pressure; the electromagnetic stop valve is used to open and close the output of the gas; the nozzle is used to generate airflow using compressed air; the air hose reel is used to store and release the gas pipeline.

[0018] Furthermore, the laser module includes a fiber optic reel and a fiber optic DC laser and an automatic focusing laser collimator head which are connected in sequence through optical fibers; the fiber optic DC laser is used to generate and transmit laser light; the automatic focusing laser collimator head is used to adjust the focused laser beam; and the fiber optic reel is used to store and release the laser output fiber.

[0019] Furthermore, it also includes a power supply module for supplying power to the transfer platform, posture adjustment module, laser module, jet module, data acquisition module and control module. The power supply module includes a UPS power supply and an inverter electrically connected in sequence; the UPS power supply is used to output uninterrupted DC voltage or current, and the inverter is used to convert the DC power output by the UPS power supply into AC power.

[0020] The present invention also provides a laser and high-pressure airflow coupled rock breaking method using the above-mentioned laser and high-pressure airflow coupled rock breaking system, the method comprising the following steps:

[0021] Step 1: Determine the expected rock breaking target, slice the rock breaking target, plan the planar rock breaking path, collect the elevation data of the corresponding planar rock breaking path, and set the process parameters of the corresponding planar rock breaking path for each slice;

[0022] Step 2: The trajectory planning unit obtains the position trajectory of the laser module and the jet module through coordinate transformation based on the preset planar rock breaking path and corresponding elevation data;

[0023] Step 3: The control module sends signals to the transfer platform and the posture adjustment module to make the ends of the laser module and the jet module move according to the preset posture trajectory. At the same time, it sends signals to the laser module and the jet module to make them output corresponding laser beams and airflows according to the process parameters of the corresponding planar rock breaking path.

[0024] In step 4, after the ends of the laser module and the jet module complete their movement along the posture trajectory, the data acquisition module collects the rock surface morphology, compares the collected rock surface morphology with the preset target morphology, and performs error analysis. If the error is within the allowable range, proceed to step 5. If the error exceeds the allowable range, re-collect the elevation information corresponding to the original plane rock breaking path, adjust the process parameters accordingly, and return to step 2.

[0025] Step 5: The breaking operation of the current slice of rock is completed, and the breaking operation of the next slice is continued.

[0026] Furthermore, in step 1, a mathematical model is constructed to reflect the mapping relationship between rock breaking process parameters, rock properties, and rock breaking effects. The process parameters of the corresponding planar rock breaking path of each slice are set based on the mathematical model. A first neural network unit is set in the control module to predict other process parameters based on rock property parameters, some process parameters, and rock breaking targets. Laboratory-scale rock breaking tests are conducted using a laser module and a jet module to obtain rock breaking effect data under different rock property parameters and different process parameters. The undetermined process parameters in the mathematical model are fitted and calibrated based on the test data.

[0027] For the calibrated mathematical model, random values ​​are assigned to rock characteristic parameters and process parameters to simulate the rock breaking effects under different process parameter combinations on the plane rock breaking path micro-element to form a training data set;

[0028] The first neural network unit is trained using a training data set. The input data of the first neural network unit includes rock characteristic parameters, determined process parameters, and rock breaking effect data. The output data of the first neural network unit includes undetermined process parameters. The parameters of the first neural network unit are continuously optimized and fine-tuned using actual data from the rock breaking project.

[0029] The trained first neural network unit is used to obtain the numerical value of the undetermined process parameter from the rock breaking effect target, the determined process parameters and the rock characteristic parameters.

[0030] Furthermore, the data acquisition module includes a binocular depth camera, which scans and extracts elevation information in the selected plane area, and collects the rock surface morphology after the rock breaking operation by the binocular depth camera. The control module is equipped with a second neural network unit for rock breaking error analysis; the existing rock surface morphology data after the rock breaking operation is collected as training data, the training data is classified and labeled for rock breaking errors, the second neural network unit is trained using the labeled training data, and the rock surface morphology after the rock breaking operation is classified for rock breaking errors using the trained second neural network unit.

[0031] The advantages and positive effects of the present invention are: the present invention proposes a laser and high-pressure airflow coupled rock breaking system and method. The infrared semiconductor laser combined with the high-pressure air jet is a new concept of non-contact, safe and pollution-free rock breaking method for complex engineering environments. Through the combination of phase change and impact crushing, it can achieve efficient removal of hard rock in extreme environments.

[0032] This invention addresses issues such as mechanism research, process design, and parameter optimization in the combined laser and airflow rock breaking process. The coupled rock breaking test platform, equipped with a positioning module, laser module, jet module, and control module on a chassis, can be used for large-scale application testing of laser and airflow combined rock breaking. The physical-numerical coupled optimization method aims to calibrate and verify mathematical models through physical experiments, thereby forming a raw data set. This data is then combined with a neural network optimization algorithm to enhance the economic and feasibility of laser and airflow combined rock breaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the working principle of a laser and high-pressure airflow coupled rock breaking system;

[0034] Figure 2 A schematic diagram of the modules and their assembly in a laser and high-pressure airflow coupled rock breaking system;

[0035] Figure 3 A schematic diagram of the workflow of a rock breaking method coupled with laser and high-pressure airflow;

[0036] Figure 4 A schematic diagram of process parameters in a rock breaking method coupled with laser and high-pressure airflow;

[0037] Figure 5 This is a diagram showing the relationship between process parameters and rock breaking depth in a laser and high-pressure airflow coupled rock breaking method.

[0038] Figure 6 Schematic diagram of the structure of the first neural network unit in the present invention;

[0039] Figure 7 This is a flowchart of the workflow of the laser and high-pressure airflow coupling rock breaking method in the present invention.

[0040] Figure: 1. Fiber DC laser; 2. Debris collector; 3. Fiber; 4. Vacuum cleaner; 5. Molten material; 6. Laser beam; 7. Autofocus laser collimator; 8. Airflow; 9. Posture adjustment module; 10. Nozzle; 11. Air pipe; 12. Solenoid shutoff valve; 13. Solenoid pressure regulating valve; 14. Air storage device; 15. Air compressor; 16. Robotic arm of posture adjustment unit B; 17. Translation slide of posture adjustment unit B; 18. Robotic arm of posture adjustment unit A; 19. Translation slide of posture adjustment unit A; 20. Transfer platform; 21. Air pipe reel; 22. Fiber reel. Ω: Rock crushing area.

[0041] θ gas : Air jet incident angle.

[0042] θ laser : Infrared semiconductor laser incident angle.

[0043] laser: infrared semiconductor laser.

[0044] gas: air jet.

[0045] UCS: uniaxial compressive strength.

[0046] UTS: uniaxial tensile strength.

[0047] d: focal length.

[0048] P: laser power.

[0049] W: jet pressure.

[0050] θ l : laser incident angle.

[0051] θ g : airflow incident angle.

[0052] L: Moving distance.

[0053] SE i : Numerical calculation of specific energy.

[0054] V i : movement speed.

[0055] SE l : Corrected specific energy.

[0056] V l : Corrected movement speed. DETAILED DESCRIPTION

[0057] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0058] In the description of the present invention, the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention. The terms "connected" and "connection" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can also be an electrical connection or signal transmission. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0059] See Figures 1 to 7 A laser and high-pressure airflow 8 coupled rock breaking system includes a transfer platform 20, a posture adjustment module 9, a laser module, a jet module, a data acquisition module and a control module.

[0060] The transfer platform 20 is used to transfer the posture adjustment module 9, the laser module, the jet module, the data acquisition module and the control module;

[0061] The laser module is used to generate laser light and irradiate the laser light on the rock to melt and break the rock.

[0062] The jet module is used to generate an airflow 8 and use the airflow 8 to purge the molten material 5 generated by laser irradiation, reduce thermal effects and expand the damaged area.

[0063] The posture adjustment module 9 is used to adjust the postures of the ends of the laser module and the jet module so that the laser beam 6 outputted from the end of the laser module and the airflow 8 outputted from the end of the jet module are incident at the set position of the rock according to the set incident angle;

[0064] The data acquisition module is used to collect status information of the transfer platform 20, the posture adjustment module 9, the laser module, the jet module and the crushed rock, and input the collected information as a feedback signal to the control module.

[0065] The control module is used to control the operation of the transfer platform 20, the posture adjustment module 9, the laser module, and the jet module. It has a trajectory planning unit for planning the posture trajectories of the ends of the laser module and the jet module. Based on the feedback signal from the data acquisition module, the control module outputs a signal to enable the transfer platform 20 and the posture adjustment module 9 to cooperate to realize the movement of the ends of the laser module and the jet module according to the planned posture trajectory, and controls the output of the laser beam 6 at the end of the laser module and the output of the airflow 8 at the end of the jet module.

[0066] See Figure 1The ends of the laser module and the jet module can be centrally arranged on a posture adjustment module 9, and the relative postures of the ends of the laser module and the jet module are fixed.

[0067] See Figure 2 The posture adjustment module 9 can be composed of two units with the same structure, namely posture adjustment unit A and posture adjustment unit B, wherein the end of the laser module is located on the posture adjustment unit A, and the end of the jet module is located on the posture adjustment unit B. That is, the posture adjustment module 9 can include posture adjustment unit A and posture adjustment unit B.

[0068] The posture adjustment unit A is used to adjust the posture of the end of the laser module so that the laser beam 6 outputted from the end of the laser module is incident on a set position of the rock according to a set incident angle.

[0069] The posture adjustment unit B is used to adjust the posture of the end of the jet module so that the airflow 8 output from the end of the jet module is incident on the set position of the rock according to the set incident angle.

[0070] Preferably, the data acquisition module may include: a global positioning unit for collecting the spatial position of the transfer platform 20; a posture detection unit for collecting the postures of the ends of the laser module and the jet module relative to the transfer platform 20; and a visual sensor for collecting the state of the laser beam 6 output by the laser module, the state of the airflow 8 output by the jet module, and the state of the broken rock.

[0071] Preferably, the posture adjustment module 9 may include a three-axis translation slide and a three-axis rotation turntable. The three-axis rotation turntable is installed on the three-axis translation slide. The three moving axes of the three-axis translation slide are perpendicular to each other, and the three rotation axes of the three-axis rotation turntable are perpendicular to each other. The ends of the laser module and the jet module are fixed to the end of the three-axis rotation turntable. The posture detection unit includes a displacement sensor for detecting the displacement of the three-axis translation slide in the three moving axis directions and an angle sensor for detecting the angles of rotation of the three-axis rotation turntable around the three rotation axes.

[0072] Preferably, the posture adjustment module 9 may include a translation slide and a multi-joint robotic arm located on the translation slide; the ends of the laser module and the jet module are fixed to the ends of the robotic arm; the posture detection unit includes a displacement sensor for detecting the displacement of the translation slide in the direction of the moving axis and an angle sensor for detecting the rotation angle of each joint.

[0073] Preferably, the jet module may include an air hose reel 21 and an air compressor 15, an air storage device 14, an electromagnetic pressure regulating valve 13, an electromagnetic stop valve 12 and a nozzle 10 connected in sequence through pipelines; the air compressor 15 is used to generate compressed air of a specified pressure; the air storage device 14 is used to store the compressed air generated by the air compressor 15; the electromagnetic pressure regulating valve 13 is used to adjust the output gas pressure; the electromagnetic stop valve 12 is used to open and close the output of the gas; the nozzle 10 is used to use compressed air to generate an airflow 8; the air hose reel 21 is used to store and release the gas supply pipe 11.

[0074] Preferably, the laser module may include a fiber optic reel 22 and a fiber optic DC laser 1 and an automatic focusing laser collimator 7 connected in sequence through an optical fiber 3; the fiber optic DC laser 1 is used to generate and transmit laser light; the automatic focusing laser collimator 7 is used to adjust the focused laser beam 6; the fiber optic reel 22 is used to store and release the laser output fiber 3.

[0075] The automatic focusing laser collimator refers to a laser head that can achieve automatic focusing and collimation. It can use the FAC series high-power zoom fiber laser collimator produced by Shenzhen Sichuang Precision Technology Co., Ltd.

[0076] Preferably, the laser and high-pressure airflow 8 coupled rock breaking system may also include a power supply module for supplying power to the transfer platform 20, the posture adjustment module 9, the laser module, the jet module, the data acquisition module and the control module. The power supply module may include a UPS power supply and an inverter electrically connected in sequence; the UPS power supply (uninterruptible power supply) is used to output uninterruptible DC voltage or current, and the inverter is used to convert the DC power output by the UPS power supply into AC power.

[0077] The present invention also provides a laser and high-pressure air flow 8 coupled rock breaking method using the above-mentioned laser and high-pressure air flow 8 coupled rock breaking system, the method comprising the following steps:

[0078] Step 1: Determine the expected rock breaking target, slice the rock breaking target, plan the plane rock breaking path, collect the elevation data of the corresponding plane rock breaking path, and set the process parameters of the corresponding plane rock breaking path for each slice.

[0079] Step 2: The trajectory planning unit obtains the posture trajectory of the ends of the laser module and the jet module through coordinate transformation based on the preset plane rock breaking path and the corresponding elevation data; according to the mapping relationship between the plane rock breaking path and the posture trajectory of the ends of the laser module and the jet module, the laser beam 6 and airflow 8 output by the ends of the laser module and the jet module at any posture trajectory point can be directed to the plane rock breaking path, even if the intersection of the laser beam 6 and airflow 8 output by the ends of the laser module and the jet module and the rock surface is located on the plane rock breaking path.

[0080] In step 3, the control module sends signals to the transfer platform 20 and the posture adjustment module 9, so that the ends of the laser module and the jet module move according to the preset posture trajectory; at the same time, it sends signals to the laser module and the jet module, so that they output corresponding laser beams 6 and airflows 8 according to the process parameters of the corresponding planar rock breaking path.

[0081] In step 4, after the ends of the laser module and the jet module complete the movement along the posture trajectory, the data acquisition module collects the rock surface morphology, compares the collected rock surface morphology with the preset target morphology, and performs error analysis. If the error is within the allowable range, proceed to step 5. If the error exceeds the allowable range, re-collect the elevation information corresponding to the original plane rock breaking path, adjust the process parameters accordingly, and return to step 2.

[0082] Step 5: The breaking operation of the current slice of rock is completed, and the breaking operation of the next slice is continued.

[0083] Preferably, in step 1, a mathematical model reflecting the mapping relationship between rock breaking process parameters, rock characteristics and rock breaking effects can be constructed, and the process parameters of the corresponding planar rock breaking path of each slice are set according to the mathematical model; a first neural network unit is set in the control module to predict other process parameters based on rock characteristic parameters, part of the process parameters and rock breaking targets; a laser module and a jet module are used to carry out laboratory-scale rock breaking tests to obtain rock breaking effect data under different rock characteristic parameters and different process parameters, and the undetermined process parameters in the mathematical model are fitted and calibrated based on the test data.

[0084] For the calibrated mathematical model, random assignment of rock characteristic parameters and process parameters is performed to simulate the rock breaking effects under different process parameter combinations on the plane rock breaking path microelement to form a training data set.

[0085] The first neural network unit is trained using a training data set. The input data of the first neural network unit includes rock characteristic parameters, determined process parameters, and rock breaking effect data. The output data of the first neural network unit includes undetermined process parameters. The parameters of the first neural network unit can be continuously trained using actual rock breaking engineering data to optimize and fine-tune the parameters in the first neural network unit.

[0086] The trained first neural network unit is used to obtain the numerical value of the undetermined process parameter from the rock breaking effect target, the determined process parameters and the rock characteristic parameters.

[0087] Preferably, the data acquisition module may include a binocular depth camera, which may scan and extract elevation information within a selected plane area, and may collect the surface morphology of the rock after the rock breaking operation by the binocular depth camera. The control module may be equipped with a second neural network unit for rock breaking error analysis; existing rock surface morphology data after the rock breaking operation may be collected as training data, the training data may be classified and labeled for rock breaking errors, the second neural network unit may be trained using the labeled training data, and the trained second neural network unit may be used to classify the rock surface morphology after the rock breaking operation for rock breaking errors.

[0088] The working principle of the present invention is further described below with reference to a preferred embodiment of the present invention:

[0089] A laser and high-pressure airflow 8 coupled rock breaking system includes a transfer platform 20, a posture adjustment module 9, a laser module, a jet module, a data acquisition module, a control module, a debris collector 2 and a dust collector 4.

[0090] The transfer platform 20 is used to transfer the posture adjustment module 9, the laser module, the jet module, the data acquisition module and the control module.

[0091] The laser module is used to generate laser light and irradiate the laser light on the rock to melt and break the rock.

[0092] The jet module is used to generate an airflow 8 and use the airflow 8 to purge the molten material 5 generated by laser irradiation, reduce thermal effects and expand the damaged area.

[0093] The posture adjustment module 9 is used to adjust the postures of the ends of the laser module and the jet module so that the laser beam 6 output from the end of the laser module and the airflow 8 output from the end of the jet module are incident on the set position of the rock according to the set incident angle.

[0094] The data acquisition module is used to collect status information of the transfer platform 20, the posture adjustment module 9, the laser module, the jet module and the crushed rock, and input the collected information as a feedback signal to the control module.

[0095] The control module is used to control the operation of the transfer platform 20, the posture adjustment module 9, the laser module, and the jet module. It has a trajectory planning unit for planning the posture trajectories of the ends of the laser module and the jet module. Based on the feedback signal from the data acquisition module, the control module outputs a signal to enable the transfer platform 20 and the posture adjustment module 9 to cooperate to realize the movement of the ends of the laser module and the jet module according to the planned posture trajectory, and controls the output of the laser beam 6 at the end of the laser module and the output of the airflow 8 at the end of the jet module.

[0096] The vacuum cleaner 4 is used to absorb the debris of the rock melted and broken and swept away by the air flow 8.

[0097] The debris collector 2 is used to collect the debris sucked by the dust collector 4. The debris collector 2 and the dust collector 4 are connected by a pipeline. The sucked debris flows to the debris collector 2 due to negative pressure.

[0098] The transfer platform 20 is equipped with multiple modules including a posture adjustment module 9, a laser module, a fluidic module, a data acquisition module and a control module. The assembly mode is as follows: Figure 2 shown.

[0099] The posture adjustment module 9 is composed of two units with the same structure, namely posture adjustment unit A and posture adjustment unit B. The laser module is located on the posture adjustment unit A, and the jet module is located on the posture adjustment unit B. In other words, the posture adjustment module 9 can include posture adjustment unit A and posture adjustment unit B.

[0100] The posture adjustment unit A is used to adjust the posture of the end of the laser module so that the laser beam 6 outputted from the end of the laser module is incident on a set position of the rock according to a set incident angle.

[0101] The posture adjustment unit B is used to adjust the posture of the end of the jet module so that the airflow 8 output from the end of the jet module is incident on the set position of the rock according to the set incident angle.

[0102] Both the posture adjustment unit A and the posture adjustment unit B include a translation slide and a multi-jointed robotic arm positioned on the slide. The posture detection unit includes a displacement sensor for detecting the displacement of the translation slide along its axis of motion and an angle sensor for detecting the rotation angle of each joint. The translation slide can be a slide composed of guide rails and lead screws.

[0103] The base of the robotic arm 18 of the posture adjustment unit A is located on the translation slide 19 of the posture adjustment unit A, and the base of the robotic arm 16 of the posture adjustment unit B is located on the translation slide 17 of the posture adjustment unit B.

[0104] The end of the laser module is fixed to the end of the robotic arm 18 of the posture adjustment unit A; the end of the jet module is fixed to the end of the robotic arm 16 of the posture adjustment unit B; in this embodiment, the end of the laser module is an automatic focusing laser collimator head 7, and the end of the jet module is a nozzle 10.

[0105] The posture detection unit includes a displacement sensor for detecting the displacement of the translation slides of the posture adjustment unit A and the posture adjustment unit B in the direction of the moving axis, and an angle sensor for detecting the rotation angle of each joint of the posture adjustment unit A and the posture adjustment unit B.

[0106] A first reference coordinate system is established with a certain point of the rock to be broken as the origin, and a second reference coordinate system can be established with a certain point on the transfer platform 20 as the origin. The coordinate system of the translation slide is then established with the base center of the robotic arm connected to the translation slide as the origin. The joints of the robotic arm establish coordinate systems with the rotation centers of their respective joints as the origins. Through coordinate conversion, the postures of the laser module end and the jet module end relative to the first reference coordinate system are obtained. The control module integrates the multiple coordinate systems through conversion, and outputs instructions to activate the posture adjustment module 9 to adjust the postures of the laser module and the jet module end, so that the laser beam 6 output by the laser module end and the airflow 8 output by the jet module end are incident on the set position of the rock according to the set incident angle.

[0107] The global positioning unit can be used to determine the relative three-dimensional coordinate translation between the origin of a first reference coordinate system based on the broken rock and the origin of a second reference coordinate system based on the transfer platform 20. Displacement sensors that detect the displacement of the translational slide along its axis of motion and angle sensors that detect the rotation angles of each joint can be used to determine the relative translation of each translational slide's coordinate system origin relative to the origin of the second reference coordinate system. The kinematic equations of the mechanical joints can then be used to determine the three-dimensional coordinate translation and rotation angle of each joint relative to the origin of the second reference coordinate system.

[0108] The jet module includes a hose reel 21 and an air compressor 15, an air storage device 14, an electromagnetic pressure regulating valve 13, an electromagnetic shut-off valve 12, and a nozzle 10, which are connected in sequence via pipelines. The air compressor 15 generates compressed air at a specified pressure; the air storage device 14 stores the compressed air generated by the air compressor 15; the electromagnetic pressure regulating valve 13 adjusts the output gas pressure; the electromagnetic shut-off valve 12 opens and closes the gas output; the nozzle 10 uses the compressed air to generate the airflow 8; and the hose reel 21 stores and releases the air supply pipe 11. The air compressor 15 is a submersible air compressor, and the air storage device 14 uses four sets of gas cylinders.

[0109] The jet module uses a submersible air compressor 15 to continuously inject high-pressure gas into four sets of gas cylinders until the rated pressure (up to 33MPa) is reached and stored. When in use, it operates in sequence through the gas pipe 11, the electromagnetic pressure regulating valve 13, the electromagnetic stop valve 12 and the nozzle 10.

[0110] The laser module includes a fiber reel 22, a fiber DC laser 1, and an autofocus laser collimator 7, which are connected in sequence via an optical fiber 3. The fiber DC laser 1 generates and transmits laser light; the autofocus laser collimator 7 adjusts the focus of the laser beam 6; and the fiber reel 22 receives and releases the laser output fiber 3. The fiber DC laser 1 uses a 1500W DC laser.

[0111] The laser module is equipped with a 1500W DC laser, which realizes laser irradiation and rock breaking through optical fiber 3 and an automatic focusing collimator.

[0112] The laser and high-pressure airflow 8 coupled rock breaking system also includes a power supply module for supplying power to the transfer platform 20, the posture adjustment module 9, the laser module, the jet module, the data acquisition module and the control module. The power supply module includes a UPS power supply and an inverter electrically connected in sequence; the UPS power supply is used to output uninterrupted DC voltage or current, and the inverter is used to convert the DC power output by the UPS power supply into AC power.

[0113] UPS power supply uses rechargeable power supply, such as the power supply for electric vehicles.

[0114] A laser and high-pressure air flow 8 coupled rock breaking method using the above-mentioned laser and high-pressure air flow 8 coupled rock breaking system includes the following steps:

[0115] Please refer to Figure 3 After setting the rock breaking target, a plane plan is made according to the target, and then the depth camera is used to scan and extract the elevation information in the selected plane area. The control module forms the three-dimensional coordinate instructions for the robot arm movement by coordinateizing the plane path and elevation information, and issues commands to the posture adjustment module 9 in the form of a command stream, so that it moves according to the preset path. After the rock breaking operation under the established control parameters, the rock presents a new surface. The surface morphology is captured again and an error analysis is performed with the preset target. If the analysis is qualified, the next slice of rock breaking operation is carried out. The operation process with larger errors requires re-capturing the elevation, giving new control parameters on the original plane path, and improving the current slice rock breaking task until the requirements are met.

[0116] See Figure 7 , construct a mathematical model that reflects the mapping relationship between rock breaking process parameters and rock properties, and set the process parameters of the corresponding planar rock breaking path of each slice based on the mathematical model; a first neural network unit is set in the control module to predict the process parameters based on the rock characteristic parameters; a laser module and a jet module are used to conduct laboratory-scale rock breaking tests to obtain rock breaking effect data under different rock characteristic parameters and different process parameters, and the undetermined parameters in the mathematical model are fitted and calibrated based on the experimental data.

[0117] The mathematical model is combined with the first neural network unit to assign values ​​to the process parameters, generate training data for the first neural network unit through the original data set, and then optimize the process parameters through the first neural network unit. The first neural network unit adopts the FCN neural network (fully connected neural network).

[0118] Laboratory-scale laser-airflow combined testing equipment enables preliminary analysis of rock-breaking effects under different parameters for different rock samples. These tests will provide basic parameters and correction controls for the mathematical model. After calibration, the mathematical model will randomly assign values ​​to rock characteristic parameters and laser-airflow action parameters to simulate the rock-breaking effects under different parameter combinations on the path element, ultimately forming a training data set. On this basis, the FCN neural network will be trained and re-optimized. The first phase will use multiple parameters as input, including rock characteristic parameters, action parameters (such as laser power, airflow pressure, incident angle, etc.), and target parameters (crushing depth or volume, etc.), to establish a relationship between the input parameters and specific energy and movement speed. Specific energy here refers to the energy consumed to crush a unit volume of rock.

[0119] After the model training is completed, optimized network training fine-tuning will be performed based on real indicators and physical test data to improve the accuracy of the entire prediction model.

[0120] A laser and high-pressure air flow 8 coupled rock breaking method using the above-mentioned laser and high-pressure air flow 8 coupled rock breaking system may specifically include the following steps:

[0121] S1: Obtain rock characteristic parameter information, mainly lithology and diagenetic minerals; establish the expected rock breaking target and perform target slicing.

[0122] S2: Plan the rock breaking steps and formulate the rock breaking process.

[0123] When developing rock breaking technology, the process parameters are set by integrating mathematical models and neural networks. The specific method includes the following steps:

[0124] S2-1: Integrate laser airflow 8-coupled rock breaking test equipment indoors, mainly installing and configuring laser modules and jet modules. The laser modules and jet modules are used to conduct laboratory-scale rock breaking tests for preliminary physical experiments.

[0125] S2-2: Combining smoothed particle hydrodynamics (SPH) methods with four-dimensional (4D) data and laser scanning microscopy (LSM) technology, a mathematical model was constructed to calculate parameters for the laser-airflow-8 combined rock-breaking process. A function fitting program was used to establish functional relationships between specific energy and velocity and their corresponding parameters. Parameter calibration and verification were performed using physical experimental results.

[0126] S2-3: Random parameter assignment mathematical model, substitute into the mathematical model, and provide the original training set.

[0127] S2-4: Construct a first neural network unit based on the FCN network (fully connected neural network), the input data of the first neural network unit includes rock characteristic parameters and rock surface shape, and the output data of the first neural network unit includes specific energy and speed.

[0128] The first neural network unit is trained using a training data set, and the parameters of the first neural network unit are optimized and fine-tuned in combination with actual rock breaking engineering data and test data; the first neural network unit is continuously trained based on actual values, and the first neural network unit is continuously optimized.

[0129] S2-5: Through the optimized first neural network unit, the rock surface information and rock characteristic parameters are input to obtain the operating speed set.

[0130] S3: Set the rock breaking plane path and scan the corresponding elevation data. Elevation data information collection is used to extract relative elevation data based on the undulations of the rock surface and calculate the contact relationship between the intersection point of the laser airflow 8 and the rock surface.

[0131] S4: The trajectory planning unit obtains the position trajectory of the ends of the laser module and the jet module through coordinate conversion based on the preset plane rock breaking path and the corresponding elevation data; on the basis of integrating the plane path and the corresponding elevation, the plane rock breaking path is mapped to the position trajectory of the ends of the laser module and the jet module through three-dimensional coordinate conversion, and the robot arm coordinate data information group is derived through the robot arm motion equation.

[0132] S3: Rock breaking operations, specifically including the following:

[0133] S3-1: Level the entire vehicle to ensure a stable working environment.

[0134] S3-2: Start the air compressor 15 to store high-pressure gas.

[0135] S3-3: Input the path coordinate command and parameter set, start the translation slide and the multi-joint robotic arm located on the translation slide, and establish the vehicle-mounted rectangular coordinate system.

[0136] S3-4: Start the laser module, and realize laser irradiation rock breaking through the optical fiber 3 and the automatic focusing collimator. At the same time, open the electromagnetic shut-off valve 12 of the jet module, and the nozzle 10 ejects the air flow 8 to start the rock breaking operation until the trajectory movement is completed.

[0137] S4: Collect the crushed surface information and determine whether the target has been achieved. Evaluate whether the rock crushing effect meets the expectations. If yes, proceed to the next step; otherwise, repeat step S3.

[0138] S5: Continue the next slicing operation until the expected rock breaking target is fully achieved.

[0139] The above-mentioned transfer platform 20, posture adjustment module 9, laser module, jet module, data acquisition module, control module, global positioning unit, posture detection unit, visual sensor, three-axis translation slide, three-axis rotation turntable, displacement sensor, angle sensor, translation slide, multi-joint robotic arm, air pipe reel 21, air compressor 15, air storage device 14, electromagnetic pressure regulating valve 13, electromagnetic stop valve 12, nozzle 10, optical fiber reel 22, optical fiber DC laser 1, automatic focusing laser collimator 7, UPS power supply, inverter, trajectory planning unit, mathematical model, first neural network unit, second neural network unit, FCN network and other devices and functional modules can all adopt applicable devices and functional modules in the existing technology, or adopt devices and functional modules in the existing technology and adopt conventional technical means to construct them.

[0140] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The scope of the patent of the present invention cannot be limited by these embodiments alone. That is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the scope of the patent of the present invention.

Claims

1. A laser and high-pressure airflow coupled rock breaking system, characterized in that: It includes a transfer platform, a posture adjustment module, a laser module, a jet module, a data acquisition module and a control module; The transfer platform is used to transfer the posture adjustment module, laser module, jet module, data acquisition module and control module; The laser module is used to generate laser light and irradiate the laser light on the rock to melt and break the rock; The jet module is used to generate airflow and use it to sweep the molten material produced by laser irradiation, reduce thermal effects and expand the damaged area; The posture adjustment module is used to adjust the postures of the laser module and the jet module so that the laser beam output from the laser module and the airflow output from the jet module are incident at the set position of the rock according to the set incident angle. The data acquisition module is used to collect status information of the transfer platform, posture adjustment module, laser module, jet module and crushed rock, and input the collected information as feedback signal to the control module; The control module is used to control the operation of the transfer platform, posture adjustment module, laser module, and jet module. It has a trajectory planning unit for planning the posture trajectories of the end points of the laser module and the jet module. Based on the feedback signal from the data acquisition module, the control module outputs a signal to enable the transfer platform and the posture adjustment module to cooperate to realize the movement of the end points of the laser module and the jet module according to the planned posture trajectory, and controls the output of the laser beam at the end of the laser module and the output of the airflow at the end of the jet module.

2. The laser and high-pressure airflow coupled rock breaking system according to claim 1 is characterized in that: The data acquisition module includes: a global positioning unit for collecting the spatial position of the transfer platform; a posture detection unit for collecting the postures of the ends of the laser module and the jet module relative to the transfer platform; and a visual sensor for collecting the state of the laser beam output by the laser module, the state of the airflow output by the jet module, and the state of the crushed rock.

3. The laser and high-pressure airflow coupled rock breaking system according to claim 2 is characterized in that: The posture adjustment module includes a three-axis translation slide and a three-axis rotation turntable. The three-axis rotation turntable is installed on the three-axis translation slide. The three moving axes of the three-axis translation slide are perpendicular to each other, and the three rotation axes of the three-axis rotation turntable are perpendicular to each other. The ends of the laser module and the jet module are fixed to the end of the three-axis rotation turntable. The posture detection unit includes a displacement sensor for detecting the displacement of the three-axis translation slide in the three moving axis directions and an angle sensor for detecting the rotation angles of the three-axis rotation turntable around the three rotation axes.

4. The laser and high-pressure airflow coupled rock breaking system according to claim 2, characterized in that: The posture adjustment module includes a translation slide and a multi-joint robotic arm located on the translation slide; the ends of the laser module and the jet module are fixed to the end of the robotic arm; the posture detection unit includes a displacement sensor that detects the displacement of the translation slide in the direction of the moving axis and an angle sensor that detects the rotation angle of each joint.

5. The laser and high-pressure airflow coupled rock breaking system according to claim 1 is characterized in that: The jet module includes an air hose reel and an air compressor, an air storage device, an electromagnetic pressure regulating valve, an electromagnetic shut-off valve and a nozzle connected in sequence through pipelines; the air compressor is used to generate compressed air of a specified pressure; the air storage device is used to store the compressed air generated by the air compressor; The electromagnetic pressure regulating valve is used to adjust the output gas pressure; the electromagnetic stop valve is used to open and close the gas output; the nozzle is used to generate airflow using compressed air; the air hose reel is used to collect and release the gas pipeline.

6. The laser and high-pressure airflow coupled rock breaking system according to claim 1, characterized in that: The laser module includes a fiber optic reel and a fiber optic DC laser and an automatic focusing laser collimator, which are connected in sequence through optical fibers; the fiber optic DC laser is used to generate and transmit laser light; the automatic focusing laser collimator is used to adjust the focused laser beam; and the fiber optic reel is used to store and release the laser output fiber.

7. The laser and high-pressure airflow coupled rock breaking system according to claim 1, characterized in that: It also includes a power supply module for supplying power to the transfer platform, posture adjustment module, laser module, jet module, data acquisition module and control module. The power supply module includes a UPS power supply and an inverter electrically connected in sequence; the UPS power supply is used to output uninterrupted DC voltage or current, and the inverter is used to convert the DC power output by the UPS power supply into AC power.

8. A laser and high-pressure airflow coupled rock breaking method using the laser and high-pressure airflow coupled rock breaking system according to claim 1, characterized in that: The method comprises the following steps: Step 1: Determine the expected rock breaking target, slice the rock breaking target, plan the planar rock breaking path, collect the elevation data of the corresponding planar rock breaking path, and set the process parameters of the corresponding planar rock breaking path for each slice; Step 2: The trajectory planning unit obtains the position trajectory of the laser module and the jet module through coordinate transformation based on the preset planar rock breaking path and corresponding elevation data; Step 3: The control module sends signals to the transfer platform and the posture adjustment module to make the ends of the laser module and the jet module move according to the preset posture trajectory. At the same time, it sends signals to the laser module and the jet module to make them output corresponding laser beams and airflows according to the process parameters of the corresponding planar rock breaking path. In step 4, after the ends of the laser module and the jet module complete their movement along the posture trajectory, the data acquisition module collects the rock surface morphology, compares the collected rock surface morphology with the preset target morphology, and performs error analysis. If the error is within the allowable range, proceed to step 5. If the error exceeds the allowable range, re-collect the elevation information corresponding to the original plane rock breaking path, adjust the process parameters accordingly, and return to step 2. Step 5: The breaking operation of the current slice of rock is completed, and the breaking operation of the next slice is continued.

9. The laser and high-pressure airflow coupled rock breaking method according to claim 8, characterized in that: In step 1, a mathematical model is constructed to reflect the mapping relationship between rock breaking process parameters, rock properties, and rock breaking effects. The process parameters of the corresponding planar rock breaking path of each slice are set based on the mathematical model. A first neural network unit is set in the control module to predict other process parameters based on rock property parameters, some process parameters, and rock breaking targets. Laboratory-scale rock breaking tests are conducted using a laser module and a jet module to obtain rock breaking effect data under different rock property parameters and different process parameters. The undetermined process parameters in the mathematical model are fitted and calibrated based on the test data. For the calibrated mathematical model, random values ​​are assigned to rock characteristic parameters and process parameters to simulate the rock breaking effects under different process parameter combinations on the plane rock breaking path micro-element to form a training data set; The first neural network unit is trained using a training data set. The input data of the first neural network unit includes rock characteristic parameters, determined process parameters, and rock breaking effect data. The output data of the first neural network unit includes undetermined process parameters. The parameters of the first neural network unit are continuously optimized and fine-tuned using actual data from the rock breaking project. The trained first neural network unit is used to obtain the numerical value of the undetermined process parameter from the rock breaking effect target, the determined process parameters and the rock characteristic parameters.

10. The laser and high-pressure airflow coupled rock breaking method according to claim 8, characterized in that: The data acquisition module includes a binocular depth camera, which scans and extracts elevation information within a selected plane area. The binocular depth camera also collects the rock surface morphology after rock breaking operations. The control module is equipped with a second neural network unit for rock breaking error analysis. The rock surface morphology data after the existing rock breaking operation is collected as training data, the training data is classified and labeled for rock breaking errors, the labeled training data is used to train the second neural network unit, and then the trained second neural network unit is used to classify the rock surface morphology after the rock breaking operation for rock breaking errors.

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