A laser and high-pressure airflow coupling rock breaking system and method

Abstract

The application discloses a kind of laser and high-pressure airflow coupling rock breaking systems, including moving platform, pose adjustment module, laser module, jet module, data acquisition module and control module;Moving platform is used to move other modules;Laser module is used to generate laser and make rock melt and break with laser;Jet module is used to generate airflow and use airflow to blow off molten substance;Pose adjustment module is used to adjust the end pose of laser, jet module;Data acquisition module is used to collect the state information of the above module and broken rock, and the collected information is input as feedback signal to control module;Control module is used to control the work of other modules, and its output signal makes moving platform, pose adjustment module cooperate to realize the end of laser module, jet module moves according to planned pose trajectory, and controls the end of laser module to output laser beam, the end of jet module outputs airflow.The application can realize non-contact, safe, pollution-free rock breaking operation.

Description

Technical Field

[0001] This invention relates to the cutting-edge fields of geotechnical mechanics, impact dynamics, and X-ray optics, and particularly to a laser-coupled high-pressure gas flow rock breaking system and method. Background Technology

[0002] As geotechnical engineering advances into extreme environments such as deep earth and deep sea, traditional mechanical rock breaking methods are increasingly revealing problems such as low rock breaking efficiency, severe equipment wear and tear, and poor environmental adaptability. Although some new rock breaking methods have emerged for extreme environments, such as microwave rock breaking, water jet rock breaking, and electrical pulse rock breaking, these methods suffer from high costs and safety hazards.

[0003] The principle of combined laser irradiation and high-pressure gas flow rock breaking lies in the fact that laser irradiation induces a phase transformation in the rock, forming a molten nucleus, and causing internal damage through thermal stress. Simultaneously, the continuous blowing of molten material by the high-pressure gas flow expands the heat-affected zone, triggering rock fragmentation around the molten nucleus. The laser-gas flow coupled rock breaking process is influenced by more than ten types of 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 such as non-contact operation, wide range of propagation media, and strong energy concentration, laser-gas flow combined rock breaking can continue to operate in extreme environments such as deep earth and deep sea where traditional mechanical rock breaking is unsustainable, making it a highly promising new rock breaking technology.

[0004] However, two main challenges remain in the theoretical and practical application of combined laser and high-pressure gas flow rock breaking. Firstly, the foundational research in physical experiments and numerical simulations is insufficient. Compared to the purging effect of low-pressure gas-assisted laser rock breaking, the high-pressure jet simultaneously expands the development of internal rock stress, necessitating a new understanding of rock damage evolution and fragmentation mechanisms under this combined action. Secondly, the combined laser and gas flow action is influenced by numerous control parameters. How to specify these parameters to achieve a simple, efficient, continuous, and energy-saving rock breaking effect requires further consideration. To address these issues, a test platform for combined laser irradiation and gas flow impact rock breaking needs to be established. Based on physical numerical research, parameter optimization should be performed using numerical methods and neural networks to enhance its feasibility and practicality. Summary of the Invention

[0005] This invention provides a laser-coupled high-pressure gas flow rock-breaking system and method to solve the technical problems existing in the prior art.

[0006] The technical solution adopted by this invention to solve the technical problems existing in the prior art is as follows:

[0007] A laser-coupled high-pressure gas flow rock-breaking system includes 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 pose 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 rock, thereby melting and breaking the rock.

[0010] The jet module is used to generate airflow and use the airflow to purge the molten material generated by laser irradiation, reduce the heat impact and expand the damaged area;

[0011] The pose adjustment module is used to adjust the pose of the ends of the laser module and the jet module, so that the laser beam output from the end of the laser module and the airflow output from the end of the jet module are both incident at the set incident angle and at the set position on the rock.

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

[0013] The control module is used to control the operation of the transfer platform, the pose adjustment module, the laser module, and the jet module. It has a trajectory planning unit for planning the end pose trajectories 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 pose adjustment module to work together to make the end poses of the laser module and the jet module move according to the planned pose trajectories, and controls the laser module to output a laser beam and the jet module to output airflow.

[0014] Furthermore, the data acquisition module includes: a global positioning unit for acquiring the spatial position of the transfer platform; a pose detection unit for acquiring the pose of the ends of the laser module and the jet module relative to the transfer platform; and a visual sensor for acquiring 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 broken rock.

[0015] Furthermore, the pose adjustment module includes a three-axis translation slide and a three-axis rotary table. The three-axis rotary table is mounted on the three-axis translation slide, and the three movement axes of the three-axis translation slide are perpendicular to each other. The three rotation axes of the three-axis rotary table are perpendicular to each other. The laser module and the jet module are both fixed to the ends of the three-axis rotary table. The pose detection unit includes a displacement sensor that detects the displacement of the three-axis translation slide in the three movement axis directions and an angle sensor that detects the angle of rotation of the three-axis rotary table around the three rotation axes.

[0016] Furthermore, the pose adjustment module includes a translation slide and a multi-joint robotic arm located on the translation slide; the laser module and the jet module are both fixed to the end of the robotic arm; the pose 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.

[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 shut-off valve, and a nozzle connected in sequence via pipelines; the air compressor is used to generate compressed air at 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 shut-off valve is used to open and close the gas output; the nozzle is used to generate airflow using compressed air; and the air hose reel is used to retract and release the gas delivery pipeline.

[0018] Furthermore, the laser module includes a fiber optic winder and a fiber optic DC laser and an autofocus laser collimator connected sequentially via optical fibers; the fiber optic DC laser is used to generate and transmit laser light; the autofocus laser collimator is used to adjust and focus the laser beam; and the fiber optic winder 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 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-high-pressure gas flow coupled rock breaking method utilizing the above-mentioned laser-high-pressure gas flow 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, and collect the elevation data of the corresponding planar rock-breaking path. Set the process parameters of the corresponding planar rock-breaking path for each slice.

[0022] Step 2: Based on the preset planar rock-breaking path and corresponding elevation data, the trajectory planning unit obtains the pose trajectories of the ends of the laser module and the jet module through coordinate transformation.

[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 the corresponding laser beam and airflow according to the process parameters of the corresponding planar rock breaking path.

[0024] Step 4: After the ends of the laser module and the jet module complete their movement along the pose trajectory, the data acquisition module collects the rock surface morphology. The collected rock surface morphology is compared with the preset target morphology and error analysis is performed. If the error is within the allowable range, proceed to step 5. If the error exceeds the allowable range, the elevation information corresponding to the original planar rock breaking path is re-collected, the process parameters are adjusted accordingly, and the process returns to step 2.

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

[0026] Further, in step 1, a mathematical model reflecting the mapping relationship between rock breaking process parameters, rock properties, and rock breaking effect is constructed. Based on this mathematical model, the process parameters of the corresponding planar rock breaking path for each slice are set. The control module has a first neural network unit that predicts other process parameters based on rock property parameters, some process parameters, and rock breaking target. 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 effect under different combinations of process parameters on the plane rock breaking path micro-element, forming a training data set;

[0028] The first neural network unit is trained using a training dataset. The input data of the first neural network unit includes rock characteristic parameters, predetermined 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 rock breaking engineering data.

[0029] Using the first trained neural network unit, the values ​​of the undetermined process parameters are obtained from the rock breaking effect target, the established process parameters, and the rock characteristic parameters.

[0030] Furthermore, the data acquisition module includes a binocular depth camera, which scans and extracts elevation information within a selected planar area and acquires the surface morphology of the rock after rock breaking operations. The control module has a built-in second neural network unit for rock breaking error analysis. Existing rock surface morphology data after rock breaking operations is collected as training data, and rock breaking error classification is performed on the training data. The labeled training data is used to train the second neural network unit, and the trained second neural network unit is then used to classify the rock breaking error of the surface morphology after rock breaking operations.

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

[0032] This invention addresses issues related to the mechanism research, process design, and parameter optimization in the combined laser and gas flow rock breaking process. The coupled rock breaking test platform, based on a chassis, incorporates a positioning module, a laser module, a jet module, and a control module, enabling large-scale application testing of combined laser and gas flow rock breaking. The physical-numerical coupling optimization method aims to calibrate and verify the mathematical model through physical experiments, thereby constructing an initial data set. Based on this, a neural network optimization algorithm is combined to enhance the economy and feasibility of combined laser and gas flow rock breaking. Attached Figure Description

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

[0034] Figure 2 This is a schematic diagram of individual modules and their assembly in a laser-coupled high-pressure gas flow rock breaking system.

[0035] Figure 3 This is a schematic diagram of the working process of a laser-coupled rock-breaking method;

[0036] Figure 4 This is a schematic diagram of process parameters in a laser-coupled high-pressure gas flow rock breaking method.

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

[0038] Figure 6 This is a schematic diagram of the structure of the first neural network unit in this invention;

[0039] Figure 7 This is a flowchart illustrating the process of a laser-coupled high-pressure gas flow rock-breaking method according to the present invention.

[0040] In the diagram: 1. Fiber DC laser; 2. Debris collector; 3. Fiber optic cable; 4. Vacuum cleaner; 5. Molten material; 6. Laser beam; 7. Autofocus laser collimator; 8. Airflow; 9. Pose adjustment module; 10. Nozzle; 11. Air tube; 12. Electromagnetic shut-off valve; 13. Electromagnetic pressure regulating valve; 14. Air storage device; 15. Air compressor; 16. Robotic arm of pose adjustment unit B; 17. Translation slide of pose adjustment unit B; 18. Robotic arm of pose adjustment unit A; 19. Translation slide of pose adjustment unit A; 20. Transfer platform; 21. Air tube reel; 22. Fiber optic cable reel. Ω: Rock fracture zone.

[0041] θ gas : Air jet angle.

[0042] θ laser : Angle of incidence of infrared semiconductor laser.

[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 : Air inflow angle.

[0052] L: Distance traveled.

[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 Implementation

[0057] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0058] In the description of this invention, the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected" and "linked" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a direct connection or an indirect connection through intermediate components; or an electrical connection or signal transmission. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0059] Please see Figures 1 to 7 A laser-coupled high-pressure airflow rock-breaking system includes a transfer platform 20, a position 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 rock, thereby melting and breaking the rock.

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

[0063] The pose adjustment module 9 is used to adjust the pose 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 both incident at the set incident angle and at the set position on the rock.

[0064] The data acquisition module is used to collect the status information of the transfer platform 20, the posture adjustment module 9, the laser module, the jet module, and the broken 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 pose adjustment module 9, the laser module, and the jet module. It has a trajectory planning unit for planning the end pose trajectories 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 make the transfer platform 20 and the pose adjustment module 9 cooperate to make the end of the laser module and the jet module move according to the planned pose trajectory, and controls the laser module to output the laser beam 6 and the jet module to output the airflow 8.

[0066] Please see Figure 1The ends of the laser module and the jet module can be centrally mounted on a single pose adjustment module 9, and the relative poses of the ends of the laser module and the jet module are fixed.

[0067] Please see Figure 2 The pose adjustment module 9 can be composed of two structurally identical units, referred to as pose adjustment unit A and pose adjustment unit B, respectively. The end of the laser module is located on pose adjustment unit A, and the end of the jet module is located on pose adjustment unit B. That is, the pose adjustment module 9 can include pose adjustment unit A and pose adjustment unit B.

[0068] The pose adjustment unit A is used to adjust the pose of the laser module end, so that the laser beam 6 output from the laser module end is incident on the rock at the set incident angle.

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

[0070] Preferably, the data acquisition module may include: a global positioning unit for acquiring the spatial position of the transfer platform 20; a pose detection unit for acquiring the pose of the ends of the laser module and the jet module relative to the transfer platform 20; and a visual sensor for acquiring 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 pose adjustment module 9 may include a three-axis translation slide and a three-axis rotary table. The three-axis rotary table is mounted on the three-axis translation slide, and the three movement axes of the three-axis translation slide are perpendicular to each other. The three rotation axes of the three-axis rotary table are perpendicular to each other. The laser module and the jet module are both fixed to the ends of the three-axis rotary table. The pose detection unit includes a displacement sensor that detects the displacement of the three-axis translation slide in the three movement axis directions and an angle sensor that detects the angle of rotation of the three-axis rotary table around the three rotation axes.

[0072] Preferably, the pose 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 pose 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.

[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 shut-off valve 12, and a nozzle 10 connected in sequence via pipelines; the air compressor 15 is used to generate compressed air at 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 shut-off valve 12 is used to open and close the gas output; the nozzle 10 is used to generate airflow 8 using compressed air; and the air hose reel 21 is used to receive and release the air delivery pipe 11.

[0074] Preferably, the laser module may include a fiber optic winder 22 and a fiber optic DC laser 1 and an autofocus laser collimator 7 connected sequentially via fiber optic 3; the fiber optic DC laser 1 is used to generate and transmit laser light; the autofocus laser collimator 7 is used to adjust the focusing of the laser beam 6; and the fiber optic winder 22 is used to store and release the laser output fiber 3.

[0075] An autofocus laser collimator is a laser head that can automatically focus and collimate. It can use the FAC series high-power zoom fiber laser collimator produced by Shenzhen Sicheng Precision Measurement Technology Co., Ltd.

[0076] Preferably, the laser and high-pressure airflow 8 coupled rock breaking system may further 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 connected in sequence. The UPS power supply (uninterruptible 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.

[0077] The present invention also provides a laser-high-pressure gas flow coupled rock breaking method using the above-mentioned laser-high-pressure gas flow 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 planar rock-breaking path, and collect the elevation data of the corresponding planar rock-breaking path. Set the process parameters of the corresponding planar rock-breaking path for each slice.

[0079] Step 2: Based on the preset planar rock-breaking path and corresponding elevation data, the trajectory planning unit obtains the pose trajectories of the ends of the laser module and the jet module through coordinate transformation. According to the mapping relationship between the planar rock-breaking path and the pose trajectories 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 pose trajectory point are directed onto the planar rock-breaking path, so that the intersection of the laser beam 6 and airflow 8 output by the ends of the laser module and the jet module with the rock surface is located on the planar rock-breaking path.

[0080] 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 the corresponding laser beam 6 and airflow 8 according to the process parameters of the corresponding planar rock breaking path.

[0081] Step 4: After the ends of the laser module and the jet module complete their movement along the pose trajectory, the data acquisition module collects the rock surface morphology. The collected rock surface morphology is compared with the preset target morphology and error analysis is performed. If the error is within the allowable range, proceed to step 5. If the error exceeds the allowable range, the elevation information corresponding to the original planar rock breaking path is re-collected, the process parameters are adjusted accordingly, and the process returns to step 2.

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

[0083] Preferably, in step 1, a mathematical model reflecting the mapping relationship between rock breaking process parameters, rock characteristics, and rock breaking effect can be constructed, and the process parameters of the corresponding planar rock breaking path for each slice can be set according to the mathematical model; the control module is equipped with a first neural network unit that predicts other process parameters based on rock characteristic parameters, some process parameters, and rock breaking target; a laboratory-scale rock breaking test is conducted using a laser module and a jet module 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 values ​​are assigned to rock characteristic parameters and process parameters to simulate the rock breaking effect under different combinations of process parameters on the planar rock breaking path micro-element, forming a training data set.

[0085] The first neural network unit is trained using a training dataset. The input data of the first neural network unit includes rock characteristic parameters, predetermined 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 and fine-tuned using actual rock breaking engineering data.

[0086] Using the first trained neural network unit, the values ​​of the undetermined process parameters are obtained from the rock breaking effect target, the established process parameters, and the rock characteristic parameters.

[0087] Preferably, the data acquisition module may include a binocular depth camera, which can scan and extract elevation information within a selected planar area, and can also acquire the surface morphology of the rock after rock breaking operations. The control module includes a second neural network unit for rock breaking error analysis. It can acquire existing rock surface morphology data after rock breaking operations as training data, classify and label the training data for rock breaking errors, train the second neural network unit using the labeled training data, and then use the trained second neural network unit to classify the rock surface morphology after rock breaking operations for rock breaking errors.

[0088] The working principle of the present invention will be further explained below with reference to a preferred embodiment:

[0089] A laser-coupled high-pressure airflow rock-breaking system includes a transfer platform 20, a position adjustment module 9, a laser module, a jet module, a data acquisition module, a control module, a debris collector 2, and a vacuum cleaner 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 rock, thereby melting and breaking the rock.

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

[0093] The pose adjustment module 9 is used to adjust the pose 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 both incident at the set incident angle and at the set position on the rock.

[0094] The data acquisition module is used to collect the status information of the transfer platform 20, the posture adjustment module 9, the laser module, the jet module, and the broken 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 pose adjustment module 9, the laser module, and the jet module. It has a trajectory planning unit for planning the end pose trajectories 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 make the transfer platform 20 and the pose adjustment module 9 cooperate to make the end of the laser module and the jet module move according to the planned pose trajectory, and controls the laser module to output the laser beam 6 and the jet module to output the airflow 8.

[0096] Vacuum cleaner 4 is used to remove debris from the rock melt and breakage that has been blown away by airflow 8.

[0097] Debris collector 2 is used to collect debris sucked up by vacuum cleaner 4. Debris collector 2 and vacuum cleaner 4 are connected by a pipe. The sucked-up debris flows to debris collector 2 due to negative pressure.

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

[0099] The pose adjustment module 9 consists of two structurally identical units, referred to as pose adjustment unit A and pose adjustment unit B, respectively. The laser module is located on pose adjustment unit A, and the jet module is located on pose adjustment unit B. That is, the pose adjustment module 9 may include pose adjustment unit A and pose adjustment unit B.

[0100] The pose adjustment unit A is used to adjust the pose of the laser module end, so that the laser beam 6 output from the laser module end is incident on the rock at the set incident angle.

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

[0102] Both pose adjustment unit A and pose adjustment unit B include a translation slide and a multi-joint robotic arm located on the translation slide; the pose detection unit includes a displacement sensor that detects the displacement of the translation slide in the direction of the movement axis and an angle sensor that detects 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 pose adjustment unit A is located on the translation slide 19 of the pose adjustment unit A, and the base of the robotic arm 16 of the pose adjustment unit B is located on the translation slide 17 of the pose adjustment unit B.

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

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

[0106] A first reference coordinate system is established with a point on the rock to be broken as the origin. A second reference coordinate system is established with a point on the transfer platform 20 as the origin. The coordinate system of the translation slide is established with the base center of the robotic arm connected to the translation slide as the origin. Each joint of the robotic arm establishes a coordinate system with its own rotation center as the origin. Through coordinate transformation, the poses 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 a command to make the pose adjustment module 9 move to adjust the poses of the laser module and the jet module ends, so that the laser beam 6 output by the laser module end and the airflow 8 output by the jet module end are both incident at the set incident angle and at the set position on the rock.

[0107] The relative three-dimensional coordinate translation between the origin of the first reference coordinate system (with the damaged rock as the reference) and the origin of the second reference coordinate system (with the transfer platform 20 as the reference) can be determined using a global positioning unit. By using displacement sensors to detect the displacement of the translation slide along its axis of movement and angle sensors to detect the rotation angles of each joint, the relative translation of the origin of each translation slide relative to the origin of the second reference coordinate system can be determined. The three-dimensional coordinate translation and rotation angle of each joint relative to the origin of the second reference coordinate system can then be determined using the kinematic equations of the mechanical joints.

[0108] The jet module includes a hose reel 21 and, in sequence, 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, all connected by 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 generates an airflow 8 using compressed air; and the hose reel 21 houses and releases the air delivery hose 11. The air compressor 15 is a submersible air compressor, and the air storage device 14 uses four sets of air cylinders.

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

[0110] The laser module includes a fiber optic winder 22 and a fiber optic DC laser 1 and an autofocus laser collimator 7, which are sequentially connected via fiber optic cable 3. The fiber optic DC laser 1 generates and transmits laser light; the autofocus laser collimator 7 adjusts and focuses the laser beam 6; and the fiber optic winder 22 houses and releases the laser output fiber 3. The fiber optic DC laser 1 is a 1500W DC laser.

[0111] The laser module is equipped with a 1500W DC laser, which achieves laser irradiation rock breaking through fiber optic 3 and an autofocus collimator.

[0112] The laser and high-pressure airflow 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 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 supplies use rechargeable power sources, such as those used in electric vehicles.

[0114] A laser-high-pressure gas flow coupled rock-breaking method utilizing the aforementioned laser-high-pressure gas flow coupled rock-breaking system, comprising the following steps:

[0115] Please refer to Figure 3 After setting the rock-breaking target, a planar plan is made based on the target. Then, within the selected planar area, a depth camera is used to scan and extract elevation information. The control module constructs three-dimensional coordinate commands for the robotic arm's movement by converting the planar path and elevation information into coordinates, and issues commands to the pose adjustment module 9 in the form of a command stream, causing it to move according to the preset path. After the rock-breaking operation under the given control parameters, the rock exhibits a newly formed surface. The surface morphology is captured again and compared with the preset target for error analysis. If the analysis is satisfactory, the rock-breaking operation for the next slice is carried out. However, for operations with large errors, the elevation needs to be recaptured, new control parameters are given on the original planar path, and the rock-breaking task for this slice is improved until the requirements are met.

[0116] Please see Figure 7 A mathematical model reflecting the mapping relationship between rock breaking process parameters and rock properties is constructed. Based on this mathematical model, the process parameters of the corresponding planar rock breaking path for each slice are set. The control module is equipped with a first neural network unit that predicts process parameters based on rock property parameters. 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 parameters to be determined in the mathematical model are fitted and calibrated based on the test data.

[0117] The mathematical model, in conjunction with the first neural network unit, assigns values ​​to the process parameters. Training data for the first neural network unit is generated from the original dataset, and then the process parameters are optimized using the first neural network unit. The first neural network unit employs an FCN (Fully Connected Network) neural network.

[0118] Using laboratory-scale laser-airflow-8 combined experimental equipment, preliminary analyses of rock-breaking effects under different parameters for various rock samples can be conducted. These experiments will provide basic parameters and correction comparisons for the mathematical model. After calibration, the mathematical model will be randomly assigned values ​​to rock characteristic parameters and laser-airflow-8 action parameters to simulate the rock-breaking effect under different parameter combinations on the path micro-element, ultimately forming a training dataset. Based on this, the FCN neural network will be trained and further optimized. The first stage will use multiple parameters, including rock characteristic parameters, action parameters (such as laser power, airflow-8 pressure, incident angle, etc.), and target parameters (breaking depth or volume, etc.), as inputs to construct the relationship between input parameters and specific energy and moving speed. Here, specific energy refers to the energy consumed to break a unit volume of rock.

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

[0120] A laser-high-pressure gas flow coupled rock-breaking method utilizing the aforementioned laser-high-pressure gas flow coupled rock-breaking system may specifically include the following steps:

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

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

[0123] When developing a rock-breaking process, a method combining mathematical models and neural networks is used to set process parameters. The specific method includes the following steps:

[0124] S2-1: An indoor integrated laser-airflow-coupled rock-breaking test equipment, mainly equipped with a laser module and a jet module. The laser module and jet module are used to conduct laboratory-scale rock-breaking tests for preliminary physical experiments.

[0125] S2-2: A mathematical model was constructed by combining the Smooth Particle Hydrodynamics (SPH) method with four-dimensional (4D) data and laser scanning microscopy (LSM) technology to calculate the parameters of the laser-airflow-coordinated rock-breaking process. A function fitting program was used to establish the functional relationship between specific energy and velocity with respect to the 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 the 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. The output data of the first neural network unit includes specific energy and velocity.

[0128] The first neural network unit is trained using a training dataset, and its parameters are optimized and fine-tuned by combining actual rock-breaking engineering data and experimental data. The first neural network unit is continuously trained and optimized based on actual values.

[0129] S2-5: By inputting rock surface information and rock characteristic parameters through the optimized first neural network unit, the set of running speeds is obtained.

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

[0131] S4: The trajectory planning unit obtains the pose trajectories of the laser module and the jet module at their ends through coordinate transformation based on the preset planar rock-breaking path and corresponding elevation data. On the basis of integrating the planar path and corresponding elevation, the planar rock-breaking path is mapped to the pose trajectories of the laser module and the jet module at their ends through three-dimensional coordinate transformation. 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: Perform vehicle leveling to ensure a stable working environment.

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

[0135] S3-3: Input path coordinate commands 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 use the optical fiber 3 and the automatic focusing collimator to achieve laser irradiation rock breaking. At the same time, open the electromagnetic shut-off valve 12 of the jet module, and the nozzle 10 ejects the airflow 8 to start the rock breaking operation until the trajectory movement is completed.

[0137] S4: Collect information on the fractured surface to determine if the objective has been achieved. Evaluate whether the rock-breaking effect meets expectations. If so, proceed to the next step; otherwise, repeat step S3.

[0138] S5: Continue the next slice operation until all expected rock-breaking targets are achieved.

[0139] The aforementioned transfer platform 20, posture adjustment module 9, laser module, jet module, data acquisition module, control module, global positioning unit, posture detection unit, vision sensor, three-axis translation slide, three-axis rotary table, displacement sensor, angle sensor, translation slide, multi-joint robotic arm, air hose reel 21, air compressor 15, air storage device 14, electromagnetic pressure regulating valve 13, electromagnetic shut-off valve 12, nozzle 10, fiber optic reel 22, fiber optic DC laser 1, autofocus 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 devices and functional modules applicable in the prior art, or adopt devices and functional modules in the prior art and construct them using conventional technical means.

[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 content of the present invention and implement it accordingly. The patent scope of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. A laser-coupled high-pressure gas flow rock-breaking system, characterized in that, It includes a transfer platform, a pose adjustment module, a laser module, a jet module, a data acquisition module, and a control module; The transfer platform is used to transfer the pose adjustment module, laser module, jet module, data acquisition module, and control module. The laser module is used to generate laser light and irradiate the rock, thereby melting and breaking the rock. The jet module is used to generate airflow and use the airflow to purge the molten material generated by laser irradiation, reduce the heat impact and expand the damaged area; The pose adjustment module is used to adjust the pose of the ends of the laser module and the jet module, so that the laser beam output from the end of the laser module and the airflow output from the end of the jet module are both incident at the set incident angle and at the set position on the rock. The data acquisition module is used to collect the status information of the transfer platform, posture adjustment module, laser module, jet module and the broken rock, and input the collected information as a feedback signal to the control module; The control module is used to control the operation of the transfer platform, the pose adjustment module, the laser module, and the jet module. It has a trajectory planning unit for planning the end pose trajectories 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 pose adjustment module to cooperate in making the end of the laser module and the jet module move according to the planned pose trajectory, and controls the laser module to output a laser beam and the jet module to output airflow. The data acquisition module includes: a global positioning unit for acquiring the spatial position of the transfer platform; a pose detection unit for acquiring the pose of the ends of the laser module and the jet module relative to the transfer platform; and a visual sensor for acquiring 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 broken rock. The jet module includes an air hose reel and, in sequence, an air compressor, an air storage device, an electromagnetic pressure regulating valve, an electromagnetic shut-off valve, and a nozzle connected by pipelines. The air compressor is used to generate compressed air at 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 shut-off 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 retract and release the air delivery pipeline.

2. The laser-coupled high-pressure gas flow rock-breaking system according to claim 1, characterized in that, The pose adjustment module includes a three-axis translation slide and a three-axis rotary table. The three-axis rotary table is mounted on the three-axis translation slide, and the three movement axes of the three-axis translation slide are perpendicular to each other. The three rotation axes of the three-axis rotary table are perpendicular to each other. The laser module and the jet module are both fixed to the ends of the three-axis rotary table. The pose detection unit includes a displacement sensor that detects the displacement of the three-axis translation slide in the three movement axis directions and an angle sensor that detects the angle of rotation of the three-axis rotary table around the three rotation axes.

3. The laser-coupled high-pressure gas flow rock-breaking system according to claim 1, characterized in that, The pose adjustment module includes a translation slide and a multi-joint robotic arm located on the translation slide; the laser module and the jet module are both fixed to the end of the robotic arm; the pose 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.

4. The laser-coupled high-pressure gas flow rock-breaking system according to claim 1, characterized in that, The laser module includes a fiber optic winder and a fiber optic DC laser and an autofocus laser collimator connected sequentially via optical fibers. The fiber optic DC laser is used to generate and transmit laser light. The autofocus laser collimator is used to adjust and focus the laser beam. The fiber optic winder is used to store and release the laser output fiber.

5. The laser-coupled high-pressure gas flow 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 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.

6. A laser-high-pressure gas flow coupled rock-breaking method utilizing the laser-high-pressure gas flow coupled rock-breaking system as described in claim 1, characterized in that, The method includes the following steps: Step 1: Determine the expected rock-breaking target, slice the rock-breaking target, plan the planar rock-breaking path, and collect the elevation data of the corresponding planar rock-breaking path. Set the process parameters of the corresponding planar rock-breaking path for each slice. Step 2: Based on the preset planar rock-breaking path and corresponding elevation data, the trajectory planning unit obtains the pose trajectories of the ends of the laser module and the jet module through coordinate transformation. 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 the corresponding laser beam and airflow according to the process parameters of the corresponding planar rock breaking path. Step 4: After the ends of the laser module and the jet module complete their movement along the pose trajectory, the data acquisition module collects the rock surface morphology. The collected rock surface morphology is compared with the preset target morphology and error analysis is performed. If the error is within the allowable range, proceed to step 5. If the error exceeds the allowable range, the elevation information corresponding to the original planar rock breaking path is re-collected, the process parameters are adjusted accordingly, and the process returns to step 2. Step 5: The breaking operation of this rock slice is completed, and the breaking operation of the next slice continues.

7. The laser-coupled rock-breaking method according to claim 6, characterized in that, In step 1, a mathematical model reflecting the mapping relationship between rock breaking process parameters, rock properties, and rock breaking effect is constructed. Based on this mathematical model, the process parameters of the corresponding planar rock breaking path for each slice are set. The control module has a first neural network unit that predicts other process parameters based on rock property parameters, some process parameters, and rock breaking target. 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 effect under different combinations of process parameters on the plane rock breaking path micro-element, forming a training data set; The first neural network unit is trained using a training dataset. The input data of the first neural network unit includes rock characteristic parameters, predetermined 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 rock breaking engineering data. Using the first trained neural network unit, the values ​​of the undetermined process parameters are obtained from the rock breaking effect target, the established process parameters, and the rock characteristic parameters.

8. The laser-coupled rock-breaking method according to claim 6, characterized in that, The data acquisition module includes a binocular depth camera, which scans and extracts elevation information within a selected planar area, and also acquires the surface morphology of the rock after rock breaking operations. The control module has a second neural network unit for rock breaking error analysis. Existing rock surface morphology data after rock breaking operations are collected as training data. Rock breaking errors are classified and labeled on the training data. The labeled training data is used to train the second neural network unit. The trained second neural network unit is then used to classify rock breaking errors on the rock surface morphology after rock breaking operations.

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