Dredging system for water sump of strip mine

Abstract

The invention discloses a dredging system for a strip mine sump, and the system comprises a mobile intelligent cutter suction unit which is used for automatic cruise positioning and mobile cutter suction conveying of sludge; the slurry automatic filter pressing unit is used for receiving the sludge and carrying out high-pressure filter pressing on the slurry for dehydration so as to realize solid-liquid separation; and the truck intelligent loading and transporting dispatching unit is used for automatically dispatching and transporting the solid products subjected to solid-liquid separation to a designated area to complete clearing and transporting. And the movable intelligent cutter suction unit, the automatic slurry filter pressing subsystem and the intelligent truck loading and dispatching subsystem work cooperatively to complete dredging operation of the water sump of the strip mine.

Description

Technical Field

[0001] This invention relates to the field of information technology, and in particular to a dredging system for open-pit mine water storage. Background Technology

[0002] Dredging open-pit mine sluices is a complex project. Traditional methods suffer from low efficiency, high labor costs, and difficulty in guaranteeing dredging quality, necessitating an intelligent and automated solution. The uneven distribution and varying depths of silt within the sluices present a primary challenge: accurately acquiring silt distribution information and determining the optimal dredging route. During dredging, the silt thickness changes in real time, requiring continuous adjustment of the suction equipment's operating parameters, posing a challenge to automation. Furthermore, the large amount of high-moisture slurry generated during dredging presents another significant challenge in efficient dewatering and proper disposal. Coordinating dredging, dewatering, and transportation processes to achieve intelligent management throughout the entire process is a core technical issue in open-pit mine sluice dredging. This involves not only automation of individual stages but also information sharing and collaborative decision-making between systems to adapt to complex and changing site conditions. Simultaneously, ensuring safety and environmental friendliness while improving dredging efficiency is another significant challenge. Solving these technical challenges will bring revolutionary changes to open-pit mine sluice management. Summary of the Invention

[0003] This invention provides a dredging system for open-pit mine water storage, mainly comprising:

[0004] A mobile intelligent slurry suction subsystem is used for automatic cruise positioning and mobile slurry suction to transport silt; an automatic slurry filter press subsystem is used to receive the silt and press the slurry under high pressure to dewater it, achieving solid-liquid separation; and a truck intelligent loading and dispatching subsystem is used to automatically dispatch and transport the solid products after solid-liquid separation to a designated area to complete the dredging; the mobile intelligent slurry suction subsystem, the automatic slurry filter press subsystem, and the truck intelligent loading and dispatching subsystem work together to complete the dredging operation of the open-pit mine water tank.

[0005] Furthermore, the mobile intelligent cutter suction subsystem includes: a cutter suction vessel, which comprises a floating vessel, a sludge dewatering machine, a sludge pump, a bar screen, a corrugated hose, and a universal joint. The sludge dewatering machine is used to agitate the sludge, the sludge pump is used to suction the sludge, the bar screen is used to filter debris, the corrugated hose is used to transport the sludge, and the universal joint is used to connect the sludge pump and the corrugated hose; and an intelligent control system, which provides control commands to the cutter suction vessel to achieve automatic tracking, cruising, and sludge suction of the sludge. The floating vessel floats on the surface of the open-air mine water tank and cruises within the pit under the control of the intelligent control system. The corrugated hose is installed on the top step of the mine water tank, with one end connected to the universal joint of the sludge pump and the other end discharged into the automatic sludge dewatering subsystem.

[0006] Furthermore, the intelligent control system includes: sensors installed on the cutter suction dredger, the sensors including a GNSS positioning sensor for positioning and guiding the navigation of the floating vessel; an obstacle avoidance radar for risk avoidance; a silt-measuring lidar for measuring the distance to the silt surface and acquiring surface point cloud data; an ultrasonic sensor for measuring distance and assisting in observing the turbidity of the water; a camera for acquiring images; and a control device for receiving the sensor data and generating control commands.

[0007] Furthermore, the control device includes: an intelligent recognition model algorithm, which includes functions such as graphics processing, point cloud model processing, 3D model reconstruction, trajectory design, obstacle avoidance, and data fusion analysis; the control device is used to plan and generate a dredging operation trajectory based on the existing pit surface model and the original model, and execute the trajectory according to the trajectory instructions; the data fusion analysis function is used to integrate and display various sensor data in a unified manner, and dynamically display the floating vessel's operation trajectory on the surface model and the location of the dredging operation.

[0008] Furthermore, the automatic sludge dewatering subsystem includes: a pit-side sedimentation tank, which comprises a sedimentation chamber and a thickening chamber. The sedimentation chamber receives the sludge and traps debris, while the thickening chamber performs sedimentation and thickening. The sedimentation tank is equipped with an overflow pipe and a solenoid valve to overflow excess water; a sludge pump for pumping sludge; a mixer for mixing the sludge; flocculant preparation equipment and a flocculant pump for preparing and adding flocculant to the thickening chamber; and a sludge-specific diaphragm filter press for dewatering the sludge in the thickening chamber to achieve solid-liquid separation.

[0009] Furthermore, the flocculant is a polyacrylamide flocculant; the flocculant preparation equipment and flocculant pump are used to add the set flocculant and pump it to the thickening chamber of the pit-side sedimentation tank; the mixer is installed in the middle of the thickening chamber to fully mix the flocculant and the sludge to form a coagulated slurry; the slurry pump is installed above the mixer to pump the coagulated slurry to the dredging-specific diaphragm filter press.

[0010] Furthermore, the dredging-specific diaphragm filter press includes: a frame; a filter plate pressing device; a filtration device; a filter cake drying system; a liquid receiving device; a cake unloading device; a cleaning device; and a PLC control system. The dredging-specific diaphragm filter press is used to complete the solid-liquid separation of the sludge through feeding, pressure filtration, compressed air drying, cake unloading, and filter cloth cleaning steps, and output a solid product with low water content.

[0011] Furthermore, an open-pit mine water storage dredging process includes: collecting silt point cloud data through sensors of the mobile intelligent cutter suction system, establishing a silt status model, and forming a dredging route and dredging area; controlling the mobile intelligent cutter suction system to automatically navigate and locate to a designated area according to the dredging route, and detecting the silt thickness in real time, automatically navigating according to the silt removal thickness; loosening the deposited silt by the silt-slugging machine of the mobile intelligent cutter suction system; and pumping the loosened silt to the automatic mud filter press system using the silt suction pump of the mobile intelligent cutter suction system. A thickening chamber is settling at the edge of the pit; the sediment is allowed to settle in the thickening chamber, and the upper layer of clear water overflows back to the open-pit mine; flocculants are prepared and added according to the mud conditions on site; the mud is stirred by a mixer to form coagulated mud; the coagulated mud is pumped to the dredging-specific diaphragm filter press by a mud pump; the dredging-specific diaphragm filter press completes the solid-liquid separation of the sludge; and when the material yard of the filter press reaches a certain quantity, the intelligent truck loading and unloading scheduling subsystem automatically collects data and issues loading and unloading instructions to dispatch trucks to load and unload the solid products to the designated stockpile for unloading.

[0012] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0013] This invention discloses an intelligent dredging system for open-pit mine sump. It acquires point cloud data of sludge from a floating vessel using sensors, generates a current sludge model, and determines the dredging route. The floating vessel automatically navigates to the designated area, while lidar detects the sludge thickness in real time. A sludge winch and suction pump pump the sludge to a settling basin. The sludge undergoes sedimentation, flocculation, and filter pressing to obtain sludge cakes with low moisture content. The invention also includes an intelligent truck loading and dispatching subsystem for automated loading, unloading, and transfer of sludge cakes. This method achieves intelligent and automated dredging of the entire open-pit mine sump, improving dredging efficiency, reducing labor costs, ensuring dredging quality, and providing an innovative solution for open-pit mine sump management. Attached Figure Description

[0014] Figure 1 This is a logic block diagram of a dredging system for an open-pit mine water storage facility according to the present invention. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] like Figure 1 As shown, a dredging system for an open-pit mine water storage facility, as described in this embodiment, may specifically include:

[0017] A dredging system for open-pit mine water storage mainly includes:

[0018] A mobile intelligent slurry suction subsystem is used for automatic cruise positioning and mobile slurry suction to transport silt; an automatic slurry filter press subsystem is used to receive the silt and press the slurry under high pressure to dewater it, achieving solid-liquid separation; and a truck intelligent loading and dispatching subsystem is used to automatically dispatch and transport the solid products after solid-liquid separation to a designated area to complete the dredging; the mobile intelligent slurry suction subsystem, the automatic slurry filter press subsystem, and the truck intelligent loading and dispatching subsystem work together to complete the dredging operation of the open-pit mine water tank.

[0019] Furthermore, the mobile intelligent cutter suction subsystem includes: a cutter suction vessel, which comprises a floating vessel, a sludge dewatering machine, a sludge pump, a bar screen, a corrugated hose, and a universal joint. The sludge dewatering machine is used to agitate the sludge, the sludge pump is used to suction the sludge, the bar screen is used to filter debris, the corrugated hose is used to transport the sludge, and the universal joint is used to connect the sludge pump and the corrugated hose; and an intelligent control system, which provides control commands to the cutter suction vessel to achieve automatic tracking, cruising, and sludge suction of the sludge. The floating vessel floats on the surface of the open-air mine water tank and cruises within the pit under the control of the intelligent control system. The corrugated hose is installed on the top step of the mine water tank, with one end connected to the universal joint of the sludge pump and the other end discharged into the automatic sludge dewatering subsystem.

[0020] Furthermore, the intelligent control system includes: sensors installed on the cutter suction dredger, the sensors including a GNSS positioning sensor for positioning and guiding the navigation of the floating vessel; an obstacle avoidance radar for risk avoidance; a silt-measuring lidar for measuring the distance to the silt surface and acquiring surface point cloud data; an ultrasonic sensor for measuring distance and assisting in observing the turbidity of the water; a camera for acquiring images; and a control device for receiving the sensor data and generating control commands.

[0021] Furthermore, the control device includes: an intelligent recognition model algorithm, which includes functions such as graphics processing, point cloud model processing, 3D model reconstruction, trajectory design, obstacle avoidance, and data fusion analysis; the control device is used to plan and generate a dredging operation trajectory based on the existing pit surface model and the original model, and execute the trajectory according to the trajectory instructions; the data fusion analysis function is used to integrate and display various sensor data in a unified manner, and dynamically display the floating vessel's operation trajectory on the surface model and the location of the dredging operation.

[0022] Furthermore, the automatic sludge dewatering subsystem includes: a pit-side sedimentation tank, which comprises a sedimentation chamber and a thickening chamber. The sedimentation chamber receives the sludge and traps debris, while the thickening chamber performs sedimentation and thickening. The sedimentation tank is equipped with an overflow pipe and a solenoid valve to overflow excess water; a sludge pump for pumping sludge; a mixer for mixing the sludge; flocculant preparation equipment and a flocculant pump for preparing and adding flocculant to the thickening chamber; and a sludge-specific diaphragm filter press for dewatering the sludge in the thickening chamber to achieve solid-liquid separation.

[0023] Furthermore, the flocculant is a polyacrylamide flocculant; the flocculant preparation equipment and flocculant pump are used to add the set flocculant and pump it to the thickening chamber of the pit-side sedimentation tank; the mixer is installed in the middle of the thickening chamber to fully mix the flocculant and the sludge to form a coagulated slurry; the slurry pump is installed above the mixer to pump the coagulated slurry to the dredging-specific diaphragm filter press.

[0024] Furthermore, the dredging-specific diaphragm filter press includes: a frame; a filter plate pressing device; a filtration device; a filter cake drying system; a liquid receiving device; a cake unloading device; a cleaning device; and a PLC control system. The dredging-specific diaphragm filter press is used to complete the solid-liquid separation of the sludge through feeding, pressure filtration, compressed air drying, cake unloading, and filter cloth cleaning steps, and output a solid product with low water content.

[0025] Furthermore, an open-pit mine water storage dredging process includes: collecting silt point cloud data through sensors of the mobile intelligent cutter suction system, establishing a silt status model, and forming a dredging route and dredging area; controlling the mobile intelligent cutter suction system to automatically navigate and locate to a designated area according to the dredging route, and detecting the silt thickness in real time, automatically navigating according to the silt removal thickness; loosening the deposited silt by the silt-slugging machine of the mobile intelligent cutter suction system; and pumping the loosened silt to the automatic mud filter press system using the silt suction pump of the mobile intelligent cutter suction system. A thickening chamber is settling at the edge of the pit; the sediment is allowed to settle in the thickening chamber, and the upper layer of clear water overflows back to the open-pit mine; flocculants are prepared and added according to the mud conditions on site; the mud is stirred by a mixer to form coagulated mud; the coagulated mud is pumped to the dredging-specific diaphragm filter press by a mud pump; the dredging-specific diaphragm filter press completes the solid-liquid separation of the sludge; and when the material yard of the filter press reaches a certain quantity, the intelligent truck loading and unloading scheduling subsystem automatically collects data and issues loading and unloading instructions to dispatch trucks to load and unload the solid products to the designated stockpile for unloading.

[0026] The dredging process for the open-pit mine water storage tanks used in the dredging system includes:

[0027] S101. Obtain the current status model of the open-pit mine water storage tank.

[0028] S102. The floating vessel is cruised at a preset density using the floating sensor to acquire point cloud data of silt collected by the silt-measuring lidar. Through filtering, noise reduction, and redundancy removal, the current state model of the silt is obtained, the dredging thickness is determined, and the dredging route and the dredging area are formed.

[0029] S103. According to the dredging route, the floating GNSS positioning system automatically navigates and positions itself to the designated area, and the dredging lidar detects the thickness of the silt in real time. Based on the dredging thickness, the automatic cruise trajectory is determined.

[0030] S104. If the lidar detects the silt, the silt winch is activated to rotate the winch blades and loosen the silt deposited in the open-pit mine water tank. The silt suction pump then pumps the loosened silt into the thickening chamber of the pit-side sedimentation tank to obtain the semi-fluid slurry with a high water content.

[0031] S105. The semi-fluid mud with a high water content is allowed to settle in the thickening chamber of the pit-side sedimentation tank, and the upper layer of clear water overflows back to the open-pit mine through the overflow pipe to obtain the thickened mud.

[0032] S106. Based on the on-site mud conditions, determine the concentration and dosage of the polyacrylamide flocculant, prepare the flocculant using the flocculant preparation equipment, and add the flocculant to the thick mud using the flocculant pump.

[0033] S107. The mixer is activated to stir the thick mud containing the flocculant to obtain the coagulated mud, and the mud pump pumps the coagulated mud to the dredging-specific diaphragm filter press.

[0034] S108. The dredging-specific diaphragm filter press equipment processes the coagulated slurry by feeding, pressure filtering, compressed air drying, cake unloading, and filter cloth cleaning to obtain the slurry cake with low water content and the separated liquid.

[0035] S109. If the material yard of the dredging-specific diaphragm filter press reaches the preset quantity, the intelligent truck loading and unloading scheduling subsystem automatically collects the data and issues the loading and unloading instructions. After the excavator or the loader loads and unloads the mud cake, the truck transfers the mud cake to the designated stockpile.

[0036] The above provides a detailed description of a dredging system for an open-pit mine water storage facility provided in the embodiments of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application; furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

[0037] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The terms "comprising" and "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising / including but not limited to".

[0038] "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain error range. The following description in the specification describes preferred embodiments of this application; however, such description is intended to illustrate the general principles of this application and is not intended to limit the scope of this application. The scope of protection of this application shall be determined by the appended claims.

[0039] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0040] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0041] The foregoing description illustrates and describes several preferred embodiments of this application. However, as previously stated, it should be understood that this application is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the application concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of this application should be within the protection scope of the appended claims.

Claims

1. A dredging system for open-pit mine water storage, characterized in that, The system includes: Mobile intelligent sludge suction subsystem is used for automatic cruise positioning and mobile sludge suction transportation; An automatic mud filter press system is used to receive the sludge and dewater the mud under high pressure to achieve solid-liquid separation. And a truck intelligent loading and dispatching subsystem, used to automatically dispatch the solid products after solid-liquid separation to a designated area to complete the removal; The mobile intelligent cutter suction subsystem, the automatic mud filter press subsystem, and the intelligent truck loading and dispatching subsystem work together to complete the dredging operation of the open-pit mine water tank.

2. The dredging system as described in claim 1, characterized in that, The mobile intelligent suction subsystem includes: The cutter suction dredger includes a floating vessel, a sludge dewatering machine, a sludge suction pump, a bar screen, a corrugated hose, and a universal joint. The sludge dewatering machine is used to agitate sludge, the sludge suction pump is used to suction sludge, the bar screen is used to filter debris, the corrugated hose is used to transport sludge, and the universal joint is used to connect the sludge suction pump and the corrugated hose. And an intelligent control system, used to provide control commands to the cutter suction dredger to realize automatic tracking, cruising and mud suction of the silt; The floating vessel floats on the surface of the open-air mine water tank and cruises within the pit under the control of the intelligent control system. The corrugated hose is installed on the top step of the mine water tank, with one end connected to the universal joint of the sludge suction pump and the other end discharged into the automatic mud filter press subsystem.

3. The dredging system as described in claim 2, characterized in that, The intelligent control system includes: Sensors installed on the cutter suction dredger, including GNSS positioning sensors, are used to locate and guide the navigation of the floating vessel; Obstacle avoidance radar is used for risk mitigation. Lidar for silt measurement is used to measure the distance to the silt surface and acquire point cloud data of the ground surface; Ultrasonic sensors are used to measure distance and assist in observing the degree of turbidity in water. And a camera, used to capture images; And a control device for receiving the sensor data and generating control commands.

4. The dredging system as described in claim 3, characterized in that, The control device includes: The intelligent recognition model algorithm includes functions such as image processing, point cloud model processing, 3D model reconstruction, trajectory design, obstacle avoidance, and data fusion analysis. The control device is used to plan and generate a dredging operation trajectory by referring to the existing surface model and the original model of the pit, and to execute the trajectory instructions. The data fusion and analysis function is used to integrate and display various types of sensor data in a unified manner, and to dynamically display the floating vessel's trajectory on the surface model and the location of the dredging operation.

5. The dredging system as described in claim 1, characterized in that, The automatic mud filter press subsystem includes: The sedimentation tank at the edge of the pit includes a sedimentation chamber and a thickening chamber. The sedimentation chamber is used to receive the silt and block debris, and the thickening chamber is used for sedimentation and thickening. The sedimentation tank is equipped with an overflow pipe and a solenoid valve to overflow excess water. Mud pumps are used to pump mud. A mixer is used to mix mud. Flocculant preparation equipment and flocculant pump, used to prepare and add flocculant to the thickening chamber; And a diaphragm filter press for dredging, used to filter the mud in the thickening chamber to achieve solid-liquid separation.

6. The dredging system as described in claim 5, characterized in that, The flocculant is a polyacrylamide flocculant; The flocculant preparation equipment and flocculant pump are used to add the set flocculant and pump it to the thickening chamber of the pit-side sedimentation tank. The mixer is installed in the middle of the thickening chamber to fully mix the flocculant and the sludge to form a coagulated slurry. The mud pump is installed above the mixer and is used to pump the coagulated mud to the dredging-specific diaphragm filter press.

7. The dredging system as described in claim 5, characterized in that, The dredging-specific diaphragm filter press includes: frame; Filter plate pressing device; Filtration device; Cake drying system; Wetted device; Cake unloading device; Cleaning equipment; And the PLC control system; The dredging-specific diaphragm filter press is used to complete the solid-liquid separation of the sludge through feeding, pressure filtration, compressed air drying, cake unloading, and filter cloth cleaning, and output a solid product with low water content.

8. The dredging system as described in claim 1, characterized in that, A dredging process for an open-pit mine water tank in the dredging system includes: The mobile intelligent sludge suction subsystem collects point cloud data of silt through its sensors, establishes a current silt status model, and forms dredging routes and dredging areas. According to the dredging route, the mobile intelligent suction subsystem is controlled to automatically navigate and locate to the designated area, and the thickness of the silt is detected in real time, and the system automatically cruises according to the thickness of the silt being pumped. The mobile intelligent sludge suction system loosens and agitates the deposited sludge. The loosened sludge is pumped into the thickening chamber of the pitside sedimentation tank of the automatic mud filter press subsystem by the suction pump of the mobile intelligent suction subsystem. The water is allowed to settle in the dense chamber, and the upper layer of clear water overflows back into the open-pit mine. Prepare and add flocculant according to the on-site mud conditions; The concrete slurry is formed by mixing with a mixer. The coagulated mud is pumped to the dredging-specific diaphragm filter press equipment by a mud pump. The sludge solid-liquid separation is achieved using the sludge-specific diaphragm filter press equipment described above. When the material yard of the filter press reaches a certain quantity, the intelligent truck loading and unloading scheduling subsystem automatically collects data and issues loading and unloading instructions to dispatch trucks to load and unload the solid products to the designated stockpile for unloading.

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