Intrinsic safety intelligent arch breaking integrated device and method for blocked draw shaft

Abstract

The invention discloses a blocked draw shaft intrinsic safety intelligent arch breaking integrated device and method, and the device is characterized in that the device comprises a remote control electric vehicle, an electric telescopic rod and an AI visual grabbing module, and a laser guiding device, a data processing box, the electric telescopic rod and a protection cylinder are installed on a chassis of the remote control electric vehicle from front to back; a blasting rod is placed in the protective cylinder; the AI visual grabbing module comprises a mechanical arm fixedly installed on the top of the remote control telescopic rod, a grabbing hand is arranged at one end of the mechanical arm, a high-definition camera and a laser three-dimensional scanner are arranged at the rear end of the grabbing hand, and the data processing box is electrically connected with the laser guiding device, the electric telescopic rod, the mechanical arm, the high-definition camera and the laser three-dimensional scanner. A signal transmission module is arranged in the data processing box, and the signal transmission module is wirelessly connected with an external receiving device; a laser three-dimensional scanner is used for scanning a blockage point, and after a blasting point is determined under AI auxiliary analysis, a mechanical arm is provided with a blasting charge.

Description

Technical Field

[0001] This invention belongs to the field of underground mine blockage and arch breaking treatment, specifically involving an intrinsically safe intelligent arch breaking integrated device and method for blockage and arch breaking of underground mine chutes. Background Technology

[0002] Mining ore passes play a crucial role in mining engineering, connecting multiple mining areas or stages and serving as the vital passage for ore transportation. During mining production, due to the high proportion of large ore blocks and fine ore in the passes, blockage accidents are highly likely to occur under certain moisture content. Currently, traditional on-site manual handling methods are prone to causing personnel casualties, necessitating the development of a safe, efficient, and intelligent non-contact method for breaking up blocked ore passes. With the rapid development of humanoid robot technology, multi-degree-of-freedom AI depth vision robotic arms possess strong flexibility and can completely replace humans in precisely placing explosive charges at critical points of blockage in the ore pass, making intelligent blasting and arch-breaking technology for blocked ore passes highly scientific and practical. Therefore, this invention proposes an integrated intelligent arch-breaking method for blocked ore passes, combining a remote-controlled electric vehicle, an electric telescopic pole, AI vision grasping, and an explosive charge. Summary of the Invention

[0003] The purpose of this invention is to transform the traditional high-risk direct dredging method into an inherently safe, indirect, intelligent arch-breaking method.

[0004] To achieve the above-mentioned technical effects, the present invention is implemented through the following technical solution: an intrinsically safe intelligent arch-breaking integrated device and method for blocking manholes, characterized in that it includes a remote-controlled electric vehicle, an electric telescopic rod, and an AI vision grasping module. A laser guiding device, a data processing box, an electric telescopic rod, and a protective cylinder are respectively installed from front to back on the chassis of the remote-controlled electric vehicle. A blasting rod is placed inside the protective cylinder. The AI ​​vision grasping module includes a robotic arm fixedly installed on the top of the remote-controlled telescopic rod. A gripper is provided at one end of the robotic arm, and a high-definition camera and a laser 3D scanner are provided at the rear end of the gripper. The data processing box is electrically connected to the laser guiding device, the electric telescopic rod, the robotic arm, the high-definition camera, and the laser 3D scanner. A signal transmission module is provided inside the data processing box, and the signal transmission module is wirelessly connected to an external receiving device.

[0005] Furthermore, a sponge protective pad is provided on the inner wall of the protective cylinder, and a protective cover is provided on the top of the protective cylinder, with anti-slip texture on the protective cover.

[0006] Furthermore, the blasting rod includes a fixing rod and an explosive charge. The fixing rod is made of beryllium bronze alloy, with a screw structure at the bottom and a hollow rectangular structure at the top, where the explosive charge is placed.

[0007] Furthermore, a fixed cylinder is provided behind the gripper, and a motor is installed inside the fixed cylinder. The output end of the motor is fixedly connected to the gripper, and a high-definition camera and a laser 3D scanner are installed on the fixed cylinder.

[0008] Furthermore, this includes the following steps:

[0009] S1: Place the blasting rod inside the protective casing;

[0010] S2: Remotely control the electric vehicle to a suitable position below the well opening;

[0011] S3: Remote control telescopic boom, which allows the robotic arm to push the gripper to the appropriate position at the critical location of the chute blockage;

[0012] S4: A high-definition camera observes the state of the blockage in the chute, and a laser 3D scanner scans the blockage. The scanned data is then transmitted to the data processing box to generate a blockage model. AI is used to assist in the analysis of the blockage model to find a suitable blasting point.

[0013] S5: The laser guidance device uses laser to locate and guide the blasting point;

[0014] S6: The remote-controlled robotic arm and gripper remove the blasting rod from the protective cylinder. The gripper at the front end of the robotic arm firmly grasps the blasting rod and installs it at a key position in the blocked ore pass. After installation, all equipment and personnel are withdrawn, a warning line is set up, and the blocked ore is remotely blasted to break the arch in the ore pass.

[0015] Compared with related technologies, the intrinsically safe intelligent arch-breaking integrated device and method for plugging well chutes provided by the present invention has the following beneficial effects:

[0016] 1. This invention uses a remote-controlled electric vehicle and an AI vision grasping module. The remote-controlled electric vehicle replaces personnel to enter the chute, while a laser 3D scanner scans the blockage point to create a 3D model. Combined with scene observation by a high-definition camera and AI-assisted analysis, the optimal blasting point is determined. The explosive charge is then installed under the operation of a robotic arm, thereby avoiding human operation and improving personnel safety.

[0017] 2. This invention uses a gripper and a blasting rod, and a screw structure at the bottom of the fixed rod. With the assistance of the gripper's rotation and the push of the robotic arm, the fixed rod can be drilled into the rock layer and fixed, which facilitates the installation of the explosive charge. At the same time, the screw structure ensures the stability of the explosive charge and prevents it from shaking. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the AI ​​visual grasping module structure of the present invention;

[0021] Figure 3 This is a cross-sectional view of the fixed cylinder of the present invention;

[0022] Figure 4 This is a schematic diagram of the gripper structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the workflow of the present invention.

[0024] The attached diagram lists the components represented by each number as follows:

[0025] 1. Remote-controlled electric vehicle; 2. Electric telescopic pole; 3. AI vision grasping module; 31. Robotic arm; 32. Grabber; 321. Fixing cylinder; 322. Motor; 33. High-definition camera; 34. Laser 3D scanner; 4. Laser guidance device; 5. Data processing box; 6. Protective cylinder; 61. Protective pad; 62. Protective cover; 7. Explosive rod; 71. Fixing rod; 72. Explosive charge; 8. Receiving device. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example 1

[0028] See Figures 1 to 5As shown, an intrinsically safe intelligent arch-breaking integrated device and method for blocking manholes is characterized by comprising a remote-controlled electric vehicle 1, an electric telescopic rod 2, and an AI vision grasping module 3. A laser guiding device 4, a data processing box 5, the electric telescopic rod 2, and a protective cylinder 6 are respectively installed from front to back on the chassis of the remote-controlled electric vehicle 1. A blasting rod 7 is placed inside the protective cylinder 6. The AI ​​vision grasping module 3 includes a robotic arm 31 fixedly installed on the top of the remote-controlled telescopic rod. A gripper 32 is provided at one end of the robotic arm 31, and a high-definition camera and a laser 3D scanner 33 (high-definition camera) are provided at the rear end of the gripper 32. The data processing box 5 is electrically connected to the laser guiding device 4, the electric telescopic rod 2, the robotic arm 31, the high-definition camera, and the laser 3D scanner 33 (high-definition camera). A signal transmission module is provided inside the data processing box 5, and the signal transmission module is wirelessly connected to an external receiving device 8. The blockage is identified by a high-definition camera and a laser 3D scanner 33; the relevant data is fed back to the data processing box 5. The data processing box 5 controls the laser guiding device 4 to emit a laser to locate the blasting point based on the analysis results. At the same time, the data processing box 5 controls the movement of the robotic arm 31, which precisely grabs the blasting rod 7. The remote-controlled electric vehicle 1 completes the movement and the electric telescopic rod 2 completes the stretching task, so that the robotic arm 31 drives the gripper 32 to send the blasting rod 7 to the blockage blasting point. The whole process is remotely controlled through the signal transmission module to ensure the safety of the operator, while improving the efficiency and intelligence of the operation.

[0029] The inner wall of the protective cylinder 6 is provided with a sponge protective pad 61, and the top of the protective cylinder 6 is provided with a protective cover 62, which is provided with anti-slip texture. The sponge protective pad 61 is made of high-density cushioning material, which can effectively absorb impact force and provide all-round cushioning protection for the blasting rod 7, improving the stability of the blasting rod 7 during transportation; at the same time, the anti-slip texture helps to prevent the gripper 32 from slipping when it grabs the protective cover 62.

[0030] The blasting rod 7 includes a fixing rod 71 and an explosive charge 72. The fixing rod 71 is made of beryllium bronze alloy. The lower part of the fixing rod 71 has a screw structure, and the upper part of the fixing rod 71 has a hollow rectangular structure, inside which the explosive charge 72 is placed. The beryllium bronze alloy material has strong anti-static and explosion-proof properties, and is sturdy, making it easy to fix on hard ores. The lower screw structure allows it to easily drill into the rock strata for fixation during rotation. The upper hollow rectangular structure protects the explosive charge 72 while also helping the gripper 32 to grasp the rectangular structure and rotate the fixing rod 71.

[0031] A fixing cylinder 321 is provided behind the gripper 32. A motor 322 is installed inside the fixing cylinder 321. The output end of the motor 322 is fixedly connected to the gripper 32. A high-definition camera and a laser 3D scanner 33 are mounted on the fixing cylinder 321. The motor 322 drives the front gripper 32 to rotate, which in turn causes the gripper 32 to rotate and drill into the rock strata for fixation. Since the fixing cylinder 321 itself does not rotate, it contributes to the stability of the high-definition camera and the laser 3D scanner 33, facilitating wireless operation.

[0032] Includes the following steps:

[0033] S1: Place the blasting rod 7 inside the protective cylinder 6;

[0034] S2: Remotely control electric vehicle 1 to a suitable position below the well opening;

[0035] S3: Remote control telescopic rod, which enables the robotic arm 31 to push the gripper 32 to the appropriate position at the critical location of the chute blockage;

[0036] S4: A high-definition camera observes the state of the blockage at the chute, and a laser 3D scanner 33 scans the blockage at the chute using the high-definition camera 34. The scanned data is then transmitted to the data processing box 5 to generate a blockage model. AI is used to assist in the analysis of the blockage model to find a suitable blasting point.

[0037] S5: Laser guidance device 4 uses laser to locate and guide the blasting point;

[0038] S6: The remote-controlled robotic arm 31 and gripper 32 take out the blasting rod 7 from the protective cylinder 6. The gripper 32 at the front end of the robotic arm 31 firmly grasps the blasting rod 7 and installs the blasting rod 7 at the key position of the blocked ore pass. After installation, all equipment and personnel are withdrawn, a warning line is set up, and the blocked ore is remotely blasted to break the arch of the ore pass.

[0039] Example 2

[0040] The remote-controlled electric vehicle 1 of the present invention has the ability to move stably in complex underground terrain, and its model does not specifically refer to a certain type;

[0041] The maximum height of the remote-controlled electric telescopic rod 2 after extension should be sufficient for the robotic arm 31 to reach the blockage position of the chute.

[0042] The high-definition camera, 3D laser scanner, and laser guidance device 4 of the present invention can all be purchased from existing devices;

[0043] The laser guiding device 4 of the present invention is a conventional rotatable laser emitter;

[0044] The laser guidance device 4 of the present invention can also be removed, and a laser emitter can be installed on the three-dimensional laser scanner for positioning guidance;

[0045] The robotic arm 31 of the present invention has the structure of a conventional robotic arm 31;

[0046] The electric telescopic pole 2 of the present invention is an existing multi-stage telescopic pole;

[0047] The gripper 32 of the present invention is an existing mechanical gripper, and conventional clamps are also suitable for replacing the gripper 32;

[0048] The depth and inner diameter of the protective cylinder 6 of the present invention are greater than the length and outer diameter of the blasting rod 7;

[0049] The gripper 32 of this invention can easily clear some loose rocks;

[0050] The robotic arm 31 of the present invention is provided with a lighting lamp at its front end for illumination in dark environments.

[0051] Example 3

[0052] Working principle: By placing the blasting rod 7 inside the protective cylinder 6 and sealing the protective cylinder 6 with the protective cover 62, the electric vehicle 1 is remotely controlled by the receiving device 8 to a suitable position below the chute opening. Through observation by a high-definition camera, the telescopic rod is remotely controlled to push the gripper 32 to the appropriate position of the chute blockage. At this time, the laser 3D scanner 33 and high-definition camera 34 are activated to scan the chute blockage and transmit the scan data to the data processing box 5 to generate a blockage model. AI is used to assist in the analysis of the blockage model to find a suitable blasting point. Then, the laser guiding device 4... Adjusting the firing direction, the laser guidance device 4 uses laser to locate and guide the blasting point. Then, the remote receiving device 8 controls the robotic arm 31 and gripper to remove the protective cover 62. The gripper 32 clamps the upper rectangular structure of the blasting rod 7, thereby removing the blasting rod 7 from the fixed cylinder 321. Then, the robotic arm 31 is moved so that the fixed rod 71 is located at the blasting point, and the lower thread of the fixed plate contacts the blasting point. The motor 322 drives the gripper 32 to rotate, while the robotic arm 31 pushes the fixed rod 71, thereby drilling the fixed rod 71 into the rock layer, thus fixing the explosive charge 72. After installation, all equipment and personnel are withdrawn, a warning line is set up, and remote blasting is used to block the ore and break the arch in the ore pass.

Claims

1. An intrinsically safe, intelligent, integrated device and method for blocking well chutes, characterized in that, The system includes a remote-controlled electric vehicle (1), an electric telescopic pole (2), and an AI vision grasping module (3). The remote-controlled electric vehicle (1) has a laser guiding device (4), a data processing box (5), an electric telescopic pole (2), and a protective cylinder (6) installed on its chassis from front to back. A blasting rod (7) is placed inside the protective cylinder (6). The AI ​​vision grasping module (3) includes a robotic arm (31) fixedly installed on the top of the remote-controlled telescopic pole. One end of the robotic arm (31) is provided with a gripper (32), and the rear end of the gripper (32) is provided with a high-definition camera and a laser 3D scanner (33 high-definition camera; 34). The data processing box (5) is electrically connected to the laser guiding device (4), the electric telescopic pole (2), the robotic arm (31), the high-definition camera, and the laser 3D scanner (33 high-definition camera; 34). The data processing box (5) is provided with a signal transmission module, and the signal transmission module is wirelessly connected to an external receiving device (8).

2. The intrinsically safe intelligent arch-breaking integrated device and method for plugging well chutes according to claim 1, characterized in that, The inner wall of the protective cylinder (6) is provided with a sponge protective pad (61), and the top of the protective cylinder (6) is provided with a protective cover (62), which is provided with anti-slip texture.

3. The intrinsically safe intelligent arch-breaking integrated device and method for plugging well chutes according to claim 1, characterized in that, The blasting rod (7) includes a fixing rod (71) and an explosive charge (72). The fixing rod (71) is made of beryllium bronze alloy. The lower part of the fixing rod (71) is a screw structure, and the upper part of the fixing rod (71) is a hollow rectangular structure. The explosive charge (72) is placed inside the hollow rectangular structure.

4. The intrinsically safe intelligent arch-breaking integrated device and method for plugging well chutes according to claim 1, characterized in that, A fixed cylinder (321) is provided behind the gripper (32). A motor (322) is provided inside the fixed cylinder (321). The output end of the motor (322) is fixedly connected to the gripper (32). A high-definition camera and a laser 3D scanner (33 high-definition camera; 34) are installed on the fixed cylinder (321).

5. The intrinsically safe intelligent arch-breaking integrated device and method for plugging well chutes according to claim 1, characterized in that, Includes the following steps: S1: Place the blasting rod (7) inside the protective cylinder (6); S2: Remotely control the electric vehicle (1) to a suitable position below the wellhead; S3: Remote control telescopic rod, so that the robotic arm (31) pushes the gripper (32) to the appropriate position of the chute blockage key position; S4: The high-definition camera observes the state of the blockage at the chute, and the laser 3D scanner (33 high-definition camera; 34) scans the blockage at the chute, and the scan data is transmitted to the data processing box (5) to generate a blockage model. AI is used to assist in the analysis of the blockage model to find a suitable blasting point. S5: Laser guidance device (4) uses laser to locate and guide the blasting point; S6: The remote-controlled robotic arm (31) and gripper (32) take out the blasting rod (7) from the protective cylinder (6). The gripper (32) at the front end of the robotic arm (31) firmly grasps the blasting rod (7) and installs the blasting rod (7) at the key position of the blocked ore pass. After the installation is completed, all equipment and personnel are withdrawn, and a warning line is set up to remotely blast the blocked ore to break the arch of the ore pass.

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