Mine blasting operation multi-scene self-adaptive bimodal positioning device and method

Abstract

The invention discloses a mine blasting operation multi-scene self-adaptive bimodal positioning device and method, and relates to the technical field of blast hole detection equipment, and the positioning device comprises a vision module, a mechanical verification module and a control module; the visual module is used for acquiring image information of a blast hole orifice; the mechanical verification module is used for probing into a blast hole channel from a blast hole and monitoring resistance in the probing process in real time; the control module is in communication connection with the vision module and the mechanical verification module, and the control module comprises a signal receiving unit, a signal processing unit, a path generation unit, a motion control unit, a judgment unit, a maintenance work sub-module and a repeated work sub-module. The visual module in the device is responsible for initial positioning, and the mechanical module is responsible for physical verification. When mechanical verification is abnormal, the visual module is triggered to reposition, the mechanical module verifies again, and circulation is carried out until the set depth is successfully probed. According to the invention, the safety and the operation efficiency of hole detection work can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of borehole detection equipment, in particular to a multi-scene adaptive dual-mode positioning device and method for mine blasting operation. BACKGROUND

[0002] In current mine blasting operation, borehole positioning mainly relies on a single visual recognition system, which has the core defects of insufficient environmental adaptability and lack of physical verification. The visual system is easily disturbed by dust, water mist and light, resulting in distortion of the hole profile recognition; at the same time, only two-dimensional image information can be obtained, and the physical state such as hole collapse and foreign matter blockage inside the hole cannot be detected, which requires secondary human intervention, resulting in low efficiency and significant safety hazards. In addition, the high-frequency vibration (>50Hz) of equipment vehicles such as charging trucks and filling trucks during operation causes the image of the traditional visual system to be blurred, and the dynamic response is delayed, which makes it difficult to meet the real-time positioning requirements. SUMMARY

[0003] The purpose of the present application is to provide a multi-scene adaptive dual-mode positioning device and method for mine blasting operation to solve the problems existing in the prior art and improve safety and operation efficiency.

[0004] To achieve the above-mentioned purpose, the present application provides the following scheme: The present application provides a multi-scene adaptive dual-mode positioning device for mine blasting operation, comprising a visual module, a mechanical verification module and a control module; the visual module is used to obtain image information of a borehole opening; the mechanical verification module is used to probe into a borehole channel from the borehole, and to monitor the resistance in the probing process in real time; the control module is in communication connection with the visual module and the mechanical verification module, and the control module comprises a signal receiving unit, a signal processing unit, a path generating unit, a motion control unit, a determination unit, a maintenance work submodule and a repeated work submodule. The signal receiving unit is used to receive image information sent by the visual module and resistance information sent by the mechanical verification module; the signal processing unit uses an image recognition algorithm and the image information to obtain three-dimensional coordinates of the borehole opening and an angle of the channel axis; the path generating unit generates a probing path of the probe according to the three-dimensional coordinates of the borehole opening, the angle of the channel axis, and the three-dimensional coordinates and the angle of the axis of the probe of the mechanical verification module; the motion control unit is used to generate a control instruction according to the probing path to control the mechanical verification module to drive the probe to perform a probing action; the determination unit is used to determine whether the resistance information exceeds a preset threshold; the maintenance work submodule is used to maintain the mechanical verification module to continue probing if the determination result is negative; and the repeated work submodule is used to control the visual module to reacquire image information of the borehole opening and control the mechanical verification module to exit from the borehole if the determination result is positive.

[0005] Preferably, the visual module comprises a multi-spectral industrial camera group and a holder; the multi-spectral industrial camera group is integrated with visible light and near-infrared dual-band sensors and is installed on the holder; and the holder adopts a damping structure.

[0006] Preferably, the mechanical verification module comprises a probe rod, a multi-degree-of-freedom mechanical arm and a piezoresistive force sensor; the piezoresistive force sensor is arranged at the driving end of the multi-degree-of-freedom mechanical arm; one end of the probe rod is arranged at the measuring end of the piezoresistive force sensor, and the other end is a free end for extending into the blast hole.

[0007] Preferably, the free end of the probe rod is a tungsten carbide alloy probe.

[0008] Preferably, the end point of the probe path is a position 5 cm inside the hole along the hole from the hole mouth.

[0009] Preferably, the visual module and the mechanical verification module are integrally arranged on the same base.

[0010] Preferably, the multi-spectral industrial camera group is further irradiated with a dustproof shield.

[0011] Preferably, the piezoresistive force sensor has an alloy shell, and the alloy shell is coated with a nano-hydrophobic coating.

[0012] Preferably, the imaging mode, scanning range and spectral band of the visual module are adjustable to realize re-scanning and positioning of the hole mouth by the visual module in different imaging modes, scanning ranges or spectral bands.

[0013] The application also provides a multi-scene adaptive dual-mode positioning method for mine blasting operations, comprising the following steps: obtaining image information of a blast hole mouth by a visual module; receiving the image information by a signal receiving unit of a control module; processing the image information by a signal processing unit of the control module to obtain a blast hole mouth three-dimensional coordinate and a hole axis angle; generating a probe path of a probe by a path generating unit of the control module; controlling the mechanical verification module to drive the probe to perform a probe action along the probe path by a motion control unit of the control module; in the probe process, monitoring resistance information in real time by the mechanical verification module, and transmitting the resistance information to the control module by the signal receiving unit; judging whether the resistance information exceeds a preset threshold by a judgment unit of the control module; When it is determined that the resistance information exceeds the preset threshold, the visual module is controlled to reacquire image information of the blast hole orifice, and the mechanical verification module is controlled to withdraw from the blast hole; The above steps are repeatedly performed until the probe of the mechanical verification module can extend into the blast hole along the generated probe path to the set depth; The blast hole orifice three-dimensional coordinates and the hole axis angle are output by the output unit of the control module.

[0014] The present application has the following technical effects relative to the prior art: The present application overcomes the blindness of the mechanical module through visual non-contact coarse positioning, and overcomes the defect that the visual module cannot detect the internal physical state through the contact verification of the mechanical module. The two cooperate to realize the complementary advantages of "non-contact sensing" and "contact verification". In addition, the closed-loop control process forms a "sensing-decision-execution-feedback" cycle. Each cycle is a check and optimization of the positioning result, which can gradually eliminate the positioning errors caused by environmental interference, terrain slope or orifice deformation, and ultimately make the positioning accuracy and reliability far exceed a single open-loop system. Finally, the closed-loop system can complete the "positioning-verification-correction" whole process without manual intervention, completely avoiding the safety risk of manual verification by the operator near the blasting danger zone, while greatly improving the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0016] Figure 1 The structural schematic diagram of the mine blasting operation multi-scene adaptive dual-mode positioning device provided by the embodiments of the present application is shown. Figure 2 Another structural schematic diagram of the mine blasting operation multi-scene adaptive dual-mode positioning device provided by the embodiments of the present application is shown. Figure 1 Different from the above, Figure 2 The internal structure of the alloy shell is shown. In the figure: 1-mechanical verification module; 11-probe rod; 12-pressure resistance type force sensor; 13-multi-degree-of-freedom mechanical arm; 2-visual module; 21-multi-spectral industrial camera group; 22-pan-tilt support; 23-alloy shell; 3-base. DETAILED DESCRIPTION

[0017] Clearly and completely, the technical solutions in the embodiments of the present application will be described below with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0018] The purpose of the present application is to provide a mine blasting operation multi-scene adaptive dual-mode positioning device and method to solve the problems existing in the prior art and improve safety and operation efficiency.

[0019] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with the drawings and specific embodiments.

[0020] The embodiments of the present application will be described below with the drawings. Figures 1 to 2

[0021] Embodiment one The present application provides a mine blasting operation multi-scene adaptive dual-mode positioning device, comprising: a visual module 2, a mechanical verification module 1 and a control module; the visual module 2 is used for acquiring image information of a blast hole orifice; the mechanical verification module 1 is used for inserting a probe into a blast hole channel from the blast hole and monitoring the resistance in the insertion process in real time; the control module is in communication connection with the visual module 2 and the mechanical verification module 1, and the control module comprises: a signal receiving unit, a signal processing unit, a path generating unit, a motion control unit, a judgment unit, a maintenance work sub-module and a repeated work sub-module. The signal receiving unit is used for receiving image information sent by the visual module 2 and resistance information sent by the mechanical verification module 1; the signal processing unit uses an image recognition algorithm and the image information to derive blast hole orifice three-dimensional coordinates and channel axis angle; the path generating unit generates an insertion path of the probe according to the blast hole orifice three-dimensional coordinates, the channel axis angle, and three-dimensional coordinates and axis angle of the probe of the mechanical verification module 1; the motion control unit is used for generating a control instruction according to the insertion path to control the mechanical verification module 1 to drive the probe to perform an insertion action; the judgment unit is used for judging whether the resistance information exceeds a preset threshold; the maintenance work sub-module is used for maintaining the mechanical verification module to continue insertion if the judgment result is negative; and the repeated work sub-module is used for controlling the visual module to reacquire image information of the blast hole orifice, controlling the mechanical verification module to withdraw from the blast hole, and preferably returning to the initial position of the probe via the original path if the judgment result is positive.

[0022] The visual module 2 in the device provided by the present application is responsible for initial positioning, and the mechanical module is responsible for physical verification. When the mechanical verification is abnormal, the visual module 2 is triggered to reposition, and the mechanical module is verified again, and the cycle is repeated until the set depth is successfully inserted. ​

[0023] The single visual module is easy to fail in dust and water mist, and the single mechanical probe rod has low blind exploration efficiency. The scheme overcomes the blindness of the mechanical module through visual non-contact coarse positioning, and overcomes the defect that the visual module 2 cannot detect the internal physical state through the contact verification of the mechanical module. The two cooperate to realize the complementary advantages of "non-contact sensing" and "contact verification". In addition, the closed-loop control process forms a cycle of "sensing-decision-execution-feedback". Each cycle is a check and optimization of the positioning result, which can gradually eliminate the positioning errors caused by environmental interference, terrain slope or hole deformation, and finally make the positioning accuracy and reliability far exceed the single open-loop system. Finally, the closed-loop system can complete the whole process of "positioning-verification-correction" without manual intervention, completely avoiding the safety risk of manual verification by the operator near the blasting danger zone, and greatly improving the operation efficiency.

[0024] It can be understood that the final purpose of the positioning device is to output the three-dimensional coordinates of the hole, therefore, the control module must also have the function of outputting the three-dimensional coordinates of the blast hole, that is, it also includes an output unit.

[0025] In some embodiments, after each failed exploration, the probe rod is withdrawn from the blast hole and returned to the initial position, waiting for the next scan of the visual module 2.

[0026] In some embodiments, the visual module 2 includes a multi-spectral industrial camera group 21 and a gimbal support 22; the multi-spectral industrial camera group 21 is integrated with visible light and near-infrared dual-band sensors and is installed on the gimbal support 22; the gimbal support 22 adopts a damping structure.

[0027] This embodiment uses the near-infrared band to scan and position, which has stronger penetration ability for dust and water mist commonly seen in mine scenes, can effectively suppress scattering interference, and can still obtain a relatively clear hole image under low visibility conditions, which is the basis for realizing coarse positioning. In addition, the damping gimbal structure can effectively isolate and compensate low-frequency and high-frequency vibrations to provide a stable imaging platform for the camera, ensuring that stable and non-blurred images can be obtained under different working conditions, improving the reliability of visual positioning.

[0028] In some examples, the multi-spectral camera group can be replaced by a thermal imaging camera to detect the temperature difference between the hole and the surrounding rock for positioning, which also has the ability to penetrate dust. The damping structure can be passive damping (such as rubber pads, springs), or active damping (such as electrically stabilized based on gyroscope feedback In some embodiments, the mechanical verification module 1 comprises a probe rod 11, a multi-DOF robot arm 13, and a piezoresistive force sensor arranged at the driving end of the multi-DOF robot arm 13, with one end of the probe rod 11 arranged at the measuring end of the piezoresistive force sensor and the other end being a free end for insertion into the blast hole.

[0029] The multi-DOF robot arm 13 in this embodiment can accurately reproduce the pose and angle calculated by the vision module 2, ensuring that the probe rod 11 can be inserted along the predetermined path. The high-precision piezoresistive force sensor 12 is arranged between the robot arm and the probe rod 11, which can most directly and most sensitively detect the axial force (resistance) on the tip of the probe rod 11. Once it encounters an obstruction or hole wall, it can immediately sense the sudden change in resistance, with very low response delay. In some examples, the multi-DOF robot arm 13 can be replaced by a three-axis Cartesian robot or a SCARA robot to achieve the positioning of the probe rod 11. The piezoresistive force sensor 12 can be replaced by a fiber Bragg grating-based force sensor or a capacitive force sensor, which can also achieve high-precision micro-force measurement.

[0030] In some embodiments, the free end of the probe rod 11 is a tungsten carbide alloy probe.

[0031] This embodiment takes into account the possibility of hard rock fragments or metal foreign objects in the blast hole. Therefore, tungsten carbide alloy with extremely high hardness and wear resistance is used to avoid wear or damage of the probe itself during insertion due to scratching or collision, greatly extending the service life of the key vulnerable parts and ensuring the reliability of long-term operation.

[0032] In some embodiments, the end point of the insertion path is 5 cm inside the hole from the hole mouth along the hole.

[0033] Since blockage near the hole mouth (such as slag rolling, shallow hole collapse) is the most common problem. In this embodiment, the insertion of 5 cm is sufficient to effectively verify the patency of the hole at the key entry segment, excluding most positioning errors and charging obstacles. If it is set too deep, it will increase the single verification time and reduce the overall efficiency; at the same time, the probe rod 11 is inserted too deep into the unknown hole with possible complex obstacles, which will increase the risk of rod jamming. 5 cm is an optimized balance value between verification effectiveness and operation efficiency / risk.

[0034] It can be understood that the depth can be adjusted according to the standard hole diameter and common blockage of different blast holes, for example, for large-diameter deep holes, the depth can be set to 10 cm; for small-diameter shallow holes, it can be set to 3 cm. This parameter can be user-defined according to field experience.

[0035] In some embodiments, the vision module 2 and the mechanical verification module 1 are integrated on the same base 3.

[0036] This embodiment fixes the two modules on the same rigid base 3, meaning that their relative positional relationship is fixed and known. This saves the complex joint calibration process, and the aperture coordinates determined by the vision module 2 can be directly converted into the coordinate system of the mechanical arm, simplifying the system control logic and improving the overall positioning accuracy. In addition, the integrated design allows the entire device to be installed as a complete unit on a charging truck or other engineering vehicle, requiring only one hoisting and fixing, reducing the complexity of on-site installation and facilitating overall disassembly and maintenance.

[0037] In some examples, the two modules can also be installed separately, for example, the vision module 2 is installed on the vehicle mast, and the mechanical module is installed at the end of the mechanical arm. At this time, a high-precision calibration algorithm is needed to unify the coordinate systems of the two modules in real time.

[0038] In some embodiments, the multispectral industrial camera group 21 is also irradiated with a dustproof shield.

[0039] Considering the extremely large amount of dust in the mine environment, dust adhering to the camera lens will directly cause the image quality to decrease or even completely fail. This embodiment uses a dustproof shield (which can be a transparent glass or plastic cover with a sealing ring) to create a sealed space, physically isolating the camera from the harsh environment, which is the first and most important barrier to ensure that the vision system can work stably for a long time.

[0040] In some embodiments, the piezoresistive force sensor has an alloy shell 23 coated with a nano-hydrophobic coating.

[0041] In this embodiment, the alloy shell 23 provides a very high protection level, which can prevent physical damage to the precision force sensor caused by water accumulation, water mist and rock falling, and collision. In addition, the nano-hydrophobic coating makes the sensor shell not easy to be wetted by water, preventing corrosion caused by water accumulation; at the same time, it can also effectively prevent damp dust and mud from adhering to the shell, avoiding the influence of material accumulation on mechanical movement or even damage to the circuit.

[0042] In some examples, the nano-hydrophobic coating can be replaced by a polytetrafluoroethylene (Teflon) coating, which also has hydrophobic and anti-adhesion properties.

[0043] In some examples, the protection level of the alloy shell 23 is IP68 / IK10.

[0044] In some embodiments, the imaging mode, scanning range and spectral band of the vision module 2 are adjustable to enable the vision module 2 to re-scan and position the aperture using different imaging modes, scanning ranges or spectral bands.

[0045] When the initial positioning verification fails, it indicates that the visual information under the current imaging parameters is insufficient for correct recognition. This solution endows the system with the ability to dynamically adjust: Switching spectral bands: for example, switching from visible light to near-infrared, which can penetrate stronger dust.

[0046] Adjusting imaging modes: for example, increasing exposure time or adjusting gain to adapt to different lighting conditions.

[0047] Expanding the scanning range: when mechanical verification fails, it may be caused by large-scale positioning errors, so expanding the search range can recapture the borehole target.

[0048] This adaptive adjustment capability significantly improves the robustness and success rate of the visual system in various complex and variable environments.

[0049] Embodiment Two The present application also provides a multi-scene adaptive dual-mode positioning method for mine blasting operations, comprising the following steps: Obtaining image information of the borehole mouth through the visual module; Receiving the image information through the signal receiving unit of the control module; Processing the image information through the signal processing unit of the control module to obtain the three-dimensional coordinates of the borehole mouth and the angle of the borehole axis; Generating the probe-in path of the probe through the path generation unit of the control module; Controlling the mechanical verification module to drive the probe to perform the probe-in action along the probe-in path through the motion control unit of the control module; During the probe-in process, the mechanical verification module monitors the resistance information in real time, and the resistance information is transmitted to the control module through the signal receiving unit; Determining whether the resistance information exceeds the preset threshold through the determination unit of the control module; When it is determined that the resistance information exceeds the preset threshold, the visual module is controlled to reacquire the image information of the borehole mouth, and the mechanical verification module is controlled to exit from the borehole; Repeat the above steps until the probe of the mechanical verification module can extend to the set depth in the borehole along the generated probe-in path; Outputting the three-dimensional coordinates of the borehole mouth and the angle of the borehole axis (the data obtained by the last processing) through the output unit of the control module.

[0050] This method embodies the closed-loop process of "visual positioning-mechanical verification-dynamic correction", and the final output is the reliable borehole coordinate and axis angle data that have been physically verified.

[0051] The method abstracts and defines the flow of the bimodal cooperative positioning, and the beneficial effects thereof correspond to those of the first embodiment. It explicitly defines the logical order and judgment conditions of each link, so that the technical solution can not only be realized by a hardware device, but also can be in the form of a software flow as a core algorithm of a control system, and the protection scope is wider.

[0052] In some examples, when the resistance information fed back by the mechanical verification module 1 is abnormal, the control rod 11 is pulled out of the blast hole, and then returns to the initial position, and then according to the three-dimensional coordinates of the blast hole mouth and the hole axis angle after correction, the verification is carried out again until the probe rod 11 of the mechanical verification module 1 can be inserted into the blast hole to the set depth.

[0053] In some examples, the "resistance information abnormality" judgment in the method can be a simple threshold comparison, or a more complex algorithm can be introduced, such as a resistance curve waveform-based or machine learning model to judge whether it is normal friction or sudden blockage. The condition for exiting the loop can also be "continuous N times of verification pass" instead of "one success" to improve reliability.

[0054] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A multi-scenario adaptive dual-modal positioning device for mine blasting operations, characterized in that, include: The vision module is used to acquire image information of the borehole opening; The mechanical verification module is used to probe into the borehole channel from the borehole and monitor the resistance during the probe process in real time. A control module, communicatively connected to the vision module and the mechanical verification module, includes: A signal receiving unit is used to receive image information sent by the vision module and resistance information sent by the mechanical verification module; The signal processing unit uses an image recognition algorithm and the image information to derive the three-dimensional coordinates of the borehole opening and the angle of the borehole axis. The path generation unit generates the probe insertion path based on the three-dimensional coordinates of the borehole opening, the angle of the borehole axis, and the three-dimensional coordinates and axis angle of the probe in the mechanical verification module. A motion control unit is used to generate control commands based on the insertion path to control the mechanical verification module to drive the probe to perform an insertion action. The determination unit is used to determine whether the resistance information exceeds a preset threshold. The maintenance submodule is used to maintain the mechanical verification module's continued probe if not; The repetitive work submodule is used to control the vision module to reacquire the image information of the borehole opening and control the mechanical verification module to exit from the borehole if the condition is met.

2. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 1, characterized in that: The vision module includes a multispectral industrial camera group and a gimbal bracket; the multispectral industrial camera group integrates a visible light and near-infrared dual-band sensor and is mounted on the gimbal bracket; the gimbal bracket adopts a shock-absorbing structure.

3. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 1, characterized in that: The mechanical verification module includes a probe, a multi-degree-of-freedom robotic arm, and a piezoresistive force sensor. The piezoresistive force sensor is located at the drive end of the multi-degree-of-freedom robotic arm. One end of the probe is located at the measuring end of the piezoresistive force sensor, and the other end is a free end for extending into the borehole.

4. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 3, characterized in that: The free end of the probe is a tungsten carbide alloy probe.

5. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 1, characterized in that: The endpoint of the probe path is 5 cm inward from the orifice along the channel.

6. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 1, characterized in that: The vision module and the mechanical verification module are integrated and mounted on the same base.

7. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 2, characterized in that: The multispectral industrial camera group is also equipped with a dustproof cover.

8. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 3, characterized in that: The piezoresistive force sensor has an alloy housing, which is coated with a nano-hydrophobic coating.

9. The multi-scenario adaptive dual-modal positioning device for mine blasting operations according to claim 1, characterized in that: The imaging mode, scanning range, and spectral band of the vision module are adjustable, so that the vision module can rescan and reposition the aperture using different imaging modes, scanning ranges, or spectral bands.

10. A multi-scenario adaptive dual-modal positioning method for mine blasting operations, characterized in that: Includes the following steps: Image information of the borehole opening is obtained through the vision module; The image information is received by the signal receiving unit of the control module; The image information is processed by the signal processing unit of the control module to obtain the three-dimensional coordinates of the borehole opening and the angle of the borehole axis. The probe insertion path is generated by the path generation unit of the control module. The motion control unit of the control module controls the mechanical verification module to drive the probe to perform an insertion action along the insertion path; During the probe insertion process, the resistance information is monitored in real time by the mechanical verification module and transmitted to the control module through the signal receiving unit. The control module's determination unit determines whether the resistance information exceeds a preset threshold. When the resistance information exceeds a preset threshold, the vision module is controlled to reacquire the image information of the borehole opening, and the mechanical verification module is controlled to exit from the borehole. Repeat the above steps until the probe of the mechanical verification module can extend into the borehole to the set depth along the generated probe path. The output unit of the control module outputs the three-dimensional coordinates of the borehole opening and the angle of the borehole axis.

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