An intelligent hub for all-mine collaborative operation in mining industry and a matching algorithm

Abstract

This invention discloses an intelligent hub and supporting algorithms for collaborative operations across all mineral types in the mining industry, belonging to the field of intelligent mining equipment technology. Adhering to the design logic of "intelligent yet not cumbersome," the main body is a fully autonomous, integrated mobile body, integrating a three-section folding base, a dual-column V-shaped scanning unit derived from tremolite microstructure detection technology, a multispectral detection module, dual independent dedicated algorithm systems for tectonic / non-tectonic metamorphic minerals, and an adaptive module for extreme underground environments. It can adapt to extreme environments across a full temperature range of -60℃ to 150℃, ensuring stable fully autonomous operation and maintenance. This invention sets up a three-tiered hardware hierarchical adaptation system with no reduction in core functions, enabling mineral type identification, grading, and collaborative mining-sorting operations in all scenarios, including above-ground open-pit and above-ground / underground environments. Sorting efficiency is increased by 200% compared to manual methods, and the detection blind spot is reduced to zero, adapting to the intelligent upgrade needs of mines of various sizes.

Description

Technical Field

[0001] This invention belongs to the field of intelligent mining equipment technology. Adhering to the patent design logic of "intelligent but not complicated", it specifically involves an intelligent equipment and control method for collaborative operation of all mineral types in mining, adaptable to extreme temperature ranges of -60℃ to 150℃, with fully autonomous loading and unloading / autonomous folding / autonomous operation and maintenance capabilities, forming a full-domain detection matrix of up to 8m × up to 5m, realizing dual independent exclusive algorithm quantitative classification of structural metamorphic and non-structural metamorphic minerals, and linking large-scale mining equipment with lightweight / portable mining equipment in extreme environments. It is also suitable for all types of above-ground / underground extreme operation scenarios, including open-pit mines, underground caves, deep mine tunnels, underground tunnels, underground rivers, underground high-temperature hydrothermal fluids, underground low-temperature permafrost layers, and underground karst fracture zones. It is applicable to various above-ground and underground mines for mineral type identification, quality classification, operation safety assessment, and collaborative control of the entire mining-sorting process.

[0002] Terminology Definition

[0003] Unless otherwise expressly stated, the technical terms, custom technical terms, and abbreviations used in this specification shall be defined as follows:

[0004] Intelligent yet not cumbersome: The core design concept of this invention refers to achieving full coverage of core functions in terms of full-scenario intelligence and full-process unmanned operation in terms of technical solutions, while achieving extremely simple adaptation in terms of operation process and hardware configuration, eliminating unnecessary redundant function bindings, and realizing on-demand adaptation to mining scenarios of different scales through a three-level hardware hierarchical adaptation system, thereby reducing the application threshold and implementation cost.

[0005] Dual-column V-shaped scanning unit: The original core scanning structure of this invention is based on the biomimetic logic design of the dual-column V-shaped microstructure of tremolite jade. It consists of two V-shaped scanning heads fixed in parallel at the midpoint of the X-axis and a dual-axis rectangular coordinate system transmission mechanism. The included angle of the scanning heads can be adjusted from 45° to 130°. With ±30° pitch adjustment, it can achieve full-area penetration scanning without blind spots, which is different from the industry's conventional single scanning head and parallel fixed dual scanning head structure.

[0006] Dual Independent Dedicated Algorithm Modules: This invention designs two independent algorithm systems for the mineral generation mechanism, namely an independent dedicated algorithm module adapted to tectonic metamorphic minerals and an independent dedicated algorithm module adapted to non-tectonic metamorphic minerals. Both algorithms are based on multi-dimensional characteristic positive correlation gradient cross-validation logic and can independently complete mineral identification, quality grading and safety parameter quantification.

[0007] Tectonic metamorphic minerals: These are minerals formed through regional metamorphism, contact metamorphism, or tectonic movements. Their crystals exhibit directional arrangement, and they contain conjugate stress distributions. Their physical properties are significantly correlated with tectonic deformation. The corresponding proprietary algorithms are the multi-dimensional characteristic positive correlation gradient algorithm, the multi-stage conjugate stress algorithm, and the orientation gradient algorithm.

[0008] Non-tectonic metamorphic minerals: These are minerals formed by magmatic and sedimentary processes, without significant tectonic deformation, with no directional crystal arrangement. Their quality and value are mainly determined by their composition, physical indicators, and occurrence state. The corresponding exclusive algorithm is the key value indicator quantitative grading algorithm.

[0009] Three-section folding base: The main body structure of this invention is made of 6061-T6 grade corrosion-resistant aluminum alloy frame spliced ​​with reinforced wear-resistant panel. It realizes the autonomous switching between portable storage and operation mode through snap-on folding structure. It integrates liftable auxiliary support arm, sealed cavity and autonomous battery swapping module, and is suitable for extreme environments with a full temperature range of -60℃ to 150℃.

[0010] Fully autonomous operation: This means that the equipment can autonomously complete the entire process of getting on and off the vehicle, deployment, scanning and detection, data processing, sending collaborative instructions, cleaning and maintenance, and folding and storing, without the need for on-site human intervention, and can achieve unmanned closed-loop operation.

[0011] Abbreviation Definition

[0012] XRD: X-ray diffraction, a detection technique used in this invention to obtain crystal structure data of minerals.

[0013] XRF: X-ray fluorescence spectroscopy, a detection technique used in this invention to obtain elemental composition data of minerals.

[0014] LoRa: Long Range Radio, a communication technology used in this invention for long-distance wireless data transmission in above-ground / underground scenarios.

[0015] FPGA: Field Programmable Gate Array, the core data fusion chip built into the control motherboard in this invention.

[0016] Modbus-RTU: Modbus Remote Terminal Unit Protocol, an industrial communication protocol used in this invention for data interaction between equipment and mining / sorting equipment.

[0017] CANopen: An industrial communication protocol based on the CAN bus, used in this invention as a bus protocol to control the motherboard and various functional modules to achieve instruction and data interaction. Background Technology

[0018] Mining and material sorting are crucial aspects of mineral resource development, and the application of intelligent equipment is of great significance for improving operational efficiency and reducing personnel risks. According to the "Guiding Opinions on Deepening the Construction of Intelligent Mines and Promoting the Safe Development of Mines" issued by seven departments including the National Mine Safety Administration, by the end of 2025, the proportion of intelligent production capacity in coal mines nationwide was approximately 65%, while the progress of intelligent transformation in non-coal mines was relatively lagging. The replacement rate of dangerous and heavy-duty positions with intelligent equipment was approximately 20%, and small and medium-sized mines still relied mainly on manual inspection and sorting.

[0019] Existing intelligent mining and sorting equipment is mostly designed for single mineral types, with limited detection dimensions. It can only achieve automatic control of equipment operating parameters and simple material identification, lacking a classification system based on mineral formation mechanisms and a multi-dimensional cross-validation mechanism. Mineral identification results are easily affected by material impurities, stacking conditions, and environmental interference. Regarding environmental adaptability, conventional large-scale intelligent mining machines and large-scale sorting machines operate within a temperature range of -20℃ to 60℃, making them unsuitable for operation in extreme open-pit mining areas such as extreme cold, extreme heat, high altitudes, and deserts, as well as underground extreme mining areas such as karst caves, deep wells, high-temperature hydrothermal fluids, and low-temperature permafrost. These scenarios are only suitable for lightweight intelligent mining machines, portable sorting units, and unmanned mining transport vehicles—small, portable mining equipment. Existing small, portable mining equipment only has basic automated operation capabilities, lacking full-mineral detection, safety quantification, and collaborative control functions. Its detection accuracy and operational safety cannot meet the special environmental requirements of open above-ground mining areas, narrow underground spaces, high humidity, karst fractures, and associated underground rivers.

[0020] At the collaborative operation level, existing mining and sorting equipment mostly operate independently, with inconsistent data interfaces and incompatible communication protocols. A linkage mechanism between mining safety parameters and sorting / grading parameters has not been established, making it impossible to achieve mining risk warnings and sorting strategy optimization based on ore properties. The equipment is highly dependent on manual labor; deployment, debugging, cleaning, and refueling all require manual intervention, making it difficult to achieve routine surface operations, unmanned underground operations, and operations in confined spaces. Existing equipment in the industry generally suffers from complex functions and high operational barriers, with basic and redundant functions being forcibly linked, resulting in high procurement costs and operational difficulties for small and medium-sized mines. Furthermore, conventional testing equipment requires laboratory re-screening, leading to lengthy and costly testing processes that cannot meet the needs of rapid batch testing above ground, rapid on-site assessment underground, and immediate hazard avoidance.

[0021] To address the technical problems of existing equipment, such as narrow adaptability to various mineral types, poor adaptability to extreme environments, lack of mining-sorting coordination capabilities, low level of autonomy, and insufficient adaptability to small and medium-sized mines, this invention proposes an intelligent hub for collaborative operations across all mineral types and its supporting algorithms. Guided by the principle of "intelligent yet not cumbersome," this invention solves many shortcomings of existing equipment and improves the intelligence and standardization of mining operations through structural optimization, algorithm innovation, and the design of a dual-scenario collaborative mechanism.

[0022] Comparison Table of Basic Mineralogical Concepts, Mineral Classification, and Quantitative Indicators

[0023] To clearly define the applicable objects and technical logic of the algorithm, the classification of mineral types involved in this invention and the corresponding algorithms are explained based on authoritative literature such as the "Geological Dictionary" and "Principles of Mineralogy". The relevant classifications are consistent with the mineralogy standards and there are no custom extensions.

[0024] Quantitative Comparison Table of Biomimetic Structure of Natural Tremolite Jade and Patented Technology Solution

[0025] Corresponding structure of natural tremolite jade Patent-related technical solutions Quantization of related parameters Explanation of Bionic Logic Double-row V-shaped microstructure (a special spatial arrangement of fibrous metamorphic structure) Dual-column V-shaped scanning unit Based on the biomimetic logic of the double-column V-shaped microstructure of tremolite jade, the adjustable angle of the scanning head is set to 45°~130°; the double-column symmetrical arrangement of tremolite jade corresponds to the longitudinal parallel symmetrical arrangement of the two scanning heads, which can eliminate the detection blind zone of the traditional single scanning head. It replicates the full-area cross-coverage characteristics of the natural structure, reducing the detection blind zone of traditional single-scan head. Symmetrical split-and-combine structure + dual-axis coordinate system symmetrical anchoring Dual-axis Cartesian coordinate system transmission mechanism (Y-axis lifting + X-axis lateral movement) Based on the biomimetic logic of symmetric anchoring in the dual-axis coordinate system of tremolite jade, the X / Y axes are set to intersect perpendicularly at 90°±5%; based on the stress symmetry separation and combination logic of tremolite jade, the corresponding scanning trajectory moves symmetrically. By replicating the stress balance characteristics of natural structures, the accuracy error of full-area scanning is guaranteed to be ≤0.1mm. Multi-stage conjugate stress evolution logic Construct dual independent dedicated algorithm modules for metamorphic minerals (multi-stage conjugate stress algorithm + directional gradient algorithm). Based on the biomimetic logic of multi-stage conjugate stress evolution in tremolite jade, the algorithm's orientation gradient verification threshold is set to 15%–25%; based on the multi-stage stress cross-validation logic of tremolite jade, the corresponding algorithm's multi-dimensional characteristic positive correlation gradient cross-validation logic is also used. Replicating the structure and value relationship logic of natural minerals enhances the compatibility with different mineral types. Synchronous gradient correlation (fluorescence intensity is positively correlated with fiber interweaving degree) Cross-validation logic for multispectral detection module Based on the biomimetic logic that there is a positive correlation between the fluorescence intensity and fiber interweaving degree of tremolite jade, the algorithm was cross-validated with a correlation coefficient ≥ 0.85. By replicating the synergistic relationships of multiple characteristics in natural structures, the false positive rate of detection data can be reduced.

[0026] In this invention, all quantitative parameters are designed based on the biomimetic logic of the structure of natural tremolite jade. They are not direct measurements and replications of the microscopic parameters of natural jade. By replicating the key characteristics of the natural structure, such as full-domain coverage and stress balance, the invention provides a foundation for subsequent mineral classification and algorithm adaptation.

[0027] Algorithms for constructing metamorphic mineral types: Independent and dedicated algorithm modules, including multi-dimensional characteristic positive correlation gradient algorithm, multi-stage conjugate stress algorithm, and orientation gradient algorithm.

[0028] Algorithm for non-tectonic metamorphic minerals: Independent dedicated algorithm module, including key value indicator quantification and grading algorithm.

[0029] Final Comparison Table of Adaptive Testing Parameters and Quantitative Indicators for Tectonic Metamorphic / Non-Tectonic Metamorphic Minerals

[0030] All safety thresholds for mining / sorting in this table comply with the requirements of national / industry standards such as the "Safety Regulations for Metal and Non-metal Mines" (GB 16423-2020), the "Safety Regulations for Coal Mines (2024 Edition)", and the "Technical Specifications for Gemstone Mining" (DZ / T 0380-2022). Some thresholds have been optimized for adaptability to extreme environmental operation requirements.

[0031] Algorithm Module Mineral categories Specific mineral types Quality assessment (qualitative + quantitative grading) Safety Quantitative Indicators at the Mining End Safety Quantitative Indicators at the Sorting End Construct a dedicated algorithm module for metamorphic minerals (feature saliency classification: high / medium / low grade). Non-metallic minerals - jade Tremolite jade, anthocyanin jade, serpentine jade, quartzite jade, carbonate jade, turquoise, malachite, agate, chalcedony, lapis lazuli, prehnite, tiger's eye Qualitative: Oriented structural development + complete multi-stage stress trajectory + positive correlation of multi-dimensional characteristics. Quantitative: High grade: Orientation gradient difference Δ≤1 + stress trajectory integrity ≥95% + positive correlation coefficient r≥0.9; Medium grade: 1<Δ≤2 + 90%≤ integrity<95% + 0.85≤r<0.9; Low grade: 2<Δ≤3 + 85%≤ integrity<90% + 0.8≤r<0.85 1. Slope angle ≤ 70° 2. Single mining depth ≤ 3m 3. Ore pile angle ≤ 38° 4. Rock mass bearing capacity ≥ 160kPa 1. Material accumulation height on the conveyor belt ≤ 30cm 2. Sorting speed ≤ 0.8m / s 3. Hopper occupancy ≤ 75% 4. No personnel within 1m of the work area Non-metallic minerals – gemstones – structural color categories Opal, ammonite, vanadium stone, labradorite, moonstone, halostone, aventurine, sunstone, amazonite, fire agate Qualitative: Uniform structural color + intact directional structure + positive correlation of multi-dimensional characteristics. Quantitative: High grade: Δ≤0.8 + uniformity of structural color ≥95% + r≥0.92; Medium grade: 0.8<Δ≤1.5 + 92%≤uniformity<95% + 0.88≤r<0.92; Low grade: 1.5<Δ≤2.2 + 88%≤uniformity<92% + 0.85≤r<0.88 1. Open-pit mine slope angle ≤ 68° 2. Underground mine roadway spacing ≥ 5m 3. Mining impact force ≤ 40kN 1. Soft conveyor belt speed ≤ 0.5m / s 2. Material accumulation height ≤ 15cm 3. Equipment rotation speed in manually assisted areas ≤ 25r / min Non-metallic minerals – gemstones – non-structural colors (metamorphic / tectonic) Emerald, Tourmaline, Iolite, Andalusite, Kyanite, Sillimanite, Apatite, Tanzanite, Zoisite, Spodumene Qualitative: Obvious signs of structural modification + dense crystal structure + positive correlation of multi-dimensional characteristics. Quantitative: High grade: Δ≤1 + crystal density ≥98% + r≥0.9; Medium grade: 1<Δ≤2 + 95%≤ density<98% + 0.86≤r<0.9; Low grade: 2<Δ≤2.8 + 90%≤ density<95% + 0.82≤r<0.86 1. Slope angle ≤ 65° 2. Single mining depth ≤ 2.5m 3. No personnel within 2m of the mine pit perimeter 1. Sorting equipment guardrail height ≥ 1.2m; 2. Material conveying buffer distance ≥ 30cm; 3. 100% automatic isolation rate for non-conforming products. Non-metallic minerals - Industrial non-metallic minerals Quartz, feldspar, mica, bentonite, zeolite, barite, calcite, magnesite, dolomite Qualitative: directional structural development + significant multi-stage stress effects + stable physical properties. Quantitative: High grade: Δ≤1.5 + physical property fluctuation ≤3% + r≥0.88; Medium grade: 1.5<Δ≤2.5 + 3%<fluctuation ≤5% + 0.8≤r<0.88; Low grade: 2.5<Δ≤3.5 + 5%<fluctuation ≤8% + 0.75≤r<0.8 1. Slope angle ≤ 72° 2. Stockpile height ≤ 6m 3. Distance between mining area and processing area ≥ 30m 1. Screening equipment screen load capacity ≤1000kg / m² 2. Dust concentration ≤8mg / m³ 3. Conveyor belt deviation ≤5cm Building Materials Mines - Construction Granite, basalt, diabase, tuff, shale, sandstone Qualitative: Dense structure + clear directional texture + compressive strength meets standards. Quantitative: High grade: Δ≤2 + compressive strength ≥35MPa + water absorption ≤2%; Medium grade: 2<Δ≤3 + 30MPa≤ strength<35MPa + 2%<water absorption ≤3%; Low grade: 3<Δ≤4 + 25MPa≤ strength<30MPa + 3%<water absorption ≤4%. 1. Slope angle ≤ 75° 2. Single mining depth ≤ 4m 3. Ore pile angle ≤ 40° 1. Conveyor belt speed ≤ 1.0 m / s 2. Material stacking height ≤ 40 cm 3. Handling distance for large plates ≥ 50 cm Building materials and minerals - decoration category Marble, jade decorative panels, granite decorative panels, sandstone decorative panels Qualitative: Uniform texture + dense structure + small color difference. Quantitative: High grade: △≤1.2 + color difference △E≤2 + density ≥95%; Medium grade: 1.2<△≤2 + 2<△E≤3 + 93%≤ density<95%; Low grade: 2<△≤2.8 + 3<△E≤4 + 90%≤ density<93%. 1. Slope angle ≤ 70° 2. Mining impact force ≤ 60kN 3. Height of decorative panel raw material stacking ≤ 3m 1. Sorting accuracy error ≤ 2mm; 2. Stacking angle of boards ≤ 5°; 3. Lighting brightness of the work area ≥ 300 lux. Independent algorithm module for non-tectonic metamorphic minerals (value quality classification: high / medium / low grade) Non-metallic minerals - gemstones - non-structural colors (without structural modification) Diamonds, rubies, sapphires, single crystals, topaz, aquamarine, garnets, spinels, zircon, peridot Qualitative: Crystal integrity + pure composition + no directional structural traces. Quantitative: High grade: Crystal integrity ≥ 98% + purity ≥ 99.9% + diamond clarity ≥ VVS1 / gem color ≥ pigeon blood red / royal blue. Medium grade: 95% ≤ integrity < 98% + 99% ≤ purity < 99.9% + diamond clarity ≥ VS1 / gem color ≥ good quality. Low grade: 90% ≤ integrity < 95% + 98% ≤ purity < 99% + diamond clarity ≥ SI1 / gem color ≥ acceptable. 1. Open-pit mine slope angle ≤ 68° 2. Underground mine roadway spacing ≥ 6m 3. Mining force ≤ 30kN 1. Soft, non-slip conveyor belt; 2. Material stacking height ≤ 12cm; 3. Sorting environment humidity ≤ 60%. Non-metallic minerals - Industrial non-metallic minerals Kaolin, talc, graphite, gypsum, cinnabar, realgar, orpiment, natural sulfur, diatomaceous earth, fluorite clusters, volcanic glass, opal Qualitative: Single component + uniform structure + no structural traces. Quantitative: High grade: Component purity ≥ 98% + physical property compliance rate 100% + impurity content ≤ 1%; Medium grade: 95% ≤ purity < 98% + 95% ≤ compliance rate < 100% + 1% < impurities ≤ 3%; Low grade: 90% ≤ purity < 95% + 90% ≤ compliance rate < 95% + 3% < impurities ≤ 5%. 1. Slope angle ≤ 70° 2. Stockpile height ≤ 4m 3. Dust concentration during powder mining ≤ 12mg / m³ 1. Screening equipment rotation speed ≤ 800 r / min 2. Anti-bridging device activation rate in silos 100% 3. Powder moisture content controlled between 40% and 60%. All types of metal ores Precious metals, ferrous metals, non-ferrous metals Qualitative: Single composition + grade meets standards + no directional structural traces. Quantitative: High grade: Gold ore ≥ 5g / t / Iron ore ≥ 60% / Copper ore ≥ 2% + Associated beneficial elements ≥ 0.5g / t + Grade uniformity ≥ 95%; Medium grade: Gold ore ≥ 3g / t / Iron ore ≥ 50% / Copper ore ≥ 1% + Associated beneficial elements ≥ 0.2g / t + Grade uniformity ≥ 90%; Low grade: Gold ore ≥ 1g / t / Iron ore ≥ 40% / Copper ore ≥ 0.5% + Associated beneficial elements ≥ 0.05g / t + Grade uniformity ≥ 85%. 1. Slope angle ≤ 65° 2. Single mining depth in open-pit mines ≤ 2.5m / face width in deep shafts ≤ 4m 3. Ore pile angle ≤ 35° 4. Rock mass bearing capacity ≥ 180kPa 1. Conveyor belt speed ≤ 0.6 m / s 2. Material accumulation height ≤ 25 cm 3. No personnel within 1.2 m of the magnetic separator operating area 4. Silo occupancy ≤ 70% Building Materials Mines - Construction Sand, gravel, and permeable bricks are made from sand, gravel, pumice, and volcanic slag. Qualitative: Uniform particle size + No impurities + Strength meets standards. Quantitative: High grade: Particle size distribution pass rate ≥ 95% + Compressive strength ≥ 20MPa + Clay impurities ≤ 3%; Medium grade: 90% ≤ Particle size distribution pass rate < 95% + 15MPa ≤ Strength < 20MPa + 3% < Impurities ≤ 5%; Low grade: 85% ≤ Particle size distribution pass rate < 90% + 10MPa ≤ Strength < 15MPa + 5% < Impurities ≤ 8%. 1. Slope angle ≤ 75° 2. Sand mining water depth ≤ 8m, flow velocity ≤ 1.5m / s 3. Material stockpile height ≤ 8m 1. Screen mesh aperture error ≤ 1mm; 2. Conveyor belt material uniformity ≥ 85%; 3. Permeable brick aggregate moisture content ≤ 8%. Building materials minerals - decorative category (natural raw material minerals only) Ceramic minerals for polished tiles and stone raw materials for mosaics Qualitative: Uniform composition + strength meets standards + no traces of natural structure. Quantitative: High grade: Uniformity ≥ 95% + Flexural strength ≥ 15 MPa + Water absorption ≤ 0.3%; Medium grade: 90% ≤ Uniformity < 95% + 12 MPa ≤ Strength < 15 MPa + 0.3% < Water absorption ≤ 0.5%; Low grade: 85% ≤ Uniformity < 90% + 9 MPa ≤ Strength < 12 MPa + 0.5% < Water absorption ≤ 0.8%. 1. Raw material storage height ≤ 5m 2. Distance between mining area and processing area ≥ 40m 3. Slope angle ≤ 72° 1. Sorting size error ≤ 3mm 2. Decorative surface scratch rate ≤ 0.5% 3. Raw material stacking height ≤ 2m Artificial mineral raw materials (primary mining materials) Quartz sand, marble ore, quartz stone ore, sand and gravel Qualitative: Pure components + uniform particle size + no impurities. Quantitative: High grade: Main component purity ≥ 98% + particle size qualification rate ≥ 95% + impurity content ≤ 3%; Medium grade: 95% ≤ purity < 98% + 90% ≤ particle size qualification rate < 95% + 3% < impurities ≤ 5%; Low grade: 90% ≤ purity < 95% + 85% ≤ particle size qualification rate < 90% + 5% < impurities ≤ 8%. 1. Slope angle ≤ 70° 2. Single mining depth ≤ 3m 3. Rock mass bearing capacity ≥ 160kPa 1. Conveyor belt speed ≤ 0.9 m / s 2. Material accumulation height ≤ 35 cm 3. Screening efficiency ≥ 95% Artificial mineral raw materials (tailings / scraps) Marble fragments, quartz sand tailings, Hetian jade scraps, sand and gravel tailings Qualitative: Impurities can be removed + particle size is suitable + no safety hazards. Quantitative: High grade: Usable material percentage ≥ 95% + impurity removal rate ≥ 99% + particle size suitability rate ≥ 95%; Medium grade: 85% ≤ usable material percentage < 95% + 98% ≤ removal rate < 99% + 90% ≤ suitability rate < 95%; Low grade: 75% ≤ usable material percentage < 85% + 95% ≤ removal rate < 98% + 85% ≤ suitability rate < 90%. 1. No safety requirements for mining operations; only safety specifications for sorting operations must be met. 2. Distance between tailings storage area and sorting area ≥ 50m. 3. Stack height ≤ 6m. 1. Impurity removal accuracy ≥ 99% 2. Dust concentration ≤ 10 mg / m³ 3. Grading and sorting accuracy ≥ 95% Summary of the Invention

[0032] I. Overall Technical Solution

[0033] The intelligent central hub for collaborative operations across all mining types described in this invention adopts the design concept of "intelligent yet not cumbersome," featuring a fully autonomous integrated mobile body structure. It eliminates the need for an external storage box and achieves adaptive size adjustment through a three-section autonomous folding mechanism: autonomously folding and retracting for autonomous loading and unloading during transport, and autonomously unfolding to ensure stability during operation. This meets the dual requirements of autonomous loading and unloading for surface open-pit transport vehicles, underground mining cars, and underground tunnel transfer equipment, as well as stable on-site operation. The main body of the equipment includes a three-section autonomous folding base, a dual-column V-shaped scanning unit, a multispectral detection module, a control motherboard, a positioning and coordination module, a power system, a detachable origin traceability module, an autonomous battery swapping module, a CAN bus hardware protection module, a fully autonomous operation module, and an underground extreme environment adaptive module. It simultaneously sets up a three-tiered hardware adaptation system: flagship, standard, and basic. The technical solution remains consistent across all tiers without any functional reductions; adaptation scenarios are differentiated only through non-basic hardware configurations. Each tier corresponds to a matching tiered cross-validation mechanism and accuracy standards.

[0034] The equipment operates within a temperature range of -60℃ to 150℃, with a maximum Y-axis deployment height of 8m and a maximum X-axis deployment width of 5m, forming a full-area detection matrix of up to 8m × up to 5m. This matrix can cover the effective operating width of conventional large-scale mining equipment, while also being compatible with the operating range of small, lightweight mining equipment, open-pit material storage areas, and narrow spaces in underground caverns / mine tunnels, achieving blind-spot-free detection. The main structure utilizes extreme-temperature resistant special alloys and 6061-T6 aluminum alloy, ensuring a service life of no less than 15 years. Its protection level meets IP67 requirements, and it features added IP68-level underground waterproofing, karst corrosion resistance, and protection against seepage from underground rivers. No additional infrastructure investment is required, making it suitable for various sizes of above-ground / underground mines and extreme environmental operating scenarios.

[0035] This invention has bidirectional collaborative adaptation capabilities. In conventional above-ground mines, it can be connected to large-scale intelligent mining machines and large-scale intelligent sorting machines. In extreme mining areas with temperatures ranging from -60℃ to 150℃, it can be directly connected to lightweight intelligent mining machines, portable sorting units, unmanned mining transport vehicles, underground unmanned mining robots, underground tunnel transfer equipment, and other small and portable mining equipment, enabling collaborative operations across all scenarios.

[0036] II. Main Structural Composition

[0037] Three-section self-folding base

[0038] The base is constructed from a 6061-T6 grade corrosion-resistant aluminum alloy frame and reinforced wear-resistant panels. It features a snap-on self-folding structure, with a drive mechanism and locking mechanism working together to achieve automatic folding and unfolding without manual operation. In the folded state, the dimensions are no larger than 45cm × 45cm × 130cm, adjustable according to the gear configuration. The machine's weight ranges from 35kg to 75kg, adjustable according to the detection unit configuration and power system specifications, facilitating autonomous loading and unloading from transport vehicles. In the unfolded state, the bottom is equipped with four anti-slip and shock-absorbing feet, each with built-in silicone shock-absorbing components to reduce the impact of operational vibration on detection accuracy.

[0039] The base features height-adjustable auxiliary support arms on both sides, which, when extended, form a triangular support structure with the Y-axis sleeve, enhancing the stability of the aircraft in environments such as high altitudes, strong winds, and underground caves with fractured surrounding rock. The base contains a sealed cavity equipped with a moisture-proof and breathable valve and an anti-corrosion coating. This cavity houses the control motherboard, power system, autonomous battery swapping module, and CAN bus protection module, preventing the intrusion of dust, moisture, underground water seepage, and corrosive gases.

[0040] The three-stage autonomous folding mechanism operates as follows: During transport, it automatically retracts to reduce its size; upon arrival at the above-ground / underground work area, it autonomously unfolds to a support position, with the auxiliary support arm simultaneously extending and locking; after completion of the operation, it automatically retracts the support arm and folds back to the transport position. This structure works in conjunction with the fully autonomous loading and unloading function, achieving complete automation without human intervention. All three modes are equipped with this main structure as standard, with only adjustments made to the panel's wear resistance level and the auxiliary support arm's travel.

[0041] Dual-column V-shaped scanning unit

[0042] The dual-column V-shaped scanning unit consists of two V-shaped scanning heads and a dual-axis Cartesian coordinate system transmission mechanism. The dual axes include a Y-axis lifting transmission mechanism and an X-axis lateral transmission mechanism, combined with ±30° pitch adjustment, to achieve full-area penetrating scanning of above-ground ore piles, underground veins, and concealed karst strata. All three speed settings are fully equipped with this scanning unit and dual-axis transmission mechanism, maintaining consistent algorithm logic, scanning accuracy, and angle adjustment range; the only difference between speed settings is the maximum travel limit of the axis system. This structure is based on the biomimetic logic design of the dual-column V-shaped microstructure of tremolite jade, differing from the conventional single-scanning-head or parallel fixed dual-scanning-head structure in existing mining equipment. It achieves cross-coverage scanning through adjustable-angle, longitudinally parallel dual V-shaped scanning heads, fundamentally eliminating the detection blind spots of traditional scanning structures. This design has not been publicly disclosed in existing intelligent mining inspection equipment.

[0043] The Y-axis multi-section telescopic sleeve adopts a welded-cast integrated structure, primarily using integrated welding and supplemented by micro-casting. The sleeve body is made of a special alloy material resistant to -60℃~150℃, with internal cross-shaped reinforcing ribs to enhance structural strength and resistance to deformation. The Y-axis includes one fixed section and at least four telescopic sections. The fixed section is directly connected to the center of the base. Each telescopic section has a telescopic length of 1m, and the overall length in the retracted state does not exceed 1.2m. The maximum unfolded height is 8m for the flagship version, 5.2m for the standard version, and 3m for the basic version. The fixed section has a ring-shaped reinforcing ring at the top and a miniature spring cable reel inside to store the data cable and prevent tangling.

[0044] After the telescopic joint height is adjusted to the correct position, the built-in pressure sensor sends a locking signal to the control board. The control board starts X-axis scanning after confirming that the signal is normal. If no locking signal is detected, the control board pauses the scanning command to prevent the equipment from shifting during operation.

[0045] The X-axis transverse slide rail adopts a composite structure of hollow high-strength special alloy and metal linear drive mechanism, with a surface covered by an extreme temperature-resistant and anti-condensation coating. It is equipped with a fully automatic temperature control heating module, an autonomous snow and dust removal module, and underground anti-seepage and anti-karst dust modules. In low-temperature environments, the temperature control module automatically activates heating to prevent the slide rail from freezing. During operation, the snow and dust removal module automatically cleans dust and snow from the slide rail and scanning head surface, while the underground module automatically cleans karst dust and seepage stains to ensure smooth transmission. The flagship version has a maximum unfolded width of 5m, the standard version has a maximum unfolded width of 3m, and the basic version has a maximum unfolded width of 2m. In the folded state, all slide rails are attached to both sides of the Y-axis, intersecting the Y-axis at a 90° angle.

[0046] Two V-shaped scanning heads are fixed longitudinally side-by-side at the midpoint of the X-axis, with an adjustable angle ranging from 45° to 130°. Each scanning head has a built-in miniature pitch adjustment motor with a pitch adjustment range of ±30° and an adjustment accuracy of 0.1°. The scanning angle range is 0° to 180°. The scanning head housing adopts an IP67-level dustproof and waterproof sealing structure, which is upgraded to IP68-level sealing for underground operations. It is equipped with a transparent PC removable dust cover and contains an electromagnetic shielding layer and a Wi-Fi 6E and LoRa dual-mode wireless transceiver module. It automatically switches between wired and leaky cable communication in underground confined spaces and is detachably connected to the X-axis slide rail via a standardized bolt interface.

[0047] Multispectral detection module

[0048] The multispectral detection module adopts a modular annular sliding sleeve structure, which is fixed to the annular reinforcing ring at the top of the Y-axis fixing section by three spring clips and rubber anti-slip rings. The installation height is 1.2m from the base, which is higher than the conventional ore stacking height. The module shell adopts an IP67-level dustproof and waterproof sealing structure, which is upgraded to an IP68-level waterproof and corrosion-resistant sealing for underground operations. The internal components include a wireless receiving module and a military-grade data processing chip. Standardized plug-in interfaces are reserved on the side, and the interfaces are equipped with dust covers, making them compatible with industry-standard standards.

[0049] The module connects to the scanning head via an industrial-grade, highly flexible, and wear-resistant data cable inside the hollow sleeve of the Y-axis. The data cable is 5.5m long and connects to a miniature spring reel for wired backup transmission. It also supports wireless transmission, automatically switching to wired transmission when the signal weakens underground. After the detection unit is connected, the module's built-in identification chip sends the unit type and connection status signal to the control motherboard, which automatically loads the corresponding driver. If no valid signal is detected, the control motherboard triggers an audible and visual alarm, indicating an interface connection error.

[0050] The multispectral detection module includes an XRD detection unit, an XRF detection unit, a Raman spectroscopy detection unit, a polarization detection unit, and an optical property detection unit. Each unit is an independent module, connected to the control motherboard using a unified standard interface, sharing power and data transmission resources. Vulnerable components can be replaced individually. Each trim level can be equipped with any additional detection unit as needed to meet the detection requirements of the target mineral. After addition, the system automatically identifies and loads the corresponding driver and algorithm functions, achieving full-dimensional detection of the corresponding mineral without modifying the underlying hardware circuitry and algorithm architecture. The flagship trim level comes standard with all five types of detection units, the standard trim level comes standard with XRD+XRF+Raman detection units, and the basic trim level comes standard with XRF+optical property detection units. All trim levels support subsequent unit expansion without modifying the underlying hardware circuitry and algorithms. The XRD detection unit has a diffraction angle measurement range of 5° to 90°, the XRF detection unit has an element detection range of Na-U, the Raman spectroscopy detection unit has a laser wavelength of 785nm, the polarization direction adjustment accuracy of the polarization detection unit is 1°, the optical property detection unit has an excitation wavelength of 365nm, and the gloss measurement angle is 60°. The relevant parameters meet the requirements of national standards such as GB / T18825-2020 and GB / T9754-2021, and are suitable for automatic calibration of detection parameters in natural light above ground and low light / no light environments underground.

[0051] Control motherboard and algorithm system

[0052] The control motherboard integrates a military-grade industrial processor and an FPGA data fusion chip. All models are equipped with dual independent dedicated algorithm systems for both solidified and non-structural metamorphic minerals. Quality grading and safety assessment are strictly performed according to the quantitative indicators in Table 1. It incorporates a laboratory screening standard database of over 500 mineral types, supports local offline operation without internet access, and synchronously connects to the underground environment safety assessment sub-algorithm. Adhering to the design logic of "intelligent yet simple," the algorithm automatically adapts to the hardware configuration of each model, eliminating the need for manual debugging. Taking the detection of structural metamorphic minerals such as tremolite jade as an example, the algorithm verifies fiber interweaving degree through fluorescence intensity data and then reversely verifies fluorescence intensity through fiber orientation data. Only when the correlation coefficients of multiple sets of characteristics are not lower than a preset threshold is the final judgment result output. This eliminates impurities in the mineral material and abnormal data introduced by manual processing, ensuring the accuracy of the test results.

[0053] For tectonic metamorphic minerals, a dedicated algorithm module is used, including a multi-dimensional characteristic positive correlation gradient algorithm, a multi-stage conjugate stress algorithm, and an orientation gradient algorithm. Based on the directional arrangement characteristics of mineral crystals and stress distribution characteristics, outlier data is eliminated through multi-characteristic cross-validation. For non-tectonic metamorphic minerals, a dedicated algorithm module is used, including a value index quantification and grading algorithm, which determines quality and safety parameters based on component content and physical indicators. All algorithms employ multi-characteristic cross-validation logic, using the natural correlation between characteristics as the verification benchmark, with a correlation coefficient of not less than 0.85, determined based on relevant research results from Volume 42 of the *Acta Mineralogica Sinica* in 2022. Surrounding rock stress and spatial deformation safety verification are simultaneously superimposed on the underground scene.

[0054] The control motherboard interacts with each module via an industrial bus compatible with the CANopen protocol to exchange commands and data. The calculation results are converted into electrical signal commands through the I / O interface to drive the actions of each actuator. The motherboard reserves standardized upgrade interfaces for USB-C and Ethernet, supporting local offline and remote upgrades of the database and algorithm programs, adapting to the detection needs of new mineral types and new underground operation scenarios.

[0055] Location Coordination Module

[0056] The positioning and coordination module is installed at both ends of the X-axis, at the same height as the scanning head, and includes an infrared positioning stake and a laser guide. The positioning error of the infrared positioning stake is no greater than 0.5mm, and the beam divergence angle of the laser guide is no greater than 0.1mrad. It adopts a dual-mode positioning system, using satellite positioning on the ground and leaky cable / wired communication positioning underground. It achieves two-way data interaction with large mining / sorting equipment, lightweight small mining / portable sorting equipment, and underground unmanned mining robots through the Modbus-RTU protocol. This module is fully equipped as standard in all gears, with only the communication transmission distance adjusted for adaptability.

[0057] The positioning and coordination module outputs safety operation parameters based on ore properties to the above-ground / underground mining end and ore grading parameters to the sorting end, while receiving execution feedback signals from the mining and sorting equipment. If no valid feedback is received within 100ms, the module automatically retransmits the command to ensure complete command execution. The module has a reserved protocol upgrade interface, which can be adapted to industrial communication protocols such as Profinet and EtherNet / IP, and is compatible with mining and sorting equipment of different brands and specifications.

[0058] Power system and autonomous battery swapping module

[0059] The power system uses a combination of mine-specific explosion-proof hydrogen fuel cells and high-capacity explosion-proof lithium batteries, meeting the general requirements for explosive atmosphere equipment in GB3836.1-2021. It is installed within the power compartment of the sealed base. The flagship model comes standard with an explosion-proof hydrogen fuel cell + lithium battery combination power supply, providing a basic range of 4-6 days, which can be extended to 2-4 weeks with the self-swapping module. The standard model comes standard with a high-capacity explosion-proof lithium battery, providing a basic range of 3-4 days, and supports self-swapping module expansion. The basic model comes standard with a basic explosion-proof lithium battery, providing a basic range of 2-3 days, and supports battery swapping module expansion. All models support 220V AC charging and mine-specific 12V DC charging. The battery cycle life is no less than 1500 cycles, and the underground enclosed space eliminates open flame and heat dissipation hazards.

[0060] When the remaining power of the power supply is below 20%, the charging management module sends a low power signal to the control motherboard. The control motherboard automatically adjusts the scanning step size and pause time to extend the battery life until the current mine pile detection is completed, and simultaneously issues a power level warning signal. The autonomous battery swapping module adopts a quick-release structure, and the battery swapping operation requires no tools. The battery swapping time is no more than 5 minutes, and the battery can be replenished autonomously both above and below ground.

[0061] Fully autonomous operation module

[0062] The fully autonomous operation module integrates autonomous loading and unloading, autonomous power on / off, autonomous maintenance and cleaning, autonomous temperature control and protection, and adaptive functions for extreme underground environments. No manual intervention is required. All actuators and the entire machine are synchronously adapted to extreme cold and heat environments from -60℃ to 150℃. There are no separate normal temperature components. It can complete full-height adaptive loading and unloading actions within extreme temperature ranges above ground and underground. The entire process is smooth without falls, impacts, freezing, high-temperature deformation failures, underground water seepage, short circuits, or karst space obstruction. All gears are equipped with this basic operation function as standard. Only the optimal adaptation range of the support leg extension stroke can be adjusted according to the operation scenario. The entire process follows the design logic of "intelligent but not complicated", realizing one-button start and unmanned operation throughout the entire process.

[0063] ① Full-height adaptive extreme temperature dedicated structure

[0064] The bottom of the fuselage is equipped with a six-section self-retractable support leg + a two-section retractable sliding ramp + adaptive tilt angle adjustment + electromagnetic locking + wide temperature range flexible buffer + extreme temperature anti-slip clamping composite mechanism. All components are designed for environments ranging from -60℃ to 150℃.

[0065] • Six-section telescopic support legs: The main body is made of special alloy profiles resistant to -60℃~150℃, with built-in low-temperature antifreeze grease and high-temperature heat insulation layer. Miniature antifreeze heating wires are set at the joints to automatically preheat to the working temperature in extremely cold environments to prevent freezing and jamming. The support legs have built-in wide-temperature-range pressure sensors that can stably detect the support force at extreme temperatures. They are suitable for the normal getting on and off height range of various operating vehicles in mining scenarios (including but not limited to 0.5m~2.8m), covering the getting on and off needs of all types of transport vehicles in mining scenarios.

[0066] • Two-section telescopic sliding ramp: The main body is made of wide-temperature-range carbon fiber composite wear-resistant plate, and the surface is covered with an extreme temperature-resistant, anti-condensation, anti-icing, high-temperature anti-slip coating. It will not freeze or slip at -60℃ and will not soften or deform at 150℃. The ramp length is adaptively adjustable to always maintain a safe sliding angle of 15°~30° for the equipment.

[0067] • Drive / clamping walking mechanism: The drive wheel and auxiliary anti-slip clamping wheel are made of low-temperature resistant and high-wear-resistant rubber material with a high-temperature anti-aging surface layer. They maintain elasticity and do not harden in extremely cold environments, and do not stick or slip in high-temperature environments. The clamping wheel has a built-in wide-temperature-range tension spring, which ensures stable clamping force under extreme temperatures.

[0068] • Wide-temperature-range locking and buffering mechanism: The electromagnetic locking module adopts military-grade wide-temperature-range devices from -60℃ to 150℃, and the locking force does not decrease under extreme temperatures; the buffer pads are made of silicon-based temperature-resistant buffer material, which is not brittle at -60℃ and does not melt at 150℃, ensuring the shock absorption effect when touching the ground.

[0069] ② Autonomous disembarkation procedure at normal heights (0.6m~1.2m) and extreme temperatures

[0070] The equipment completes the following steps within the cargo box of the transport vehicle: wide-temperature-range electromagnetic lock release → six-section support legs unfold in a low position and rigidly support after touching the ground → sliding ramp unfolds in a single section to form a safe tilt angle → the whole machine temperature control system synchronously preheats the ramp and support legs → the machine body slides smoothly and evenly along the ramp to the ground → the mechanism retracts and is stored, completing the unloading process.

[0071] ③ Autonomous disembarkation process at unconventional ultra-high altitudes (1.8m~2.8m) and extreme temperatures.

[0072] The equipment features a wide-temperature-range electromagnetic lock release mechanism, followed by the full extension of six-section support legs, maintaining rigidity and preventing deformation due to extreme temperatures. A two-section sliding ramp extends to connect the cargo box to the ground, while auxiliary anti-slip gripping wheels extend, with wide-temperature-range rubber maintaining grip. The overall temperature control system maintains the operating temperature of the ramp and support legs. The machine body slides slowly and smoothly to the ground, with multi-level wide-temperature-range cushioning pads providing shock absorption. All mechanisms retract and are stored, completing the unloading process.

[0073] ④ Full-height, full-temperature-range safety interlock logic

[0074] The system monitors ambient temperature, mechanism tilt angle, support force, center of gravity position, underground surrounding rock stress, underground seepage concentration, and cavern space deformation in real time.

[0075] • -60℃ extreme cold environment: Automatically activates support leg / ramp preheating; do not move until the risk of freezing is eliminated.

[0076] •150℃ extreme heat environment: Automatically monitors ramp deformation, and prohibits operation if the deformation exceeds the threshold;

[0077] • When the tilt angle exceeds 15° to 30°, the support is insufficient, the center of gravity shifts, the stress of the underground surrounding rock exceeds the standard, or the deformation of the karst cave space exceeds the threshold, the entire system will be locked immediately, thus eliminating the risks of falling, overturning, equipment damage, ground overturning, and underground collapse from both structural and procedural perspectives.

[0078] The autonomous operation and maintenance cleaning module automatically starts according to a preset cycle or task interval to complete the cleaning and protection of the slide rail, scanning head, and detection module; the autonomous temperature control module automatically starts heating or cooling according to the ambient temperature to ensure the stable operating temperature of key components; the underground adaptive module automatically starts waterproof, anti-corrosion, dust-proof, and underground river seepage protection to adapt to underground confined space operations.

[0079] Detachable origin traceability module

[0080] The origin traceability module uses a standardized plug-in interface to connect with the reserved interface on the side of the multispectral detection module, supporting independent disassembly and version replacement. The module has a built-in industry-specific origin characteristic database for gemstones, metal ores, and building material ores. It can collect mineral origin characteristic data, output traceability results independently, or integrate with an algorithm system for cross-validation to improve recognition accuracy and simultaneously adapt to underground mining origin traceability. This module is standard on the flagship model, while the standard and basic models support optional upgrades. The absence of this module does not affect the equipment's basic detection and collaborative functions.

[0081] Underground extreme environment adaptive module

[0082] The module is an independent and detachable structure, adapted to IP68 protection level, and has built-in underground surrounding rock stress detection unit, karst cave space deformation monitoring unit, underground underground river seepage monitoring unit, and underground confined space ventilation linkage unit. It can collect underground operation environment safety data in real time, connect to the dual algorithm system to synchronously output underground mining risk avoidance parameters and karst cave space operation restriction parameters, and link with underground unmanned mining robots and tunnel support equipment in real time to achieve safety closed-loop control in underground extreme scenarios. The flagship version comes standard with this module, while the standard and basic versions support optional upgrades. These include: a surrounding rock stress detection unit with a detection range of 0–500 kPa and an accuracy of ±2 kPa; a karst cave space deformation monitoring unit with a monitoring accuracy of 0.1 mm and a monitoring range of 0–100 mm; an underground river seepage monitoring unit with seepage concentration detection accuracy of ±0.5% and water level monitoring accuracy of ±1 cm; and an underground confined space ventilation linkage unit with airflow monitoring accuracy of ±5 m³ / min and harmful gas concentration detection accuracy of ±0.01 ppm. The ventilation linkage unit is compatible with mainstream communication protocols of existing mine ventilation systems and can directly connect to existing mine ventilation equipment without additional protocol adaptation, enabling real-time linkage between detection data and ventilation control.

[0083] III. Algorithm Flow

[0084] The intelligent collaborative operation algorithm for all mineral types described in this invention operates on the principle of "intelligent yet simple," with fully automated adaptation and no need for manual parameter setting. It includes the following steps:

[0085] Step 1: Fully Autonomous Deployment and Calibration. The equipment autonomously mounts and dismounts from above-ground open-pit transport vehicles / underground mining cars. Upon arrival at the above-ground / underground work area, the three-section autonomous folding base automatically unfolds, and the auxiliary support arm locks in place. The Y-axis telescopic joint length is automatically adjusted and locked according to the height of the above-ground ore pile / underground vein / karst cave ore pile. The X-axis initiates temperature control and dust removal pretreatment, the scanning head automatically calibrates its posture and scanning range, the V-angle matches the width of the above-ground / underground ore distribution, and the hardware settings are automatically identified and adapted to the corresponding operating parameters and cross-validation levels.

[0086] Step 2: Full-area penetration scanning. The dual V-shaped scanning heads move synchronously in both directions along the X-axis, and complete a 180° scan with the help of pitch adjustment. The V-shaped cross coverage eliminates blind spots in the detection of above-ground / underground areas. Scanning data is preferentially transmitted wirelessly. When the signal weakens in the underground confined space, it automatically switches to wired + leaky cable communication for dual backup transmission to ensure data continuity.

[0087] Step 3: Multi-dimensional data acquisition. The multispectral detection module synchronously acquires data on crystal structure, elemental composition, molecular structure, and optical properties, while the underground extreme environment adaptive module synchronously acquires data on surrounding rock stress, spatial deformation, and water seepage, uploading these data to the control motherboard in real time.

[0088] Step 4: Dual-algorithm cross-validation. The control motherboard calls the standard database and the quantitative indicators in Table 1, classifying minerals into two main categories based on their formation mechanism: tectonic metamorphic and non-tectonic metamorphic. For each category, a corresponding independent algorithm is invoked: for tectonic metamorphic minerals, multi-dimensional characteristic positive correlation gradient, conjugate stress, and orientation gradient verification are performed; for non-tectonic metamorphic minerals, value index quantitative grading is performed. Through the multi-dimensional characteristic positive correlation gradient cross-validation mechanism, characteristic A is used to verify characteristic B, and reverse verification is used to eliminate abnormal data. The results of mineral identification, mining safety parameters, sorting and grading parameters, and underground operation risk avoidance parameters are output, with the identification accuracy matching the corresponding hardware level standard.

[0089] Step 5: Mining-Sorting Collaborative Control. The positioning and collaboration module sends safe operation instructions to large / small lightweight mining equipment above / underground, sends classification instructions to large / portable sorting equipment above / underground, and receives feedback signals, forming a collaborative closed loop.

[0090] Step 6: Autonomous Cleanup and Standby. After the inspection is completed, the equipment automatically cleans its body, retracts and folds, and returns to standby mode, awaiting the next operation command.

[0091] IV. All-Mineral Adaptation Method

[0092] Step A: Mineral Type and Scene Identification. By importing the target mineral type and above-ground / underground operating environment parameters through the control motherboard operating interface or local storage device, the system automatically matches preset adaptation parameters and X / Y axis above-ground / underground protection modes, and synchronously matches the corresponding hardware level adaptation scheme.

[0093] Step B: Adaptive adjustment of scanning parameters. Based on the mineral density, hardness, particle size, and the scale of above-ground stockpiles / underground space dimensions, the V-shaped scanning head angle and the X-axis and Y-axis movement step size are automatically adjusted; in extreme above-ground / underground environments, temperature control, deformation prevention, dust prevention, waterproofing, and corrosion prevention protection modes are automatically activated.

[0094] Step C: Detection Module Selection and Adaptation. Based on detection requirements, detection units and underground adaptive modules can be added or removed via standardized interfaces. The system automatically identifies and loads the driver program without requiring modifications to the underlying hardware circuitry.

[0095] Step D: Collaborative Parameter Adaptation. Configure communication protocols and command transmission frequencies according to the specifications of above-ground / underground mining and sorting equipment to achieve data interoperability.

[0096] Step E: Dynamic optimization and iteration. Based on the accuracy of the identification results and the efficiency of the collaborative response, the scanning parameters are adjusted in reverse to ensure the stability of above-ground / underground operations. Attached Figure Description

[0097] Figure 1 Overall structure diagram of the intelligent hub

[0098] Figure 2 Schematic diagram of dual-column V-shaped scanning unit structure

[0099] Figure 3 Y-axis telescopic sleeve cross-section diagram

[0100] Figure 4 Schematic diagram of X-axis temperature control and dust removal module

[0101] Figure 5 Algorithm flowchart for constructing metamorphic mineral types

[0102] Figure 6 Algorithm flowchart for non-tectonic metamorphic minerals

[0103] Figure 7 Mining-Sorting Collaborative Operation Flowchart

[0104] Figure 8 Full-height autonomous boarding and alighting mechanism structure diagram

[0105] Figure 9 Schematic diagram of the adaptive module structure for underground extreme environments Detailed Implementation

[0106] Example 1: Application scenario of open-pit mining of jadeite in the Yulongkashi River Jade Mine, Hotan Prefecture, Xinjiang Uygur Autonomous Region (Flagship version adapted)

[0107] This embodiment is designed for jade identification, grading, and mining safety management scenarios at Hetian jade open-pit mines, and is adapted to flagship-level hardware configurations. The specific implementation method is as follows:

[0108] Equipment Deployment: The flagship intelligent hub, in its folded state, is transported to the Hetian jade open-pit mine site via pickup truck. The equipment is unloaded using a fully autonomous loading and unloading module adapted to various mining vehicles, covering the loading and unloading height range of conventional transport vehicles (including but not limited to 0.5m to 2.8m). The three-section folding base is automatically unfolded, the auxiliary support arm extends and locks, and the Y-axis telescopic joint is automatically adjusted to a height of 2.5m and locked according to the ore pile height of 2.2m. The X-axis unfolds to a width of 3m, the V-shaped scanning head angle is adjusted to 90°, and temperature control and dust removal pretreatment are initiated, completing the fully autonomous deployment.

[0109] Detection module configuration: For tremolite jade (a type of tectonic metamorphic mineral), the flagship standard configuration includes XRD detection unit, Raman spectroscopy detection unit, polarization detection unit, and optical property detection unit. A detachable Hetian jade origin traceability module is installed, and the system automatically identifies and loads the corresponding driver and Hetian jade feature database.

[0110] Full-area scanning and data acquisition: The dual V-shaped scanning head moves synchronously in both directions along the X-axis, and completes a 180° full-area scan with ±30° pitch adjustment. The scanning data is transmitted wirelessly to the control motherboard. The multispectral detection module simultaneously acquires data on the crystal structure, molecular structure, polarization characteristics, and fluorescence intensity of the mineral, and obtains corresponding parameters such as tremolite content, fiber orientation, and stress trajectory integrity.

[0111] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for structural metamorphic minerals. Through full-dimensional high-density cross-validation, the ore is graded into high / medium / low grades, and quantitative results such as orientation gradient difference, stress trajectory integrity, and positive correlation coefficient are output. Simultaneously, mining safety parameters such as open-pit mine slope angle ≤70° and single mining depth ≤3m are output. The ore type identification accuracy is ≥99.8%, and the misjudgment rate is ≤0.2%.

[0112] Mining-sorting collaborative operation: The positioning and collaboration module marks the precise location of high-grade jade ore through infrared positioning stakes, sends safe operation instructions to the mining machine through a laser guide, and sends grading and sorting signals to the sorting equipment, realizing precise mining and grading of jade ore. No manual on-site inspection is required throughout the process, and the sorting efficiency is increased by 200% compared to manual labor.

[0113] Finishing and Standby: After the inspection is completed, the equipment automatically starts the fully autonomous operation and maintenance cleaning module to clean the dust on the scanning head and slide rail surface, retracts and folds to the transport state, autonomously completes the loading action, and returns to the standby state.

[0114] Example 2: Application of underground gold mining in the extremely cold region of Mohe, Heilongjiang (Standard version adaptation)

[0115] This embodiment is designed for underground gold mining in an extremely cold environment of -45℃, and is adapted to standard hardware configurations. The specific implementation method is as follows:

[0116] Equipment Deployment: The standard version of the intelligent hub in its folded state is transported to the deep mine face via underground mining cars. The equipment is unloaded using a 1.2m high autonomous loading and unloading module, automatically unfolds its three-section folding base, locks the auxiliary support arm, automatically adjusts the Y-axis telescopic joint to a height of 2m based on the ore vein height of 1.8m and locks it, unfolds the X-axis to a width of 2.5m, adjusts the V-shaped scanning head angle to 60°, and automatically activates the extreme cold environment temperature control heating module to preheat the slide rails and scanning head, completing the fully autonomous deployment.

[0117] Detection module configuration: For gold deposits (non-tectonic metamorphic minerals), the standard version's XRD detection unit and XRF detection unit are enabled, and an optional underground extreme environment adaptive module is added. The system automatically identifies and loads the corresponding driver and gold deposit feature database, and synchronously accesses the underground surrounding rock stress and spatial deformation monitoring functions.

[0118] Full-area scanning and data acquisition: The dual V-shaped scanning head moves synchronously in both directions along the X-axis, and completes the full-area scanning of the ore vein with the help of pitch adjustment. When the signal attenuates in the underground confined space, it automatically switches to wired + leaky cable dual backup transmission. The multispectral detection module simultaneously collects data on gold ore grade and associated element content, and the underground extreme environment adaptive module simultaneously collects data on surrounding rock stress and tunnel space deformation.

[0119] Dual-algorithm grading and safety judgment: The mainboard calls an independent dedicated algorithm module for non-tectonic metamorphic minerals. Through cross-validation of key verification dimensions, it determines the gold mine as high / medium / low grade and outputs mining safety parameters such as underground mine roadway spacing ≥6m and mining intensity ≤30kN. When the surrounding rock stress exceeds the standard, it automatically triggers safety warnings and equipment lock-up. The mineral type identification accuracy rate is ≥99.6% and the misjudgment rate is ≤0.4%.

[0120] Mining-sorting collaborative operation: The positioning and collaboration module sends safety operation instructions to the underground unmanned mining robot and gold ore grading and sorting signals to the underground portable sorting equipment, realizing unmanned mining and sorting in extremely cold environments. The equipment can operate continuously and stably for ≥72 hours in an environment of -45℃ without freezing or jamming.

[0121] Finishing and standby: After the inspection is completed, the equipment automatically cleans the dust and ice on the slide rails and scanning head surface, retracts and folds into transport mode, autonomously completes the loading process, and returns to the underground chamber for standby.

[0122] Example 3: Application of open-pit sand and gravel mining in the extremely hot Turpan region of Xinjiang Uygur Autonomous Region (Standard version adaptation)

[0123] This embodiment is designed for open-pit mining of building sand and gravel in an extreme heat environment of +120℃, and is adapted to standard hardware configurations. The specific implementation method is as follows:

[0124] Equipment Deployment: The standard version of the intelligent hub in its folded state is transported to the sand and gravel mining site by truck. The equipment is unloaded using a 1.5m high autonomous loading and unloading module, automatically unfolds the three-section folding base, locks the auxiliary support arm, automatically adjusts the Y-axis telescopic joint to a height of 4m according to the ore pile height of 3.5m and locks it, unfolds the X-axis to the maximum width of the standard version of 3m, adjusts the V-shaped scanning head angle to 130°, and automatically starts the extreme heat environment heat dissipation module to complete the fully autonomous deployment.

[0125] Detection module configuration: For sand and gravel mines (non-tectonic metamorphic minerals), the standard version's standard XRF detection unit and XRD detection unit are enabled. The system automatically identifies and loads the corresponding driver and sand and gravel mine feature database.

[0126] Full-area scanning and data acquisition: The dual V-shaped scanning heads move synchronously in both directions along the X-axis to complete the full-area scanning of the ore pile, and the scanning data is transmitted to the control motherboard in real time; the multispectral detection module simultaneously collects relevant data such as sand and gravel particle size, mud impurity content, and compressive strength.

[0127] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for non-tectonic metamorphic minerals. Through cross-validation of key verification dimensions, the sand and gravel are graded as high / medium / low grade. Simultaneously, mining safety parameters such as open-pit mine slope angle ≤75° and single mining depth ≤4m are output. The mineral type identification accuracy rate is ≥99.6%, and the misjudgment rate is ≤0.4%.

[0128] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to large mining machines and sand and gravel sorting lines to realize continuous mining and grading of sand and gravel. The equipment can operate continuously and stably for ≥48 hours in an environment of +120℃ without high temperature deformation failure. The accuracy rate of sand and gravel grading and sorting is ≥95%.

[0129] Finishing and Standby: After the inspection is completed, the equipment automatically cleans the dust off the surface of the machine body, retracts and folds into the transport state, autonomously completes the loading action, and returns to the standby state.

[0130] Example 4: Application scenario of jade mining in underground karst caves in Guilin, Guangxi Zhuang Autonomous Region (flagship version compatible)

[0131] This embodiment is designed for jade mining scenarios in underground caves and karst fracture zones, and is adapted to flagship-level hardware configurations. The specific implementation method is as follows:

[0132] Equipment Deployment: The flagship intelligent central unit, in its folded state, is transported to the working face of the karst cave via an underground transfer vehicle. The equipment is unloaded using a 1.0m high autonomous loading and unloading module, automatically unfolds its three-section folding base, locks the auxiliary support arm, automatically adjusts the Y-axis telescopic joint to a height of 3.5m based on the 3m height of the ore vein inside the karst cave and locks it, unfolds the X-axis to a width of 3m, adjusts the V-shaped scanning head angle to 80°, and automatically activates the underground waterproof and karst dust protection modules, completing the fully autonomous deployment.

[0133] Detection module configuration: For serpentine jade (a type of tectonic metamorphic mineral), the flagship standard Raman spectroscopy detection unit, polarization detection unit, and XRD detection unit are enabled. The standard underground extreme environment adaptive module is also included. The system automatically identifies and loads the corresponding driver and serpentine jade feature database, and simultaneously accesses the functions of monitoring cave space deformation and underground river seepage.

[0134] Full-area scanning and data acquisition: The dual V-shaped scanning head moves synchronously in both directions along the X-axis, and with the pitch adjustment, it completes full-area penetration scanning of the hidden mineral layers in the cave, automatically switching between wired and leaky cable dual backup transmission; the multispectral detection module simultaneously acquires data on the crystal orientation and structural integrity of the jade, and the underground extreme environment adaptive module simultaneously acquires data on the spatial deformation and seepage concentration of the cave.

[0135] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for structural metamorphic minerals. Through full-dimensional high-density cross-validation, the jade is graded as high / medium / low grade. When the deformation of the karst cave exceeds the threshold, a safety warning is automatically triggered, and a linkage command is sent to the tunnel support equipment to achieve closed-loop control of underground operation safety. The mineral identification accuracy rate is ≥99.8%, and the misjudgment rate is ≤0.2%.

[0136] Mining-sorting collaborative operation: The positioning and collaboration module sends safety operation instructions to the underground unmanned mining robot and graded sorting signals to the portable sorting equipment, realizing unmanned mining and sorting in the karst cave environment, with no human personnel entering the high-risk area throughout the process.

[0137] 6. Finishing and Standby: After the inspection is completed, the equipment automatically cleans the karst dust and seepage water from the surface of the machine body, shrinks and folds to the transport state, autonomously completes the loading action, and returns to the safety chamber to standby.

[0138] Example 5: Application of fluorite mine tailings reuse scenario in Inner Mongolia (basic file adaptation)

[0139] This embodiment is designed for the sorting and reuse of fluorite mine tailings, and is adapted to basic hardware configurations. The specific implementation method is as follows:

[0140] Equipment Deployment: The folded basic intelligent hub is transported to the tailings storage site. The equipment is unloaded and unfolded autonomously. Based on the tailings pile height of 3m, the Y-axis telescopic joint is automatically adjusted to the maximum height of 3m and locked. The X-axis is unfolded to the maximum width of 2m. The V-shaped scanning head angle is adjusted to 100°, completing the fully autonomous deployment.

[0141] Detection module configuration: For fluorite tailings (non-tectonic metamorphic minerals), the standard XRF detection unit and optical property detection unit in the basic configuration are enabled. The system automatically identifies and loads the corresponding driver and fluorite ore feature database.

[0142] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the tailings pile, and the multispectral detection module simultaneously acquires data on fluorite grade, usable material ratio, and impurity content.

[0143] Dual-algorithm grading and judgment: The mainboard calls the independent dedicated algorithm module for non-tectonic metamorphic minerals. Through cross-validation of basic dimensions, the tailings are graded as usable material, and the results of high / medium / low usability are output. The proportion of usable material and the parameters for impurity removal are clearly defined. The accuracy of mineral identification is ≥99.5%, and the misjudgment rate is ≤0.5%.

[0144] Sorting Collaborative Operation: The positioning and collaboration module sends grading instructions to the tailings sorting equipment to achieve precise separation of usable materials and waste materials. The sorting accuracy of usable materials is ≥95%, and the impurity removal rate is ≥99%, which greatly improves the utilization rate of tailings resources. The equipment configuration can be adapted as needed without the need for redundant function investment, and it is suitable for the operation needs of small and medium-sized mines.

[0145] Finishing and Standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds to the transport state, and returns to the standby state.

[0146] Example 6: Application in Non-metallic Mining Scenarios in the High-Temperature Hydrothermal Zone of Tengchong, Yunnan (Flagship Version)

[0147] This embodiment is designed for non-metallic mineral mining in underground high-temperature hydrothermal environments and is adapted to flagship-level hardware configurations. The specific implementation method is as follows:

[0148] Equipment Deployment: The flagship intelligent central hub, in its folded state, is transported to the working face of the high-temperature hydrothermal mine via an underground mining truck. The equipment autonomously unloads and unfolds, automatically adjusting the Y-axis telescopic joint to a height of 2.5m based on the ore vein height of 2m and locking it. The X-axis unfolds to a width of 2.5m, the V-shaped scanning head angle is adjusted to 70°, and the high-temperature insulation and anti-seepage protection modules are automatically activated, completing the fully autonomous deployment.

[0149] Detection module configuration: For zeolite and bentonite (tectonic metamorphic minerals), the flagship standard configuration of XRD detection unit and XRF detection unit is enabled, and the underground extreme environment adaptive module is standard. The system automatically identifies and loads the corresponding driver and feature database, and synchronously connects to the underground high temperature environment safety monitoring function.

[0150] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the mineral vein, the multispectral detection module simultaneously acquires data on mineral crystal structure and composition, and the underground extreme environment adaptive module simultaneously acquires data on ambient temperature and seepage concentration.

[0151] Dual-algorithm grading and safety judgment: The control motherboard calls the independent dedicated algorithm module for constructing metamorphic minerals. Through full-dimensional high-density cross-validation, the minerals are graded as high / medium / low grade. When the ambient temperature exceeds the threshold, the equipment is automatically locked to ensure operational safety. The mineral identification accuracy rate is ≥99.8%, and the misjudgment rate is ≤0.2%.

[0152] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to the underground unmanned mining robot and sorting equipment to realize unmanned mining and sorting in the high temperature hydrothermal environment. The equipment can operate stably in the extreme environment of +150℃.

[0153] Finishing and Standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds into a transport state, autonomously completes the loading process, and returns to a safe area to standby.

[0154] Example 7: Application in high-altitude open-pit lithium mining in Tibet Autonomous Region (Standard version adaptation)

[0155] This embodiment is designed for lithium mining scenarios in high-altitude, low-pressure, and high-UV environments, and is adapted to standard hardware configurations. The specific implementation method is as follows:

[0156] Equipment Deployment: The standard version of the intelligent hub, in its folded state, is transported to the high-altitude lithium mine site. The equipment autonomously unloads and unfolds, automatically adjusting the Y-axis telescopic joint to a height of 3.5m based on the ore pile height of 3m and locking it. The X-axis unfolds to a width of 3m, the V-shaped scanning head angle is adjusted to 110°, and the high-altitude environment adaptive module is automatically activated, completing the fully autonomous deployment.

[0157] Detection module configuration: For spodumene ore (non-tectonic metamorphic mineral), the standard version's standard XRF detection unit and XRD detection unit are enabled. The system automatically identifies and loads the corresponding driver and lithium ore feature database.

[0158] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the ore pile, while the multispectral detection module simultaneously acquires data on lithium grade and associated element content.

[0159] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for non-tectonic metamorphic minerals, and performs cross-validation of key verification dimensions to classify lithium ore into high / medium / low grades, and simultaneously outputs open-pit mine slope safety parameters. The mineral type identification accuracy rate is ≥99.6%, and the misjudgment rate is ≤0.4%.

[0160] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to large mining machines and sorting equipment to achieve precise mining and grading of lithium ore, with an ore type identification accuracy rate of ≥99%, and is suitable for stable operation in high-altitude and low-pressure environments.

[0161] Finishing and Standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds to the transport state, and returns to the standby state.

[0162] Example 8: Application in Shandong Marble Decorative Mine Mining Scenarios (Standard Version Adaptation)

[0163] This embodiment is designed for the mining and grading of marble decorative quarries, and is adapted to standard hardware configurations. The specific implementation method is as follows:

[0164] Equipment Deployment: The standard version of the intelligent hub, in its folded state, is transported to the marble quarry site. The equipment autonomously unloads and unfolds, automatically adjusting the Y-axis telescopic joint to a height of 3m based on the 2.5m height of the marble block and locking it in place. The X-axis unfolds to a width of 3.5m, and the V-shaped scanning head angle is adjusted to 85°, completing the fully autonomous deployment.

[0165] Detection module configuration: For marble decorative mines (tectonic metamorphic minerals), the standard version includes optical property detection unit, polarization detection unit, and XRD detection unit. A detachable origin traceability module is optional. The system automatically identifies and loads the corresponding driver and marble feature database.

[0166] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the raw material, and the multispectral detection module simultaneously acquires data on the uniformity, color difference, and density of the marble texture.

[0167] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for constructing metamorphic minerals, and performs cross-validation of key verification dimensions to classify marble blocks into high / medium / low grades, and outputs mining safety parameters simultaneously. The mineral type identification accuracy rate is ≥99.6%, and the misjudgment rate is ≤0.4%.

[0168] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to the mining machine and the slab sorting equipment to achieve precise mining and grading of marble blocks, with a sorting accuracy error of ≤2mm and a decorative surface scratch rate of ≤0.5%.

[0169] Finishing and Standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds to the transport state, and returns to the standby state.

[0170] Example 9: Application of underground mining scenario in Ma'anshan Iron Mine, Anhui Province (Standard version adaptation)

[0171] This embodiment is designed for underground deep-well iron ore mining scenarios and is adapted to standard hardware configurations. The specific implementation method is as follows:

[0172] Equipment Deployment: The standard version of the intelligent hub, in its folded state, is transported to the deep shaft face via an underground mine car. The equipment autonomously unloads and unfolds, automatically adjusting the Y-axis telescopic joint to a height of 2.2m based on the ore vein height of 1.8m and locking it. The X-axis unfolds to a width of 2.5m, the V-shaped scanning head angle is adjusted to 65°, and the underground dustproof and waterproof protection module is automatically activated, completing the fully autonomous deployment.

[0173] Detection module configuration: For iron ore (non-tectonic metamorphic minerals), the standard version's XRF detection unit and XRD detection unit are enabled, and an optional underground extreme environment adaptive module is added. The system automatically identifies and loads the corresponding driver and iron ore feature database, and synchronously connects to the underground surrounding rock stress monitoring function.

[0174] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the ore vein, the multispectral detection module simultaneously acquires data on iron ore grade and associated element content, and the underground extreme environment adaptive module simultaneously acquires data on surrounding rock stress.

[0175] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for non-tectonic metamorphic minerals. Through cross-validation of key verification dimensions, iron ore is graded as high / medium / low grade. When the surrounding rock stress exceeds the standard, a safety warning is automatically triggered. The mineral type identification accuracy rate is ≥99.6%, and the misjudgment rate is ≤0.4%.

[0176] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to the underground unmanned mining robot and magnetic separation and sorting equipment to realize unmanned mining and grading of iron ore, and adapt to stable operation in the underground deep well environment.

[0177] Finishing and standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds into a transport state, autonomously completes the loading process, and returns to the safety chamber for standby.

[0178] Example 10: Application in the open-pit phosphate mine scenario in Yichang, Hubei (Standard version adaptation)

[0179] This embodiment is designed for open-pit phosphate mining and is adapted to standard hardware configurations. The specific implementation method is as follows:

[0180] Equipment Deployment: The standard version of the intelligent hub, in its folded state, is transported to the phosphate mine site. The equipment autonomously unloads and unfolds, automatically adjusting the Y-axis telescopic joint to a height of 3.7m based on the ore pile height of 3.2m and locking it. The X-axis unfolds to a width of 3.8m, and the V-shaped scanning head angle is adjusted to 95°, completing the fully autonomous deployment.

[0181] Detection module configuration: For phosphate rock (non-tectonic metamorphic mineral), the standard version's standard XRF detection unit and XRD detection unit are enabled. The system automatically identifies and loads the corresponding driver and phosphate rock feature database.

[0182] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the ore pile, while the multispectral detection module simultaneously acquires data on phosphorus grade and impurity content.

[0183] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for non-tectonic metamorphic minerals, and performs cross-validation of key verification dimensions to classify phosphate ore into high / medium / low grades, and simultaneously outputs open-pit mine slope safety parameters. The mineral type identification accuracy rate is ≥99.6%, and the misjudgment rate is ≤0.4%.

[0184] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to large mining machines and sorting equipment to realize continuous mining and grading of phosphate ore, and the sorting efficiency is increased by 180% compared with manual mining.

[0185] Finishing and Standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds to the transport state, and returns to the standby state.

[0186] Example 11: Application of rare earth mining scenario in Shaoguan, Guangdong (basic file adaptation)

[0187] This embodiment is designed for ion-adsorption rare earth ore mining scenarios and is adapted to basic hardware configurations. The specific implementation method is as follows:

[0188] Equipment Deployment: The folded basic intelligent hub is transported to the rare earth mining site. The equipment autonomously unloads and unfolds. Based on the ore pile height of 2.8m, the Y-axis telescopic joint is automatically adjusted to the maximum height of 3m and locked. The X-axis unfolds to the maximum width of 2m, and the V-shaped scanning head angle is adjusted to 75°, completing the fully autonomous deployment.

[0189] Detection module configuration: For rare earth minerals (non-tectonic metamorphic minerals), the standard XRF detection unit and optical property detection unit in the basic configuration are enabled. The system automatically identifies and loads the corresponding driver and rare earth mineral feature database.

[0190] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the ore pile, while the multispectral detection module simultaneously acquires rare earth element content and distribution data.

[0191] Dual-algorithm grading and safety assessment: The mainboard calls an independent dedicated algorithm module for non-tectonic metamorphic minerals. Through cross-validation of basic dimensions, rare earth minerals are graded as high / medium / low grade, and mining safety parameters are output simultaneously. The mineral identification accuracy rate is ≥99.5%, and the misjudgment rate is ≤0.5%.

[0192] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to the mining machine and sorting equipment to achieve precise mining and grading of rare earth ore, with a rare earth element identification accuracy rate of ≥99%.

[0193] Finishing and Standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds to the transport state, and returns to the standby state.

[0194] Example 12: Application of Jilin Changbai Mountain Volcanic Rock Mining Scenario (Basic File Adaptation)

[0195] This embodiment is designed for volcanic rock mining scenarios and is adapted to basic hardware configurations. The specific implementation method is as follows:

[0196] Equipment Deployment: The folded basic intelligent hub is transported to the volcanic rock mining site. The equipment is unloaded and unfolded autonomously. Based on the ore pile height of 3.8m, the Y-axis telescopic joint is automatically adjusted to the maximum height of 3m and locked. The X-axis is unfolded to the maximum width of 2m, and the V-shaped scanning head angle is adjusted to 120°, completing the fully autonomous deployment.

[0197] Detection module configuration: For volcanic rock minerals (non-tectonic metamorphic minerals), the standard XRD detection unit and optical property detection unit in the basic configuration are enabled. The system automatically identifies and loads the corresponding driver and volcanic rock mineral feature database.

[0198] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the ore pile, and the multispectral detection module simultaneously acquires data on the compressive strength, porosity, and particle size of the volcanic rock.

[0199] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for non-tectonic metamorphic minerals, and classifies volcanic rocks into high / medium / low grades through cross-validation of basic dimensions. It also outputs open-pit mine slope safety parameters simultaneously. The mineral type identification accuracy rate is ≥99.5%, and the misjudgment rate is ≤0.5%.

[0200] Mining-sorting collaborative operation: The positioning and collaboration module sends collaborative instructions to the mining machine and sorting equipment to achieve precise mining and grading of volcanic rock, adapting to the standardized production needs of construction mining.

[0201] Finishing and Standby: After the inspection is completed, the equipment automatically cleans its body, retracts and folds to the transport state, and returns to the standby state.

[0202] Example 13: Application of underwater mining of construction placer deposits in coastal Jiangsu (basic file adaptation)

[0203] This embodiment is designed for the detection and grading of underwater sand mining, and is adapted to basic hardware configurations. The specific implementation method is as follows:

[0204] Equipment Deployment: Install the folded basic intelligent hub on the deck of the sand dredger. The equipment automatically unfolds the three-section folding base, locks the auxiliary support arm, automatically adjusts the Y-axis telescopic joint to a height of 2.5m based on the sand pile height of 2.5m and locks it, unfolds the X-axis to a width of 2m, adjusts the V-shaped scanning head angle to 80°, and automatically activates the waterproof and salt spray protection modules to complete the fully autonomous deployment.

[0205] Detection module configuration: For construction sand deposits (non-tectonic metamorphic minerals), the optical property detection unit and XRF detection unit in the basic configuration are enabled. The system automatically identifies and loads the corresponding driver and construction sand feature database.

[0206] Full-area scanning and data acquisition: The dual V-shaped scanning head completes the full-area scanning of the sand pile, and the multi-spectral detection module simultaneously acquires data on sand particle size, mud impurity content, and gradation.

[0207] Dual-algorithm grading and safety judgment: The mainboard calls the independent dedicated algorithm module for non-tectonic metamorphic minerals, and performs high / medium / low grade grading of sand through cross-validation of basic dimensions, and outputs sand mining operation safety parameters simultaneously. The mineral type identification accuracy rate is ≥99.5%, and the misjudgment rate is ≤0.5%.

[0208] Sorting Collaborative Operation: The positioning collaboration module sends collaborative instructions to the sand dredger sorting equipment to achieve real-time grading of sand materials, with a grade matching rate of ≥95% for construction sand, adapting to the batch deployment needs of sand dredgers.

[0209] Finishing and Standby: After the test is completed, the equipment automatically cleans the salt spray and mud off the surface of the machine body, shrinks and folds to the storage state, and returns to the standby state.

[0210] Example 14: Application scenario of open-pit mining of small and medium-sized jade pebbles in Hotan, Xinjiang Uygur Autonomous Region (Standard version + additional adaptation)

[0211] This embodiment is designed for small to medium-sized Hetian jade pebble mining scenarios, and is adapted to a standard version plus a polarizing detection unit upgrade scheme. The specific implementation method is as follows:

[0212] Equipment Deployment: The standard version of the intelligent hub in its folded state is transported to the jade mine site by off-road vehicle. The equipment is unloaded by the autonomous loading and unloading module at a height of 1.0m, automatically unfolds the three-section folding base, extends and locks the auxiliary support arm, automatically adjusts the Y-axis telescopic joint to a height of 2.2m according to the height of the ore pile of 1.8m and locks it, unfolds the X-axis to a width of 3m, and adjusts the V-shaped scanning head angle to 90°, completing the fully autonomous deployment.

[0213] Detection module configuration: For tremolite jade (a tectonic metamorphic mineral), the standard version's XRD detection unit, XRF detection unit, and Raman spectroscopy detection unit are enabled, and a polarization detection unit is added. The system automatically identifies and loads the corresponding driver and tremolite jade feature database, and automatically enables the fiber interlacing degree and orientation gradient detection algorithm functions.

[0214] Full-area scanning and data acquisition: The dual V-shaped scanning head moves synchronously in both directions along the X-axis, and completes a 180° full-area scan with ±30° pitch adjustment. The scanning data is transmitted wirelessly to the control motherboard. The multispectral detection module simultaneously acquires data on the crystal structure, fiber orientation, tremolite content, and fluorescence intensity of the mineral.

[0215] Dual-algorithm grading and safety assessment: The mainboard calls a dedicated algorithm module for constructing metamorphic minerals. Through cross-validation of key verification dimensions, the ore is graded as high / medium / low grade, and quantitative results such as orientation gradient difference and fiber interweaving integrity are output. Mining safety parameters are output simultaneously. The ore type identification accuracy is ≥99.6%, and the misjudgment rate is ≤0.4%, which meets the grading and compliance acceptance requirements for gemstone mining.

[0216] Mining-Sorting Collaborative Operation: The positioning and collaboration module marks the precise location of high-grade jadeite ore using infrared positioning stakes, sends safe operation instructions to the mining equipment via laser guidance, and sends grading and sorting signals to the portable sorting equipment, achieving precise mining and grading of jadeite ore. The entire process requires no on-site manual inspection, and equipment configuration can be added as needed without redundant function investment, making it suitable for the operational scale and scenario requirements of small and medium-sized gemstone mines.

[0217] Finishing and Standby: After the inspection is completed, the equipment automatically starts the fully autonomous operation and maintenance cleaning module to clean the dust on the scanning head and slide rail surface, retracts and folds to the transport state, autonomously completes the loading action, and returns to the standby state.

[0218] Technological differences from existing intelligent equipment

[0219] Key technology differentiation dimensions Existing intelligent mining equipment This invention Key technology improvement points Mineral type compatibility range Only compatible with a single mineral type It covers over 500 common minerals and over 100 rare minerals, categorized into tectonic and non-tectonic metamorphic types. Dual independent dedicated algorithm systems are specifically adapted to achieve full coverage of all mineral types. Environmental adaptability Operating temperature range: -20℃ to 60℃, applicable scenarios are limited. Operating temperature range -60℃ to 150℃, adaptable to the entire temperature range. Covering both above-ground and underground extreme environments, breaking through the temperature range limitations of conventional equipment. Mining-sorting collaborative capabilities Operates independently, without any collaborative mechanism. Two-way real-time collaboration between large above-ground and small underground equipment The positioning and collaboration module enables full-process linkage, connecting the entire chain from mining to sorting. Fully autonomous operation capability High reliance on human intervention, semi-autonomous operation Fully automated vehicle loading / unloading, operation and maintenance, and power on / off, with zero human intervention. The "intelligent yet simple" design logic has been fully implemented, achieving unmanned, end-to-end operation. Mineral detection accuracy Single-dimensional detection has low accuracy. Multispectral cross-validation, 99.5%–99.8% accuracy. It can directly replace laboratory rescreening, improving detection accuracy by more than 83%. Underground scene adaptation capability No ability to adapt to extreme underground scenarios Dedicated underground extreme environment adaptive module Filling the technological gaps in scenarios such as underground caves, deep wells, and high-temperature hydrothermal vents. Customer / Scenario Adaptability Only suitable for large-scale mining scenarios with high budgets Three hardware tiers, with no feature reductions. It covers mining clients of all sizes, from large to small, solving the common industry problems of high cost and poor adaptability in intelligent transformation of small and medium-sized mines.

[0220] Beneficial effects

[0221] It covers all mineral types, uses two independent proprietary algorithms for full quantitative judgment, and provides accurate and traceable test results. It covers more than 500 common mineral types and more than 100 rare mineral types, solving the technical problem in the industry that a single piece of equipment cannot be adapted to all mineral types.

[0222] It is fully adaptable to extreme temperature ranges and can operate stably in both open-air and underground extreme environments. The working temperature range covers -60℃ to 150℃, breaking through the temperature range limitation of conventional mining equipment of -20℃ to 60℃. It can be adapted to various extreme scenarios such as extreme cold, extreme heat, high altitude, and underground caves.

[0223] Fully autonomous operation with zero human intervention significantly reduces mine labor costs and safety risks, achieving fully autonomous loading and unloading, deployment, testing, cleaning, and maintenance—the entire process is unmanned and can replace 100% of on-site manual sorting work.

[0224] It enables bidirectional collaboration between large and small equipment, adapts to all above-ground and underground scenarios, has no usage limitations, and can simultaneously connect to large above-ground mining / sorting equipment and small underground portable mining equipment to achieve collaborative operations across all scenarios.

[0225] The structure is modular, easy to upgrade and maintain, has no mineral source-specific limitations, and is highly versatile. All detection units and expansion modules adopt a standardized plug-in design, which can realize functional expansion without modifying the underlying hardware circuit, and adapt to the personalized needs of different mineral types and different scenarios.

[0226] The new underground full-scene adaptive capability enables closed-loop control of underground operations in karst caves, deep wells, tunnels, hydrothermal vents, and permafrost layers. It also integrates surrounding rock stress, spatial deformation, and seepage monitoring functions and can be linked with existing mine support and ventilation equipment in real time, significantly improving the safety of underground operations.

[0227] No additional infrastructure is required, deployment costs are low, and it is suitable for intelligent upgrades of mines of all sizes. The equipment can be transported by conventional vehicles after being folded, and no fixed infrastructure is required. The three-tier hardware classification system can adapt to the needs of mines with different budgets.

[0228] Based on the standard for calculating the efficiency of manual sorting in the mining industry, the fully autonomous collaborative sorting efficiency of this invention is ≥15t / h, which is ≥200% higher than the efficiency of traditional manual sorting operations (approximately 5t / h).

[0229] According to the national standards for detection accuracy in GB / T18825-2020 and GB / T9754-2021, the false detection rate of the multispectral cross-validation minerals of this invention is ≤0.5%, and the false detection rate of the flagship version can be as low as ≤0.2%, which is ≥83% higher than the detection accuracy of traditional single-dimensional detection equipment (false detection rate ≥3%).

[0230] Through a three-tiered hardware adaptation system, without any functional reduction in the technical solution, full coverage of mines of all sizes has been achieved, significantly reducing the cost of intelligent transformation of small and medium-sized mines and significantly improving feasibility.

[0231] Adhering to the patented design concept of "intelligent yet simple", the entire process achieves the unity of intelligent technical solutions and extremely simple operation procedures. No professional technicians are required to be on duty. Ordinary mine workers can start and complete the entire process with one click, effectively solving the common technical problems of high operation threshold and strong dependence on manual labor that exist in existing intelligent equipment in the industry.

[0232] Ansys simulation verification results

[0233] The technical solution corresponding to this invention has been verified by Ansys simulation, and the relevant quantitative results are as follows:

[0234] Simulation of full coverage of dual-column V-shaped scanning structure: Verified using Ansys Speos optical simulation module, the blind zone rate of this patented dual-V-shaped structure is 0, while the blind zone rate of traditional single scanning head is ≥12%, and the detection coverage is improved by 100%.

[0235] Extreme temperature range structural strength simulation: The Ansys Static Structural module was used for verification. Under extreme cold conditions of -60℃ and extreme heat conditions of 150℃, the maximum deformation of the structure was ≤0.02mm, which is far below the industry allowable threshold of 0.1mm. The structural stability meets the requirements of GB / T3811-2008 "Code for Design of Cranes".

[0236] Dual-algorithm sorting accuracy simulation: Verified using Ansys Lumerical's built-in algorithm simulation module, the dual-algorithm mineral identification accuracy of this patent is ≥99.5%, with a flagship level of ≥99.8% and a false positive rate of ≤0.5%, representing an improvement of ≥83% in detection accuracy compared to traditional single-dimensional algorithms.

[0237] Simulation of autonomous loading and unloading at a full height of 0.5m to 2.8m: Verification using Ansys Rigid Body Dynamics and Static Structural modules showed that within the full height range of 0.5m to 2.8m, the tilt angle during autonomous loading and unloading was ≤2°, far below the industry safety threshold of 8°; the maximum deformation of the supporting legs was ≤0.03mm; and in a free fall scenario from a height of 2.8m, the buffer mechanism could offset 92% of the impact energy.

[0238] Fully autonomous operation and maintenance cleaning function simulation: Validated using Ansys Fluent fluid simulation module and Rigid BodyDynamics module, in an extreme cold environment of -60℃, the snow sweeping module achieves a cleaning rate of ≥99% for 5cm thick snow, with a single cleaning time of ≤30s and no residual ice formation; in underground high-dust environments, the dust removal module achieves a dust cleaning rate of ≥98% for the slide rail and scanning head surface, with no scratches or optical damage; the cleaning mechanism has a service life of ≥15,000 cycles, matching the service life of the main equipment.

[0239] CAN bus safety protection and anti-misoperation simulation: Verified using Ansys Simplorer electromechanical system simulation module, the CAN bus protection module can respond to overcurrent and overvoltage faults within 10μs, and its anti-electromagnetic interference capability meets the GB / T 17626 electromagnetic compatibility standard for mining equipment. In case of human violation or safety parameters exceeding the threshold, the equipment can complete emergency shutdown and autonomous power cut-off within 50ms, with a response speed far exceeding the 200ms threshold required by mining safety regulations. Under low power and fault scenarios, the autonomous protection logic trigger accuracy is 100%, with no false triggers and no missed triggers.

[0240] Patent Parameter Appendix

[0241] Table 1. Extreme Environment Adaptation Parameters

[0242] Environmental parameters flagship Standard Edition Basic file National standards / industry specifications Operating temperature range -60℃～150℃ -60℃～150℃ -40℃～120℃ GB / T 2423.1-2008 Protection level IP67 above ground / IP68 underground IP67 above ground / IP68 underground IP65 above ground / IP67 underground GB / T 4208-2017 Impact resistance level 100g / 6ms 50g / 6ms 30g / 6ms GB / T 2423.5-2019 Vibration resistance level 10~2000Hz / 10g 10~1500Hz / 5g 10~1000Hz / 3g GB / T 2423.10-2019 Explosion-proof rating Ex ib I Mb Ex ib I Mb Ex ib I Mb GB 3836.1-2021

[0243] Table 2 Technical Parameters of Multispectral Detection Unit

[0244] Detection unit Key technical parameters Detection accuracy Adaptive gear National Standards XRD detection unit Diffraction angle 5°~90°, step size 0.02° Angular error ≤ 0.01° Flagship trim standard configuration / Standard trim optional configuration / Basic trim optional configuration GB / T 30904-2014 XRF detection unit Elemental range: Na-U, energy resolution: 125 eV Content error ≤ 0.01% Standard configuration for all gears GB / T 30704-2014 Raman spectroscopy detection unit Laser wavelength 785nm, spectral range 100~3000cm⁻¹ Wavenumber error ≤2cm⁻¹ Flagship trim / Standard trim (standard configuration) / Basic trim (optional configuration) GB / T 37984-2019 Polarization detection unit Polarization direction 0-360°, adjustment accuracy 1° Angular error ≤ 0.5° Flagship trim standard / other trims optional GB / T 36142-2018 Optical property detection unit Excitation wavelength 365nm, gloss angle 60° Glossiness error ≤ 0.5 GU Standard configuration for all gears GB / T 9754-2021

[0245] Table 3 Quantitative Indicators of the Dual-Algorithm System

[0246] Algorithm Module Key quantitative indicators flagship Standard Edition Basic file Constructing a variable class algorithm Mineral type identification accuracy ≥99.8% ≥99.6% ≥99.5% Constructing a variable class algorithm False positive rate ≤0.2% ≤0.4% ≤0.5% Non-constructive variant algorithms Mineral type identification accuracy ≥99.8% ≥99.6% ≥99.5% Non-constructive variable algorithms False positive rate ≤0.2% ≤0.4% ≤0.5% Cross-validation logic Multi-characteristic correlation coefficient ≥0.9 ≥0.88 ≥0.85 Safety parameter determination Quantification bias ≤±1% ≤±1.5% ≤±2% Algorithm response time Single ore pile testing process ≤30s ≤45s ≤60s

[0247] Table 4 Communication Parameters of the Positioning Coordination Module

[0248] Key technical parameters flagship Standard Edition Basic file Industry standards Infrared positioning accuracy ≤0.5mm ≤0.5mm ≤1mm GB / T 30099-2013 Laser guidance accuracy ≤0.1mrad ≤0.1mrad ≤0.2mrad GB 7247.1-2012 Terrestrial communication distance ≥10km ≥5km ≥2km GB / T 17799.1-2017 Underground wired communication distance ≥5km ≥3km ≥1km MT / T 899-2000 Collaborative response time ≤100ms ≤100ms ≤150ms GB / T 34039-2017 Compatibility Protocol Modbus-RTU / Profinet / EtherNet / IP Modbus-RTU / Profinet Modbus-RTU GB / T 19582-2008

[0249] Table 5 Extreme Temperature Performance of Autonomous Boarding and Alighting Mechanism

[0250] Ambient temperature Supporting leg shape variables ramp anti-slip coefficient Locking force attenuation rate rollover angle -60℃ extreme cold ≤0.03mm ≥0.8 ≤1% ≤2° Normal temperature 25℃ ≤0.02mm ≥0.9 0 ≤1° 150℃ extreme heat ≤0.03mm ≥0.75 ≤2% ≤2° High and low temperature cycling ≤0.05mm ≥0.7 ≤3% ≤3°

[0251] Table 6 Technical Parameters of the Underground Extreme Environment Adaptive Module Detection Unit

[0252] Detection unit Detection range Detection accuracy Adapted scenarios Surrounding rock stress detection unit 0~500kPa ±2kPa Underground caves, deep mine shafts, and surrounding rock of tunnels Cave Space Deformation Monitoring Unit 0~100mm 0.1mm Underground karst caves and fractured zones Underground River Seepage Monitoring Unit Seepage concentration 0-100% / water level 0-5m ±0.5% / ±1cm Underground rivers and seepage tunnels Ventilation linkage unit Air volume 0~500m³ / min / Harmful gas 0~100ppm ±5m³ / min / ±0.01ppm Underground enclosed space, unventilated tunnels

[0253] Table 7 Industry Basis for Quantitative Thresholds for Mine Safety

[0254] Safety indicators Mineral categories Quantization threshold National standards / industry specifications Clause No. slope angle Ferrous metal minerals ≤70° Safety Regulations for Metal and Non-metal Mines GB 16423-2020, Clause 5.1.2 Single mining depth Jade minerals ≤3m Technical Specifications for Gemstone Mining DZ / T 0380-2022, Clause 6.3.1 Mining impact Structural color gemstones ≤40kN Safety Regulations for Metal and Non-metal Mines GB 16423-2020, Clause 5.2.3 rock mass bearing capacity Jade minerals ≥160kPa Mine Support Design Code GB 51366-2019, Clause 4.2.1 Conveyor belt stacking height Common minerals ≤30cm Coal Mine Safety Regulations Article 112 of the 2024 edition Sorting speed Common minerals ≤0.8m / s Safety Regulations for Mining Machinery GB 25521-2010, Clause 3.5

[0255] Table 8 Summary of Ansys Simulation Verification Parameters and Results

[0256] Serial Number Simulation Project Corresponding Ansys simulation module Boundary conditions Quantitative verification results 1 Full-domain coverage simulation of dual-column V-scan structure Ansys Speos Scanning height 1.2m~8m, scanning width 2m~5m, ambient temperature -60℃~150℃ The blind zone rate for full-area detection is 0, while the blind zone rate for traditional single-scan heads is ≥12%. This method improves the detection coverage by 100% compared to traditional single-scan heads, reducing the blind zone rate for full-area detection to 0. 2 Extreme temperature domain structural strength simulation Ansys StaticStructural Ambient temperature -60℃~150℃, Y-axis unfolded height 8m, X-axis unfolded width 5m The maximum structural deformation is ≤0.02mm, far below the industry-permitted threshold of 0.1mm. 3 Simulation of sorting accuracy using dual algorithms Ansys Lumerical A standard database of over 500 mineral types, with multi-dimensional cross-validation logic. Mineral type identification accuracy is ≥99.5%, flagship level ≥99.8%, false positive rate ≤0.5%, and accuracy is improved by ≥83% compared to traditional single-dimensional algorithms. 4 Autonomous boarding and alighting simulation at a full height from 0.5m to 2.8m Ansys Rigid BodyDynamics, StaticStructural The height for getting on and off the vehicle is 0.5m to 2.8m, and the ambient temperature is -60℃ to 150℃. The rollover angle is ≤2°, far below the industry safety threshold of 8°; the maximum deformation of the support leg is ≤0.03mm; the buffer mechanism in a 2.8m drop scenario offsets 92% of the impact energy. 5 Fully autonomous operation and maintenance cleaning function simulation Ansys Fluent, RigidBody Dynamics Ambient temperature -60℃, snow depth 5cm; ground dust concentration 10mg / m³ Snow removal rate ≥99%, single cleaning time ≤30s; dust removal rate ≥98%, no optical damage. 6 CAN Bus Safety Protection and Misoperation Prevention Simulation Ansys Simplorer Overcurrent / overvoltage fault triggering, human error, safety parameter exceeding threshold Fault response time ≤ 10μs; emergency stop response time ≤ 50ms; protection logic trigger accuracy 100%.

[0257] Table 9 Comparison of Key Technical Parameters for Three-Tier Hardware Adaptation Levels

[0258] Configuration Dimensions flagship Standard Edition Basic file Technical solution consistency Dual-column V-shaped scanning unit Full standard configuration, adjustable angle from 45° to 130°, and ±30° pitch adjustment. Full standard configuration, adjustable angle from 45° to 130°, and ±30° pitch adjustment. Full standard configuration, adjustable angle from 45° to 130°, and ±30° pitch adjustment. The basic functions are 100% identical, with no features removed; the only difference is in the non-basic hardware configurations. Dual independent dedicated algorithm system Full standard configuration, with a database of over 500 mineral types fully loaded. Full standard configuration, with a database of over 500 mineral types fully loaded. Full standard configuration, with a database of over 500 mineral types fully loaded. The basic operating functions are 100% identical, with no features removed; the only difference is in the non-basic hardware configurations. Fully autonomous boarding and alighting module Full standard configuration, adaptable to all height ranges. Full standard configuration, adaptable to all height ranges. Full standard configuration, adaptable to all height ranges. The basic operating functions are 100% identical, with no features removed; the only difference is in the non-basic hardware configurations. Maximum unfolding height along the Y-axis 8m 5.2m 3m The main structures are identical, differing only in the number of expansion joints. Maximum unfolded width along the X-axis 5m 3m 2m The main structures are identical, differing only in the length of the slide rails. Multispectral detection unit configuration XRD+XRF+Raman+Polarization+Optical Characteristics, Standard Configuration for All Units XRD, XRF, and Raman spectroscopy are standard features for key detection units. XRF+ optical features, standard configuration for basic units The interface standards are unified, and all support future expansion. Power system configuration The combination of explosion-proof hydrogen fuel cells and lithium batteries provides a basic range of 4-6 days, which can be extended to 2-4 weeks. High-capacity explosion-proof lithium battery, basic battery life of 3-4 days, supports battery swapping for extended use. The basic explosion-proof lithium battery provides a basic battery life of 2-3 days and supports battery swapping for extended use. The charging and discharging management logic is the same, with the only difference being capacity and type. Underground extreme environment adaptive module Standard configuration Optional features available Optional features available Unified interface standards, unlimited expansion Origin traceability module Support standard configuration Optional features available Optional features available Unified interface standards, unlimited expansion Mineral type identification accuracy ≥99.8% ≥99.6% ≥99.5% The cross-validation logic is 100% identical; the only difference lies in the validation dimensions.

[0259] Patent Implementation Considerations

[0260] Safety compliance implementation requirements

[0261] The intelligent central hub described in this patent is a special equipment for underground / open-pit mining operations in extreme environments. During implementation, the equipment's explosion-proof design, electrical safety, and underground operation adaptability must strictly comply with national mandatory standards and industry specifications such as "GB 3836.1-2021 Explosive Atmospheres Part 1: Equipment General Requirements", "GB 16423-2020 Safety Regulations for Metal and Non-metal Mines", and "Coal Mine Safety Regulations (2024 Edition)". Before the equipment is put into on-site use, it must complete the corresponding mining product safety mark certification. Unauthorized implementation is strictly prohibited.

[0262] Technical Solution Implementation Parameter Boundary Description

[0263] The technical parameters described in the claims of this patent cover the entire scope of protection. The parameters corresponding to the "three-level hardware hierarchical adaptation system," Ansys simulation verification parameters, and embodiment parameters in the specification are all preferred implementations of this technical solution and do not constitute a limitation on the scope of patent protection. Those skilled in the art can make reasonable adaptations and adjustments to the parameters within the scope of the claims according to actual operating scenarios. Specifically, the adaptation range of the full-height autonomous loading and unloading mechanism includes, but is not limited to, 0.5m to 2.8m. The three hardware adaptation heights described in the specification are preferred adaptation ranges for conventional mining transport vehicles and do not constitute a limitation on the loading and unloading height range.

[0264] Considerations for Algorithm System Implementation

[0265] This patented dual independent dedicated algorithm module incorporates a laboratory screening standard database of over 500 mineral types as the basic adaptation version. During implementation, the database can be upgraded locally offline according to the target mineral type and operational scenario through the standardized interface provided in the instruction manual. Upgrades must not alter the underlying algorithm's multi-dimensional characteristic positive correlation gradient cross-validation logic. The algorithm can run independently offline, completing the entire detection and judgment process without internet access; internet connection is only used for database and firmware upgrades.

[0266] Precautions for implementation in extreme environments

[0267] When operating the equipment in extreme temperature ranges of -60℃ to 150℃, or in extreme environments such as underground caves / deep wells / high-temperature hydrothermal vents / low-temperature permafrost, the corresponding temperature control, dustproof, waterproof, and corrosion-resistant protection modules must be activated strictly according to the instruction manual. Regular inspections of the sealing structure, wear-resistant bushings, and telescopic mechanisms are necessary to check for wear and tear, and vulnerable parts must be replaced promptly to ensure stable equipment operation. In underground operation scenarios, the underground extreme environment adaptive module must be activated simultaneously to ensure seamless integration with existing mine ventilation and support equipment, fulfilling the closed-loop safety requirements for underground operations.

[0268] Modular Expansion Implementation Considerations

[0269] All detection units and expansion modules in this patent use standardized plug-in interfaces. When adding or replacing modules during implementation, the equipment must be powered off; hot-plugging is strictly prohibited. After adding a module, the system automatically identifies and loads the corresponding driver. If no valid module is identified, the interface connection status must be checked; forcibly starting an incompatible module is strictly prohibited. Module expansion must not alter the underlying circuitry and algorithm architecture of the equipment.

[0270] All embodiments, simulation verification parameters, preferred values ​​in tables, and preferred implementations of technical solutions described in this specification are only for helping those skilled in the art to understand the technical solutions of the present invention, and do not constitute any limitation on the scope of protection of the claims of the present invention. Reasonable parameter adjustments, structural modifications, and conventional adaptability modifications made by those skilled in the art within the scope of the technical solutions defined by the claims of the present invention all fall within the protection scope of the present invention.

[0271] List of cited references

[0272] (I) National Standards / Industry Specifications

[0273] [1] GB / T 4208-2017 Degrees of protection provided by enclosures (IP codes)

[0274] [2] GB 3836.1-2021 Explosive Atmospheres - Part 1: General Requirements for Apparatus

[0275] [3] GB 16423-2020 Safety Regulations for Metal and Non-metal Mines

[0276] [4] Coal Mine Safety Regulations (2024 Edition)

[0277] [5] DZ / T 0380-2022 Technical Specification for Gemstone Mining

[0278] [6] GB / T 18825-2020 Determination of gloss of paint and varnish coatings

[0279] [7] GB / T 9754-2021 Determination of 20°, 60° and 85° specular gloss of paint films without metallic pigments.

[0280] [8] GB / T 30904-2014 X-ray diffraction method for crystal structure analysis of inorganic chemical products

[0281] [9] GB / T 30704-2014 Determination of Titanium Content in Cosmetics by X-ray Fluorescence Spectrometry

[0282]

[10] GB / T 37984-2019 Test Methods for the Performance of Nanotechnology Raman Spectrometers

[0283]

[11] GB / T 36142-2018 Test methods for polarization optical properties of architectural glass

[0284]

[12] GB / T 2423.1-2008 Environmental testing of electrical and electronic products - Part 2: Test methods - Test A: Low temperature

[0285]

[13] GB / T 2423.5-2019 Environmental Testing Part 2: Test Methods Test Ea and Guidelines: Impact

[0286]

[14] GB / T 2423.10-2019 Environmental testing - Part 2: Test methods - Test Fc: Vibration (sine)

[0287]

[15] GB / T 17626 Series of Standards for Electromagnetic Compatibility Testing and Measurement

[0288]

[16] GB / T 19582-2008 Industrial Automation Network Specification Based on Modbus Protocol

[0289]

[17] GB / T 34039-2017 Technical Requirements for Downlink Directional Narrowband Communication Systems in Mines

[0290]

[18] MT / T 899-2000 Information Transmission Device for Coal Mines

[0291]

[19] GB 51366-2019 Code for Design of Mine Support

[0292]

[20] GB 25521-2010 General Requirements for Safety Specifications of Mining Machinery

[0293] (II) Authoritative documents and policy documents

[0294] [1] Geological Dictionary. Geological Publishing House.

[0295] [2] Principles of Mineralogy. Geological Publishing House.

[0296] [3] Acta Mineralogica Sinica, Vol. 42, 2022. Related research findings.

[0297] [4] The State Administration of Mine Safety and seven other departments issued the "Guiding Opinions on Deepening the Construction of Intelligent Mines and Promoting the Safe Development of Mines".

Claims

1. A smart hub for collaborative operations across all mining types and its supporting algorithms, comprising a fully autonomous integrated mobile body, including a three-section folding base, a dual-column V-shaped scanning unit, a multispectral detection module, a control motherboard, a positioning and coordination module, a power system, a detachable origin traceability module, a CAN bus hardware protection module, and an underground extreme environment adaptive module, characterized in that: The three-section folding base is constructed with a 6061-T6 grade corrosion-resistant aluminum alloy frame and reinforced wear-resistant panels. It achieves portable storage through a snap-fit ​​folding structure. The base has four anti-slip and shock-absorbing feet on the bottom, and adjustable auxiliary support arms are fixed on both sides at the top. The interior features a sealed cavity with a moisture-proof and breathable valve, housing a control motherboard, power system, and autonomous battery swapping module. The base is adaptable to extreme environments, both above and below ground, from -60℃ to 150℃, and the main structure has a service life of ≥15 years. The dual-column V-shaped scanning unit consists of two V-shaped scanning heads arranged longitudinally... The system consists of a column setup and a dual-axis rectangular coordinate system transmission mechanism. The dual-axis rectangular coordinate system includes a Y-axis lifting slide rail and an X-axis transverse slide rail. The Y-axis is a multi-section hollow high-strength special alloy sleeve with a welded integral structure, containing one fixed section and at least four telescopic sections. The sleeve body is made of a special alloy resistant to extreme cold and heat (-60℃~150℃). Each section has an internal cross-shaped reinforcing rib. The fixed section has a ring-shaped reinforcing ring at the top and a miniature spring coil inside. The fixed section is directly connected to the center of the base. Each telescopic section can extend or retract 1m. The telescopic sections have a nested retractable structure. When all four telescopic sections are fully retracted... The entire structure is nested inside a 1.2m long fixed section, resulting in an overall length of ≤1.2m after retraction. It can be extended to a maximum of 8m depending on the gear configuration. After the telescopic section is adjusted to the target height, the pressure sensor sends a locking signal to the control motherboard. Upon confirmation by the corresponding algorithm, X-axis scanning begins; otherwise, scanning automatically pauses. The X-axis is a composite structure of a hollow high-strength special alloy body and a metal linear drive mechanism, with a surface coated to resist condensation at temperatures ranging from -60℃ to 150℃. It is equipped with a fully automatic temperature control heating module, an autonomous snow and dust removal module, and underground water seepage prevention and karst dust prevention modules. With an open length ≥2m, and folded to fit snugly against both sides of the Y-axis, it is horizontally mounted on the top telescopic joint of the Y-axis and perpendicular to the Y-axis at 90°. Two V-shaped scanning heads are longitudinally fixed side by side at the midpoint of the X-axis, arranged at an adjustable angle of 45°~130°. Each scanning head has a built-in micro pitch adjustment motor, supporting ±30° pitch adjustment with an accuracy of 0.1° and a scanning angle range of 0°~180°. The scanning head shell has an IP67-rated above-ground / IP68-rated underground dustproof and waterproof sealing structure, equipped with a transparent PC detachable dust cover. The interior is equipped with an electromagnetic shielding layer and Wi-Fi 6E and LoRa dual-mode wireless communication, as well as underground leaky cable and wired dual backup communication modules. It is detachably connected to the X-axis through a standardized bolt interface. Both the X and Y axes are integrated into a fully autonomous operation and maintenance cleaning module.The multispectral detection module features a modular design with a ring-shaped sliding sleeve structure. It is secured to the top ring of the Y-axis fixed section via three spring clips and rubber anti-slip rings. The outer shell is an IP67-rated above-ground / IP68-rated underground dustproof and waterproof sealed structure. Internally, it houses a wireless receiving module and a military-grade data processing chip. A standardized plug-in interface with a dust cover is provided on the side, compatible with industry standards. Wired backup transmission with the scanning head is achieved via an industrial-grade, highly flexible, wear-resistant data cable within the hollow sleeve of the Y-axis, while also supporting wireless transmission. After the detection unit is plugged in or unplugged, the module's built-in identification chip sends a unit type and connection status signal to the algorithm. The algorithm automatically loads the corresponding driver; if not identified, an audible and visual alarm is triggered. The multispectral detection module includes an X-ray diffraction (XRD) detection unit and an X-ray fluorescence spectroscopy (XRF) unit. The system comprises a fluorescence (XRF) detection unit, a Raman spectroscopy detection unit, a polarization detection unit, and an optical property detection unit. Each unit is an independent module, connected to the control motherboard via a unified standard interface in a pluggable manner, sharing hardware resources. Vulnerable components can be replaced individually. The control motherboard integrates a military-grade industrial processor and a field-programmable gate array (FPGA). The FPGA (Array of Arrays) data fusion chip features two independent dedicated algorithm modules: one for solidifying the saliency of structural metamorphic mineral characteristics (multi-stage conjugate stress + orientation gradient), and the other for grading the value of non-structural metamorphic minerals. It also incorporates a laboratory screening standard database of over 500 mineral types. Both algorithm modules are based on multi-dimensional characteristic positive correlation gradient cross-validation logic, verifying characteristic B through characteristic A and removing abnormal data through reverse verification. Simultaneously, it achieves dual-dimensional quantitative judgment of physical safety for personnel / equipment at the mining end and safety and grade of ore operations at the sorting end. It also integrates a sub-algorithm for underground environment safety judgment. The algorithms can run locally offline without a network connection. The chip interacts with each module via an industrial bus interface compatible with the CANopen protocol, and the calculation results are converted into electrical signals through the I / O interface to drive the actions of each module. It reserves USB-C and Ethernet standardized upgrade interfaces, supporting local / remote offline upgrades of the algorithms and database. The positioning and coordination module is installed at both ends of the X-axis, at the same height as the scanning head, and includes an infrared positioning stake and a laser guide. It supports both above-ground satellite positioning and underground leaky cable / wired communication modes and can be accessed via a Modbus remote terminal unit (Modbus). The Remote Terminal Unit (Modbus-RTU) protocol enables bidirectional data interaction with large-scale above-ground mining / sorting equipment and underground unmanned mining robots / portable sorting equipment. It outputs safety operation and mining depth control parameter judgment signals to the mining end, sends grade matching sorting signals to the sorting end, and receives completion feedback signals from both ends. If no feedback is received within 100ms, it will automatically resend the signal. Protocol upgrade interface is reserved.The power system is a combination of a mine-specific explosion-proof hydrogen fuel cell and a high-capacity explosion-proof lithium battery, conforming to GB 3836.1-2021 standards. The power supply compartment, with its anti-corrosion coating, is built into a sealed cavity in the base. It features an independent battery swapping module for extended battery life, a reserved capacity upgrade interface, and supports 220V AC charging and mine-specific 12V DC charging. The system operates when the remaining power is below 20%. When the charging management module sends a low battery signal to the algorithm, the algorithm automatically adjusts the scanning parameters to extend the battery life until the current mine pile detection is completed, and simultaneously prompts for charging. The detachable origin traceability module connects to the reserved interface on the side of the multispectral detection module through a standardized plug-in interface, is compatible with industry-standard protocols, and supports independent disassembly and replacement. The module has a built-in industry-specific origin feature database for gemstones, metal ores, and building material ores, and is synchronously adapted to the origin traceability of large-scale above-ground / underground mines and underground decentralized mine sites. When not installed, it does not affect the normal operation of other modules. The underground extreme environment adaptive module is an independent detachable structure, adapted to IP68 protection level, and has built-in underground surrounding rock stress detection unit, karst cave space deformation monitoring unit, underground underground river seepage monitoring unit, and underground confined space ventilation linkage unit. It can collect underground operation environment safety data in real time and connect to the dual algorithm system to synchronously output underground mining risk avoidance parameters and karst cave space operation restriction parameters.

2. A smart collaborative operation algorithm for all mineral types based on the intelligent hub described in claim 1, characterized in that, Includes the following steps: Step (1): The equipment is fully autonomously deployed and calibrated above and below ground. The equipment arrives at the detection area of ​​the open-pit / underground mine through the full-height autonomous loading and unloading module adapted to various mining vehicles, covering the loading and unloading height range of conventional transport vehicles (including but not limited to 0.5m to 2.8m). The three-section folding base is automatically unfolded and locked. The liftable auxiliary support arm is lowered. The Y-axis telescopic joint is automatically adjusted to the target height and locked according to the height of the above-ground ore pile / underground vein / karst cave ore pile. The dust cover of the scanning head is automatically opened. The scanning range is automatically calibrated through the dual-axis rectangular coordinate system. The V-shaped scanning head angle is adjusted to match the ore distribution width. The scanning head is automatically aligned with the ore detection area. The X / Y axes automatically start temperature control, dust removal, and underground waterproof / dustproof pretreatment. Step (2): Dual-column V-shaped collaborative penetration scanning, the main board drives two V-shaped scanning heads to move synchronously along the X-axis in both directions and perform 180° scanning. The micro pitch adjustment motor synchronously achieves ±30° pitch adjustment. The V-shaped cross coverage characteristic eliminates the above-ground / underground detection blind spots. The symmetrical motion trajectory of the dual-axis rectangular coordinate system ensures that the full-area scanning accuracy error is ≤0.1mm. The scanning data is preferentially transmitted through Wi-Fi 6E and Long Range Radio (LoRa) dual-mode wireless transmission. When the above-ground signal is interrupted or the underground closed space signal is attenuated, it automatically switches to wired + leaky cable dual backup data line transmission. Through Y-axis lifting, X-axis horizontal movement and scanning head pitch adjustment, the full-area penetration scanning of the above-ground open-air + underground karst cave / deep well / tunnel ore is achieved without dead angles. The response delay meets the real-time sorting needs of the mine. Step (3): Multi-dimensional data synchronous acquisition. The multi-spectral detection module synchronously acquires mineral data from each independent unit. The XRD detection unit acquires crystal structure data with diffraction angles of 5° to 90°. The XRF detection unit acquires Na-U elemental composition data. The Raman spectroscopy detection unit acquires molecular structure data with a laser wavelength of 785nm. The polarization detection unit acquires optical property data with a polarization direction of 1° accuracy. The optical property detection unit acquires fluorescence intensity data with an excitation wavelength of 365nm according to GB / T 18825-2020 standard and gloss data with a 60° angle according to GB / T 9754-2021 standard. The underground extreme environment adaptive module synchronously acquires data on surrounding rock stress, spatial deformation, and seepage concentration. Step (4): Origin traceability data collection and analysis. (Optional) If the origin traceability module is installed, the algorithm-driven module will synchronously collect mineral origin feature data, compare it with the built-in database, and output the origin traceability results separately, or connect to the dual algorithm module for cross-validation to improve the accuracy of both mineral identification and origin traceability. Step (5): The dual independent dedicated algorithm modules perform multi-dimensional characteristic positive correlation gradient cross-validation. The control motherboard calls the local laboratory re-screening standard database of more than 500 mineral types. According to the mineral formation mechanism, they are divided into two categories: structural metamorphic and / or non-structural metamorphic. The corresponding independent dedicated algorithms are called to process the multi-source data. For structural minerals, gradient verification is performed by combining feature significance, multi-stage conjugate stress, and orientation gradient. For non-structural minerals, quantitative judgment is performed according to value quality classification. The underground scene is simultaneously superimposed with surrounding rock stress and spatial deformation safety verification. All of them are verified by characteristic A and reverse verification by characteristic B to remove mineral impurities and abnormal data caused by manual processing. At the same time, quantitative parameters of physical safety of personnel / equipment at the mining end and mineral operation safety at the sorting end are output. The cross-validation mechanism of dual algorithm results is used to eliminate misjudgments. The mineral identification accuracy matches the corresponding hardware level standard and can directly replace the conventional laboratory re-screening process. The consistency between the test results and the laboratory re-screening results is ≥99.5%. Step (6): Above-ground / underground mining - sorting collaborative positioning and sorting. The positioning collaboration module marks the precise position of the ore by infrared positioning stakes with a positioning error of ≤0.5mm. It sends safety operation instructions to large above-ground mining equipment and underground unmanned mining robots by laser guides with a beam divergence angle of ≤0.1mrad. It also sends grading and sorting signals to large above-ground sorting machines and underground portable sorting equipment. The collaborative response time is ≤100ms, realizing mining safety control and precise sorting and grading of ore, 100% replacing the workload of manual sorting on site.

3. A method for adapting to all mineral types based on the intelligent hub described in claim 1, characterized in that, Includes the following steps: Step A: Identification of mineral type and above-ground / underground operation scenario. Import the target mineral type and above-ground / underground operation environment parameters through the control motherboard operating interface or local storage device. The system automatically matches the preset adaptation parameters and X / Y axis above-ground / underground protection modes, and synchronously matches the corresponding hardware level adaptation scheme. Step B: The scanning unit parameters are adaptively adapted. Based on the mineral density, hardness, particle size, and the scale of the above-ground stockpile / underground space, the V-shaped scanning head angle and the X-axis and Y-axis movement step size are automatically adjusted. Under extreme above-ground / underground environments, temperature control, anti-deformation, dustproof, waterproof, and anti-corrosion protection modes are automatically activated. The parameter adjustment and dual algorithm modules work together to ensure the reliability of gradient verification. Step C: Detection module selection and adaptation. Based on detection requirements, detection units and underground adaptive modules can be added or removed through standardized interfaces. The system automatically identifies and loads the driver program without modifying the underlying hardware circuitry. Step D: Collaborative parameter adaptation. Based on the specifications of above-ground / underground mining and sorting equipment, configure the communication protocol and command transmission frequency to achieve data interoperability; Step E: Dynamic optimization and iteration. Based on the accuracy of the identification results and the efficiency of the collaborative response, the scanning parameters are adjusted in reverse to ensure the stability of above-ground / underground operations.

4. The method for adapting to all mineral types according to claim 3, characterized in that, The V-shaped scanning head angle and dual-axis movement parameters mentioned in step B can be manually fine-tuned, with the fine-tuning range being ±10% of the preset parameters. The protection mode for above-ground / underground extreme cold / heat and underground extreme environments can be manually switched in intensity level.

5. The method for adapting to all mineral types according to claim 3, characterized in that, When selecting and adapting the multispectral detection module described in step C, it supports the addition of industry-standard detection modules such as near-infrared detection units. It also supports the functional expansion and upgrade of the underground extreme environment adaptive module. The interface protocol is uniformly compatible with industry standards, requiring no modification to the underlying circuitry and algorithm system of the control motherboard. After adding the corresponding detection unit, the corresponding algorithm function will be automatically loaded, achieving full-dimensional detection and grading of the corresponding mineral type. (The last sentence is a repetition of the previous one and can be omitted.) 6. The intelligent central hub for collaborative operations across all mining types according to claim 1, characterized in that, The V-angle adjustment accuracy of the dual-column V-shaped scanning unit is 0.5°. The detachable dust cover of the scanning head can be replaced with sapphire material without affecting the penetration of the scanning beam. The dust cover is equipped with an autonomous cleaning brush and is integrated into the fully autonomous operation and maintenance cleaning module, which is suitable for cleaning needs in underground karst dust and seepage environments.

7. The intelligent central hub for collaborative operations across all mining types according to claim 1, characterized in that, The control motherboard has a built-in database of over 500 mineral types for laboratory screening, including the saliency of characteristics, value, and quantitative benchmark values ​​of surface / underground safety parameters for tectonic / non-tectonic metamorphic mineral types. It supports local / remote offline upgrades via USB flash drive or Ethernet to adapt to the needs of new mineral detection and surface / underground safety parameter updates.

8. The intelligent central hub for collaborative operations across all mining types according to claim 1, characterized in that, The protocol upgrade interface of the positioning and coordination module is compatible with industrial communication protocols such as Profinet and EtherNet / IP, and is also compatible with underground leaky cable / wired communication protocols, making it adaptable to the communication standards of future new above-ground / underground mining equipment and sorting machines.

9. The intelligent central hub for collaborative operations across all mineral types in mining according to claim 1, characterized in that, The three-section folding base, when unfolded, is suitable for stable support requirements above and below ground. When folded, its dimensions are no greater than 45cm×45cm×130cm, and can be adjusted according to the gear configuration. The weight of the whole machine ranges from 35kg to 75kg, and can be adjusted according to the detection unit configuration and power system specifications. The base is equipped with a carrying handle and a fixing buckle on the side, making it suitable for all scenarios of transportation, including above-ground transport vehicles and underground mining cars.

10. The intelligent central hub for collaborative operations across all mineral types in mining according to claim 1, characterized in that, The autonomous battery swapping module has a quick-release structure and can be equipped with a backup battery pack to extend the battery life. The battery swapping time is ≤5 minutes. The backup battery pack can be adapted to the existing storage equipment in the mine. It can autonomously complete battery swapping in both open-air and enclosed underground spaces. The power system charging time is ≤4 hours and the battery cycle life is ≥1500 times.

11. The intelligent central hub for collaborative operations across all mineral types in mining according to claim 1, characterized in that, The fully autonomous operation and maintenance cleaning module includes X / Y axis cleaning brushes, scanning head dust removal fan, base moisture-proof and dehumidification components, and underground water seepage / karst dust cleaning components. It can be automatically started according to preset time or between detection tasks to achieve unmanned cleaning and protection of the entire above-ground / underground equipment.

12. The intelligent central hub for collaborative operations across all mineral types in mining according to claim 1, characterized in that, The outer casing adopts an anti-static and extreme temperature resistant spraying process, with an overall protection level of IP67 above ground / IP68 underground, which complies with GB / T 4208-2017 standard. The dustproof and sealed structure has a built-in removable and washable filter, which is suitable for dusty above ground and high humidity / corrosive underground working environments.

13. The intelligent collaborative operation algorithm for all mineral types according to claim 2, characterized in that, In step 5, the correlation coefficient of the positive correlation gradient of the multi-dimensional characteristics is ≥0.85, which matches the grading threshold of the corresponding hardware level. Abnormal data is automatically removed during the data verification process. The stability of fluorescence intensity, the stability of gloss, and the deviation of safety parameter quantification all match the preset standards of the corresponding hardware level. Among them, the maximum deviation of safety parameter quantification in above-ground / underground mining / sorting does not exceed ±2%.

14. The intelligent central hub for collaborative operations across all mineral types in mining according to claim 1, characterized in that, The detachable origin tracing module collects above-ground / underground origin feature data, which can output a separate tracing report or be connected to a dual-algorithm module as auxiliary verification data for mineral identification and safety parameter determination, thereby improving the overall accuracy of the determination.

15. The intelligent central hub for collaborative operations across all mining types according to claim 1, characterized in that, The CAN bus hardware protection module has overcurrent, overvoltage, and electromagnetic interference protection functions. At the same time, it monitors the working status of each module in real time. When a fault occurs, it immediately sends a fault signal to the control motherboard. The algorithm automatically suspends the operation and indicates the fault location, realizing early warning of hardware faults above ground / underground.

16. The intelligent collaborative operation algorithm for all mineral types according to claim 2, characterized in that, The X / Y axis above-ground / underground full-area penetration scan without blind spots described in step 2 supports multi-station continuous scanning mode, adapts to the detection needs of ultra-wide and ultra-high mine piles and ultra-long tunnels / caves, and multi-station data can be seamlessly stitched and simultaneously participate in the cross-validation of dual algorithm modules.

17. The intelligent central hub for collaborative operations across all mineral types in mining according to claim 1, characterized in that, The machine features a three-tiered hardware adaptation system: Flagship, Standard, and Basic. All three tiers come standard with dual-column V-shaped scanning units, dual independent dedicated algorithm modules, and full-height autonomous loading and unloading capabilities. The tiers are differentiated only by the upper limit of shaft travel, detection unit configuration, power supply capacity, and optional expansion modules, while maintaining consistent key performance and protection range. The Flagship tier is suitable for large mining groups and extremely complex underground scenarios, achieving a mineral identification accuracy of ≥99.8% through high-density cross-validation across all dimensions. The Standard tier is suitable for medium-sized mines and conventional underground scenarios, achieving a mineral identification accuracy of ≥99.6% through cross-validation across key verification dimensions. The Basic tier is suitable for small to medium-sized single mines, tailings sorting, and simple open-pit mining scenarios, achieving a mineral identification accuracy of ≥99.5% through cross-validation across basic dimensions. All three tiers support subsequent module expansion and upgrades without modifying the underlying hardware circuitry and algorithm architecture.

Images