Salt pond non-contact ore thickness measuring device and hydromining machine thereof

Abstract

The utility model discloses a salt pond non-contact type mine thickness measuring device and a hydromining machine thereof, the salt pond non-contact type mine thickness measuring device comprises depth measuring instruments arranged on two sides of the hydromining machine along the mining direction, two detecting instruments are respectively distributed corresponding to a mined area and a non-mined area, the detecting instruments are matched with RTK base stations, GNSS RTK equipment and GPS positioning equipment, the RTK base stations are erected at a wharf reference point, and the GNSS RTK equipment is arranged at the wharf reference point. The GNSS RTK device and the GPS positioning device are installed on the water mining machine, the GNSS RTK device, the depth finder and other devices are used for measuring the mine thickness in a salt pan in the mining process of the water mining machine, specifically, data of a mined area and data of an unmined area in original data are distinguished, and after the mine thickness is calculated through filtering, the mine thickness is calculated through the GPS positioning device. The method is used for calculating mineral reserves and mining quantity in real time and guiding the water mining machine to work, so that the mineral reserves in a salt pond and the mining quantity on the day are synchronously measured in the working process of the water mining machine, and the working of the water mining machine is guided.

Description

Technical Field

[0001] The utility model relates to the technical field of salt mine water mining equipment, in particular to a salt pond non-contact mineral thickness measuring device and a water mining machine thereof. Background Art

[0002] The problem with the three existing mechanical measuring rod depth measuring devices in the prior art is that they all have to come into direct contact with the underwater mineral layer. Due to the complexity of the mineral layer, the device has a high failure rate, and deformation, sensor damage and other failures frequently occur, making it impossible to operate for a long time.

[0003] The conventional depth sounder underwater topography method has the following problems: a device only measures the current channel, and cannot distinguish whether it is an already mined area or an unmined area, cannot calculate the mining volume, and cannot guide operations, so it does not meet the purpose of the project. Moreover, the position between the newly mined channel and the unmined channel is collapsed, and it is easy to measure the collapsed position next to the water mining machine, which will cause a large error. Especially in salt pans where the water body is a saturated solution, the water depth in the salt pan is deep in some places and shallow in some places. There are also many areas that are dry beaches exposed above the water surface, which makes measurement difficult. Secondly, if the conventional method is used to fix one side of the hull, it is easy to expose the water surface if it is fixed shallowly, and it is easy to hit the bottom salt layer if it is fixed deep. Utility Model Content

[0004] The purpose of the utility model is to provide a salt pond non-contact mineral thickness measuring device and a water mining machine thereof, so as to solve the problems existing in the above-mentioned prior art. Not only can the underwater topography be obtained with high precision, but also the measurement steps of water level reference points and water surface elevations and the measurement errors caused by them can be eliminated. The underwater topography obtained is not affected by tides, wind and waves, and the ups and downs of the hull, and the measurement accuracy is high and the error sources are few.

[0005] To achieve the above-mentioned purpose, the utility model provides the following solution: The utility model provides a salt pond non-contact mineral thickness measurement device, including a depth sounder installed on both sides of a water mining machine along the mining direction, the two detectors correspond to the mined area and the unmined area respectively, and the detectors are equipped with an RTK reference station, a GNSS RTK device and a GPS positioning device. The RTK reference station is set up at the dock reference point, and the GNSS RTK device and the GPS positioning device are installed on the water mining machine.

[0006] Preferably, the depth sounder is a sonar measuring instrument.

[0007] Preferably, mounting brackets are respectively provided on both sides of the water mining machine, and the two mounting brackets respectively extend toward the mined area and the unmined area located on both sides of the water mining machine, and each depth sounder is respectively installed on the corresponding mounting bracket.

[0008] Preferably, a first electric push rod driven in a vertical direction is provided on the mounting bracket, the sonar measuring instrument is mounted on the first electric push rod, and the sonar measuring instrument moves with the first electric push rod and is located at a desired underwater position.

[0009] Preferably, the mounting bracket is further provided with a second electric push rod driven in a horizontal direction, and the first electric push rod is mounted on the second electric push rod and moves synchronously with the second electric push rod.

[0010] Preferably, the sonar measuring instrument is equipped with a posture sensor, and the posture sensor is electrically connected to the first electric push rod and the second electric push rod.

[0011] A water mining machine is also provided, comprising a water mining machine body that moves along the bottom of a salt pond, and a salt pond non-contact mineral thickness measuring device, wherein the water mining machine body is provided with a plurality of groups of crawler-type moving mechanisms, each group of crawler-type moving mechanisms is distributed on both sides thereof in a direction perpendicular to the moving direction of the water mining machine body, and excavation equipment is provided at both the front and rear ends of the water mining machine body;

[0012] The GNSS RTK equipment and GPS positioning equipment of the salt pond non-contact mineral thickness measurement device are both installed on the water mining machine body, and the two detectors on the salt pond non-contact mineral thickness measurement device are installed on both sides of the water mining machine body along the mining direction.

[0013] Compared with the prior art, the utility model has achieved the following technical effects:

[0014] The utility model uses GNSS RTK equipment, depth sounder and other equipment to measure the ore thickness in the salt field during the water mining machine mining process. Specifically, the data of the mined area and the unmined area in the original data are distinguished, and then the ore thickness is calculated by filtering. It is used to calculate the mineral reserves and mining volume in real time and guide the operation of the water mining machine, thereby realizing the water mining machine to synchronously measure the mineral reserves in the salt pool and the mining volume of the day during the operation process, and guide the operation of the water mining machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 This is a schematic diagram of the water mining machine of the utility model when it is working;

[0017] Figure 2This is a schematic diagram of the connection between two electric push rods and a sonar measuring instrument of the utility model;

[0018] Figure 3 It is a cross-sectional view of the entire salt pond of the utility model;

[0019] Figure 4 This is a schematic diagram of the measurement principle of the utility model;

[0020] Among them, 1-mined area, 2-unmined area, 3-water mining machine, 4-excavation equipment, 5-installation bracket, 6-second electric push rod, 7-first electric push rod, 8-sonar measuring instrument. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] The purpose of the utility model is to provide a salt pond non-contact mineral thickness measuring device and a water mining machine thereof, so as to solve the problems existing in the above-mentioned prior art. Not only can the underwater topography be obtained with high precision, but also the measurement steps of water level reference points and water surface elevations and the measurement errors caused by them can be eliminated. The underwater topography obtained is not affected by tides, wind and waves, and the ups and downs of the hull, and the measurement accuracy is high and the error sources are few.

[0023] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] like Figures 1 to 3As shown, this embodiment provides a non-contact mineral thickness measurement device for a salt pond, including a depth sounder installed on both sides of a water mining machine 3 along the mining direction. Preferably, the depth sounder adopts a sonar measuring instrument 8, and the sonar measuring instrument 8 is equipped with a measuring rod, which is installed on the water mining machine 3, and the sonar measuring instrument 8 is installed on the measuring rod. The two detectors are distributed in correspondence with the mined area 1 and the unmined area 2, respectively, and the detectors are equipped with an RTK reference station, a GNSS RTK device and a GPS positioning device. The RTK reference station is set up at the dock reference point, and the GNSS RTK device and the GPS positioning device are installed on the water mining machine 3. It should be noted that salt mines are deposited at the bottom of the salt pond, and the water mining machine 3 mines the salt mines in the salt pond in the form of waterways. The utility model uses GNSS RTK equipment, depth sounder and other equipment to measure the ore thickness in the salt pan during the mining process of the water mining machine 3. Specifically, the data of the mined area 1 and the unmined area 2 in the original data are distinguished, and then the ore thickness is calculated by filtering, which is used to calculate the mineral reserves and mining volume in real time and guide the operation of the water mining machine 3, thereby realizing the water mining machine 3 to synchronously measure the mineral reserves in the salt pool and the mining volume of the day during the operation process, and guide the operation of the water mining machine 3.

[0025] It should be noted that in conventional underwater topographic surveys, the underwater topographic undulations remain unchanged. As long as the hull passes a certain position and measures the point, the spatial position of the current position can be described in post-processing. The utility model is applied to salt fields, where underwater salt mines are constantly being excavated and the underwater topography is constantly changing. In order to calculate the mining volume, depth sounders are installed on both sides of the water mining machine 3, and the mined area 1 and the unmined area 2 are measured respectively in combination with the RTK base station, GNSS RTK equipment and GPS positioning equipment. The previously unmined area 2 becomes the mined area 1 after mining, and there are two sets of data at this location, which need to be distinguished and calculated, so that topographic surveys can be carried out in the complex environment of the salt pond. And it can meet the real-time calculation of mineral reserves and mining volume and guide the operation of the water mining machine 3 based on the process quantity. The data obtained through measurement is organized into a database, and the measurement data in the database can be used to guide the operation of the water mining machine 3.

[0026] The non-contact mineral thickness measuring device for salt ponds disclosed in the utility model is mainly used to realize real-time measurement of the thickness of the mineral layer at its location. As shown in the figure, the main purpose of the non-contact mineral thickness measuring device for salt ponds is to realize accurate measurement of H3 (thickness of the ore body). Since H and H4 are known heights, accurate H1 and H2 can be obtained to calculate the thickness of the mineral layer with high precision. However, due to the different starting elevation points of different salt ponds, the water surface elevation that changes with time and wind and waves, and the constantly changing salinity, temperature and turbidity, it is difficult to obtain H1 and H2. Based on the above factors, the basic principle of the water depth measurement carried out by the utility model using the non-contact mineral thickness measuring device for salt ponds is as follows:

[0027] Obtain the absolute coordinates of the dock benchmark in the geocentric coordinate system, and set up an RTK benchmark station on the benchmark. Using the RTK differential signal transmitted by the base station, the GNSS RTK device installed on the underwater sampling machine 3 obtains the centimeter-level plane position and elevation coordinates in real time. By subtracting the water depth value measured by the sonar depth sounder at the same time and the fixed constant between the GNSS RTK device and the underwater sonar depth sounder, the accurate underwater elevation of the measured position can be obtained, realizing underwater topography measurement without tide gauge. This method avoids the acquisition of water surface height and draft depth. At the same time, the GPS device can determine the plane position and record the entire operation process, which is conducive to analyzing and replaying the operation process, comparing and summarizing the operation strategy and related situations.

[0028] The specific technical idea is: due to the height difference H between the dock water point and the top of the pool bottom plate a Known: The GNSS height of the dock water point (elevation reference point) obtained by measuring minus H a , the top elevation H of the pool bottom plate can be calculated cd ; The shipborne GNSS height H is measured by shipborne GNSS RTK GNSS ; GNSS to sonar depth sounder bottom height difference H 杆 (the height of the measuring rod) is known; the height difference Ds from its bottom to the water bottom (top of the ore layer) is obtained by sonar depth sounder; after accurately obtaining the above measurement values, the thickness of the ore layer H can be calculated using the following formula d .

[0029] H cd =H sw -H a ;

[0030] H d =H GNSS -H 杆 -H 水深 -H cd ;

[0031] This method can not only obtain underwater topography with high precision, but also eliminate the measurement steps of water level benchmarks and water surface elevations, as well as the measurement errors that come with it. The underwater topography obtained by this method is not affected by tides, wind and waves, and the ups and downs of the ship, and has high measurement accuracy and few sources of error.

[0032] Preferably, mounting brackets 5 are provided on both sides of the water mining machine 3, and the two mounting brackets 5 extend toward the mined area 1 and the unmined area 2 located on both sides of the water mining machine 3, respectively. Preferably, the mounting bracket 5 extends out of the water mining machine 3 by about 2 meters. Each depth sounder is mounted on the corresponding mounting bracket 5 to measure the mined area 1 and the unmined area 2, respectively. Specifically, the measuring rod is mounted on the mounting bracket 5, and the sonar measuring instrument 8 is mounted on the measuring rod.

[0033] Furthermore, the mounting bracket 5 is provided with a first electric push rod 7 driven in the vertical direction, and the sonar measuring instrument 8 is installed on the first electric push rod 7. The specific measuring rod is installed on the first electric push rod 7, and the sonar measuring instrument 8 moves with the first electric push rod 7 and is located at the required position underwater, which can keep the sonar measuring instrument 8 within a certain range underwater, ensuring the authenticity and effectiveness of the measurement results. Specifically, it should be noted that the entire measuring device is installed on the water mining machine 3, and the water mining machine 3 is like an underwater crawler excavator with a four-wheel suspension. It can be adjusted continuously according to the on-site conditions, up and down, and the maximum ups and downs are more than 40 centimeters, and the sonar measuring instrument 8 can only work in water. If the measuring device is fixed to one side of the water mining machine 3 by conventional methods, it is easy to expose the water surface if it is fixed shallowly, and it is easy to hit the bottom salt layer if it is fixed deeply. Moreover, the position between the waterway that has just been mined and the unmined waterway is collapsed, and it is easy to measure the collapsed position when it is fixed next to the water mining machine 3, which brings a large error.

[0034] The entire measuring device uses the first electric push rod 7 to adjust the measuring rod on which the sonar measuring instrument 8 is installed in the up and down direction. And through the high-precision GNSS RTK equipment positioning, the elevation position of the sonar measuring instrument 8 is obtained, and the first electric push rod 7 is controlled to adjust the extension and contraction of the first electric push rod 7 in real time according to the water surface elevation and the elevation of the sonar measuring instrument 8, so that the sonar measuring instrument 8 is always within a certain range underwater. Then, the change in the elevation direction of the sonar measuring instrument 8 caused by the ups and downs of the water sampling machine 3 is solved to ensure that the sonar depth sounder is always in a normal operating state under the measuring state.

[0035] Preferably, the mounting bracket 5 is further provided with a second electric push rod 6 driven in the horizontal direction, and the first electric push rod 7 is mounted on the second electric push rod 6 and moves synchronously with the second electric push rod 6 .

[0036] The second electric push rod 6 is responsible for folding and laying out the measuring rod to distinguish between the measuring state and the non-measuring state. The safety risk of the entire measuring device in the non-measuring state is minimized, that is, the second electric push rod 6 drives the measuring instrument to move to achieve obstacle avoidance, and also provides convenience for cleaning the sonar depth sounder, that is, the second electric push rod 6 moves the sonar depth sounder to a predetermined position so that the cleaning equipment there can be used to rinse the sonar depth sounder.

[0037] Furthermore, the sonar measuring instrument 8 is equipped with a posture sensor, which is electrically connected to the first electric push rod 7 and the second electric push rod 6. During the harvesting process, the draft state of the water mining machine 3 changes greatly, that is, it fluctuates violently up and down in the elevation direction, with a maximum fluctuation of up to 40 cm. By setting the posture sensor, the linkage and posture correction between the measuring device and the water mining machine 3 can be achieved.

[0038] Furthermore, a water mining machine 3 is provided, comprising a water mining machine 3 body moving along the bottom of a salt pond, and a salt pond non-contact mineral thickness measuring device. The water mining machine 3 body is provided with a plurality of crawler travel mechanisms, and each crawler travel mechanism is distributed on both sides thereof along a direction perpendicular to the moving direction of the water mining machine 3 body. Excavation equipment 4 is provided at both ends of the water mining machine 3 body; the GNSS RTK equipment and GPS positioning equipment of the salt pond non-contact mineral thickness measuring device are both installed on the water mining machine 3 body, and the two detectors on the salt pond non-contact mineral thickness measuring device are installed on both sides of the water mining machine 3 body along the mining direction.

[0039] By installing a salt pond non-contact mineral thickness measurement device on the water mining machine 3, an intelligent mineral thickness measurement system was built using underwater altimeters, GNSS RTK equipment, underwater sonic velocity meters, attitude sensors and other equipment. At the same time, an automatic lifting and cleaning device for the underwater probe was designed to ensure the long-term stable operation of the equipment and guide the operation of the water mining machine 3.

[0040] Adaptive changes made according to actual needs are all within the protection scope of this utility model.

[0041] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0042] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A salt pond non-contact mineral thickness measurement device, characterized in that: It includes depth sounders installed on both sides of the water mining machine along the mining direction, the two depth sounders correspond to the mined area and the unmined area respectively, and the depth sounders are equipped with RTK reference station, GNSS RTK equipment and GPS positioning equipment. The RTK reference station is set up at the dock reference point, and the GNSS RTK equipment and the GPS positioning equipment are installed on the water mining machine.

2. The salt pond non-contact mineral thickness measuring device according to claim 1 is characterized in that: The depth sounder adopts a sonar measuring instrument.

3. The salt pond non-contact mineral thickness measuring device according to claim 2 is characterized in that: Mounting brackets are respectively arranged on both sides of the water mining machine, and the two mounting brackets respectively extend toward the mined area and the unmined area located on both sides of the water mining machine, and each of the depth sounders is respectively mounted on the corresponding mounting bracket.

4. The salt pond non-contact mineral thickness measuring device according to claim 3 is characterized in that: The mounting bracket is provided with a first electric push rod driven in a vertical direction, the sonar measuring instrument is mounted on the first electric push rod, and the sonar measuring instrument moves with the first electric push rod and is located at a desired underwater position.

5. The salt pond non-contact mineral thickness measuring device according to claim 4 is characterized in that: The mounting bracket is also provided with a second electric push rod driven in the horizontal direction, and the first electric push rod is mounted on the second electric push rod and moves synchronously with the second electric push rod.

6. The salt pond non-contact mineral thickness measuring device according to claim 5 is characterized in that: The sonar measuring instrument is equipped with a posture sensor, and the posture sensor is electrically connected to the first electric push rod and the second electric push rod.

7. A water sampling machine, characterized in that: It comprises a water mining machine body that moves along the bottom of a salt pond, and a salt pond non-contact mineral thickness measuring device as claimed in any one of claims 1 to 6, wherein the water mining machine body is provided with a plurality of groups of crawler-type travel mechanisms, and each group of crawler-type travel mechanisms is distributed on both sides thereof along a direction perpendicular to the travel direction of the water mining machine body, and excavation equipment is provided at both the front and rear ends of the water mining machine body; The GNSS RTK equipment and GPS positioning equipment of the salt pond non-contact mineral thickness measurement device are both installed on the water mining machine body, and the two depth sounders on the salt pond non-contact mineral thickness measurement device are installed on both sides of the water mining machine body along the mining direction.

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