Stope volume acceptance device based on unmanned aerial vehicle

Abstract

The utility model provides a stope volume acceptance device based on an unmanned aerial vehicle, which relates to the technical field of mining monitoring and comprises an unmanned aerial vehicle body, an integrated detection structure is arranged in the unmanned aerial vehicle body, and the integrated detection structure is composed of an integrated laser radar, a high-resolution camera and a thermal imager. Through cooperation of a dynamic detection assembly and an integrated detection structure, multi-modal data synchronous acquisition is realized, so that a high-performance edge calculation chip board in an integrated calculation structure analyzes data in real time, and according to an analysis result, a small force arm can be controlled and adjusted to stretch out and draw back, an auxiliary support arm can change the length and angle, and a rotating structure can adjust the direction; the flexible detection rod adapts to complex terrains and obtains accurate data, the telescopic buffering adsorption base automatically stretches and retracts when making contact with an object, buffering is stable, the unmanned aerial vehicle is prevented from being damaged, the object can be adsorbed, the collection stability is improved, the data collection quality is improved, and the unmanned aerial vehicle can go deep into complex terrains such as a mine pit and a rock wall for data collection.

Description

Technical Field

[0001] This utility model relates to the field of mining monitoring technology, and in particular to a mining volume verification device based on unmanned aerial vehicles (UAVs). Background Technology

[0002] With the continued development of the global economy, the mining industry, as a fundamental industry, is constantly increasing in scale and complexity. Mining activities of various metal and non-metal ores are becoming increasingly frequent, and the scale of mining sites is also expanding. To achieve efficient and sustainable mining, accurate volumetric information of mining sites has become crucial. On the one hand, accurate volumetric data helps mining companies rationally plan mining schedules, optimize resource allocation, and avoid over- or under-mining. On the other hand, in mineral resource transactions, volumetric data is one of the important bases for determining ore value, and accurate measurement results can protect the interests of both parties in the transaction.

[0003] When using drones to verify the volume of mining operations, the complex and diverse terrain of mining areas, including valleys, canyons, and steep slopes, presents significant challenges. In these areas, the airflow is unpredictable, causing drones to be subjected to strong airflow impacts during flight, making it difficult to maintain a stable flight attitude. Furthermore, the complex terrain creates blind spots in data collection; for example, near towering ore piles or cliffs, drones may be unable to collect sufficient detailed data to maintain a safe distance, affecting the accurate calculation of volume in these areas. Therefore, a novel drone-based mining volume verification device is needed. Utility Model Content

[0004] The purpose of this invention is to address the problem in existing technologies where, during the acceptance of volume measurements in mines, the complex and diverse terrain, including valleys, canyons, and steep slopes, presents numerous challenges. In these areas, airflow conditions are complex and variable, causing drones to be subjected to strong airflow impacts during flight, making it difficult to maintain a stable flight attitude. Furthermore, the complex terrain can create blind spots in drone data collection; for example, near towering ore piles or cliffs, drones may be unable to collect sufficient detailed data to maintain a safe distance, affecting the accurate calculation of volume measurements in these areas. Therefore, this invention proposes a drone-based mine volume measurement acceptance device.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a UAV-based mining volume acceptance device, comprising a UAV body, an integrated detection structure installed inside the UAV body, the integrated detection structure being composed of an integrated lidar, a high-resolution camera and a thermal imager, dynamic detection components symmetrically installed on the left and right sides of the bottom of the UAV body, and auxiliary dynamic adjustment components symmetrically installed at the front and rear ends of the bottom of the UAV body.

[0006] The auxiliary dynamic adjustment component includes a universal joint rod, an angle rotation structure is installed on the side end of the universal joint rod, and an auxiliary wing is installed on the top of the angle rotation structure. The auxiliary wing is used to automatically adjust according to the terrain features when the UAV flies to a complex terrain area, so as to change the flight attitude and position of the UAV and ensure that data at key positions are collected.

[0007] The dynamic detection component includes an integrated computing structure, which is internally equipped with an integrated high-performance edge computing chip board and a high-speed wireless communication device. The integrated high-performance edge computing chip board is used to perform preliminary processing and filtering on the collected data and extract key feature data. The high-speed wireless communication module is used to transmit the simplified data processed by the integrated high-performance edge computing chip board to an external cloud server.

[0008] Preferably, the lidar is used to accurately measure distance information, the high-resolution camera is used to acquire detailed texture features, the thermal imager is used to identify target outlines in poor lighting or dusty environments, and the bottom ends of the integrated computing structure are symmetrically equipped with adjustable small lever arms, the bottom ends of which are rotatably connected to auxiliary support arms.

[0009] Preferably, the connecting end of the adjustable small lever arm and the auxiliary support arm is provided with a rotating structure, the side end of the rotating structure is provided with a sheet metal working frame, and the bottom end of the sheet metal working frame is provided with a telescopic buffer suction seat.

[0010] Preferably, a flexible probe is rotatably connected to the bottom end of the auxiliary support arm.

[0011] Preferably, the auxiliary dynamic adjustment component further includes a mounting bracket, which is installed on the bottom surface of the unmanned aerial vehicle body, and an energy-saving drive servo motor is mounted on the side end of the mounting bracket.

[0012] Preferably, the output end of the energy-saving drive servo motor is connected to a bevel gear set, which consists of two bevel gears of different sizes meshing together, and a mounting frame is installed on the outside of the bevel gear set.

[0013] Preferably, the bottom of the frame is connected to an annular guide groove, and a bearing slide rod is slidably connected inside the bottom end of the annular guide groove. A rotating joint rod is connected to the bottom center end of the large bevel gear. The bearing slide rod passes through the side end surface of the rotating joint rod and is connected to the side end of the universal joint rod.

[0014] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0015] 1. In this utility model, through the cooperation of dynamic detection components and integrated detection structures, multimodal data synchronous acquisition is achieved. LiDAR calculates distance to construct a three-dimensional model, a high-resolution camera captures texture, and a thermal imager identifies target contours and temperatures in special environments. The high-performance edge computing chip board in the integrated computing structure analyzes data in real time and judges terrain features. Based on the analysis results, it can control and adjust the extension and retraction of a small lever arm, change the length and angle of the auxiliary arm, and adjust the direction of the rotating structure, allowing the flexible detection rod to adapt to complex terrain and obtain accurate data. The telescopic buffer adsorption seat automatically extends and retracts when in contact with objects, providing buffering stability and preventing damage to the UAV. It can also adsorb objects to improve the stability of data acquisition. Overall, multimodal data synchronous acquisition is achieved, allowing the edge computing chip board to adjust the working state of the dynamic detection components according to real-time data. This enables the UAV to better adapt to complex terrain, improve the quality of data acquisition, and allow the UAV to enter deep into mines, close to rock walls, and other complex terrains for data acquisition. At the same time, it ensures the safety and stability of the equipment and improves the comprehensiveness and accuracy of data acquisition.

[0016] 2. In this utility model, with the assistance of the dynamic adjustment component, when the UAV enters a canyon, the auxiliary wing is adjusted to a downward tilt angle to increase lift and enable the UAV to fly stably. When encountering a steep slope, the auxiliary wing is adjusted to a horizontal angle to provide better horizontal flight stability. In this way, the flight attitude and position of the UAV are changed, ensuring that the integrated detection structure can collect data from key locations. The whole system can accurately adjust the state of the auxiliary wing according to the real-time changes of complex terrain, thereby better changing the flight attitude and position of the UAV and improving the flight stability and data collection accuracy of the UAV in complex terrain environments. Attached Figure Description

[0017] Figure 1 A three-dimensional structural diagram of a mining volume acceptance device based on a drone is provided for this utility model.

[0018] Figure 2 This utility model presents a schematic diagram of the dynamic detection component structure of a UAV-based mining volume acceptance device;

[0019] Figure 3 This utility model proposes a drone-based method for accepting the volume of materials in a mining area. Figure 2 A magnified structural diagram at point A;

[0020] Figure 4 This invention presents a schematic diagram of the auxiliary dynamic adjustment component of a UAV-based mining volume acceptance device.

[0021] Legend: 100, Unmanned Aerial Vehicle Body; 200, Auxiliary Dynamic Adjustment Component; 201, Mounting Frame; 202, Energy-Saving Drive Servo Motor; 203, Bevel Gear Set; 204, Annular Guide Groove; 205, Bearing Slide Rod; 206, Rotating Joint Rod; 207, Universal Joint Rod; 208, Angle Rotation Structure; 209, Auxiliary Wing; 300, Dynamic Detection Component; 301, Integrated Computing Structure; 302, Adjustable Small Lever Arm; 303, Auxiliary Support Arm; 304, Flexible Detection Rod; 305, Sheet Metal Work Frame; 306, Telescopic Buffer Adsorption Seat; 307, Rotation Structure. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0024] Example 1: As Figure 1 - Figure 4 As shown, this utility model provides a UAV-based mining volume acceptance device, including a UAV body 100. An integrated detection structure is installed inside the UAV body 100. The integrated detection structure consists of an integrated lidar, a high-resolution camera and a thermal imager. Dynamic detection components 300 are symmetrically installed on the left and right sides of the bottom of the UAV body 100. Auxiliary dynamic adjustment components 200 are symmetrically installed at the front and rear ends of the bottom of the UAV body 100.

[0025] The dynamic detection component 300 includes an integrated computing structure 301. The integrated computing structure 301 is equipped with an integrated high-performance edge computing chip board and a high-speed wireless communication device. The integrated high-performance edge computing chip board is used to perform preliminary processing and filtering on the collected data and extract key feature data. The high-speed wireless communication module is used to transmit the simplified data processed by the integrated high-performance edge computing chip board to an external cloud server.

[0026] The lidar is used to accurately measure distance information, the high-resolution camera is used to acquire detailed texture features, the thermal imager is used to identify target outlines in poor lighting or dusty environments, and the bottom ends of the integrated computing structure 301 are symmetrically equipped with adjustable small lever arms 302, and the bottom ends of the adjustable small lever arms 302 are rotatably connected to auxiliary support arms 303.

[0027] A rotating structure 307 is installed at the connecting end of the adjusting small lever arm 302 and the auxiliary support arm 303. A sheet metal work frame 305 is installed at the side end of the rotating structure 307. A telescopic buffer adsorption seat 306 is installed at the bottom end of the sheet metal work frame 305.

[0028] A flexible probe rod 304 is rotatably connected to the bottom end of the auxiliary support arm 303.

[0029] In this embodiment, the unmanned aerial vehicle 100 first takes off according to a preset flight route. During the flight, the integrated detection structure starts to work, causing the lidar to continuously emit laser beams. By measuring the time difference of reflected light, the distance to each point in the mining area is accurately calculated, and a three-dimensional spatial model of the mining area is constructed. A high-resolution camera captures high-definition images, capturing the texture details of the mining area surface, such as the distribution of ore and the texture of rocks. In environments with insufficient light or dust interference, the thermal imager detects the infrared radiation of objects to identify the outline and temperature distribution of targets, providing supplementary information for data collection.

[0030] When the unmanned aircraft 100 flies to complex terrain areas (such as canyons, steep slopes, mines, etc.), the dynamic detection component 300 and the auxiliary dynamic adjustment component 200 perform operations as needed.

[0031] This integrated computing architecture enables the high-performance edge computing chip board to analyze the collected data in real time, determine the complexity and characteristics of the terrain, and control the extension and retraction of the small lever arm 302 based on the analysis results. It also changes the length and angle of the auxiliary arm 303, and the rotating structure 307 adjusts the direction of the auxiliary arm 303 as needed. This allows the flexible detection rod 304 to better adapt to the terrain, such as reaching deep into the bottom of a mine or close to steep rock walls, thus acquiring more accurate data. Simultaneously, the telescopic buffer adsorption seat 306 automatically extends and retracts according to the contact pressure when in contact with the ground or an object, providing buffering and stabilization to prevent damage to the UAV 100 from collisions. It can also adhere to the surface of objects, further improving the stability of data acquisition. Overall, it achieves synchronous acquisition of multimodal data, allowing the edge computing chip board to adjust the working state of the dynamic detection component 300 based on real-time data. This enables the UAV 100 to better adapt to complex terrain, improve the quality of data acquisition, and allow the UAV 100 to reach deep into mines and close to rock walls for data acquisition, while ensuring the safety and stability of the equipment and improving the comprehensiveness and accuracy of data acquisition.

[0032] Example 2: Figure 1 - Figure 4As shown, the auxiliary dynamic adjustment component 200 includes a universal joint rod 207. An angle rotation structure 208 is installed on the side end of the universal joint rod 207. An auxiliary wing 209 is installed on the top of the angle rotation structure 208. The auxiliary wing 209 is used to automatically adjust according to the terrain features when the UAV 100 flies to a complex terrain area, so as to change the flight attitude and position of the UAV 100 and ensure that data of key positions are collected.

[0033] The auxiliary dynamic adjustment component 200 also includes a mounting bracket 201, which is mounted on the bottom surface of the unmanned aerial vehicle body 100. An energy-saving drive servo motor 202 is mounted on the side of the mounting bracket 201.

[0034] The output end of the energy-saving drive servo motor 202 is connected to a bevel gear set 203, which consists of two bevel gears of different sizes meshing together. A mounting frame is installed on the outside of the bevel gear set 203.

[0035] The bottom of the frame is connected to an annular guide groove 204. A bearing slide rod 205 is slidably connected inside the bottom end of the annular guide groove 204. A rotating joint rod 206 is connected to the bottom center end of the large bevel gear. The bearing slide rod 205 passes through the side end surface of the rotating joint rod 206 and is connected to the side end of the universal joint rod 207.

[0036] In this embodiment, when the unmanned aerial vehicle 100 approaches complex terrain, the energy-saving drive servo motor 202 on the mounting bracket 201 at the bottom of the unmanned aerial vehicle 100 is started. The output end of the energy-saving drive servo motor 202 drives the bevel gear set 203 to rotate. Since the bevel gear set 203 is connected by two bevel gears of different sizes, the larger bevel gear starts to rotate under the drive of the smaller bevel gear.

[0037] This causes the rotating rod 206 connected to the center end of the bottom of the large bevel gear to rotate accordingly. A bearing slide rod 205 passes through the side surface of the rotating rod 206. The bearing slide rod 205 slides in the annular guide groove 204, which facilitates the rotation of the rotating rod 206 to be converted into the sliding of the bearing slide rod 205 in the annular guide groove 204.

[0038] Secondly, the bearing slide 205 is connected to the side end of the universal joint 207. The sliding of the bearing slide 205 drives the universal joint 207 to move. The angle rotation structure 208 at the side end of the universal joint 207 is based on the built-in ultrasonic sensor (the ultrasonic sensor is TDK's ICU-10201 model, using a miniature 3.5x3.5mm). 2The device is reflow solderable and integrates a PMUT (Piezoelectric Micromechanical Ultrasonic Transducer) and an ultra-low power SoC (System-on-a-Chip) to receive terrain information. It precisely adjusts the angle and attitude of the auxiliary wing 209. For example, when the UAV 100 enters a canyon, the auxiliary wing 209 is adjusted to a downward tilt angle to increase lift and enable the UAV 100 to fly stably. When encountering a steep slope, the auxiliary wing 209 is adjusted to a horizontal angle to provide better horizontal flight stability. In this way, the flight attitude and position of the UAV 100 are changed, ensuring that the integrated detection structure can collect data from key locations. The whole device can accurately adjust the state of the auxiliary wing according to the real-time changes of complex terrain, thereby better changing the flight attitude and position of the UAV 100 and improving the flight stability and data acquisition accuracy of the UAV 100 in complex terrain environments.

[0039] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A UAV-based method for accepting the volume of materials in a mining area, characterized in that: The utility model provides an unmanned aerial vehicle body (100), the inside of unmanned aerial vehicle body (100) is equipped with integrated detection structure, integrated detection structure is composed of integrated laser radar, high resolution camera and thermal imager, the bottom of unmanned aerial vehicle body (100) is equipped with dynamic detection subassembly (300) symmetry left and right, the bottom of unmanned aerial vehicle body (100) is equipped with auxiliary dynamic adjustment subassembly (200) symmetry front and back end, The auxiliary dynamic adjustment subassembly (200) includes a universal joint rod (207), the side end of the universal joint rod (207) is equipped with an angle rotating structure (208), the top of the angle rotating structure (208) is equipped with an auxiliary wing (209), the auxiliary wing (209) is used when the unmanned aerial vehicle body (100) flies to a complex terrain area, the auxiliary wing (209) can automatically adjust according to the terrain features to change the flight attitude and position of the unmanned aerial vehicle body (100), and key position data is ensured to be collected. The dynamic detection subassembly (300) includes an integrated computing structure (301), the inside of the integrated computing structure (301) is respectively equipped with an integrated high-performance edge computing chip board and a high-speed wireless communicator, the integrated high-performance edge computing chip board is used to preliminarily process and screen the collected data, and extract key feature data, and the high-speed wireless communicator is used to transmit the simplified data processed by the integrated high-performance edge computing chip board to an external cloud server.

2. The drone-based stope volume acceptance device of claim 1, wherein: The laser radar is used to accurately measure distance information, the high-resolution camera is used to obtain detailed texture features, the thermal imager is used to identify target contours in poor lighting or dusty environments, and the bottom of the integrated computing structure (301) is symmetrically equipped with an adjusting small force arm (302), and the bottom end of the adjusting small force arm (302) is rotatably connected with an auxiliary support arm (303).

3. The stope volume acceptance device based on unmanned aerial vehicle according to claim 2, characterized in that: The connecting end of the adjusting small force arm (302) and the auxiliary support arm (303) is equipped with a rotating structure (307), the side end of the rotating structure (307) is equipped with a sheet metal operation rack (305), and the bottom end of the sheet metal operation rack (305) is equipped with a telescopic buffer adsorption seat (306).

4. The stope volume acceptance device based on the unmanned aerial vehicle according to claim 3, characterized in that: The bottom end of the auxiliary support arm (303) is rotatably connected with a flexible detection rod (304).

5. The stope volume acceptance device based on unmanned aerial vehicle according to claim 1, characterized in that: The auxiliary dynamic adjustment subassembly (200) further includes a mounting rack (201) arranged on the bottom end surface of the unmanned aerial vehicle body (100), and the side end of the mounting rack (201) is provided with an energy-saving drive servo motor (202).

6. The stope volume acceptance device based on a UAV according to claim 5, characterized in that: The output end of the energy-saving drive servo motor (202) is connected with a bevel gear set (203), the bevel gear set (203) is meshed and connected by two bevel gears with large and small sizes, and the outside of the bevel gear set (203) is equipped with a fixed frame.

7. The stope volume acceptance device based on a UAV according to claim 6, characterized in that: The bottom of the solid frame is connected with an annular guide groove (204), the bottom end inside of the annular guide groove (204) is slidably connected with a bearing slide rod (205), the bottom center end of a bevel gear is connected with a rotating joint rod (206), the bearing slide rod (205) penetrates the side end surface of the rotating joint rod (206) and is connected with the side end of a universal joint rod (207).

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