System and methods for monitoring works or a processing device

Abstract

Described as a system for inspecting and monitoring works and / or a processing device, in order to establish at least one parameter, in an automated manner. The system includes: a station, vehicles, equipment, tools and sensors, databases, software, a digital twin, a cloud and a remote control, wherein the vehicles and equipment are deployed and transported to the work site in order to carry out the inspection and monitoring and to collect samples. Methods are also described.

Description

[0001] SYSTEM AND METHODS FOR MONITORING A PROCESS EQUIPMENT OR A WORK.

[0002] DESCRIPTIVE MEMORANDUM,

[0003] This patent application discloses a system that monitors a process, process equipment and / or a work, based on at least one of multiple possible parameters, in an automated (or semi-automated), intelligent and reliable manner.

[0004] A work site may be difficult to access, be inside another work site or be confined; a process equipment may be static or rotating that carries out a process, may be in operation or stopped, motorized and non-motorized, open, semi-closed and / or closed, such as: an industrial work site, a process equipment, the process and its components, a process equipment (502), such as: a horizontal mill, a vertical mill, a reactor, a flotation cell, a thickener, a clarifier, a bag filter, a Venturi-type gas scrubber, a tank, a transfer, feed or discharge chute, a column cell, a scrubber, a vehicle for loading or transporting, and any component of these.The parameters can be: dimensional, physical, mechanical, chemical, biological, structural, functional, such as: high metrological quality dimensions, surface finish, dry film thickness, hardness, wear level in a steel component, inspection of welds with ultrasonic and radiographic methods, determining the alkalinity of a liquid, determining the chemical composition in solids, liquids, slurries and powders.

[0005] In mining, the shutdowns of static and rotating equipment in the grinding and flotation area affect the upstream and downstream process chain, and directly impact the productivity of the mining operation and the costs per ton of ore processed.

[0006] In grinding, the SAG (semi-autogenous) and / or ball mill, and especially its liners, are highly critical; in a vertical mill, the thyme and its liners are critical; in flotation, the impeller is critical in flotation cells, and the rake is critical in a thickener. Equally important are their components, which must be in optimal condition to optimize the process.

[0007] To optimize the performance of a process and / or project, it is necessary to inspect and monitor the quality of the equipment, the work itself, and the process. For example, having a control

[0008] - 1 -

[0009] REPLACEMENT SHEET (RULE 26) The dimensional thickness of a SAG and / or ball mill lining is important for equipment performance to optimize the process.

[0010] The parameters to be measured can be multiple, they can be geometric (change in thickness in a component, etc.), mechanical (welded joints and thickness in a metallic or polymer component, etc.), as well as physicochemical (the electrochemical potential Eh, pH or conductivity, in a cellulose or mineral process) and have direct effects on the processes of a work which can optimize or harm an operation.

[0011] In addition to the above, tasks on the construction site or with process equipment are typically hazardous for operators. To perform quality control checks and gather data on project or process parameters, operators are exposed to risks such as confined spaces, working at heights, and acidic environments, among many others. The following are a series of examples that illustrate, but should not limit, the reason for this request: In a SAG and / or ball mill, entering is dangerous due to the risk of balls or rocks falling from the linings and potentially injuring operators. Measuring the wear of a particular lining covered in pulp usually requires working at heights. The same applies to measuring wear on the screw linings of a vertical mill.In a flotation cell, entering to take measurements, such as liner thicknesses or the impeller outline, is dangerous because the floor could collapse due to corrosion, potentially causing the operator to fall. In a thickener, measuring the concrete outline of large thickeners typically involves a topographic survey using scaffolding erected and positioned according to a pre-established plan of the key measurement points. This exposes operators to the risk of falls from several meters.

[0012] In all the previous cases, to perform quality control checks or gather parameters for the work or process, the process equipment typically needs to be stopped, and other equipment needs to be opened, which is very costly for the operation. The deployment of personnel also requires safety protocols and training to prevent fatal accidents due to inherent risks, which is also costly for the operation. Furthermore, performing quality control checks and gathering parameters depends on human error. Currently, quality control checks and gathering parameters for a project or process are carried out in isolation, requiring technical deployment, complexity, and operational skill, posing a challenge for both humans and robotic vehicles.

[0013] Given the above difficulties, it is desirable to have an inspection and monitoring system that can raise multiple parameters, such as metrological, mechanical and physicochemical, and that intelligently evaluates the process and the work that is transported or that coexists with said process and the work.

[0014] The disclosed system resolves the inspection and monitoring of at least one parameter of multiple possible parameters of a work or process, whether open, difficult to access, closed, semi-closed, static or rotating, fixed or mobile, by means of: a station that is installed independently or connected to said work, vehicles, equipment and devices, which are transported to the work site to collect multiple parameters and samples of the environment, which feed databases that are analyzed by software, and the entire chain of operations is improved by a digital twin, artificial intelligence and / or Blockchain.

[0015] The field of application of the invention therefore belongs to autonomous UAVs (from the English “Unmanned Aerial Vehicle” which means unmanned aerial vehicle), to the inspection and monitoring of a process, a process equipment and / or a work.

[0016] The system of the invention and its components can be used to ensure the operational continuity of process equipment and / or a project throughout its entire operation: pre-assembly, assembly, pre-commissioning, commissioning, start-up, no-load testing, initial load testing, and in the case of mining operations: during plant startup and shutdown or a campaign, normal startup, major maintenance, and after an emergency shutdown. As a non-limiting example of such an advantage, in the case of mining operations, the invention achieves an increase in TPH (Tons per Hour) of ore.

[0017] The system of the invention and its components can be used in dimensional surveying, inspection of infrastructure and components, sounding and sampling of processes, for factories and industrial processes, industry in general, construction and buildings, production lines, such as: aerospace, aeronautics and robotics, and industrial process plants, such as: metallurgy and mining, oil, gas, nuclear, chemical, pulp, fish farming, RAS and water and waste treatment.

[0018] BACKGROUND OF THE INVENTION - STATE OF THE ART.

[0019] Currently, the state of the art for conducting inspection and monitoring, in one case, is done by sending a team of people to the work site.

[0020] For example, for dimensional inspection in a mining plant in the grinding area, and to determine the wear thickness of the wear liners of the SAG and / or ball mill, the rotating equipment must first be stopped, the SAG and / or ball mill opened, a specialized team enters a 3D laser scanner, which is deployed by an operator and then positions a series of reflectors, after an exposure time for the survey of the 3D internal geometry, the equipment must be retracted and leave the work site, and then the manager of the grinding area will reactivate the operation of said SAG and / or ball mill.

[0021] In another example, in structures, to control the quality of welding, an operator must go to the work site and use a NITON XLT 898 portable analyzer.

[0022] Currently, manual and robotic equipment exist in isolation for inspection and monitoring: drones scan in 3D, operators determine the quality of welding, etc.

[0023] It is desirable that the team performing the inspection and monitoring coexist with those rotating equipment that are closed so as not to open them.

[0024] The closest prior art is invention patent WO2013067651A1 “System and method of direct visual monitoring for sensing the interior of a rotary mineral mill”, which describes; a direct visual monitoring system for sensing the interior of a rotary mill, comprising a monitoring unit, a main control unit and an operation and management unit, wherein the monitoring unit is located inside a feed hopper and is adjusted according to the physical characteristics of said feed hopper and the dimensions of the mill, to allow a direct view into the interior of the mill.

[0025] The invention patent, W02019200497A1, “A system for performing multiple complex tasks on construction sites using autonomous unmanned aerial vehicles,” describes a system (1000) comprising a control unit (1001) for operation, an autonomous multi-tasking unmanned aerial vehicle (UAV) supported by autonomous unmanned aerial vehicles (UAVs), and a centralized mobile reel unit (700) that delivers cables and hoses for supplying multiple additive and subtractive fluids (e.g., paint, air suction, etc.) and charging power. The cables and hoses include a device that allows predicting trajectories without interfering with flight maneuvers or the surrounding environment. The UAV comprises a robotic arm with specialized tools that allows, for example, painting fences, and a device that allows it to attach to various surfaces.

[0026] The invention patent, US11235890B1, “Unmanned Aerial Vehicle Having a Raised Surface Sensor,” describes a system that includes an unmanned aerial vehicle (UAV) or an aerial robotic system (ARS) for performing at least one task on an object during the UAV's flight in a movement mode configured to maneuver near a surface of the object. A task sensor is configured to detect at least one parameter of the surface. An adjustable sensor arm attachable to the UAV supports the task sensor to facilitate the task performed on the object's surface by the UAV during the UAV's flight. The sensor arm is resistant to impact forces caused by direct contact of the sensor or the sensor arm with the surface, bending, jumping, or rotating with respect to a surface contour. Also included are some prior techniques:

[0027] CN 10999070 IB “Mobile measurement system and method for a large-scale, complex curved surface, three-dimensional robot”

[0028] CN112325796A “Large-scale workpiece profile measurement method based on auxiliary positioning multi-view point cloud splicing”

[0029] EP1899678B2 “A system and method for measuring and mapping a surface with respect to a reference.”

[0030] CN207087855U “Mobile robotic platform for three-dimensional modeling of roads in live coal mines”.

[0031] US20210215478A1 “System and method for analyzing a surface subject to wear”.

[0032] ES2865051T3 “System and procedure for orienting cloud analytical data in relation to reference reference data”.

[0033] WO2023044592A1 “System for controlling and coordinating a set of equipment”.

[0034] WO2023173235A1 “Autonomous equipment system that allows multiple possible tasks on construction sites, such as ore grinding; which includes vehicles and equipment.”

[0035] However, no part of the above technique discloses the features that are disclosed below in this description.

[0036] The technical problem posed is to inspect and monitor, at least one parameter out of multiple possible parameters, of a process equipment and / or a work, as well as its components, difficult to access due to its size, accessibility, confinement or high danger; where the process equipment and / or a work can be static, rotating and / or carry out a process, can be in operation, rotating or idle, stopped, in motion or fixed, motorized and non-motorized, open, semi-closed and / or closed, such as: an industrial work, a confined and / or difficult access space in an industrial work, a process equipment, transfer or transport, the process and its components;a process equipment, such as: a horizontal mill, a vertical mill, a reactor, a flotation cell, a thickener, a clarifier, a bag filter, a Venturi-type gas scrubber, a tank, a transfer, feed or discharge chute, a column cell, a scrubber, a loading or transport vehicle, and any component thereof; possible parameters, such as: vibration, audiometry, temperature, 3D images, thickness; mineralogy of: pulp, sludge, rocks, tailings, slag, heaps; physical, chemical and biological parameters, organic, inorganic, contaminants, toxicity, viruses and bacteria, of the water, air and equipment; in an intelligent, reliable and verifiable manner throughout the entire operation chain;A system is provided that includes: the physical entities: process, process equipment and / or a work, from a station that can be independent or connected, equipment that maneuvers to the work site to collect parameters and that can also return to the station where samples are analyzed; databases of: sensors, artificial vision, historical 3D models of the physical entities; software, digital twin, Cloud, Artificial Intelligence, and remote control;and a mechanism configured to verify the authenticity and origin of the data using blockchain or similar structures with cryptographic signatures throughout the entire operation. As a non-limiting example, in the grinding area of ​​a mining plant, a SAG and / or ball mill, in one mode, is closed, where a station is connected to a feed chute. Internally connected, from the station, a probe with a duct projects out, monitoring and extracting gases and dust produced by the ore grinding. After normalizing the air and visually inspecting the interior, vehicles are moved from the station to assist in an inspection and monitoring from within: on the first level, one scans the interior in 3D; on the second level, they palpate specific points that are obstructed by pulp; on the third level, others scan a surface of interest, such as grates;While one takes samples of the pulp at the liquid level of the pulp and balls specific to the comminution; another operates an instrument to control the quality of welding on a metal grate lining that was repaired in a previous campaign; another measures with a multi-layer sensor on a hybrid lining, rubber and metal, the specific wear on a lifter of a feed ring lining; in this way multiple parameters are collected; then, at each level respectively, the series of vehicles are removed back to the station, to then resume operation of the SAG and / or ball mill, giving operational continuity to the ore grinding process in a short time;In another modality, while the SAG and / or ball mill is closed, a telescopic probe is projected from the station into the interior of the SAG and / or ball mill. When the grinding operation starts and the mill begins to rotate and operate, another series of multiple parameters are collected. In the previous cases, with the previous parameter collection, databases are built, and together with historical databases and other equipment references, a Software with Artificial Intelligence improves the deployment, operation and control maneuvers, and a digital twin of the process equipment and / or a work is built, as well as its components and the environment.

[0037] In the previous technique, performing dimensional, physical, mechanical, chemical, biological, structural, and functional quality control requires transporting a team of qualified operators with various instruments to the work site. However, when scanning mining process equipment, for example, in concentrator plants, the processing equipment must be stopped and a series of safety protocols and safeguards implemented. This involves halting the process both upstream and downstream of the mineral production chain, where every hour of downtime represents a lost ton of processed ore for the mining operation.In addition to this, there are errors due to human factors and difficulties caused by the environment, both in open fields and in semi-enclosed and enclosed construction sites. For example, time is lost due to maneuvers to collect data and parameters; environmental difficulties arise from height or obstruction by other objects; and the environment is hazardous to the health of the workers. Ultimately, it is a slow and inefficient process. The same applies to quality control: dimensional and process control on a construction site, including physical, mechanical, chemical, biological, structural, and functional parameters. For example, taking samples or inserting a probe to determine a pH parameter in a tank, or extracting a sample of pulp or rock for later analysis in a laboratory.

[0038] In the previous technique, to perform dimensional quality control on enclosed equipment and structures, for example, a UAV was introduced to scan the interior 3D surface. However, the SAG and / or ball mill had to be stopped, the feed chute detached, and then opened to allow the UAV access. This was highly costly for the grinding process and operation, resulting in lost ore grinding time, reduced tonnage of ore processed per hour, and disruptions to the upstream and downstream production chain.

[0039] In the prior art, stations for UAVs or UGVs, both for industrial purposes and parcel delivery, UAVs such as: Dock M30T Bundle from D.J.I., EVO Nest from Autel Robotics and OPTIMUS from Airobotics and UGVs such as: Spot Dock self-charging station from Boston Dynamics, are limited to keeping the parcels conditioned and stored, either charging batteries, by induction or by replacement.

[0040] These examples illustrate the need of the industry in general to inspect and monitor multiple parameters of a process, process equipment and / or a project in an intelligent and reliable manner, and to allow the operational continuity of a process, process equipment and / or a project.

[0041] There is a need in the industry for a process, process equipment and / or a project to have a series of equipment installed within the process, process equipment and / or project to monitor multiple parameters when the process equipment is closed or semi-closed, allowing multiple parameters to be taken when it is stopped, even when it is functioning, and that intelligently and reliably reduces inspection and monitoring times, allowing maximizing operational continuity.

[0042] OBJECTIVES OF THE INVENTION.

[0043] The purpose of this invention application relates to a system that allows for the intelligent and reliable monitoring of a process, process equipment, and / or structure—whether open field, semi-enclosed, or enclosed—based on multiple parameters throughout the entire operational chain. This aims to reduce the time required to collect data on multiple parameters, resulting in reduced downtime and ensuring operational continuity for production. For example, and not as a limitation, it can measure the wear of SAG and / or ball mill liners without opening the mill.A major advantage is having autonomous vehicles that can, for example, enter the interior of the SAG and / or ball mill without opening it, and even more so having a series of autonomous vehicles and equipment that can collect multiple parameters without having to stop the SAG and / or ball mill, and with a series of convenient databases where software analyzes, optimizes and evaluates the best operations to reduce maneuvering time.

[0044] These features achieve significant advances in the productivity of any process, equipment and / or industrial work.

[0045] To achieve the above, the system comprises: physical entities: process, process equipment and / or a work, from a station that may be independent or connected, vehicles and equipment, where the vehicles are transported to the work site and collaborate with each other to carry out inspection of at least one parameter of multiple possible parameters; databases of: sensors, machine vision, historical 3D models of the physical entities; software, digital twin, Cloud, Artificial Intelligence, and remote control; and a mechanism configured to verify the authenticity and origin of the data by means of blockchain or similar structures with cryptographic signatures throughout the entire operation.

[0046] This involves methods for the system: arrangement in a closed or semi-closed building, operation, construction of a digital twin and artificial intelligence, installation and operation of a probe, and extraction of contaminated air from a closed or semi-closed building.

[0047] A primary objective of the present invention is to provide a system that enables the control and coordination of one or all vehicles and equipment within a process, process equipment, and / or construction site that is difficult to access, semi-enclosed, or enclosed. This includes methods for the arrangement and operation of the system, the development of a digital twin, and the implementation of artificial intelligence.

[0048] A second object of the present invention is to provide specially configured vehicles that can be moved to the work site or are located at a connected or independent station, and that collect multiple parameters in a process, process equipment, and / or construction site that is difficult to access, semi-enclosed, or enclosed. In addition, the invention includes methods for extracting contaminated air and installing and operating a probe, so that these vehicles can properly inspect and monitor the process.

[0049] A third object of the present invention is to provide a mechanism configured to verify the authenticity and origin of data using blockchain or similar structures with cryptographic signatures throughout the entire operation, along with the method of operation.

[0050] BRIEF DESCRIPTION OF THE FIGURES.

[0051] Other features and advantages of the invention will become apparent from the following description of its preferred embodiment, and various embodiments, given only as illustrative and non-limiting examples, will be described with reference to the accompanying drawings, in which:

[0052] Figure 1: is a block flow diagram of how the system operates (1000).

[0053] Figure 2: illustrates the system applied in a covered stockpile.

[0054] Figure 3: illustrates the system applied in a type of thickener or clarifier.

[0055] Figure 4: illustrates the system applied in a type of mixer or agitator.

[0056] Figure 5: illustrates the system applied to a type of covered conveyor belt.

[0057] Figure 6: illustrates the system applied to a type of moving vehicle.

[0058] Figure 7: illustrates the interior of a closed rotary process equipment, longitudinal section of a stopped SAG and / or ball mill.

[0059] Figure 8: illustrates the interior of a closed rotary process equipment, longitudinal section of a SAG and / or ball mill starting rotation.

[0060] Figure 9: illustrates the interior of a closed rotary process equipment, partial longitudinal section of an operating SAG and / or ball mill.

[0061] Figure 10: illustrates the detail of the extraction system coupled to a telescopic probe (4).

[0062] Figure 11: illustrates the first UAV (1) in flight.

[0063] Figure 12: illustrates the second UAV (2) folded in flight.

[0064] Figure 13: illustrates the interior of a closed rotary process equipment, longitudinal section of a vertical mill (652).

[0065] Figure 14: illustrates the interior of a semi-closed rotary process unit, longitudinal section of a reactor (669). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT:

[0066] In the following detailed description, several example realizations of a system (1000) will be described in detail.

[0067] The system (1000) for monitoring a process equipment (502) and a work (600), because it comprises: a) equipment (501) that includes at least: a series of sensors (70) and main machine vision (60), a control unit (100), a location and communication unit (50), a first UAV (1) (from the English “Unmanned Aerial Vehicle” which means unmanned aerial vehicle), and / or a second UAV (2) and a station (3); b) in aggressive environments, it may include at least a ventilation duct (3.12) that is coupled to a telescopic probe (4), which have at least an axial air extractor (3.3), sensors (70) and a main machine vision (60); c) the equipment (501) is in communication with a control base (1001);and are configured to collect and extract from the medium, at least one parameter, from a series of multiple possible parameters of the work (600) and the process equipment (502), from an air, land, liquid, gaseous medium, pulp mineralogy and from the components of the work (600) and the process equipment (502) or any component thereof; such as, in the case of the mill (650): on the pulp (901), a lining (651), grate, tiles, slots;d) The equipment (501) with sensors (70), machine vision (60 and 61) and / or tools (200) collects at least one parameter, from a series of multiple possible parameters, of structural, geometric and process quality, such as: 3D dimensions and surface, surface finish, thickness of materials, thickness of paints and coatings, cracks in welds, level of oxidation, temperature, speed and direction of wind and liquids, humidity, vibrations, audiometry, odors, concentrations of volatile organic compounds in the air, density of solids and turbidity in liquid medium, concentration of minerals in solids, dust, liquids, pulp or tailings, thereby building a database (4001);e) the station (3) is located outside and / or inside a process equipment (502) of the work (600), connected in such a way that a first UAV (1) and / or a second UAV (2) can reach the process equipment (502) from the outside or inside, either from the station (3); f) the station (3) includes at least: a platform, a main machine vision system (60) inside and outside, and a series of sensors (70); separated by at least one main gate (3.4) and / or a secondary gate (3.5), and at least one connection flange to the process equipment (502); g) when the station (3) is installed in a work (600) with process equipment (502), as well as a mill (650) and a vertical mill (652), so that the first UAV (1) and / or the second UAV (2) can travel connected inside these;In an existing structure, an opening must be made and connection flanges provided; in a new structure, an opening and connection flanges can also be incorporated into the original design of said structure; h) the first UAV (1) includes: a primary machine vision (60) and / or a secondary machine vision (61); i) the second UAV (2) includes: a primary machine vision (60) and / or a secondary machine vision (61), some high-power LEDs (1.7) and at least one arm (1.3) or lance with at least one tool (200); j) the second UAV (2) includes at least one tool (200) from multiple tools, grippers, sensors or instruments;k) the series of sensors (70), main machine vision (60), secondary machine vision (61) and tools (200): (201) probe, (202) XRF, and (203) spectrometer, collect at least one parameter from multiple possible parameters, such as: vibration, audiometry, temperature, 3D images, pulp thickness and mineralogy (901) in a process equipment (502) of the work (600); physical, chemical and biological parameters, organic, inorganic, hydrochloric acid, nitrogen dioxide, contaminants, toxicity, viruses and bacteria, from both water, air and equipment; l) the monitoring and operating maneuvers can be controlled from a remote control (1014) and / or Artificial Intelligence (1012);and where, m) the parameters and data are sent via a Wi-Fi link to a Software (1009), which processes the database (4001), together with: a database (4002) of the 3D models of the equipment and the process, of a process equipment (502) and / or a database (4003) of the work (600).;

[0068] Detailed description of the system components.

[0069] The first UAV (1) includes: drone body (1.1), a primary artificial vision (60), a secondary artificial vision (61), and a series of high-power LEDs (1.7).

[0070] The second UAV (2) includes: drone body (2.1), a main artificial vision (60), a secondary artificial vision (61), some high-power LEDs (1.7), an arm (1.3) or lance and a tool (200).

[0071] The station (3) includes: a series of spare parts (3.6), a robot arm (3.10), a carousel (3.7) of hanging tools (200) and (400), and a carousel (3.8) of batteries, a battery charger (3.9), a main air extractor (3.2) and a secondary air extractor (3.3), a sample analyzer (3.11), a robot arm (3.10), a main machine vision (60) inside and outside, and a series of sensors (70).

[0072] The telescopic probe (4) includes a telescopic arm (4.2) with a primary machine vision device (60) and / or a secondary machine vision device (61) at its end, and which exposes a series of sensors (70). The XRF tool (202) includes an X-ray fluorescence analyzer. The spectrometer tool (203) includes a near-infrared reflectance spectroscopy analyzer. The multilayer ultrasonic sensor tool (205) includes an ultrasonic sensor with at least two layers for single operation. The clamshell sampling tool (211) includes two scoops articulated by a rotating unit.

[0073] The tools (200): (201) probe, (202) XRF, (203) spectrometer, (205) multilayer ultrasonic sensor, on the outside and in the direction of attack to operate, are located a series of: distance sensors (201.7), cameras (201.8), high power LEDs (201.9), and at least one spacer (201.10), which comprises a mechanical stop with elastomer, to dampen the surface to be measured.

[0074] The series of sensors (70), main machine vision (60), secondary machine vision (61) and tools (200): (201) probe, (202) XRF, and (203) spectrometer, collect data such as: vibration, audiometry, temperature, 3D images, pulp thickness and mineralogy (901) in a process equipment (502) of the work (600); Physical, chemical, and biological parameters, organic, inorganic, contaminants, toxicity, viruses, and bacteria, of water, air, and equipment: microphone, a gyroscope accelerometer sensor, and an IMU; distance, speed, acceleration, vibration, temperature, humidity, wind speed, pressure, load, liquid currents, atmospheric pressure, liquid level, liquid pressure, position, speed and acceleration of moving objects, salinity, carbon dioxide (CO2), dissolved oxygen (O2), pH, mass, density, and viscosity of liquids and gases (Coriolis mass flow meter), liquid velocity, turbidity.Electrical conductivity, total dissolved solids (TDS), nitrites (NO2), nitrates (NO3), ammonium (NH4), calcium, potassium, metal ions, chlorides, free and total chlorine, copper, chromium, nickel, iron, silica, bromine, manganese, magnesium in seawater, phosphate in seawater, fluorides, phosphorus in seawater, water color, biosensors, virus and bacteria sensor, photonic sensor for contaminants, optical biosensors for toxicity, fluorometers for chlorophyll parameters, photometers, ammonia gas (NH3), hydrochloric acid, nitrogen dioxide (electrochemical sensors), hydrogen sulfide (H2S); and / or for the mineral: radiometric sensors (radiation detector), photometric sensors (light source and detector), electromagnetic sensors (source and detector or induced potential) or more high-energy electromagnetic sources / detectors such as X-ray source types (fluorescence or transmission) or gamma ray source.

[0075] Regarding the components of a process, a process equipment and / or a work, there is a location and communication unit (50), a series of sensors (70) and a control unit (100), which deliver signals and establish communication with the equipment and systems of the system (1000).

[0076] The control unit (100) for the operation of the system (1000) is configured for: flight driving maneuvers, operating trajectories, communication, data storage, monitoring, task operation and system control, these are issued by a Wi-Fi link, which allows sending data to the Cloud (1011) and improving operations through Artificial Intelligence (1012).

[0077] The control unit (100) allows the equipment to be operated to perform the parameter survey at the work site quickly and efficiently, a coordinated and synchronized operation.

[0078] The control unit (100) allows operation of the equipment along with the aforementioned moving and motorized components, thereby controlling: horizontal, left, and right orientation, height, and the vehicle's position. The control unit (100) allows operation of the aforementioned moving and motorized components because the linear actuators and motorized rotary units have encoders.

[0079] Communication is achieved through first transmission signals, second reception signals, and third control signals, via a wireless radio link. The communication interface is achieved using the following: 4G, 5G, Ethernet, optical network, MODBUS, PROFIBUS, CAN, RS485, TCP / UDP, and HART and OPC UA communication protocols.

[0080] The main machine vision unit (60) and the secondary machine vision unit (61) include a series of: a 3D ToF camera (time-of-flight), an omnidirectional camera, a CDD camera array (charge-coupled device), a high-resolution thermal imaging camera, multispectral cameras, a 3D scanner, a LIDAR system (Laser Imaging Detection and Ranging), a set of high-power LED spotlights, high-definition radar (radio detecting and ranging), and a laser pointer (not shown).

[0081] The equipment includes a range of instruments and sensors. The sensors (70) comprise a variety of sensors for measuring various parameters: wind speed, ambient temperature, air temperature, humidity, dust particles, gases, surface temperature of objects being inspected, color, pressure, load, object proximity, depth, altimetry, etc. These include ultrasonic, inductive, and capacitive sensors, as well as gyroscopes, accelerometers, high-performance, high-resolution microphones, and a sound level meter ranging from 100 to 250 decibels. The system also includes an Inertial Measurement Unit (IMU).

[0082] The location and communication unit (50) comprises a high-precision GPS (Global Positioning System). The described implementation communicates via Wi-Fi signals. Various wireless means are available. Data can be communicated via low-power RF (radio frequency) emissions at a low duty cycle (e.g., once a day) to the dedicated reader of the control unit (100), which will transmit the information via the higher-power GSM (Global System for Mobile communications) network to a cell phone or smartphone for a site supervisor or control center (1001). Data delivery can also be accomplished via low-energy radio waves (Bluetooth, Zigbee, Z-Wave, etc.).Therefore, communication and data can be connected to a smartphone, tablet, computer, immersive reality glasses (such as Apple's Vision Pro mixed reality headset), etc.

[0083] The arm (1.3), or lance, has at least one degree of freedom and can be of the following types: articulated, motorized, flexible, soft, pneumatic, unreliable, BionicSoftArm™ pneumatic elastomer, anthropomorphic, foldable, retractable, or telescopic. A lance of the following type is a bar or profile, a flexible structure that, once it finds a position (extension and torsion), becomes rigid, with a predefined geometry for each use. The quantities of arm (1.3) and robot arm (3.10) are determined by the type of task, the weight of the equipment, supplies, and other variables.

[0084] The UAVs (1 & 2) in this embodiment are multicopters and quadcopters. UAVs (1, 2, 9, and 13) are medium-sized (25 to 150 kg), while UAVs (6, 7, and 12) are small (2 to 25 kg). In some cases, it is a micro aerial vehicle (250 g to 2 kg), and in some embodiments, it is a nano (up to 250 g).

[0085] UAVs (1 & 2), in other embodiments, are tricopters, hexacopters, octocopters, and coaxial aircraft, also compliant with EASA (European Union Aviation Safety Agency) regulations, any class, such as C0 through C6. In other embodiments, they may be of the VTOL (Vertical Take-Off and Landing) type. In other embodiments, it is a hybrid configuration of a helium-filled body and independent rotors, such as the h-aero from Hybrid Airplane Technologies GmbH.

[0086] In UAVs (1 & 2), the landing gear is configured according to the environment. For instance, when the actual mill filling level (902) (650) contains objects (801) such as balls and ore, legs (1.6) are designed to cover the surface of two or three steel balls ranging from 105 mm to 160 mm in diameter. The landing gear can be designed in the following types: umbrella, three-fin, inflatable, or elastomer.

[0087] In UAVs, flight control can be achieved using mmWave, millimeter-wave radar, or an RFID tag that operates at frequencies of 30 to 300 GHz at a range of over 10 meters with a viewing angle of more than 30° in elevation and azimuth (almost 8 times that of conventional tags). This is a weather-guided system that functions in all climates and without the need for cameras.

[0088] For all equipment, especially the UAVs (1 & 2), to achieve interaction with the process, the process team, and / or the construction site, including trajectory tracking, maneuvers, mapping the visual and audible environment, object detection, target detection, access protocols, and manipulation, the system utilizes Microsoft Azure Percept, which integrates Azure cloud services, AI model building, and IoT (Internet of Things) device configuration. To interact with administrators, operators, or workers involved in the process, the process team, and / or the construction site, the system utilizes Microsoft Azure Cognitive Services.

[0089] In this embodiment, the main machine vision system (60) uses a high-accuracy, high-resolution, and high-speed 3D laser scanner that covers a wide range of surface sizes, such as a Leica RTC360 3D laser scanner with an accuracy of 1.9 mm. Other embodiments may use a different scanner with lower or higher performance.

[0090] In this embodiment all vehicles, the UAVs (1 & 2) have defined configurations and collaborate with each other; in other embodiments the characteristics are shared, which means that, in a non-limiting example, a first UAV (1) can also have an arm (1.3) or lance with a tool (204).

[0091] For all vehicles and equipment, the batteries described are lithium-ion batteries and may have a primary or secondary battery in case of failure. In other embodiments, the batteries may be pressurized gaseous hydrogen (H2) fuel cells.

[0092] Vehicles, equipment and devices, such as: arm (1.3), telescopic arm (4.2), preferably use compact mechatronic motors, DC and brushless motors, compact high torque and power reducers, such as Maxon.

[0093] The equipment, especially the station (3), main gate (3.4) and secondary gate (3.5), have been predominantly distributed with electric power supply and power; other implementations are pneumatic or hydraulic, in these cases they have the respective tanks, pumps, valves, and filters.

[0094] At station (3), the exit to the inspection and monitoring space for a process equipment (502) and / or a structure (600) can be oriented in any direction, preferably towards the process. In some cases, it is downwards, as in Figures 7, 8, 9, and 14, or laterally, as in Figures 2, 3, 4, 5, 6, and 13. In other cases, the direction is upwards. In other embodiments, station (3) can be connected to a series of existing perforations in a process equipment; for example, it can be configured for a pre-existing inspection door opening. In some cases, an opening must be cut, typically by oxy-fuel cutting, a perimeter frame welded on, and flanges and gaskets installed. In some embodiments, it can be parallel to a process equipment via a platform and connected by a bellows joint. In other embodiments, a platform parallel to a process equipment supports it, and when required, a telescopic extension connects it to the process equipment.In other embodiments, a vehicle parallel to a process unit supports it, and when required, a telescopic extension connects it to the process unit. In other embodiments, the connection between the station (3) and the process unit can be made by means of a flanged pipe, tube, or duct and a motorized knife gate valve.

[0095] At station (3), the main gate (3.4) and the secondary gate (3.5) are actuated guillotine gates operated from the control base (1001) or from UAVs (1 & 2) and / or the telescopic probe (4). In other embodiments, the main and secondary gates (3.4) may be tilting, hinged, diaphragm, curved, circular, polygonal, coated with anti-corrosive paint, or reinforced two-component polymers (Fourthane® type). In some embodiments, the interior of the gate, which is on the inside side of the process equipment, may be lined by one or a series of modules of the same type as said process equipment, so that it matches the interior in shape, pattern and material, for example, in 400 HBW steel, high resistance to abrasion wear, polyamide, combination of rubber and ceramic pads, polyurethane, hybrid rubber linings, 600 HBW Hardox® type steels and / or cast steel core.

[0096] In other embodiments, station (3) may include a module for wirelessly charging vehicles and equipment via induction. Other embodiments may include a module that delivers alternating rechargeable batteries, with one always rotating and others in reserve. A backup battery is always provided in case of failure of the main battery. A robotic arm inserts and removes a battery located in station (3) on a battery carousel. In environments with aggressive agents such as dust, humidity, and airborne acids, the delivery modules use seals and a hermetically sealed chamber in the compartment where the robotic arm accesses and performs the battery change. Meanwhile, the carousel with the positive and negative connectors rotates, preventing these agents from entering through the seals.

[0097] For vehicles and equipment, it is necessary to protect the actuators and instrumentation with enclosures rated at least IP67, as mining operations typically involve environments with aggressive agents. If the vehicle or equipment is in an environment with design conditions for explosives, for example, in a mining extraction environment with specific hazardous gases, the electrical and mechanical components and protection systems must meet ATEX explosion protection standards (an abbreviation of the French, “ATmosphère Explosible,” meaning “Explosive Atmosphere”).

[0098] The (4001), (4002), and (4003) databases can be structured, semi-structured, or unstructured databases, SQL (Structured Query Language), NoSQL data, and even spreadsheets. NoSQL databases are highly scalable and offer excellent performance for large, unstructured datasets.

[0099] The database (4002) includes the databases for: the equipment's 3D models, historical 3D models of the equipment, 3D models of reference equipment, the process, historical process data, and / or historical reference process data. In process equipment, such as a mill (650), the databases may include the geometry of the drum shell (653), the liners (651), such as the mill cylinder wear liner for the feed, center, and discharge rings, the riser bars, the feed corner, the inner and outer liners on the feed cover, the grate on the discharge cover, the inner and outer pulp dischargers on the discharge cover, the discharge cone, the discharge trunnion liner, the trommel (666) and its screens, the feed chute discharge chute (667), the material level (668) in the feed chute discharge chute, the feed chute (664), and the discharge chute (665).The databases of the different data can be compared and contrasted. For example, the dimensions and areas of highest temperature of the process material can be compared between two campaigns. Database (4003) includes the databases of: the 3D models of the project, historical project data, and / or reference 3D models of the project. Following the same example as before, databases (4002), in a non-limiting example, database (4003) could contain the geometry of the feed and discharge pipes and ducts, and the series of manual and automatic valves in the mill circuit (650). The databases of the different data can be compared and contrasted. For example, the dimensions and areas of highest temperature of the feed and discharge chutes of the mill (650) can be compared and contrasted.

[0100] In this implementation, the databases (4001), (4002), and (4003), which are the logical model reflecting the physical model, are created using at least one software program (1009). A digital twin (1010) is then constructed by creating a three-dimensional model of the physical entity. This modeling includes the structure, geometry, materials, boundary conditions, and at least one finite element analysis. This is achieved by importing the point cloud from a 3D scanner using at least one of the vehicles and devices, such as Recap software, and importing it into 3D modeling software, such as 3DS Max, to integrate more complete and multi-layered scenarios. At the next level, the 3D models and boundary conditions are iterated by Artificial Intelligence (1012). The data is then sent to the Cloud (1011) in either backup or direct service mode.Using an open-source virtual reality simulation engine, such as Unreal Engine, 3DS Max scenes are acquired and a human-computer interface simulation scene is built: VR (Virtual Reality), AR (Augmented Reality), and MR (Mixed Reality), in order to maneuver, control, and operate a vehicle and / or equipment, or in a remote control mode (1014). All vehicles and equipment acquire gesture-based remote control, Mixed Reality, and AI, with a Microsoft HoloLens 2 holographic device, through the integration of the Evergine 3D engine and Plain Concepts' Holo-Robot.

[0101] Simultaneously with the entire chain of parameter collection, maneuvers, and operations, a Blockchain (1015) is generated. This is achieved through a Ledger system that stores all data transactions in this process, such as the reading of at least one parameter by at least one vehicle, piece of equipment, sensor, or tool, and notifications and / or reports to the control base (1001) for the process, the process equipment, and / or the project. The control base (1001) has, or determines who has, a Wallet, which is a digital interface that allows for the secure sending, receiving, and storage of digital assets. The entire process is certified and audited through the generation of NFTs (Non-Fungible Tokens), which are unambiguous representations of both digital and physical assets. Programming languages ​​such as JavaScript, Solidity, and HTML are used.

[0102] In other implementations, the vehicles and equipment are adapted with radiation protection, and the system can be used to monitor construction projects in nuclear disaster zones. It can also be adapted to operate in low-pressure or vacuum atmospheres and in the presence of ionizing radiation, potentially allowing it to monitor construction projects on the Moon, Mars, or other locations beyond Earth.

[0103] Although it is stated that each vehicle works directly with the system (1000), that is, with other vehicles, it does not exempt each vehicle from performing a specific task independently.

[0104] Detailed description according to figures.

[0105] To carry out the detailed description of the preferred embodiment of the device of the invention, continuous reference will be made to the Figures in the drawings, of which Figure 1 is a block flow diagram of how the system (1000) of the following invention operates.

[0106] From a control base (1001) or company, a request is received to inspect and monitor the process, a process equipment and / or a work site. In the first stage, communication is established with a control unit (100) in the vehicles and equipment. The UAVs (1 & 2) move to the work site. The vehicles and equipment may be located at the station (3), and this may be connected to or independent of the process, a process equipment and / or a work site. At the work site, the vehicles and equipment, the UAVs (1 & 2), collect multiple parameters, such as dimensional, images, structural and physicochemical, which build a database (4001). Then, the vehicles and equipment, the UAVs (1 & 2), go back to the station (3) or to another operation.In a second stage, the database (4001), together with the database (4002) of the 3D models of the equipment and the process, which includes historical data, and the database (4003) of the work (600), which includes historical data, are processed by: a Software (1009), a digital twin (1010), a Cloud (1011), an Artificial Intelligence (1012), and which can also be operated by a remote control (1014), where at least one, of multiple parameters; the vehicles and equipment, the UAVs (1 & 2), remain waiting to raise a certain parameter at the work site or wait until a new order;In a third stage, in parallel and throughout the entire operation chain, a reliable Blockchain traceability (1015) associated, sends certified data of at least one operation related to inspection and monitoring, maneuvers and data collected from measurement, such as maneuvers and results of the fluorescence of rays in the feeding and discharge of fluids in a certain process of a work.;

[0107] The control base (1001) should be understood as the control instance that is operated from any enabled point, from a company, home, mobile device, remote manual control, or, in the case of the mining industry, in an integrated operations center, under physical and digital interaction, such as: VR (Virtual Reality), AR (Augmented Reality), MR (Mixed Reality), etc. In other implementations, the control base (1001) adopts direct control of at least one of the UAVs and / or equipment, to maneuver, coordinate, and operate. In a non-limiting example, the first UAV (1) must establish communication with the station (3) and maneuver to the trommel (666), passing from the feed chute (664), feed chute discharge channel (667) and through the mill body (650), where it then performs a main machine vision (60).

[0108] Figure 2: Illustrates an application case in a covered ore stockpile, where station (3) is installed on the roof of the covered ore stockpile, from where the UAVs (1 & 2) are projected and the telescopic probe (4) is exposed. Figure 3: Illustrates an application case in a type of thickener or clarifier, where station (3) is installed on the bridge of a type of thickener or clarifier, from where the UAVs (1 & 2) are projected and the telescopic probe (4) is exposed.

[0109] Figure 4: illustrates an application case in a type of mixer or agitator, where the station (3) is installed on the body above the liquid level of a type of mixer or agitator, from where the UAVs (1 & 2) are projected and the telescopic probe (4) is exposed.

[0110] Figure 5: illustrates an application case in a type of covered conveyor belt, where the station (3) is installed on the cover of a type of covered conveyor belt, from where the UAVs (1 & 2) are projected and the telescopic probe (4) is exposed.

[0111] Figure 6: illustrates an application case in a type of moving vehicle, where the station (3) is installed close to the transporting hopper or excavator, such as a material transport truck hopper and the bucket of an electric shovel, from where the UAVs (1 & 2) are projected and the telescopic probe (4) is exposed.

[0112] Figure 7: Inside a closed process unit, longitudinal section of a stopped SAG and / or ball mill. FE., the feed, at the mill inlet (650) and DI., the discharge, at the mill discharge (650) towards the trommel (666), FE, the theoretical fill level and CE, the center of line of the rotating equipment. In this figure, when the mill (650) is stopped under load, station (3) is connected above the feed chute (664) of the mill (650). The main air extractor (3.2) is located in the body (3.1) of station (3) to extract gases, dust, acid mist and / or fine dust produced by the ore grinding, where the extractor (3.2) is activated after the main gate (3.4) is closed. The extraction is done so that the main machine vision (60) and sensors (70) work well, and depending on the mineral or process material, to avoid any combustion or damage to the vehicles and equipment.From station (3) UAVs (1 & 2) fly into the mill (650), where the passage between the interior of station (3) and the mill (650) is achieved by means of the main gate (3.4), over the feed chute discharge channel (667), so that any vehicle or equipment moves over the level (668) of material in the feed chute discharge channel. The first UAV (1) is maneuvering and lifting at least one of multiple possible parameters, scanning 3D, throughout the interior: from the feed chute discharge channel (667), the mill (650), its linings (651) and the pulp (901) over the linings, trommel (666) and the discharge chute (665), and also towards the feed chute (664) and beyond, through the secondary gate (3.5), above the feed chute.The second UAV (2) is positioned above the actual fill level (902), over the balls and ore (801), such that the vertical and horizontal Field of View (FoV) of the main machine vision 3D laser scanner (60) is unobstructed. The second UAV (2) has an XRF tool (202) and a spectrometer tool (203) attached to its arm (1.3) or lance, which operate over the actual fill level (902) of the mill, over the balls and ore (801). The second UAV (2) also has a multi-layer ultrasonic sensor tool (205) attached to its arm (1.3) or lance, which measures the thickness of the lining (651). The second UAV (2) carries a clamshell tool (211) to extract samples of objects (801) balls and ore and pulp (901) on the coatings, which are subsequently analyzed at station (3) using a sample analyzer (3.11).

[0113] Figure 8, continuing from Figure 7: In this figure, when the mill (650) is operating under load, the rotary start-up of the process is illustrated inside the enclosed process equipment, a longitudinal section of an operating SAG and / or ball mill. The first UAV (1) captures at least one parameter from multiple possible parameters in the mill (650) and the trommel (666). These parameters are retracted and returned to station (3) when collisions with the process material in the process equipment, in this case the comminution material, are unavoidable. The captured data is shared with station (3), which instantly transmits it to the control base (1001). In another embodiment, the captured data is stored in internal memory, and upon the next shutdown, the location and communication unit (50) sends it to the control base (1001).

[0114] Figure 9, continuing from Figures 7 and 8, shows the mill (650) when stopped under load and operating under load. Inside a closed process unit, a partial longitudinal section of a functioning SAG and / or ball mill illustrates the telescopic probe (4) from station (3), located inside the mill (650). This probe captures the process dynamics and, together with the ventilation duct (3.12), as detailed in Figure 10, helps to remove contaminants from the internal air, which in this case is used for mineral grinding and comminution. When the mill (650) is stopped or operating, the telescopic probe (4) functions as a 3D scanner, collecting multiple parameters via sensors (70).

[0115] Figure 10: This is a detail of the extraction system, which allows for the removal of gases, dust, acid mist, and / or fine dust produced during ore grinding. The ventilation duct (3.12) is connected to the telescopic probe (4), and as many duct supports (4.5) are used as necessary. The diameter, material, and type of ventilation duct (3.12) are designed according to the required hourly airflow and the process environment within the processing equipment. An anemometer and sensors for measuring contaminant, gas, and temperature parameters are located near the fan.

[0116] Figure 11: The first UAV (1) is deployed in operation, projecting the main machine vision (60) and secondary machine vision (61).

[0117] Figure 12: The second UAV (2) is deployed in operation, projecting the main artificial vision (60) and secondary artificial vision (61), articulated arm (1.3) or lance, with at least one degree of freedom, which has a tool (200) at its end.

[0118] Figure 13: Inside a closed process unit, longitudinal section of a vertical mill (652). FE, the feed, and DE, the discharge; FL, the theoretical fill level; and CL, the centerline of the vertical rotary equipment, which is common to the vertical mill screw (670). Station (3) is connected above the FL theoretical fill level in the upper portion of the vertical mill screw (670).

[0119] The telescopic probe (4) is connected from station (3), and the main gate (3.4) is located between the vertical mill (652) and station (3), while an axial air extractor (3.3) is located at the top of station (3). In this figure, when the vertical mill (652) is stopped in a vacuum, where: the telescopic probe (4) is projected inside the vertical mill (652), the UAVs (1 & 2) are at the work site; the first UAV (1) is operating sensors (70), main machine vision (60) and / or secondary machine vision (61), and / or the second UAV (2) is also operating the tools (200), running the multi-layer ultrasonic sensor tool (205) on the liners (651) and the pulp probe tool (201) on the liners (651).In this figure, when the vertical mill (652) is stationary with a load before operation, the telescopic probe (4) is projected inside the vertical mill (652). The first UAV (1) is in position before the vertical mill (652) begins to operate and rotate. These UAVs retract and return to station (3) when collisions with the process material are unavoidable. Also in this figure, when the vertical mill (652) is in operation, the telescopic probe (4) is projected inside the vertical mill (652), capturing the movement of the material load (801), including balls and minerals, inherent to the vertical grinding process. In this configuration, the telescopic probe (4) is also connected to the ventilation duct (3.12) for extracting contaminated air from inside the mill.

[0120] Figure 14: Inside a semi-closed process unit, longitudinal section of a reactor (669). FE., the feed, DI., the discharge, FL, the theoretical fill level, and CL, the center of line of the vertical rotating equipment, which is common to: the impeller and shaft in RCS (Reactor Cell System, by Metso) flotation machines, the shaft and blades in a mixer, and the shaft and rakes in thickeners and clarifiers. Station (3) is connected above the FL, the theoretical fill level, in the upper portion of the reactor (669). The telescopic probe (4) is connected from station (3), and the main gate (3.4) is located between the reactor (669) and station (3), while an axial air extractor (3.3) is located at the top of station (3).In this figure, when the reactor (669) is stopped in a vacuum, where: the telescopic probe (4) is projected inside the reactor (669), the UAV (1 & 2) are at the work site; the UAV (1) is running sensors (70), main machine vision (60) and / or secondary machine vision (61), and / or the second UAV (2) is, in addition, operating the tools (200), running the multi-layer ultrasonic sensor tool (205) on the liners (651) and the pulp probe tool (201) on the liners (651). In this figure also, when the reactor (669) is stopped with load before operation, where: the telescopic probe (4) is projected inside the reactor (669), the first UAV (1) is in position before the vertical mill (652) begins to operate, to rotate, which are folded back and returned to station (3) when it is inevitable to crash into the process material of the process equipment.The second UAV (2) is equipped with tools (200), measuring the fill level, pulp (901), linings (651), and any other process equipment components. This figure also shows the reactor (669) in operation, where the telescopic probe (4) is projected inside the reactor (669) by its effectors: the shaft, rotors, screens, diffusers, and / or blades. There, it captures the movement of foam, bubbles, and / or pulp from the process, as well as minerals from the reactor process. In this configuration, the telescopic probe (4) is also connected to the ventilation duct (3.12) for extracting contaminated air from inside the reactor.

[0121] In Figures 2, 3, 4, 5, 7, 8, 9, 10, 13, and 14: the axial air extractor (3.3) is used to extract gases, vapors, dust, acid mist, and / or fine dust produced by the process. It is located parallel to station (3) to avoid affecting vehicles and equipment entering the process equipment. The axial air extractor (3.3) is connected to a telescopic probe (4), as detailed in Figure 10. The main damper (3.4) isolates station (3) from the aggressive environment inside the vertical mill (652). In other embodiments, a pre-chamber can be incorporated before the vehicle chamber for pre-cleaning and removal of any contaminants or foreign objects.

[0122] In other embodiments, shown in Figures 7, 8, and 9, station (3) can be located anywhere along the feed chute (664), also along the discharge chute (665), in the trommel (666), and / or in the mill (650), for example, in the mill inspection hatch (650). The feed chute (664) can be pre-designed with the access, gate, and connecting flanges, and the station (3) configuration most favorable for the grinding layout and operation, or the feed chute (664) can be designed and modified at the work site.In a non-imitative example, station (3) may be connected behind the feed chute (664) above the dead load transfer level and have a horizontal guillotine gate over the vehicle traffic area as a deflector for material that is higher up and detaches, thus providing direct access from station (3) to the interior of the mill (650) and trommel (666) assembly. The internal linings of these chutes are connected to motorized gates that allow the normal operation of the ore transfer and connect the interior of station (3) with the interior of the mill (650) and / or the trommel (666). Similarly, in other embodiments, station (3) may be connected to the feed ducts upstream of the feed chute (664).In another, basic embodiment, at least one UAV having at least one secondary artificial vision (61) can access from an opening on one side of the feed chute (664) and / or the upstream conduits, in such a way as to access through said confined space to reach the inside of the mill (650).

[0123] In other embodiments, in Figures 7, 8 and 9, the station (3) can be located from the mill discharge chute (665) to access the trommel (666).

[0124] In other embodiments, as shown in Figure 13, station (3) can be located from above or inside the vertical mill (652). In other embodiments, as shown in Figure 14, station (3) can be located laterally or inside the reactor (669).

[0125] The invention discloses a method for arranging a process equipment (502) and / or a structure (600) for monitoring a structure, comprising the following steps: a) installing a main gate (3.4) together with a platform on a process equipment (502) at a structure (600), such that the first UAV (1) can move into it; the main gate (3.4) together with the platform can also be incorporated into the original design of a process equipment (502); b) maneuvering and positioning the first UAV (1) inside a process equipment (502) and / or a structure (600) from the main gate (3.4) together with the platform; c) operating the main machine vision (60) and / or secondary machine vision (61); d) in the preceding steps, the process equipment (502) at a structure (600) can be in operation, stopped, rotating, idle, moving, or stationary.

[0126] The invention also discloses a method for setting up a facility to monitor a process equipment (502) and / or a facility (600), comprising the following steps: a) installing a station (3) on a process equipment (502) at a facility (600), such that they are internally connected and can be traversed by the first UAV (1) and / or the second UAV (2); in an existing facility, an opening must be made and connection flanges provided; an opening and connection flanges can also be incorporated into the original design of a process equipment (502); b) from the station (3), maneuvering and positioning the first UAV (1) and / or the second UAV (2) inside a process equipment (502) and / or a facility (600); c) operating the main machine vision (60) and / or secondary machine vision (61); d) Alternatively, run a tool (200) on the second UAV (2) to collect at least one parameter, on the inside, within a process equipment (502) and / or on a worksite (600).e) In the previous steps, the process equipment (502) of a work (600) may be in operation, stopped, rotating, idle, moving, or stationary.

[0127] The invention also discloses a method for constructing a digital twin and an artificial intelligence system (1000) for monitoring a process equipment (502) and / or a work (600), comprising the following steps: a) communicating at least one vehicle of the equipment (501) and sending data readings to the Software (1009), and building a database (4001); b) installing on a process equipment (502), outside and / or inside, a multiplicity of sensors (70), main machine vision (60), secondary machine vision (61); such as: omnidirectional cameras, thermal cameras and LIDAR, and sending data readings to a Software (1009), and building a database (4002) of the 3D models of the equipment and the process; c) installing on a work (600), outside and / or inside, a multiplicity of sensors (70), main machine vision (60), secondary machine vision (61);such as: omnidirectional cameras, thermal cameras and LIDAR, and sending data readings to a Software (1009), and building a database (4003) of the work (600); d) using the Software (1009) building a digital twin (1010) of the database (4001), the database (4002) and the database (4003), from the previous databases and assembling these; e) regardless of the order of the previous steps, monitoring and supervising the operation using the digital twin (1010); f) improving the operations of the digital twin (1010), using Artificial Intelligence (1012).

[0128] The invention also discloses a method for installing and operating a telescopic probe (4) for monitoring a process equipment (502) and / or a structure (600), comprising the following steps: a) connecting a telescopic probe (4) to a process equipment (502) and / or a structure (600): in a closed processing equipment, such as a vertical mill (650) and mill (652), and in a semi-closed processing equipment, such as a reactor (669), flotation cells, and thickeners; and b) deploying and projecting the telescopic probe (4), in the case of the closed equipment, when it is motorized, without stopping and / or opening it, and in the case of the semi-closed equipment, when it is motorized, without stopping it; and operating sensors (70), main machine vision (60) and / or secondary machine vision (61) and establishing communication with a control base (1001).

[0129] The invention also discloses a method for installing and operating a ventilation duct (3.12) for monitoring a process equipment (502) and / or a structure (600), comprising the following steps: a) connecting a telescopic probe (4) to a process equipment (502) and / or a structure (600): to a closed processing equipment, such as a vertical mill (650) and mill (652), and to a semi-closed processing equipment, such as a reactor (669), flotation cells, and thickeners; b) connecting a ventilation duct (3.12) and at least one axial air extractor (3.3) to the telescopic probe (4); c) fitting a sensor (70) to the telescopic probe (4) for reading parameters such as dust, fine dust, gas, hot gases, acid mist, and odors; d) execute actuators and project inwards into the process equipment (502) and / or a work (600) the telescopic probe (4), the ventilation duct (3.12) and the axial air extractor (3.3); e) execute the extractor (3.3) axial air, and then; f) verify that the parameter reading is permissible on the process equipment (502) and / or a work (600); and g) run actuators on the telescopic probe (4) and retract.

[0130] Those skilled in the art will understand that the foregoing refers only to a preferred embodiment of the invention, the description of which focuses on the core of the system, methods, and devices. Therefore, there are a number of details not shown and certainly omitted, which mechanical, robotic, hydraulic, pneumatic, electrical, electronic, and computer engineering techniques now allow to be achieved without much effort. These are normal engineering problems well known to those skilled in the art and will not be explained in further detail herein. Those skilled in the art will also understand that the foregoing refers only to a preferred embodiment of the invention, which is subject to modification without departing from the scope of the invention, as defined by the claims that follow.

Claims

CLAIMS: 1.- System for monitoring a process equipment (502) and / or a work (600), where the process equipment (502) and / or a work (600) can be static, rotating and / or carry out a process, can be in operation, rotating or idle, stopped, moving or fixed, motorized and non-motorized, open, semi-closed and / or closed, such as: an industrial work, a confined and / or difficult-to-access space in an industrial work, a process, transfer or transport equipment, the process and its components, a process equipment (502), such as: a horizontal mill, a vertical mill, a reactor, a flotation cell, a thickener, a clarifier, a bag filter, a Venturi-type gas scrubber, a tank, a transfer, feed or discharge hopper (chute), a column cell, a scrubber, a vehicle for loading or transporting, and any component thereof;by means of equipment that can be operated autonomously, semi-autonomously or by remote control, independently or collaboratively; where any of the equipment is complemented by other equipment, partially or completely, CHARACTERIZED in that it comprises: a) equipment (501) that includes at least: a series of sensors (70) and main machine vision (60), a control unit (100), a location and communication unit (50), a first UAV (1) (from the English “Unmanned Aerial Vehicle” which means unmanned aerial vehicle), and / or a second UAV (2) and a station (3); b) in aggressive environments, it may include at least a ventilation duct (3.12) that is coupled to a telescopic probe (4), which have at least an axial air extractor (3.3), sensors (70) and a main machine vision (60); c) the equipment (501) is in communication with a control base (1001);and are configured to collect and extract from the medium, at least one parameter, from a series of multiple possible parameters of the work (600) and the process equipment (502), from an aerial, terrestrial, liquid, gaseous, pulp mineralogy medium and from the components of the work (600) and the process equipment (502) or any; component of these; such as, in the case of the mill (650): on the pulp (901), a lining (651), grid, tiles, slots; d) the equipment (501) with the sensors (70), machine vision (60 and 61) and / or tools (200) collect at least one parameter, from a series of multiple possible parameters, of structural, geometric and process quality, such as: 3D dimensions and surface, surface finish, thickness of materials, thickness of paints and coatings, cracks in welds, level of oxidation, temperature, speed and direction, of wind and liquids, humidity, vibrations, audiometry, odors, concentrations of volatile organic compounds in the air, density of solids and turbidity in liquid medium, concentration of minerals in solids, rocks, dust, liquids, pulp or tailings, with which a database (4001) is built;e) the station (3) is located outside and / or inside a process equipment (502) of the work (600), connected in such a way that a first UAV (1) and / or a second UAV (2) can reach the process equipment (502) from the outside or inside, either from the station (3); f) the station (3) includes at least: a platform, a main machine vision (60) inside and outside, and a series of sensors (70); separated by at least one main gate (3.4) and / or a secondary gate (3.5), and at least one connection flange to the process equipment (502); g) when the station (3) is installed in a work (600) with process equipment (502), as well as a mill (650) and a vertical mill (652), so that the first UAV (1) and / or the second UAV (2) can travel connected inside these;In an existing work, an opening must be made and connection flanges provided; in a new work, an opening and connection flanges can also be incorporated into the original design of said process equipment (502) and / or a work (600); h) the first UAV (1) includes: a main machine vision (60) and / or a secondary machine vision (61); i) the second UAV (2) includes: a primary machine vision (60) and / or a secondary machine vision (61), some high-power LEDs (1.7) and at least one arm (1.3) or lance with at least one tool (200); j) the second UAV (2) includes at least one tool (200) from multiple possible tools, grippers, sensors or instruments; k) the series of sensors (70), primary machine vision (60), secondary machine vision (61) and tools (200): (201) probe, (202) XRF, (203) spectrometer, and a clamshell tool (211), which collect at least one parameter from multiple possible parameters, such as: vibration, audiometry, temperature, 3D images, pulp thickness and mineralogy (901) on a process equipment (502) of the work (600); physical, chemical and biological parameters, organic, inorganic, hydrochloric acid, nitrogen dioxide, pollutants, toxicity, viruses and bacteria, from water, air and equipment;and / or for the mineral: radiometric sensors (radiation detector), photometric sensors (light source and detector), electromagnetic sensors (source and detector or induced potential) or more high-energy electromagnetic sources / detectors such as X-ray source types (fluorescence or transmission) or gamma-ray source; l) monitoring and operating maneuvers can be controlled from a remote control (1014) and / or Artificial Intelligence (1012); and where, m) the parameters and data are sent via a Wi-Fi link to a Software (1009), which processes the database (4001), together with: a database (4002) of the 3D models of the equipment and the process, of a process equipment (502) and / or a database (4003) of the work (600).; 2. The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the machine vision comprises at least: a LiDAR system (from the English "Laser Imaging Detection and Ranging", meaning "a system for measuring and detecting objects using a laser"), a 3D camera, multispectral cameras, a series of high-resolution and high-speed thermal imaging cameras, a 3D ToF camera (from the English "time-of-flight", meaning "time-of-flight"), a series of multidirectional cameras, a set of high-power LEDs, high-definition radar (acronym for RADAR, "radio detecting and ranging", meaning "detection and measurement of distances using radio waves") and a laser pointer, RGB and multispectral cameras, and / or a LiDAR, such as Ouster OSO®, or a high-bandwidth stereoscopic depth camera, such as the depth sensor camera Intel® RealSense™ D457. 3.- The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the UAV (2) deploys and / or projects an arm (1.3) and / or a lance with a tool (200) towards a medium and / or a component of interest in a process equipment (502) and of a work (600), such as, an XRF tool (202) acts on the pulp (901), on the filling level (902) of the mill.

4. The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the series of sensors (70), main machine vision (60), secondary machine vision (61) and tools (200) include at least: a microphone, a gyroscope accelerometer sensor and an IMU, distance, speed, acceleration, vibration, temperature, humidity, wind speed, pressure, load, liquid currents, atmospheric pressure, liquid level, liquid pressure, position, the speed and acceleration of moving objects, salinity, carbon dioxide CO2, dissolved oxygen O2, acidity pH, mass, density and viscosity of liquids and gases (Coriolis effect flow meter), liquid velocity, turbidity, electrical conductivity, total dissolved solids (TDS), nitrites NO2, nitrates NO3, ammonium NH4, calcium, potassium, metal ions, chlorides, free chlorine and Total, Copper, Chromium, Nickel, Iron, Silica, Bromine, Manganese,Magnesium in seawater, Phosphate in seawater, Fluorides, Phosphorus in seawater, Water color, Biosensors, Virus and bacteria sensor, Photonic sensor for contaminants Optical biosensors for toxicity, fluorometers for chlorophyll parameters, photometers, Ammonia gas NH3, hydrochloric acid, nitrogen dioxide, and / or H2S Hydrogen sulfide; and / or for the mineral: radiometric sensors (radiation detector), photometric sensors (light source and detector), electromagnetic sensors (source and detector or induced potential) or more high-energy electromagnetic sources / detectors such as X-ray source types (fluorescence or transmission) or gamma ray source. 5 - The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the tools (200) include: the XRF tool (202), which includes an X-ray fluorescence analyzer device, and / or the spectrometer tool (203), which includes a Near Infrared Reflectance Spectroscopy analyzer device; the multilayer ultrasonic sensor tool (205), which includes an ultrasonic sensor, of at least two layers for the same operation; and / or a clamshell tool (211), which includes two spoons articulated by a rotation unit.

6. The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the flight maneuvers, identification of targets, recognition of specific tasks and metrological measurement operation of the process equipment (502) and work (600) by at least one of all the UAVs (1 & 2), station (3), and / or telescopic probe (4), together with at least one of the tools (200), are operated by a remote control (1014), and / or a Software (1009) and are enhanced by Artificial Intelligence (1012), and / or operated by VR (Virtual Reality), and / or AR (Augmented Reality), and / or MR (Mixed Reality). 7.- The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that, additionally, the suction of contaminated air, or gases from a work (600) with process equipment (502), is carried out by means of at least one ventilation duct (3.12). 8.- The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that it additionally includes a telescopic probe (4), where at least one ventilation duct (3.12) and at least one axial air extractor (3.3) are attached.

9. The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the station (3) is installed in a work (600) with process equipment (502), together with a gate, such as a knife gate, manual or automatic, on at least one of its faces that communicates the interior of the station (3) with the interior of said process equipment (502) of a work (600). 10.- The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the station (3) includes: a main air extractor (3.2) and / or a secondary air extractor (3.3), a series of spare parts (3.6), a robot arm (3.10), a carousel (3.7) of the tools (200).

11. The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the station (3) includes a sample analyzer (3.11) comprising at least: an X-ray Fluorescence (XRF) device, an Energy Dispersion (EDX)-based device, an Near Infrared Reflectance Spectroscopy (AIR) optical device, an X-ray Diffractometer, a 3D transmitted and reflected light polarizing microscope, a QEMSCAN™ type scanning electron microscope and / or a TESCAN (TIMA) type scanning electron microscope.

12. The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the main air extractor (3.2) draws in contaminated air, or gases from inside the process equipment (502); to extract air from the mill (650), a main gate (3.4) is closed on the discharge channel (667) of the feed chute (664) and then actuates a main air extractor (3.2); in the same way, to extract air from the feed chute (664), the secondary gate (3.5) is closed and then actuates the extractor (3.2); to extract air from the vertical mill (652), the same is done, without using the secondary gate (3.5). 13.- The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the databases (4001), (4002) and (4003) can be a structured, semi-structured and unstructured database, SQL (from the English "Structured Query Language" which means, "Structured Query Language"), NoSQL data, and also a spreadsheet. 14.- The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that the Wi-Fi link allows sending at least one data and / or parameter collected by the equipment to the Cloud (1011) and that they are processed and the operations are improved by Artificial Intelligence (1012). 15.- The system for monitoring a process equipment (502) and / or a work (600), according to claim No. 1, CHARACTERIZED in that it generates reliable traceability by means of Blockchain (1015) or similar structures with cryptographic signatures, in at least one stage or operation, of all possible stages or operations.

16. Method for the arrangement in a work to monitor a process equipment (502) and / or a work (600), according to any of claims No. 1 to No. 15, CHARACTERIZED in that it includes the following steps: a) installing a main gate (3.4) together with a platform in a process equipment (502) of a work (600), in such a way that the first UAV (1) can move into the interior; the main gate (3.4) together with the platform can also be incorporated into the original design of a process equipment (502); b) from the main gate (3.4) together with the platform, maneuvering and positioning the first UAV (1) inside a process equipment (502) and / or a work (600); c) performing main machine vision (60) and / or secondary machine vision (61). d) In the previous steps, the process equipment (502) of a work (600) may be in operation, stopped, rotating, idle, moving, or stationary. 17.- Method for the arrangement in a work site to monitor a process equipment (502) and / or a work site (600), according to any of claims No. 1 to No. 15, CHARACTERIZED in that it includes the following steps: a) installing a station (3) in a process equipment (502) in a work site (600), such that they are internally connected and the first UAV (1) and the second UAV (2) can pass through; in an existing work site, an opening must be made and connection flanges provided; an opening and connection flanges can also be incorporated into the original design of a process equipment (502); b) from the station (3), maneuver and position inside a process equipment (502) and / or a work site (600): the first UAV (1) and the second UAV (2); c) execute main machine vision (60) and / or secondary machine vision (61);d) execute a tool (200) on the second UAV (2) to collect at least one parameter, on the interior, within a process equipment (502) and / or on a work site (600). e) in the previous steps the process equipment (502) of a work site (600) may be in operation, stopped, rotating, idle, moving or stationary.; 18. Method for constructing a digital twin and an artificial intelligence of the system (1000) for monitoring a process equipment (502) and / or a work (600), according to any of claims No. 1 to No. 15, CHARACTERIZED in that it includes the following steps: a) communicating at least one vehicle of the equipment (501): first UAV (1), second UAV (2), the station (3) and / or telescopic probe (4); and sending data readings to the Software (1009), and building a database (4001); b) installing on a process equipment (502), outside and / or inside, a multiplicity of sensors (70), main artificial vision (60), secondary artificial vision (61); such as: omnidirectional cameras, thermal cameras and UIDAR, and sending data readings to a Software (1009), and building a database (4002) of the 3D models of the equipment and the process;c) install in a work (600), outside and / or inside, a multiplicity of sensors (70), main artificial vision (60), secondary artificial vision (61); such as: omnidirectional cameras, thermal cameras and UIDAR, and send data reading to a Software (1009), and build a database (4003) of the work (600); d) using Software (1009) construct a digital twin (1010) of the database (4001), the database (4002) and the database (4003), from the previous databases and assemble these; e) regardless of the order of the previous steps, monitor and supervise the operation using the digital twin (1010); f) improve the operations of the digital twin (1010), using Artificial Intelligence (1012).

19. Method for installing and operating a telescopic probe (4) of the system (1000) for monitoring a process equipment (502) and / or a structure (600), according to any of claims 1 to 15, CHARACTERIZED in that it includes the following steps: a) connecting a telescopic probe (4) to a process equipment (502) and / or a structure (600): to a closed processing equipment, such as a vertical mill (650) and mill (652); to a semi-closed processing equipment, such as a reactor (669), flotation cells and thickeners; to a moving equipment, such as a loading or transport vehicle; and b) deploying and projecting the telescopic probe (4), in the case of the closed equipment, when motorized, without stopping and / or opening it, and in the case of the semi-closed equipment, when motorized, without stopping it; and run sensors (70), main machine vision (60) and / or secondary machine vision (61) and establish communication with control base (1001).

20. Method for installing and operating a ventilation duct (3.12) of the system (1000) for monitoring a process equipment (502) and / or a structure (600), according to any of claims No. 1 to No. 15, CHARACTERIZED in that it includes the following steps: a) connecting a telescopic probe (4) to a process equipment (502) and / or a structure (600): to a closed processing equipment, such as a vertical mill (650) and mill (652) and to a semi-closed processing equipment, such as a reactor (669), flotation cells and thickeners; to a moving equipment, such as a loading or transporting vehicle; and b) connecting to the telescopic probe (4) a ventilation duct (3.12) and at least one extractor (3.3) axial air; c) install a sensor (70) on the telescopic probe (4) to read parameters such as: dust, fine dust, gas, hot gases, acid mist and odors; d) install actuators and project into the process equipment (502) and / or a structure (600) the telescopic probe (4), the ventilation duct (3.12) and the axial air extractor (3.3); e) operate the axial air extractor (3.3), and then; f) verify that the parameter reading is permissible on the process equipment (502) and / or a work (600); and g) operate actuators on the telescopic probe (4) and retract.

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