Vehicle-mounted system and method for controlling high-energy laser-induced rock fracturing

Abstract

The present invention belongs to the technical field of efficient fragmentation of hard rocks. Provided are a vehicle-mounted system and method for controlling high-energy laser-induced rock fracturing, the method comprising: by means of a second image acquisition and analysis unit, acquiring surrounding environment information of an electric flat car during movement; on the basis of a stored motion path of the electric flat car and the surrounding environment information, an electric flat car control unit generating a first control instruction; the electric flat car controlling the electric flat car to move to a designated position for rock fragmentation; by means of a first image acquisition and analysis unit, acquiring the type of a rock to be fragmented, and after a laser emission unit is started, acquiring real-time condition information of laser-induced rock fracturing; a laser control unit acquiring a laser emission parameter corresponding to the type of the current rock to be fragmented, and upon receiving the real-time condition information of laser-induced rock fracturing that is acquired by the first image acquisition and analysis unit, adjusting the laser emission parameter, and generating a second control instruction on the basis of the laser emission parameter; and the laser emission unit controlling the laser emission unit to start emitting a laser for rock fragmentation.

Description

A vehicle-mounted high-energy laser-induced rock fracturing control system and method Technical Field

[0001] This invention relates to the field of high-efficiency hard rock fracturing technology, and in particular to a vehicle-mounted high-energy laser-induced rock fracturing control system and method. Background Technology

[0002] As resource extraction, hydropower projects, and transportation engineering projects continue to increase in depth, the strength of the rock also increases. This increased rock strength significantly increases the difficulty of rock crushing and excavation, reduces the efficiency of rock crushing, and increases the wear of mechanical cutting tools. Consequently, the cycle time for crushing and excavating deep hard rock is greatly extended, and the cost is significantly increased.

[0003] Meanwhile, most current rock breaking solutions involve operators driving rock-breaking vehicles to designated locations and using rock-breaking devices to complete the rock-breaking work based on survey data and past rock-breaking experience. Due to the different types of rocks, the experience of operators varies from person to person, resulting in less than ideal rock-breaking results. Furthermore, existing rock-breaking solutions rarely pay attention to the evolution of the rock during the rock-breaking process, which may lead to the interruption of rock-breaking work.

[0004] Therefore, in order to improve the efficiency of deep hard rock fracturing, a new and efficient rock fracturing scheme is urgently needed. Summary of the Invention

[0005] The purpose of this invention is to provide a vehicle-mounted high-energy laser rock-breaking control system and method that can fully automate the entire rock-breaking process and greatly improve rock-breaking efficiency.

[0006] The technical solution adopted by this invention to solve its technical problem is as follows:

[0007] On one hand, the present invention provides a vehicle-mounted high-energy laser-induced rock fracturing control system, comprising:

[0008] The electric flatcar is used to control the electric flatcar to move to the designated rock-breaking position after receiving the first control command from the electric flatcar control unit.

[0009] An electric flatbed cart control unit is installed on the electric flatbed cart and stores the movement path of the electric flatbed cart. It is used to generate a first control command based on the stored movement path of the electric flatbed cart and the surrounding environment information acquired by the second image acquisition and analysis unit.

[0010] The laser emitting unit is located at the front end of the robotic arm and is mounted on an electric flatcar via the robotic arm. It is used to control the laser emitting unit to start emitting laser to break rocks after receiving the second control command from the laser control unit.

[0011] The laser control unit, mounted on the electric flatcar, stores laser emission parameters corresponding to the type of rock to be broken. After receiving the type of rock to be broken from the first image acquisition and analysis unit, it acquires the laser emission parameters corresponding to the current type of rock to be broken. After receiving the real-time information on the laser-induced rock fracture obtained by the first image acquisition and analysis unit, it adjusts the laser emission parameters and generates a second control command based on the laser emission parameters.

[0012] The first image acquisition and analysis unit is set on the electric flatcar. It is used to acquire the type of rock to be broken after the electric flatcar moves to the designated rock-breaking position, and to acquire real-time information on the laser-induced rock fracture after the laser emission unit is activated, and send it to the laser control unit.

[0013] The second image acquisition and analysis unit is installed on the electric flatbed cart and is used to acquire information about the surrounding environment of the electric flatbed cart during its movement and send it to the electric flatbed cart control unit.

[0014] As a further optimization, a robotic arm control unit is also included, which is mounted on the electric flatbed cart;

[0015] After the electric flatcar moves to the designated rock-breaking position, the electric flatcar control unit notifies the robotic arm control unit.

[0016] The robotic arm control unit is used to generate a third control command based on the position of the rock to be broken obtained by the first image acquisition and analysis unit after receiving the notification from the electric flatbed control unit, and to control the robotic arm to adjust to a predetermined height and predetermined posture after receiving the third control command.

[0017] Once the robotic arm is adjusted to the predetermined height and posture, it notifies the laser control unit via the robotic arm control unit. Upon receiving the notification from the robotic arm control unit, the laser control unit sends the generated second control command to the laser emitting unit.

[0018] As a further optimization, the electric flatbed cart is also equipped with a position sensor;

[0019] The second image acquisition and analysis unit is activated after the electric flatbed receives the first control command and before the electric flatbed moves, and acquires surrounding environmental information in real time during the movement of the electric flatbed.

[0020] When the second image acquisition and analysis unit is started, it acquires the current position of the electric flatbed cart through the position sensor and determines whether the electric flatbed cart is at the starting point of the movement path. When the electric flatbed cart is at the starting point of the movement path, the electric flatbed cart moves according to the movement path.

[0021] During the movement of the electric flatcar, the second image acquisition and analysis unit acquires the surrounding environment information in real time and determines whether to optimize the movement path based on the surrounding environment information. If optimized, the electric flatcar control unit is notified to control the electric flatcar to move to the designated rock-breaking position according to the optimized movement path.

[0022] When the electric flatcar moves to the designated rock-breaking position, the electric flatcar control unit notifies the shutdown of the second image acquisition and analysis unit, and the electric flatcar control unit notifies the startup of the first image acquisition and analysis unit.

[0023] As a further optimization, the determination of whether to optimize the movement path based on surrounding environmental information refers to:

[0024] Based on the acquired surrounding environment information, the system obtains information on the degree of ground depression, slope, and obstacles in front of the electric flatcar along the movement path. If the degree of ground depression is lower than the preset degree, the slope is lower than the preset slope, there are no obstacles, or if there are obstacles, the size of the obstacles is smaller than the specified size, then the movement path will not be optimized; otherwise, the movement path will be optimized.

[0025] As a further optimization, when the first image acquisition and analysis unit is started, it acquires the image information of the rock to be broken, determines the current rock type and location based on the image information, notifies the laser control unit of the rock type to be broken, and notifies the robotic arm control unit of the rock location to be broken.

[0026] As a further optimization, when the robotic arm control unit receives the notification from the first image acquisition and analysis unit, it determines whether the maximum height of the robotic arm can reach the height of the rock to be broken based on the position of the rock to be broken. If it can, it controls the robotic arm to adjust to the predetermined height and predetermined posture.

[0027] As a further optimization, the electric flatbed cart is also equipped with a lifting platform, and the bottom of the robotic arm is fixed to the surface of the lifting platform.

[0028] When the maximum height of the robotic arm cannot reach the height of the rock to be broken, the robotic arm control unit notifies the electric flatbed control unit. The electric flatbed control unit calculates the difference between the height of the rock to be broken and the maximum height of the robotic arm, and raises the lifting platform according to the difference so that the robotic arm can reach the predetermined height, and controls the robotic arm to adjust to the predetermined height and predetermined posture.

[0029] As a further optimization, the laser emission parameters corresponding to the type of rock to be broken include laser spot size, laser irradiation power, and laser irradiation time;

[0030] The adjustment of laser emission parameters refers to:

[0031] The first image acquisition and analysis unit acquires image information of laser-induced rock fracture, and acquires crack area, opening and length information of rock based on image information, and uses it as real-time situation information.

[0032] During laser irradiation of the current rock location to be broken, it is determined in real time whether the rock type has changed. If it has not changed, it is determined whether the crack area information, aperture information, and length information correspond to the preset crack area information, preset aperture information, and preset length information. If they do not correspond, the laser control unit is notified to linearly increase or decrease the laser spot size, laser irradiation power, and laser irradiation time until they correspond.

[0033] As a further optimization, if the type of rock remains unchanged during the laser irradiation process at the current rock position to be broken, after the laser irradiation time reaches the predetermined time or the rock is judged to have reached the predetermined rock breaking state based on the crack area information, opening information and length information, the first image acquisition and analysis unit notifies the laser control unit to shut down the laser emission unit and notifies the robotic arm control unit to adjust the robotic arm to the next rock position to be broken.

[0034] If the rock type changes during laser irradiation at the current rock location to be broken, the image information of the rock at the time of the change will be sent to the remote management and control center, which will then determine whether to continue the laser irradiation process at the current rock location.

[0035] On the other hand, the present invention also provides a vehicle-mounted high-energy laser-induced rock fracturing control method, applied to the aforementioned vehicle-mounted high-energy laser-induced rock fracturing control system, comprising the following steps:

[0036] The electric flatbed cart control unit, laser control unit, first image acquisition and analysis unit and second image acquisition and analysis unit are installed on the electric flatbed cart, and the laser emission unit is installed on the electric flatbed cart via a robotic arm;

[0037] The second image acquisition and analysis unit acquires information about the surrounding environment of the electric flatbed cart during its movement and sends it to the electric flatbed cart control unit.

[0038] The electric flatbed cart control unit generates a first control command based on the stored electric flatbed cart movement path and the surrounding environment information acquired by the second image acquisition and analysis unit.

[0039] After receiving the first control command from the electric flatcar control unit, the electric flatcar moves to the designated rock-breaking position.

[0040] After the electric flatcar moves to the designated rock-breaking position, the type of rock to be broken is obtained through the first image acquisition and analysis unit, and real-time information on the laser-induced rock fracture is obtained after the laser emission unit is activated and sent to the laser control unit.

[0041] After receiving the type of rock to be broken from the first image acquisition and analysis unit, the laser control unit acquires the laser emission parameters corresponding to the current type of rock to be broken. After receiving the real-time information on the laser-induced rock fracture from the first image acquisition and analysis unit, the laser emission parameters are adjusted, and a second control command is generated based on the laser emission parameters.

[0042] After receiving the second control command from the laser control unit, the laser emitting unit controls the laser emitting unit to start emitting laser to break rocks.

[0043] The beneficial effects of this invention are as follows: Firstly, the electric flatbed truck control unit, laser control unit, first image acquisition and analysis unit, and second image acquisition and analysis unit are installed on the electric flatbed truck, and the laser emitting unit is installed on the electric flatbed truck via a robotic arm, completing the hardware configuration for the entire rock-breaking operation. Secondly, the second image acquisition and analysis unit acquires information about the surrounding environment of the electric flatbed truck during its movement and sends it to the electric flatbed truck control unit. The electric flatbed truck control unit generates a first control command based on the stored electric flatbed truck movement path and the surrounding environment information acquired by the second image acquisition and analysis unit. After receiving the first control command from the electric flatbed truck control unit, the electric flatbed truck moves to the designated rock-breaking position. This allows the electric flatbed truck to complete automatic driving according to the set movement path based on the actual conditions at the rock-breaking site, and also optimizes the movement path based on unexpected conditions at the site.

[0044] After the electric flatcar moves to the designated rock-breaking position, the first image acquisition and analysis unit acquires the type of rock to be broken, and after the laser emission unit is activated, it acquires real-time information on the laser-induced rock fracturing and sends it to the laser control unit. Upon receiving the rock type from the first image acquisition and analysis unit, the laser control unit acquires the laser emission parameters corresponding to the current rock type. After receiving the real-time information on the laser-induced rock fracturing from the first image acquisition and analysis unit, it adjusts the laser emission parameters and generates a second control command based on these parameters. Upon receiving the second control command from the laser control unit, the laser emission unit activates to emit laser light for rock breaking. Thus, with the help of the first image acquisition and analysis unit, the laser emission parameters can be automatically adjusted according to the type of rock to be broken and the evolution of the rock during laser fracturing, thereby automatically completing the entire laser rock-breaking process. Attached Figure Description

[0045] Figure 1 is a flowchart of a method for controlling rock fracture caused by vehicle-mounted high-energy laser in Embodiment 2 of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0047] Example 1

[0048] This embodiment provides a vehicle-mounted high-energy laser-induced rock fracturing control system, which may consist of the following parts:

[0049] The electric flatcar is used to control the electric flatcar to move to the designated rock-breaking position after receiving the first control command from the electric flatcar control unit.

[0050] An electric flatbed cart control unit is installed on the electric flatbed cart and stores the movement path of the electric flatbed cart. It is used to generate a first control command based on the stored movement path of the electric flatbed cart and the surrounding environment information acquired by the second image acquisition and analysis unit.

[0051] The laser emitting unit is located at the front end of the robotic arm and is mounted on an electric flatcar via the robotic arm. It is used to control the laser emitting unit to start emitting laser to break rocks after receiving the second control command from the laser control unit.

[0052] The laser control unit, mounted on the electric flatcar, stores laser emission parameters corresponding to the type of rock to be broken. After receiving the type of rock to be broken from the first image acquisition and analysis unit, it acquires the laser emission parameters corresponding to the current type of rock to be broken. After receiving the real-time information on the laser-induced rock fracture obtained by the first image acquisition and analysis unit, it adjusts the laser emission parameters and generates a second control command based on the laser emission parameters.

[0053] The first image acquisition and analysis unit is set on the electric flatcar. It is used to acquire the type of rock to be broken after the electric flatcar moves to the designated rock-breaking position, and to acquire real-time information on the laser-induced rock fracture after the laser emission unit is activated, and send it to the laser control unit.

[0054] The second image acquisition and analysis unit is installed on the electric flatbed cart and is used to acquire information about the surrounding environment of the electric flatbed cart during its movement and send it to the electric flatbed cart control unit.

[0055] In the above system, firstly, the second image acquisition and analysis unit can be used to assist the electric flatcar in automatically driving to the designated rock-breaking position; secondly, after the electric flatcar reaches the designated rock-breaking position, the first image acquisition and analysis unit can be used to obtain the type of rock to be broken and obtain the initial laser emission parameters. During the rock-breaking process, the first image acquisition and analysis unit is also used to obtain real-time information on the laser-induced rock fracture to adjust the laser emission parameters. While automatically completing the entire rock-breaking work, the system can also ensure the accuracy of rock-breaking.

[0056] It should be noted that before the laser is emitted, the height and posture of the robotic arm are in their initial state. Since the rock type and height vary at different rock-breaking locations, after the electric flatcar moves to the designated rock-breaking position, the height and posture of the robotic arm need to be adjusted according to the actual rock-breaking requirements to carry out subsequent rock-breaking work. Therefore, the control of the robotic arm also needs to be configured with a corresponding control unit to complete the robotic arm adjustment work before the laser is emitted. Therefore, the vehicle-mounted high-energy laser rock-fracture control system of this embodiment also needs to include a robotic arm control unit, which is set on the electric flatcar.

[0057] Here, after the electric flatcar moves to the designated rock-breaking position, the electric flatcar control unit notifies the robotic arm control unit. The robotic arm control unit, upon receiving the notification from the electric flatcar control unit, generates a third control command based on the position of the rock to be broken obtained by the first image acquisition and analysis unit. After receiving the third control command, the robotic arm controls itself to adjust to a predetermined height and a predetermined posture. Once the robotic arm has adjusted to the predetermined height and posture, the robotic arm control unit notifies the laser control unit. Upon receiving the notification from the robotic arm control unit, the laser control unit sends the generated second control command to the laser emitting unit.

[0058] It should be noted that, since this embodiment requires the electric flatcar to automatically complete autonomous driving to the designated rock-breaking position according to the actual working conditions at the rock-breaking site, and the electric flatcar may not be at the initial position of the movement path, it is necessary to sense the position information of the electric flatcar in order to control the electric flatcar to accurately reach the initial position of the movement path. At the same time, since the second image acquisition and analysis unit can sense the surrounding environment information, the movement path can be optimized by using the surrounding environment information after the electric flatcar reaches the starting point of the movement path. Therefore, in this embodiment, the electric flatcar can also be equipped with a position sensor. The second image acquisition and analysis unit is started after the electric flatcar receives the first control command and before the electric flatcar moves, and acquires the surrounding environment information in real time during the movement of the electric flatcar. When the second image acquisition and analysis unit is started, it acquires the current position of the electric flatcar through the position sensor and determines whether the electric flatcar is at the starting point of the movement path. When the electric flatcar is at the starting point of the movement path, the electric flatcar moves according to the movement path.

[0059] Here, during the movement of the electric flatcar, the second image acquisition and analysis unit acquires surrounding environmental information in real time and determines whether to optimize the movement path based on the surrounding environmental information. If optimized, the electric flatcar control unit is notified to control the electric flatcar to move to the designated rock-breaking position according to the optimized movement path. When the electric flatcar moves to the designated rock-breaking position, the electric flatcar control unit notifies the second image acquisition and analysis unit to be turned off and the first image acquisition and analysis unit to be started.

[0060] Of course, if the electric flatcar is already at the starting point of the movement path and it is determined from the surrounding environment that there is no need to optimize the movement path, the electric flatcar will automatically complete the autonomous driving work of driving to the designated rock-breaking position according to the initial movement path. However, the actual rock-breaking site conditions are complex and changeable, and in most cases, it is necessary to optimize the movement path. At the same time, the first image acquisition and analysis unit can be turned off after the electric flatcar reaches the designated rock-breaking position to save system energy and extend its service life.

[0061] Specifically, in this embodiment, the criteria for determining whether the motion path is optimized generally need to consider factors such as the degree of indentation of the bottom surface, the slope, the presence or absence of obstacles, and the size of obstacles when present. Therefore, in this embodiment, determining whether to optimize the motion path based on surrounding environmental information can refer to:

[0062] Based on the acquired surrounding environment information, the system obtains information on the degree of ground depression, slope, and obstacles in front of the electric flatcar along the movement path. If the degree of ground depression is lower than the preset degree, the slope is lower than the preset slope, there are no obstacles, or if there are obstacles, the size of the obstacles is smaller than the specified size, then the movement path will not be optimized; otherwise, the movement path will be optimized.

[0063] Here, when considering whether to optimize the movement path, unless the depression is too large, the slope is too large, or the obstacles are too large, the electric flatbed cart is generally heavy. In order to save the energy consumption of the electric flatbed cart, it is also necessary to ensure that the increased travel distance of the movement path is not too long. Therefore, in this case, the travel distance of the original movement path can be obtained, and then the optimized travel distance can be obtained. The difference between the latter and the former should not exceed the preset difference value.

[0064] It should be noted that, since the laser emission parameters correspond to the type of rock to be broken, and the laser emission unit cannot be directly activated to break the rock after the electric flatcar reaches the designated rock-breaking position, the robotic arm needs to be adjusted. Therefore, in this embodiment, when the first image acquisition and analysis unit is activated, it acquires the image information of the rock to be broken, determines the current rock type and position based on the image information, notifies the laser control unit of the rock type to be broken, and notifies the robotic arm control unit of the rock position to be broken.

[0065] Generally, the height and posture of the robotic arm can be adjusted, and the posture adjustment can generally meet the requirements of most rock breaking sites. However, since the height of the rock to be broken is unknown, there is a situation where the maximum height of the robotic arm cannot reach the position of the rock to be broken. In this case, even if the robotic arm is adjusted to the maximum height and the laser emission unit is turned on for laser rock breaking, the rock breaking work is likely to fail. Therefore, in this embodiment, a lifting platform can be set up for the electric flatcar to complete the adjustment of the robotic arm. Thus, in this embodiment, when the robotic arm control unit receives the notification from the first image acquisition and analysis unit, it determines whether the maximum height of the robotic arm can reach the height of the rock to be broken based on the position of the rock to be broken. If it can, it controls the robotic arm to adjust to the predetermined height and predetermined posture.

[0066] Therefore, the electric flatbed cart described in this embodiment can also be equipped with a lifting platform, and the bottom surface of the robotic arm is fixed on the surface of the lifting platform;

[0067] When the maximum height of the robotic arm cannot reach the height of the rock to be broken, the robotic arm control unit notifies the electric flatbed control unit. The electric flatbed control unit calculates the difference between the height of the rock to be broken and the maximum height of the robotic arm, and raises the lifting platform according to the difference so that the robotic arm can reach the predetermined height, and controls the robotic arm to adjust to the predetermined height and predetermined posture.

[0068] Once the robotic arm is adjusted, the corresponding laser emission parameters can be matched according to the type of rock to be broken. Generally, for different types of rocks, the size of the laser spot, the laser irradiation power, and the laser irradiation time of the laser emission unit directly affect the rock breaking effect and efficiency. Therefore, in this embodiment, the laser emission parameters corresponding to the type of rock to be broken should at least include the size of the laser spot, the laser irradiation power, and the laser irradiation time.

[0069] Since this embodiment utilizes the first image acquisition and analysis unit to continuously monitor the rock evolution state during the rock-breaking process, it may be necessary to adjust the aforementioned laser emission parameters during the rock-breaking process to better complete the rock-breaking work. Therefore, in this embodiment, adjusting the laser emission parameters may refer to:

[0070] The first image acquisition and analysis unit acquires image information of laser-induced rock fracture, and acquires crack area, opening and length information of rock based on image information, and uses it as real-time situation information.

[0071] During laser irradiation of the current rock location to be broken, it is determined in real time whether the rock type has changed. If it has not changed, it is determined whether the crack area information, aperture information, and length information correspond to the preset crack area information, preset aperture information, and preset length information. If they do not correspond, the laser control unit is notified to linearly increase or decrease the laser spot size, laser irradiation power, and laser irradiation time until they correspond.

[0072] It should be noted that in this embodiment, if the type of rock does not change during the laser irradiation process at the current rock position to be broken, after the laser irradiation time reaches the predetermined time or the rock is judged to have reached the predetermined rock breaking state based on the crack area information, opening information and length information, the first image acquisition and analysis unit notifies the laser control unit to control the laser emission unit to be turned off, and notifies the robotic arm control unit to adjust the robotic arm to the next rock position to be broken.

[0073] If the rock type changes during laser irradiation at the current rock location to be broken, the image information of the rock at the time of the change will be sent to the remote management and control center, which will then determine whether to continue the laser irradiation process at the current rock location.

[0074] Here, staff at the remote management and control center will manually determine whether to continue the subsequent laser irradiation process based on the image information of the rock when the rock type changes. If they do decide to continue the subsequent laser irradiation process, they will determine whether to adjust the laser emission parameters and the height and position of the robotic arm. When adjustments are needed, they can simply send the relevant control commands to the robotic arm control unit or the laser emission unit.

[0075] Example 2

[0076] Based on Example 1, this example provides a method for controlling rock fracturing using a vehicle-mounted high-energy laser, the flowchart of which is shown in Figure 1. The method includes the following steps:

[0077] S1. The electric flatbed cart control unit, the laser control unit, the first image acquisition and analysis unit and the second image acquisition and analysis unit are set on the electric flatbed cart, and the laser emitting unit is set on the electric flatbed cart by means of a robotic arm;

[0078] S2. The second image acquisition and analysis unit acquires the surrounding environment information of the electric flatbed cart during its movement and sends it to the electric flatbed cart control unit.

[0079] S3. The electric flatbed cart control unit generates a first control command based on the stored electric flatbed cart movement path and the surrounding environment information acquired by the second image acquisition and analysis unit.

[0080] S4. After receiving the first control command from the electric flatcar control unit, the electric flatcar moves to the designated rock-breaking position.

[0081] S5. After the electric flatcar moves to the designated rock-breaking position, the type of rock to be broken is obtained through the first image acquisition and analysis unit, and the real-time information of the laser-induced rock fracture is obtained after the laser emission unit is started and sent to the laser control unit.

[0082] S6. After receiving the type of rock to be broken from the first image acquisition and analysis unit, the laser control unit acquires the laser emission parameters corresponding to the current rock type to be broken. After receiving the real-time information on the laser-induced rock fracture from the first image acquisition and analysis unit, the laser emission parameters are adjusted, and a second control command is generated based on the laser emission parameters.

[0083] S7. After receiving the second control command from the laser control unit, the laser emitting unit controls the laser emitting unit to start emitting laser to break rocks.

[0084] As can be seen from the description of Embodiment 1, the application scenario and implementation principle of this embodiment are the same as those of Embodiment 1, so they will not be repeated here.

[0085] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle-mounted high-energy laser-induced rock fracturing control system, characterized in that, include: The electric flatcar is used to control the electric flatcar to move to the designated rock-breaking position after receiving the first control command from the electric flatcar control unit. An electric flatbed cart control unit is installed on the electric flatbed cart and stores the movement path of the electric flatbed cart. It is used to generate a first control command based on the stored movement path of the electric flatbed cart and the surrounding environment information acquired by the second image acquisition and analysis unit. The laser emitting unit is located at the front end of the robotic arm and is mounted on an electric flatcar via the robotic arm. It is used to control the laser emitting unit to start emitting laser to break rocks after receiving the second control command from the laser control unit. The laser control unit, mounted on the electric flatcar, stores laser emission parameters corresponding to the type of rock to be broken. After receiving the type of rock to be broken from the first image acquisition and analysis unit, it acquires the laser emission parameters corresponding to the current type of rock to be broken. After receiving the real-time information on the laser-induced rock fracture obtained by the first image acquisition and analysis unit, it adjusts the laser emission parameters and generates a second control command based on the laser emission parameters. The first image acquisition and analysis unit is set on the electric flatcar. It is used to acquire the type of rock to be broken after the electric flatcar moves to the designated rock-breaking position, and to acquire real-time information on the laser-induced rock fracture after the laser emission unit is activated, and send it to the laser control unit. The second image acquisition and analysis unit is installed on the electric flatbed cart and is used to acquire information about the surrounding environment of the electric flatbed cart during its movement and send it to the electric flatbed cart control unit.

2. The vehicle-mounted high-energy laser-induced rock fracturing control system according to claim 1, characterized in that, It also includes a robotic arm control unit, which is mounted on the electric flatbed cart; After the electric flatcar moves to the designated rock-breaking position, the electric flatcar control unit notifies the robotic arm control unit. The robotic arm control unit is used to generate a third control command based on the position of the rock to be broken obtained by the first image acquisition and analysis unit after receiving the notification from the electric flatbed control unit, and to control the robotic arm to adjust to a predetermined height and predetermined posture after receiving the third control command. Once the robotic arm is adjusted to the predetermined height and posture, it notifies the laser control unit via the robotic arm control unit. Upon receiving the notification from the robotic arm control unit, the laser control unit sends the generated second control command to the laser emitting unit.

3. The vehicle-mounted high-energy laser-induced rock fracturing control system according to claim 1, characterized in that, The electric flatbed cart is also equipped with a position sensor; The second image acquisition and analysis unit is activated after the electric flatbed receives the first control command and before the electric flatbed moves, and acquires surrounding environmental information in real time during the movement of the electric flatbed. When the second image acquisition and analysis unit is started, it acquires the current position of the electric flatbed cart through the position sensor and determines whether the electric flatbed cart is at the starting point of the movement path. When the electric flatbed cart is at the starting point of the movement path, the electric flatbed cart moves according to the movement path. During the movement of the electric flatcar, the second image acquisition and analysis unit acquires the surrounding environment information in real time and determines whether to optimize the movement path based on the surrounding environment information. If optimized, the electric flatcar control unit is notified to control the electric flatcar to move to the designated rock-breaking position according to the optimized movement path. When the electric flatcar moves to the designated rock-breaking position, the electric flatcar control unit notifies the shutdown of the second image acquisition and analysis unit, and the electric flatcar control unit notifies the startup of the first image acquisition and analysis unit.

4. The vehicle-mounted high-energy laser-induced rock fracturing control system according to claim 3, characterized in that, The determination of whether to optimize the movement path based on surrounding environmental information refers to: Based on the acquired surrounding environment information, the system obtains information on the degree of ground depression, slope, and obstacles in front of the electric flatcar along the movement path. If the degree of ground depression is lower than the preset degree, the slope is lower than the preset slope, there are no obstacles, or if there are obstacles, the size of the obstacles is smaller than the specified size, then the movement path will not be optimized; otherwise, the movement path will be optimized.

5. A vehicle-mounted high-energy laser-induced rock fracturing control system according to claim 2, characterized in that, When the first image acquisition and analysis unit is started, it acquires image information of the rock to be broken, determines the type and location of the rock to be broken based on the image information, notifies the laser control unit of the type of rock to be broken, and notifies the robotic arm control unit of the location of the rock to be broken.

6. A vehicle-mounted high-energy laser-induced rock fracturing control system according to claim 5, characterized in that, When the robotic arm control unit receives the notification from the first image acquisition and analysis unit, it determines whether the maximum height of the robotic arm can reach the height of the rock to be broken based on the position of the rock to be broken. If it can, it controls the robotic arm to adjust to the predetermined height and predetermined posture.

7. A vehicle-mounted high-energy laser-induced rock fracturing control system according to claim 6, characterized in that, The electric flatbed cart is also equipped with a lifting platform, and the bottom of the robotic arm is fixed to the surface of the lifting platform. When the maximum height of the robotic arm cannot reach the height of the rock to be broken, the robotic arm control unit notifies the electric flatbed control unit. The electric flatbed control unit calculates the difference between the height of the rock to be broken and the maximum height of the robotic arm, and raises the lifting platform according to the difference so that the robotic arm can reach the predetermined height, and controls the robotic arm to adjust to the predetermined height and predetermined posture.

8. A vehicle-mounted high-energy laser-induced rock fracturing control system according to claim 7, characterized in that, The laser emission parameters corresponding to the type of rock to be broken include laser spot size, laser irradiation power, and laser irradiation time. The adjustment of laser emission parameters refers to: The first image acquisition and analysis unit acquires image information of laser-induced rock fracture, and acquires crack area, opening and length information of rock based on image information, and uses it as real-time situation information. During laser irradiation of the current rock location to be broken, it is determined in real time whether the rock type has changed. If it has not changed, it is determined whether the crack area information, aperture information, and length information correspond to the preset crack area information, preset aperture information, and preset length information. If they do not correspond, the laser control unit is notified to linearly increase or decrease the laser spot size, laser irradiation power, and laser irradiation time until they correspond.

9. A vehicle-mounted high-energy laser-induced rock fracturing control system according to any one of claims 5-8, characterized in that, During the laser irradiation process at the current rock position to be broken, if the rock type remains unchanged, after the laser irradiation time reaches the predetermined time or the rock is judged to have reached the predetermined rock breaking state based on the crack area information, opening information and length information, the first image acquisition and analysis unit notifies the laser control unit to shut down the laser emission unit and notifies the robotic arm control unit to adjust the robotic arm to the next rock position to be broken. If the rock type changes during laser irradiation at the current rock location to be broken, the image information of the rock at the time of the change will be sent to the remote management and control center, which will then determine whether to continue the laser irradiation process at the current rock location.

10. A method for controlling rock fracturing using a vehicle-mounted high-energy laser, applied to the vehicle-mounted high-energy laser rock fracturing control system described in any one of claims 1-9, characterized in that, Includes the following steps: The electric flatbed cart control unit, laser control unit, first image acquisition and analysis unit and second image acquisition and analysis unit are installed on the electric flatbed cart, and the laser emission unit is installed on the electric flatbed cart via a robotic arm; The second image acquisition and analysis unit acquires information about the surrounding environment of the electric flatbed cart during its movement and sends it to the electric flatbed cart control unit. The electric flatbed cart control unit generates a first control command based on the stored electric flatbed cart movement path and the surrounding environment information acquired by the second image acquisition and analysis unit. After receiving the first control command from the electric flatcar control unit, the electric flatcar moves to the designated rock-breaking position. After the electric flatcar moves to the designated rock-breaking position, the type of rock to be broken is obtained through the first image acquisition and analysis unit, and real-time information on the laser-induced rock fracture is obtained after the laser emission unit is activated and sent to the laser control unit. After receiving the type of rock to be broken from the first image acquisition and analysis unit, the laser control unit acquires the laser emission parameters corresponding to the current type of rock to be broken. After receiving the real-time information on the laser-induced rock fracture from the first image acquisition and analysis unit, the laser emission parameters are adjusted, and a second control command is generated based on the laser emission parameters. After receiving the second control command from the laser control unit, the laser emitting unit controls the laser emitting unit to start emitting laser to break rocks.

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