CN111483604A - Static blasting dangerous rock management method and device based on unmanned aerial vehicle - Google Patents
Static blasting dangerous rock management method and device based on unmanned aerial vehicle Download PDFInfo
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- CN111483604A CN111483604A CN202010303531.3A CN202010303531A CN111483604A CN 111483604 A CN111483604 A CN 111483604A CN 202010303531 A CN202010303531 A CN 202010303531A CN 111483604 A CN111483604 A CN 111483604A
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- 239000011435 rock Substances 0.000 title claims abstract description 28
- 238000005422 blasting Methods 0.000 title claims abstract description 27
- 230000003068 static effect Effects 0.000 title claims abstract description 25
- 238000007726 management method Methods 0.000 title description 2
- 238000005553 drilling Methods 0.000 claims abstract description 44
- 238000000034 method Methods 0.000 claims abstract description 17
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 14
- 239000007788 liquid Substances 0.000 claims description 42
- 239000002002 slurry Substances 0.000 claims description 41
- 238000007569 slipcasting Methods 0.000 claims description 30
- 239000002699 waste material Substances 0.000 claims description 27
- 239000000428 dust Substances 0.000 claims description 24
- 238000003860 storage Methods 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 6
- 239000011440 grout Substances 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000003137 locomotive effect Effects 0.000 claims description 2
- 238000005303 weighing Methods 0.000 claims 2
- 238000010521 absorption reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000011001 backwashing Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/22—Tank vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
- E21B21/01—Arrangements for handling drilling fluids or cuttings outside the borehole, e.g. mud boxes
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/046—Directional drilling horizontal drilling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D3/00—Particular applications of blasting techniques
- F42D3/04—Particular applications of blasting techniques for rock blasting
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a static blasting dangerous rock treatment method and a device based on an unmanned aerial vehicle, which comprises the following steps: the remote control device is used for manually controlling and coordinating the devices to work, and the tasks are completed in two stages, wherein the first stage is to install the drilling device to a working surface for drilling, and the second stage is to install the grouting device and inject the prepared static blasting agent into the hole. The embodiment of the invention provides a schematic diagram of a static blasting dangerous rock treatment method and device based on an unmanned aerial vehicle.
Description
Technical Field
The invention discloses a static blasting dangerous rock treatment method and device based on an unmanned aerial vehicle, and relates to the relevant fields of unmanned aerial vehicle technical application and the like.
Background
Dangerous rock is a common geological disaster, along with economic development and urban expansion in recent years, the living space of human beings is continuously expanded, the threat of the dangerous rock to human beings is more and more increased, the dangerous rock can completely and once for all radically cure the hidden danger of the dangerous rock by a clearing method, the current clearing construction method comprises explosive blasting clearing and static blasting agent crushing clearing, and because the explosive is a dangerous article and the flying rock generated by blasting is uncontrollable, the static blasting agent crushing clearing is generally adopted, but some dangerous rocks are on the cliff, workers are difficult to construct, great danger exists in climbing, and great manpower and material resources are needed for construction, so that the safe, reliable and efficient static blasting dangerous rock treatment method and device have great economic and social effects.
The static crushing and removing method is to crush or cut dangerous rocks under the conditions of no vibration, no flying stones, no noise and no toxic gas, and surrounding objects cannot be damaged during blasting, and the conventional construction method is to mix a static blasting agent with water into slurry, fill the slurry into a rock drilled hole, generate expansion pressure of over 30MPa at normal temperature, and crush the rocks after 6-24 hours.
At present, the unmanned aerial vehicle technology is rapidly developed, the unmanned aerial vehicle is applied to the fields of camera shooting, photographing, material transportation, water spraying and the like, and the unmanned aerial vehicle is more successful.
Disclosure of Invention
The invention aims to provide a static blasting dangerous rock treatment method and device based on an unmanned aerial vehicle, which effectively relieve the current situations of high difficulty and high resource consumption of the existing static blasting dangerous rock treatment.
In order to achieve the purpose, the invention provides a dangerous rock reinforcing method and device based on unmanned aerial vehicle grouting, and the method comprises the following steps: flight device, drilling equipment, slip casting device, confession thick liquid device and remote control unit, its main characterized in that: the remote control device is used for manually controlling and coordinating the devices to work, and the tasks are completed in two stages, wherein in the first stage, the drilling device is firstly installed on a working surface for drilling, and in the second stage, the grouting device is installed for injecting the prepared static blasting agent slurry into a hole.
The invention is further configured to: the flying device comprises: foot rest, screw motor, screw dado, fuselage, there are camera, orientation module in the fuselage front side, internally mounted battery, the control unit, the foot rest is installed in the fuselage below, the screw uses the wire to link to each other with the screw motor, the screw motor uses the wire to link to each other with the battery, the screw dado is installed in the screw periphery, the camera passes through the wire and links to each other with the control unit, orientation module is provided with GPS positioning system, links to each other with the control unit through the wire, the control unit passes through wireless communication and links to each other with remote control unit.
The invention is further configured to: the drilling device includes: a waste collecting box, a weight sensor, a dust collector, a steering module, a drilling motor and a drill bit, wherein the waste collecting box is arranged below the machine body and is detachable, the weight sensor is arranged at the right upper corner of the waste collection box and is connected with the control unit through a lead, the dust collectors are respectively arranged at two sides of the electric drill, the tail ends of the dust collectors are fixedly arranged on the waste collecting box, dust collecting ports of the two dust collectors are arranged at two sides of the drill bit, for collecting waste material produced during drilling into a waste collection box and connected to the control unit using wires, the steering module being mounted in front of the waste collection box, and is electrically connected with the control unit, the drilling motor is arranged in front of the steering module and is connected with the battery, the control unit, the dust collector and the steering module by leads, the drill bit is arranged in front of the motor, and the drill bit can be replaced with different diameters or lengths according to the requirement.
The invention is further configured to: the grouting device comprises: storage box, grout inlet, slip casting mouth, turn to module, slip casting motor, slip casting pipe, grouting pump, shower nozzle and thick liquid volume prompting device, the storage box is under the fuselage through grafting mode fixed mounting, grout inlet is in storage box bilateral symmetry arrangement, the slip casting mouth is in storage box front side, it installs in slip casting mouth department and is connected with the control unit through the wire to turn to the module, the slip casting motor is installed on the slip casting mouth next door and is used wire and battery, turn to module and grouting pump to be connected, the slip casting pipe extends to the outside that turns to the module, the grouting pump links to each other with the slip casting pipe and is connected with the control unit through the wire with the slip casting pipe with turning to the module, the shower nozzle is connected with the slip casting pipe, the thick liquid volume prompting device is installed in the storage box upper right corner and with the control unit electric connection.
The invention is further configured to: the pulp supply device comprises: supply thick liquid car, car accuse unit, supply thick liquid pump, defeated thick liquid pipe and agitator, supply thick liquid car can transport static blasting agent to the workplace, the car accuse unit is installed in the locomotive and is connected with remote control unit through wireless communication, supply the thick liquid pump to install and supply thick liquid car rear side and link to each other with the car accuse unit through the wire, defeated thick liquid pipe extends to the upside that supplies the thick liquid pump, the agitator is installed and is used wire and car accuse unit electric connection on supplying thick liquid car.
The invention is further configured to: the remote control device includes: the utility model provides a pilot lamp unit, switch, stereo set unit, operating unit and monitor, the pilot lamp unit includes: the waste material pilot lamp, thick liquid volume pilot lamp, the sound unit can send out the acoustic signal when the circumstances such as waste material collecting box weight or storage box thick liquid volume reach a ration, the operating unit includes: steering control unit, location information record and transfer key, grouting pump operating key, confession thick liquid pump operating key, drilling motor operating key, grouting motor operating key, dust catcher operating key and flight operation unit, the image that the camera was shot can be shown to the monitor.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic view of the present invention;
FIG. 3 is a schematic view of a drilling apparatus of the present invention;
FIG. 4 is a schematic view of a grouting apparatus according to the present invention;
FIG. 5 is a schematic view of a grouting inlet and a grouting outlet of the grouting device of the machine of the invention;
FIG. 6 is a cross-sectional view of the interior of the fuselage of the present invention;
FIG. 7 is a schematic view of a vehicle control unit of the present invention;
FIG. 8 is a schematic view of a remote control device according to the present invention;
reference numerals: 10: the flying device 11: the positioning module 12: a body 13: the propeller motor 14: the camera 15: propeller retaining wall 16: propeller 17: a foot rest 18: battery 19: control unit
20: the drilling device 21: the dust collector 22: the drill bit 23: the drilling motor 24: the weight sensor 25: the scrap collecting box 26: steering module
30: grouting device 31: the spray head 32: grouting pipe 33: the grouting motor 34: grouting pump 35: slurry amount prompter 36: slurry storage tank 37: grouting port 38: pulp inlet
40: slurry supply device 41: slurry supply vehicle 42: slurry conveying pipe 43: the stirrer 44: slurry supply pump 45: vehicle control unit
50: the remote control device 51: steering control unit 52: positioning information recording and retrieval key 53: grouting pump operation key 54: slurry supply pump operation key 55: the monitor 56: waste indicator lamp 57: slurry amount indicator lamp 58: flight operation unit 59: power switch 60: drill motor operation key 61: grouting motor operation key 62: acoustic unit 63: vacuum cleaner operating key
Detailed Description
In order that the invention may be more clearly understood, further details of the invention are provided below with reference to the accompanying drawings.
As shown in the attached figures 1 to 8, the static blasting dangerous rock treatment method and device based on the unmanned aerial vehicle comprise the following steps: the flight device (10), drilling equipment (20), slip casting device (30), confession thick liquid device (40) and remote control unit (50), its main characterized in that: the remote control device (50) is used for manually controlling and coordinating the work of each device, the tasks are completed in two stages, the first stage is that the drilling device (20) is firstly installed to a working surface for drilling, the dust collector (21) is opened and the position information of the hole is recorded while drilling, the dust collector (21) plays a role in cleaning hole waste materials and eliminating visual line obstacles of the camera (14), the second stage is that the drilling device (20) is replaced by the grouting device (30), and prepared static blasting agent slurry is injected into the hole.
Further stated, the flying apparatus (10) comprises: foot rest (17), screw (16), screw motor (13), screw dado (15), fuselage (12), there are camera (14), orientation module (11) fuselage front side, internally mounted battery (18), the control unit (19), install in fuselage (12) below foot rest (17), when unmanned aerial vehicle lands, unmanned aerial vehicle can be propped up in foot rest (17), screw (16) use the wire to link to each other with screw motor (13), screw motor (13) use the wire to link to each other with battery (18), install in screw (15) periphery screw dado (15), screw motor (13) convert the electric energy of battery (18) into screw mechanical energy through the electric energy, drive unmanned aerial vehicle take off to screw (16) are equipped with screw dado (15), in case the screw hits the barrier, as: the rock body is provided with a protective device. Camera (14) link to each other with the control unit (19) through the wire, and camera (14) can observe the environment around the unmanned aerial vehicle, passes to the control unit (19) image information, and remote control unit (50) are arrived again to the control unit, can show the image in monitor (55), convenient operation. The positioning module (11) is provided with a GPS positioning system, can record the position of a drill hole and is used for the control unit (19) to call, the control unit is connected with the remote control device (50) through wireless communication, information can be transmitted to the remote control device, the remote control device can also transmit operation information to the control unit (19), and the control unit controls all parts to play functions.
Further stated, the drilling device (20) comprises: the drill bit comprises a waste collection box (25), a weight sensor (24), dust collectors (21), a steering module (26), a drilling motor (23) and a drill bit (22), wherein the waste collection box (25) is detachably fixed below the machine body in an inserting mode, the weight sensor (24) is installed at the upper right corner of the waste collection box (25) and used for detecting the real-time weight of the waste collection box and generating a signal to be sent to a control unit (19), the control unit feeds information back to a remote control device (50), the dust collectors (21) are respectively arranged on two sides of an electric drill, the tail ends of the dust collectors are fixedly installed on the waste collection box, dust suction ports of the two dust collectors are arranged on two sides of the drill bit (22) and used for collecting waste generated in the drilling process into the waste collection box (25) to play a role in cleaning holes and eliminating visual line obstacles of the camera, and the steering module (26), the drilling motor (23) is arranged in front of the steering module (26) and is connected with the battery and the steering module by using a lead, the drill bit is arranged in front of the motor, a remote controller can change the drilling direction by controlling the steering module, and can drill in the vertical, inclined upward, inclined leftward, horizontal directions and the like, and the diameter and the length of the drill bit can be changed according to requirements.
Further illustratively, the grouting device (30) includes: storage box (36), advance thick liquid mouth (38), slip casting mouth (37), turn to module (26), grouting motor (33), slip casting pipe (32), grouting pump (34), shower nozzle (31) and thick liquid volume prompting device (35), storage box (36) through grafting mode fixed mounting under fuselage (12), for the back washing slurry that facilitates the use, set up to detachable, advance thick liquid mouth (38) and store up thick liquid case bilateral symmetry and arrange, slip casting mouth (37) is in storage box front side, turn to module (26) and install and be connected with control unit (19) at slip casting mouth (37) department and through the wire, turn to the module and be hollow, do not influence the slip casting, grouting motor (33) are installed and are connected with battery, slip casting pipe and turn to the module beside the slip casting mouth and use the wire, slip casting pipe (32) extend to the outside that turns to module (26), grouting pump (34) and turn to module (26) butt joint, the grouting amount prompting device is connected with the grouting pipe and the control unit through a lead, the spray head (31) is connected with the grouting pipe, the grouting amount prompting device (35) is installed at the upper right corner of the grouting storage box and is electrically connected with the control unit, when the grouting amount is relatively small due to continuous increase of the grouting amount, and the grouting amount of the grouting storage box exceeds a certain amount, the grouting amount prompting device transmits a signal to the control unit (19), the control unit transmits the signal to the remote control device (50), and a grouting amount indicating lamp (57) and a sound unit (62) on the remote control device can send signals so that a user can perceive the signals.
Further stated, the slurry supply apparatus (40) comprises: a slurry supply vehicle (41), a vehicle control unit (45), a slurry supply pump (44), a slurry conveying pipe (42) and a stirrer (43), the slurry supply vehicle (41) can transport the dry static blasting agent to a working place, the vehicle control unit (45) is arranged in the vehicle head and is connected with a remote control device (50) through wireless communication, the vehicle control unit is controlled by the remote control device, the slurry supply pump (44) is arranged at the rear side of the slurry supply vehicle (41) and is connected with the vehicle control unit (45) through a lead, the slurry conveying pipe (42) extends towards the upper side of the slurry supply pump (44), the stirrer (43) is arranged on the slurry supply vehicle and is electrically connected with the vehicle control unit (45) by a lead, after drilling is finished, the dried static blasting agent and water are stirred on site to convey the slurry to the working surface through a slurry conveying pipe (42), and defeated thick liquid pipe and agitator are detachable, wash inside remaining thick liquid after the convenient use.
Further illustratively, the remote control unit (50) includes: an indicator light unit, a power switch (59), an audio unit (62), an operation unit, and a monitor (55), the indicator light unit including: a reject indicator (56), a pulp amount indicator (57), and an audible unit (62) for giving an audible signal when the weight of the reject collection box (25) or the pulp amount of the pulp storage box (36) reaches a certain amount, and the reject indicator (56) and the pulp amount indicator (57) change from colorless to red, wherein the operation unit comprises: the device comprises a steering control unit (51), a positioning information recording and calling key (52), a grouting pump operating key (53), a slurry supply pump operating key (54), a drilling motor operating key (60), a grouting motor operating key (61), a dust collector operating key (63) and a flight operating unit (58), wherein the monitor (55) can display images shot by a camera.
When in use: installing a drilling device and selecting the diameter and the length of a drill bit according to factors such as the hardness degree of rocks, ensuring that a battery of the unmanned aerial vehicle has enough electric quantity, observing dangerous rocks by naked eyes, manually enabling the unmanned aerial vehicle to start flying through a remote control device, observing the surrounding environment of the unmanned aerial vehicle through a monitor by a remote controller, finding a proper working surface, manually and remotely opening a drilling motor, adjusting the direction of the drill bit, opening a dust collector and recording the drilling position while drilling, absorbing waste materials generated by drilling by the dust collector, avoiding blocking the sight of a camera and playing a role in cleaning holes, finding a second hole position after drilling a first hole, manually and remotely controlling the drilling device to work and record the position of the hole, when the weight of a waste collecting box reaches a certain degree, transmitting a signal to a control unit by a weight sensor, transmitting the signal to the remote control unit again, the waste material indicator light and the sound device can send signals to enable a remote controller to perceive, the remote controller can enable the unmanned aerial vehicle to land to clean waste materials and then continue working, after drilling is completed, the unmanned aerial vehicle is enabled to land, the drilling device is changed into a grouting device, static blasting agent slurry is prepared on site in a stirrer, a slurry conveying pipe is inserted into a slurry inlet of a slurry storage box, position information of drilling is recorded before the slurry is obtained, the unmanned aerial vehicle returns to the drilling position to wait for grouting, then a slurry supply pump is opened through manual remote control, the prepared static blasting agent slurry in the slurry supply device is conveyed into the slurry storage box, a grouting pump is opened through manual remote control, steering is well adjusted to enable the slurry to be injected into the drilled hole, position information of a second hole is obtained after grouting of a first hole is completed, the unmanned aerial vehicle returns to the position of the second hole, grouting is carried out again, and if the slurry amount of the slurry storage box reaches a certain amount, the thick liquid volume prompting device can pass the signal to remote control unit through the control unit, remote control unit's thick liquid volume pilot lamp can become red, sound unit can make sound, the remote controller can artificially coordinate the grouting pump in remote control after perceiving, the confession stuff pump, if reduce the power of confession stuff pump, reduce and supply thick liquid and then reduce the thick liquid volume of storage thick liquid case, thick liquid volume pilot lamp and sound unit can stop the signals, the back is accomplished in the slip casting, open the mode of returning the journey, artificial remote control unmanned aerial vehicle falls to the ground safely, clear up remaining static blasting agent slurry under suitable place and the prerequisite of having done safety measure.
The apparatus of the present invention is provided only for illustrative purposes, and it will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the spirit and principles of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A static blasting dangerous rock treatment method and device based on an unmanned aerial vehicle comprises the following steps: the flight device (10), drilling equipment (20), slip casting device (30), confession thick liquid device (40) and remote control unit (50), its main characterized in that: the remote control device (50) is used for manually controlling and coordinating the work of each device, and the tasks are completed in two stages, wherein in the first stage, the drilling device (20) is firstly installed on a working surface for drilling, and in the second stage, the grouting device (30) is installed for injecting the prepared static blasting agent slurry into a hole.
2. The method and apparatus for managing dangerous rocks according to claim 1, wherein the flying apparatus (10) includes: foot rest (17), screw (16), screw motor (13), screw dado (15), fuselage (12), there are camera (14), orientation module (11) fuselage front side, internally mounted battery (18), the control unit (19), install in fuselage (12) below foot rest (17), screw (16) use the wire to link to each other with screw motor (13), screw motor (13) use the wire to link to each other with battery (18), screw dado (15) are installed in screw (16) periphery, camera (14) link to each other with the control unit (19) through the wire, orientation module (11) are provided with GPS positioning system to with the control unit (19) electric connection, the control unit (19) link to each other with remote control unit (50) through wireless communication.
3. The method and apparatus for managing dangerous rocks according to claim 1, wherein the drilling apparatus (20) includes: waste collection box (25), weighing transducer (24), dust catcher (21), turn to module (26), drilling motor (23), drill bit (22), waste collection box (22) are installed in fuselage (12) below, and are detachable, weighing transducer (24) are installed in waste collection box (25) upper right corner department and are linked to each other with control unit (19) through the wire, dust catcher (21) respectively sets up one in electric drill both sides, and the terminal fixed mounting of dust catcher (21) is on waste collection box (25), and the dust absorption mouth of two dust catchers (21) is in drill bit (22) both sides to use the wire to be connected with control unit (19), turn to module (26) and install in front waste collection box (25) to with control unit (19) electric connection, drilling motor (23) are installed before turning to module (26) to use wire and battery (18), The control unit (19), the dust collector (21) and the steering module (26) are connected, the drill bit (22) is arranged in front of the drilling motor (23), and the drill bit (22) can be replaced with different diameters or lengths according to requirements.
4. The method and apparatus for managing dangerous rocks according to claim 1, wherein the grouting apparatus (30) comprises: mud storage tank (36), advance thick liquid mouth (38), slip casting mouth (37), turn to module (26), grouting motor (33), slip casting pipe (32), grouting pump (34), shower nozzle (31) and thick liquid volume prompting device (35), mud storage tank (36) is through grafting mode fixed mounting under fuselage (12), advance thick liquid mouth (38) and store up thick liquid case (36) bilateral symmetry and arrange, slip casting mouth (37) are in mud storage tank (36) front side, turn to module (26) and install and be connected with control unit (19) at slip casting mouth (37) department and through the wire, grouting motor (33) are installed and are connected with battery (18), turn to module (26) and grouting pump (34) on slip casting mouth (37) next door and use the wire, slip casting pipe (32) extend to the outside of turning to module (26), grouting pump (34) and turn to module (26) butt joint and are continuous with slip casting pipe (32) and are connected with control unit (19) through the wire, the spray head (31) is connected with the grouting pipe (32), and the grout amount prompter (35) is installed at the upper right corner of the grout storage box (36) and is electrically connected with the control unit (19).
5. The method and apparatus for managing dangerous rocks according to claim 1, wherein the slurry supply apparatus (40) includes: supply thick liquid car (41), vehicle control unit (45), supply thick liquid pump (44), defeated thick liquid pipe (42) and agitator (43), supply thick liquid car (41) can transport static blasting agent to the workplace, vehicle control unit (45) are installed in the locomotive and are connected with remote control unit (50) through wireless communication, supply thick liquid pump (44) to install and supply thick liquid car (41) rear side and link to each other with vehicle control unit (45) through the wire, defeated thick liquid pipe (42) extend to the upside that supplies thick liquid pump (44), agitator (43) are installed and are being supplied on thick liquid car (41) and use wire and vehicle control unit (45) electric connection.
6. The method and apparatus for managing dangerous rocks according to claim 1, wherein the remote control apparatus (50) includes: an indicator light unit, a power switch (59), an audio unit (62), an operation unit, and a monitor (55), the indicator light unit including: a reject indicator lamp (56), a pulp amount indicator lamp (57), and an audible unit (62) capable of giving an audible signal when the weight of the reject collection box (25) or the pulp amount of the pulp storage box (36) reaches a certain amount, etc., the operation unit including: the device comprises a steering control unit (51), a positioning information recording and calling key (52), a grouting pump operating key (53), a grouting pump operating key (54), a drilling motor operating key (60), a grouting motor operating key (61) and a flight operating unit (58), wherein the monitor (55) can display images shot by a camera (14).
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| CN111483604B (en) | 2023-05-05 |
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Application publication date: 20200804 Assignee: Guangxi Earthquake Prevention Engineering Technology Co.,Ltd. Assignor: GUILIN University OF TECHNOLOGY Contract record no.: X2023980044113 Denomination of invention: A static blasting dangerous rock treatment device and method based on drones Granted publication date: 20230505 License type: Common License Record date: 20231023 |
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