Self contained sampling and processing facility

摘要

A self-contained mobile sampling and processing facility for use at a mine having at least one blast-hole that forms a blast-hole cone wherein the sampling and processing facility includes at least one primary robotic arm that carries at least one sampling tool, and the primary robotic arm and sampling tool is controlled by robotic arm and sampling tool movement controller means, and the primary robotic arm is capable of self-determining the direction, distance and shape of a nearby blast-hole cone, then subsequently positioning itself so that the sampling tool is able to engage with the blast-hole cone and retrieve a sample from it without significant mixing or stirring the cone, or a localized region of the cone, and then the sample is deposited into the processing facility.

主权项

1. A self-contained mobile sampling and processing facility for use at a mine having at least one blast-hole that forms a blast-hole cone wherein the sampling and processing facility includes at least one primary robotic arm that carries at least one sampling tool, and the primary robotic arm and sampling tool is controlled by robotic arm and sampling tool movement controller means, and the primary robotic arm is adapted to self-determine the direction, distance and shape of a nearby blast-hole cone, then subsequently position itself so that the sampling tool is able to engage with the blast-hole cone and retrieve a sample from it without mixing or stirring the cone, or a localised region of the cone, and then the sample is deposited into the processing facility,
and wherein the robotic arm and sampling tool movement controller means are automatic that rely on sensors including camera(s), or distance sensor(s), or manual control means by an operator, and wherein at least one primary robotic arm is carried on at least one secondary robotic arm that in combination gives extended reach and maneuverability, and the at least one robotic arm is adapted to be mounted in an inverted orientation to increase the reach and maneuverability, and wherein the mobile sampling and processing facility is carried on a vehicle or towed on a trailer, and wherein either the primary robotic arm, or the combination of primary and secondary robotic arms, is adapted to move and operate on either side of the vehicle or towed trailer, and wherein the processing facility includes all, or a subset of: a crusher into which the sample is deposited by the robotic arm, conveyancing means onto which the output from the crusher is fed subsequent to the crushing operation being completed, splitter means that receive the crushed sample from the conveying means and split out a portion of the crushed sample, bagging means that receive the split out portion from the splitter means and collect it into a bag, and wherein the bagging means is adapted to receive the sample directly from the robotic arm(s) without any preceding crushing, conveyance or splitting operations, if the operator deems that the sample is too wet for any or all of the preceding operations to be undertaken, and wherein the acceptable weight range of a filled sample bag is between 5 and 20 kilograms when the sample in the bag is wet and the bag has been filled directly by the robotic arm(s), and wherein the robotic arm and sampling tool controller means will control at least one primary robotic arm and its associated sampling tool to continue to take samples from a variety of locations around the blast-hole cone, and continue to feed them into the processing facility until a predetermined number of samples have been taken from the blast-hole cone, and wherein the robotic arm and sampling tool controller means includes both a manual and an automatic safety cut-out that only allows the robotic arm(s) and sampling tool(s) to be operated while the operator is within the safe confines of the vehicle cabin, and when appropriate sensor means, for example opening sensors fitted to the doors, or weight sensors in the seats, are triggered by a person alighting the vehicle during operation, or when the manual means are activated by an operator, the robotic arms and any ancillary exposed machinery is brought to a safe stop, and wherein the facility includes proximity sensors around the vehicle that are adapted to determine when a person, animal or object has moved within a safety exclusion zone around the facility during operation, thereby tripping the proximity sensors which causes the robotic arm(s) and any other exposed machinery to be brought to a safe stop, and wherein the proximity sensors include, but are not just limited to, all or a subset of video cameras, infra read detectors, RFID means, laser means, RADAR means and GPS means, and wherein the processing facility includes weighing means that weigh the bag as it collects the split out portion, and the weighing means are adapted to provide confirmation to the operator that the sample collected in the bag is within a predetermined acceptable weight range.