Method for identifying position and posture of blast hole for deep hole explosive loading and blast hole butt joint device
An identification method and technology of blast holes, applied in blasting and other directions, can solve problems such as high labor intensity, high risk factor, inability to solve efficiency and safety problems, and achieve the effect of solving high labor costs
Active Publication Date: 2019-05-31
辽宁冶装绿色高科技实业有限公司
View PDF9 Cites 8 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
The charging station is close to the mountain or underground, and there are multiple dangers such as falling rocks, dust, and liquid leakage. The labor intensity is high and the risk factor is high. Corresponding devices and methods are urgently needed to replace manual labor.
[0003] Patent No. CN107860277A "An Auxiliary Charging Device for Deep Hole Blasting and Its Design Method" provides a simple deep hole charging device, relying on the hinged disc bracket structure with composite elastic bands, to realize the strip explosive Cushion placement, but it is still a manual operation, which cannot solve the problems of efficiency and safety, and cannot realize the drug delivery to the deep hole upwards
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0021] The present invention will be described in detail below, but the implementation scope of the present invention is not limited to the following embodiments.
[0022] Such as Figure 5 As shown, a method for identifying the position and posture of a blast hole for deep-hole charges uses a robot to automatically deliver the charge, and uses a combination of depth camera and laser ranging to accurately identify the center position and axis direction of the depth blast hole. The specific method is as follows:
[0023] 1) First, the edge point of the blast hole 21 is identified by the depth camera 18, and a direction is arbitrarily selected to intercept the edge of the blast hole 21 with a set of parallel lines to obtain a set of parallel line segments, and the midpoint A of each line segment is calculated i(i＝1-n) , each midpoint A i Fit a straight line a with the least square method, turn an angle (can be 30°) relative to the straight line a, fit another straight line b in...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a method for identifying the position and posture of a blast hole for deep hole explosive loading. A robot is used for automatically feeding explosives, and a depth camera iscombined with laser ranging to accurately identify the central position and axis direction of the depth blast hole. Compared with the prior art, the method has the beneficial effects that the positionand posture of the blast hole for deep hole blasting can be automatically identified, and a device for the butt joint of an explosive tube onto the blast hole is designed, so that the whole process is completed automatically, and the problems of high labor cost, high risk, low efficiency and the like of traditional operation are solved.
Description
technical field [0001] The invention relates to the technical field of deep hole blasting, in particular to a method for identifying the position and posture of a blast hole and a butt joint device for a blast hole used for charging charges in a deep hole. Background technique [0002] In underground mines, the caving mining method of charging upwards with deep holes is often used. First, a deep hole is drilled on the rock wall above the initial mine cave (the depth of the hole is generally more than 10m, and the diameter is about 30mm), and then the upper end of the charge pipe is drilled. Butt to the center of the edge of the deep hole, and adjust the axial direction of the charge tube to make it consistent with the axial direction of the deep hole, so as to ensure that the drug delivery process can be carried out smoothly. Due to unfavorable factors such as weak light and uneven rock walls in underground mines, it is difficult to automatically identify the position and or...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): F42D1/08
Inventor 陈东杜云飞程万胜穆金涛石玉强郭松高延凯
Owner 辽宁冶装绿色高科技实业有限公司