A blasting emulsion explosive filling robot

Abstract

The technical scheme of the present application is: a blasting emulsion explosive filling robot; the blasting emulsion explosive filling robot comprises: a moving device; a control device installed on the moving device; an explosive filling device installed on the moving device, the explosive filling device comprising an explosive installation box and a mechanical arm, the mechanical arm being electrically connected with the control device, the mechanical arm comprising a gripper for clamping emulsion explosive in the explosive installation box; and an environment perception system, the environment perception system comprising a binocular depth camera, a millimeter wave radar, an odometer and a force sensor, the binocular depth camera, the millimeter wave radar, the odometer and the force sensor being electrically connected with the control device respectively, the binocular depth camera being installed on the mechanical arm, the millimeter wave radar and the odometer being installed on the moving device, and the force sensor being installed in the mechanical arm and used for detecting the clamping force of the gripper acting on the emulsion explosive. The present application is used for automatically filling emulsion explosive.

Description

Technical Field

[0001] This invention relates to the field of blasting, and in particular to a robot for loading blasting emulsion explosives. Background Technology

[0002] Blasting technology plays a crucial role in projects such as railways, mines, reservoirs, tunnels, and old buildings.

[0003] During blasting, multiple blast holes are excavated on the working face to be blasted, and then emulsion explosives are placed in the blast holes before blasting is carried out. Currently, this step of filling the blast holes with emulsion explosives is mostly done manually. When done manually, workers have to work in a complex working environment with humid air and dust and fumes, which results in low work efficiency, high labor intensity, and high risk.

[0004] Therefore, there is an urgent need to design an explosive loading robot to solve the various problems existing in manual operation. Summary of the Invention

[0005] To address the aforementioned problems, this invention aims to provide a robot for automatically loading emulsion explosives.

[0006] To at least solve the above-mentioned technical problems, the present invention provides a robot for loading explosive emulsions; the robot for loading explosive emulsions includes:

[0007] Mobile devices;

[0008] A control device is mounted on the mobile device;

[0009] An explosive loading device is installed on the mobile device. The explosive loading device includes an explosive loading box and a robotic arm. The robotic arm is electrically connected to the control device. The robotic arm includes grippers for gripping emulsion explosives in the explosive loading box.

[0010] The system includes an environmental perception system comprising a binocular depth camera, a millimeter-wave radar, an odometer, and a force sensor. The binocular depth camera, the millimeter-wave radar, the odometer, and the force sensor are electrically connected to the control device. The binocular depth camera is mounted on the robotic arm, the millimeter-wave radar and the odometer are mounted on the moving device, and the force sensor is mounted inside the robotic arm and is used to detect the clamping force of the grippers on the emulsion explosive.

[0011] Preferably, the mobile device includes:

[0012] Walking section;

[0013] The device includes a lifting section, on which the explosive loading device and the millimeter-wave radar are mounted; and a mounting frame, on which the lifting section, which is retractable vertically relative to the mounting frame, is mounted at the top, and the traveling section is mounted at the bottom. The control device and the odometer are respectively mounted on the mounting frame.

[0014] Preferably, the mounting bracket includes:

[0015] The upper frame, on which the lifting unit is mounted;

[0016] Lower board;

[0017] The upper frame and the lower plate are horizontally arranged and connected by a plurality of the connecting frames. The upper frame, the lower plate and the connecting frames together enclose an installation space. The control device is installed in the installation space and the odometer is installed in the installation space.

[0018] More preferably, the control device is mounted on the upper surface of the lower plate.

[0019] Preferably, a power supply electrically connected to the control device is also installed in the installation space.

[0020] More preferably, the power supply is mounted on the upper surface of the lower plate.

[0021] Preferably, the lifting unit is a shearing lifting platform, and the shearing lifting platform is electrically connected to the control device.

[0022] Preferably, the walking unit includes a plurality of walking units, each of the walking units comprising:

[0023] The fixed support includes a fixed plate and two support plates formed on both sides of the fixed plate. The fixed plate is detachably connected to the lower plate. The fixed plate and the two support plates together form a slot, and each support plate is provided with a through mounting hole.

[0024] A flexible coupling is installed in the slot;

[0025] The wheel, the axle of which passes through the mounting hole corresponding to the support plate and is connected to one end of the flexible coupling for transmission;

[0026] The reducer, wherein the output shaft of the reducer passes through the mounting hole corresponding to the support plate and is connected to the other end of the flexible coupling for transmission;

[0027] The motor is electrically connected to the control device;

[0028] A rotary encoder is mounted on the motor and electrically connected to the motor.

[0029] The wheels, the flexible coupling, the reducer, and the motor are connected in sequence from the outside to the inside.

[0030] Preferably, there are four walking units, which are installed in pairs on both sides of the lower plate. The two walking units on each side are spaced apart, and a belt drive mechanism is further included between the two walking units on each side. The belt drive mechanism includes:

[0031] There are two synchronous pulleys, which are fixed to the outer circumference of the axles of the two wheels in a one-to-one correspondence;

[0032] A timing belt is disposed around the outer periphery of the two timing pulleys;

[0033] The tensioning device includes a tensioning support and a tensioning wheel. The tensioning support is detachably connected to the upper surface of the lower plate and is located between the two traveling units. The tensioning wheel is rotatably connected to the tensioning support and its lower side abuts against the timing belt.

[0034] Preferably, the environmental perception system further includes a lidar, which is mounted on the upper surface of the lifting unit and centrally positioned, and is electrically connected to the control device.

[0035] Preferably, there are two millimeter-wave radars installed on the upper surface of the lifting unit, with the two millimeter-wave radars arranged one-to-one on both sides of the lidar.

[0036] Preferably, the environmental perception system further includes the ultrasonic obstacle avoidance sensor electrically connected to the control device; there are several ultrasonic obstacle avoidance sensors evenly installed in the installation space, and each ultrasonic obstacle avoidance sensor is arranged facing outward.

[0037] Preferably, four ultrasonic obstacle avoidance sensors are installed at the four corners of the lower surface of the upper frame, one-to-one.

[0038] Preferably, the upper frame has two vertical diagonal rectangular surfaces; the vertical surface where each ultrasonic obstacle avoidance sensor is located is arranged parallel to its corresponding diagonal rectangular surface.

[0039] Preferably, the central axis of each ultrasonic obstacle avoidance sensor is inclined relative to the horizontal plane.

[0040] More preferably, the angle between the central axis of each ultrasonic obstacle avoidance sensor and the horizontal plane is 5°.

[0041] Preferably, the robotic arm is a six-degree-of-freedom robotic arm.

[0042] Preferably, the robotic arm further includes an arm body, the head end of which is fixed to the upper surface of the lifting unit, and the tail end of which is equipped with a gripper; the binocular depth camera is mounted on the upper side of the arm body and is located near the tail end of the arm body, and the force sensor is mounted on the tail end of the arm body and is located near the gripper.

[0043] Preferably, the explosive mounting box is mounted on the upper surface of the lifting unit, and the upper end face of the explosive mounting box is evenly provided with a plurality of mounting openings, each of which is used to mount emulsion explosives.

[0044] More preferably, each of the mounting ports is arranged in a rectangular array.

[0045] Preferably, the control device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, enables the following steps:

[0046] Receive RGBD image information of the emulsion explosive in the explosive mounting box acquired by the binocular depth camera, and confirm the position of the emulsion explosive based on the RGBD image information of the emulsion explosive in the explosive mounting box;

[0047] The system receives RGBD image information of the working surface of the borehole acquired by the binocular depth camera, and controls the millimeter-wave radar to identify the boreholes on the working surface of the borehole based on the RGBD image information of the working surface of the borehole, so as to obtain the target borehole to be filled.

[0048] The millimeter-wave radar is controlled to detect the hole depth data of the target's gun hole;

[0049] Determine whether the hole depth data is the preset hole depth data that can be filled with explosives;

[0050] If so, the robotic arm is controlled to pick up the emulsion explosive at the confirmed location and fill it into the target borehole.

[0051] Preferably, when the program is executed by the processor, it can also perform the following steps:

[0052] The initial relative position information of the mobile device with respect to the working face of the borehole is obtained based on the millimeter-wave radar when the mobile device is not moving.

[0053] Based on the initial relative position information, an initial navigation path is generated for the mobile device to travel to the working face of the blast hole;

[0054] The mobile device is controlled to travel along the initial navigation path, and the presence of obstacles is detected in real time by the lidar and the ultrasonic obstacle avoidance sensor.

[0055] If so, obtain the relative position information of the obstacle with respect to the working face of the borehole;

[0056] An avoidance navigation path is generated based on the relative position information of the obstacle, wherein the avoidance navigation path is a navigation path that avoids the location of the obstacle;

[0057] The mobile device is controlled to travel to the working face of the blast hole according to the avoidance navigation path.

[0058] Preferably, when the program is executed by the processor, it can also perform the following steps:

[0059] The force sensor detects the clamping force information of the gripper acting on the emulsion explosive;

[0060] Determine whether the clamping force information is the preset clamping force information that can clamp emulsion explosives;

[0061] If not, adjust the clamping force of the gripper acting on the emulsion explosive so that the adjusted clamping force information is the preset clamping force information that can clamp the emulsion explosive.

[0062] Beneficial effects:

[0063] This invention provides a robot for loading blasting emulsion explosives. A control device is mounted on a mobile device, allowing the control device to move along with the mobile device. A binocular depth camera, millimeter-wave radar, odometer, and force sensor are electrically connected to the control device. The binocular depth camera is mounted on the robotic arm, while the millimeter-wave radar and odometer are mounted on the mobile device. The binocular depth camera transmits RGBD image information of the borehole working face and the emulsion explosive in the explosive loading box to the control device. The RGBD image information is used to identify the borehole position and the emulsion explosive. The millimeter-wave radar detects the depth of each borehole position and transmits this depth information to the control device, which then determines whether the depth of each borehole meets predetermined requirements. The odometer transmits the location and distance traveled by the mobile device to the control device for positioning. The millimeter-wave radar detects the distance between the current location and the borehole working face and transmits this data to the control device. The system can plan the movement path of the mobile device and move it to the corresponding position. An explosive loading device is installed on the mobile device. When the mobile device moves, the explosive loading device moves with it, moving the robotic arm to the corresponding borehole position facing the borehole working face and requiring explosive loading. The robotic arm is electrically connected to the control device and includes grippers. When loading emulsion explosives, the control device can instruct the robotic arm to use the grippers to pick up the emulsion explosives from the explosive loading box and place them into the corresponding borehole. A force sensor is installed inside the robotic arm to detect the clamping force of the grippers on the emulsion explosives. The control device can determine whether the clamping force is within a preset range. If not, the control device can instruct the grippers to adjust the clamping force to maintain it within a suitable range, preventing the emulsion explosives from falling or being damaged. Combined with the movement of the robotic arm, this improves the installation accuracy of the emulsion explosives, achieving automatic loading of emulsion explosives with high efficiency and reliable safety.

[0064] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a structural schematic diagram of the explosive emulsion filling robot provided by the present invention;

[0067] Figure 2 A diagram showing the state of the blasting emulsion explosive loading robot provided by the present invention installing emulsion explosives onto the working face of the blast hole;

[0068] Figure 3 A schematic diagram of the structure of the walking part and the mounting frame provided by the present invention;

[0069] Figure 4 For the present invention Figure 3 Enlarged view of part A in the middle;

[0070] Figure 5 For the present invention Figure 3 Enlarged view of part B in the middle;

[0071] Figure 6 This is a front view of the walking section and mounting frame in this invention;

[0072] Figure 7 For the present invention Figure 6 CC section view;

[0073] Figure 8 For the present invention Figure 7 Enlarged view of a portion of the image (D section);

[0074] Figure 9 This is a flowchart illustrating the steps involved in the execution of a computer program by a processor in this invention; (Figure captions:)

[0075] 1-Mobile device;

[0076] 2- Lifting section;

[0077] 3-Traveling section;

[0078] 301 - Walking Unit;

[0079] 3011-Fixed Support;

[0080] 30111-Fixing Plate;

[0081] 30112 - Support plate;

[0082] 30113 - Mounting hole;

[0083] 30114 - Card slot;

[0084] 3012 - Wheel;

[0085] 30121 - Wheel axle;

[0086] 3013 - Flexible coupling;

[0087] 3014 - Gear reducer;

[0088] 3015 - Electric motor;

[0089] 302 - Belt drive mechanism;

[0090] 3021 - Synchronous Belt Pulley;

[0091] 3022 - Synchronous Belt;

[0092] 3023 - Tensioning device;

[0093] 30231 - Tensioning support;

[0094] 30232 - Tensioner;

[0095] 4-Mounting bracket;

[0096] 401 - Upper Frame;

[0097] 402 - Bottom Plate;

[0098] 403 - Connector;

[0099] 404 - Installation space;

[0100] 5-Control device;

[0101] 6- Explosive loading device;

[0102] 601 - Explosives Installation Box;

[0103] 6011 - Mounting Port;

[0104] 602 - Robotic Arm;

[0105] 6021 - Arm Body;

[0106] 6021a - The tip of the arm body;

[0107] 6021b - The tail end of the arm body;

[0108] 6022-gripper);

[0109] 603-emulsion explosive);

[0110] 7-Environmental Sensing System;

[0111] 701-Binocular Depth Camera;

[0112] 702-Millimeter-wave radar;

[0113] 703 - Odometer;

[0114] 704 - Force Sensor;

[0115] 705-LiDAR;

[0116] 706 - Ultrasonic obstacle avoidance sensor;

[0117] 706a - Central axis;

[0118] 8-Power supply;

[0119] 9-Horizontal plane. Detailed Implementation

[0120] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art are within the scope of protection of this invention. The keyword "and / or" involved in this embodiment indicates two situations: and or. In other words, A and / or B mentioned in the embodiments of this specification indicates two situations: A and B, or A or B. It describes three states of A and B. For example, A and / or B means: only A is included but not B; only B is included but not A; and A and B are included.

[0121] Furthermore, in the embodiments of this specification, when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intervening component present. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intervening component present.

[0122] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0123] Example 1

[0124] Please refer to Figures 1 to 8This embodiment provides a robot for loading explosive emulsion explosives. The robot includes: a mobile device 1; a control device 5 mounted on the mobile device 1; an explosive loading device 6 mounted on the mobile device 1, the explosive loading device 6 including an explosive loading box 601 and a robotic arm 602, the robotic arm 602 being electrically connected to the control device 5, the robotic arm 602 including grippers 6022 for gripping the emulsion explosive 603 inside the explosive loading box 601; and an environmental perception system 7. It includes a binocular depth camera 701, a millimeter-wave radar 702, an odometer 703, and a force sensor 704. The binocular depth camera 701, millimeter-wave radar 702, odometer 703, and force sensor 704 are electrically connected to the control device 5. The binocular depth camera 701 is mounted on the robotic arm 602, the millimeter-wave radar 702 and the odometer 703 are mounted on the moving device 1, and the force sensor 704 is mounted inside the robotic arm 602 and is used to detect the clamping force of the gripper 6022 on the emulsion explosive 603.

[0125] Specifically, the control device 5 is mounted on the mobile device 1. When the mobile device 1 moves, the control device 5 moves with it. The binocular depth camera 701, millimeter-wave radar 702, odometer 703, and force sensor 704 are electrically connected to the control device 5. The binocular depth camera 701 is mounted on the robotic arm 602, and the millimeter-wave radar 702 and odometer 703 are mounted on the mobile device 1. The binocular depth camera 701 can transmit the RGBD image information of the borehole working face and the RGBD image information of the emulsion explosive 603 in the explosive loading box 601 to the control device 5 respectively. The millimeter-wave radar 702 identifies borehole locations and emulsion explosives using RGBD image information, detects the depth of each borehole, and transmits this depth information to the control device 5. The control device 5 determines whether the depth of each borehole meets predetermined requirements. If it does, the borehole is identified as a location requiring the filling of emulsion explosives 603. The odometer 703 transmits the location information and distance traveled by the mobile device 1 to the control device 5 for positioning. The millimeter-wave radar 702 detects the distance between its current location and the working face of the borehole and transmits this data to the control device 5. The control device 5 plans the movement path of the moving device 1 and moves the moving device 1 to the corresponding position. The explosive loading device 6 is installed on the moving device 1. When the moving device 1 moves, the explosive loading device 6 moves with the moving device 1, moving the robotic arm 602 to the corresponding blast hole position facing the blast hole working face and requiring explosive loading. The robotic arm 602 is electrically connected to the control device 5. The robotic arm 602 includes a gripper 6022. When loading emulsion explosive 603, the control device 5 gives instructions to the robotic arm 602 to use the gripper 6022 to pick up the emulsion explosive 603 from the explosive loading box 601. The explosive is placed into the corresponding borehole. Force sensor 704 is installed in robotic arm 602 to detect the clamping force of gripper 6022 on emulsion explosive 603. Control device 5 can determine whether the clamping force is within the preset range. If not, control device 5 can give instruction to gripper 6022 to adjust the clamping force so that the clamping force is maintained within a suitable range, so as to avoid the emulsion explosive 603 falling or being damaged. Combined with the movement of robotic arm 602, the installation accuracy of emulsion explosive 603 is improved, realizing automatic filling of emulsion explosive 603 with high efficiency and safety.

[0126] In one possible implementation, the mobile device 1 includes: a walking part 3; a lifting part 2, on which an explosive loading device 6 is mounted and a millimeter-wave radar 702 is mounted; and a mounting frame 4, on which the lifting part 2, which can extend and retract vertically relative to the mounting frame 4, is mounted at the top and the walking part 3 is mounted at the bottom, and the control device 5 and the odometer 703 are respectively mounted on the mounting frame 4.

[0127] Specifically, the explosive loading device 6 is installed on the lifting unit 2, and the millimeter-wave radar 702 is also installed on the lifting unit 2. This allows the explosive loading device 6 and the millimeter-wave radar 702 to move up and down with the lifting unit 2 and be delivered to the corresponding height position. This facilitates the gripper 6022 of the robotic arm 602 to load the emulsion explosive 603 into the corresponding borehole, and allows the millimeter-wave radar 702 to detect the depth of the corresponding borehole in real time. The control device 5 and the odometer 703 are respectively installed on the mounting bracket 4, making reasonable use of space and facilitating disassembly and assembly. The odometer 703 does not move up and down with the lifting unit 2, making the acquisition of the position information of the moving device 1 more accurate.

[0128] In one possible implementation, the mounting frame 4 includes: an upper frame 401, on which the lifting part 2 is mounted; a lower plate 402; and a connecting frame 403. The upper frame 401 and the lower plate 402 are respectively horizontally arranged and connected by a plurality of connecting frames 403. The upper frame 401, the lower plate 402 and the connecting frames 403 together enclose an installation space 404. The control device 5 is installed in the installation space 404, and the odometer 703 is installed in the installation space 404.

[0129] Furthermore, the control device 5 is installed on the upper surface of the lower plate 402.

[0130] Specifically, the upper frame 401, the lower plate 402, and the connecting frame 403 together form an installation space 404. The control device 5 is installed in the installation space 404, and the odometer 703 is installed on the upper surface of the lower plate 402. The space is used in a reasonable way to facilitate the disassembly, assembly, and debugging of the control device 5.

[0131] In one possible implementation, a power supply 8 electrically connected to the control device 5 is also installed in the installation space 404.

[0132] Furthermore, the power supply 8 is mounted on the upper surface of the lower plate 402.

[0133] Specifically, the power supply 8 is installed on the upper surface of the lower plate 402 by the power switch control device 5, making reasonable use of the space and facilitating the opening or closing of the power supply 8.

[0134] In one possible implementation, the lifting unit 2 is a shearing lifting platform, which is electrically connected to the control device 5.

[0135] Specifically, the control device 5 controls the lifting and lowering of the shearing platform, causing the various components installed on the shearing platform to move up and down accordingly.

[0136] In one possible implementation, the traveling unit 3 includes a plurality of traveling units 301, each traveling unit 301 including: a fixed support 3011, the fixed support 3011 including a fixed plate 30111 and two support plates 30112 corresponding to each other on both sides of the fixed plate 30111, the fixed plate 30111 being detachably connected to the lower plate 402, the fixed plate 30111 and the two support plates 30112 forming a groove 30114, and each support plate 30112 having a through mounting hole 30113; a flexible coupling 3013, installed in the groove 30114; and a vehicle... Wheel 3012, wheel axle 30121 passes through mounting hole 30113 of corresponding support plate 30112 and is connected to one end of flexible coupling 3013; reducer 3014, reducer 3014 output shaft passes through mounting hole 30113 of corresponding support plate 30112 and is connected to the other end of flexible coupling 3013; motor 3015, electrically connected to control device 5; and rotary encoder, mounted on motor 3015 and electrically connected to motor 3015; wherein, wheel 3012, flexible coupling 3013, reducer 3014 and motor 3015 are connected in sequence from the outside to the inside.

[0137] Specifically, the wheels 3012, flexible couplings 3013, reducers 3014, and motors 3015 are sequentially connected from the outside to the inside. The motors 3015 and reducers 3014 are electrically connected to the control device 5. The control device 5 sends commands to the motors 3015 to drive each wheel 3012 to rotate, thus moving the moving device 1. The fixing plate 30111 of the fixed support 3011 and the two support plates 30112 together form a slot 30114, where the flexible coupling 3013 is installed. Each support plate 30112 has a through mounting hole 30113, allowing the wheel axle 30121 to pass through the corresponding support. The mounting hole 30113 of plate 30112 is connected to one end of the flexible coupling 3013. The output shaft of reducer 3014 passes through the mounting hole 30113 of the corresponding support plate 30112 and is connected to the other end of the flexible coupling 3013. The installation is stable, easy to disassemble and assemble, and the movement is stable. The rotary encoder is installed on motor 3015 and electrically connected to motor 3015. It is used to calculate the number of rotations of motor 3015. The control device 5 can drive the moving device 1 to move forward or backward by controlling the rotation of motors 3015 on both sides to the same number of rotations. The control device 5 can drive the moving device 1 to turn by controlling the difference in the number of rotations of motors 3015.

[0138] In one possible implementation, there are four walking units 301, which are installed in pairs on both sides of the lower plate 402. The two walking units 301 on each side are spaced apart, and a belt drive mechanism 302 is also included between the two walking units 301 on each side. The belt drive mechanism 302 includes two synchronous pulleys 3021, which are fixed to the outer periphery of the axle 30121 of the two wheels respectively; a synchronous belt 3022, which surrounds the outer periphery of the two synchronous pulleys 3021; ​​and a tensioning device 3023. The tensioning device 3023 includes a tensioning support 30231 and a tensioning wheel 30232. The tensioning support 30231 is detachably connected to the upper surface of the lower plate 402 and is located between the two walking units 301. The tensioning wheel 30232 is rotatably connected to the tensioning support 30231, and the lower side of the tensioning wheel 30232 abuts against the synchronous belt 3022.

[0139] Specifically, a belt drive mechanism 302 is provided between the two walking units 301 on each side. The belt drive mechanism 302 has two synchronous pulleys 3021, which are fixed to the outer periphery of the axle 30121 of the two wheels in a one-to-one correspondence. The synchronous belt 3022 surrounds the outer periphery of the two synchronous pulleys 3021. Through the friction between the belt and the pulley, the two wheels 3012 on the same side rotate synchronously, ensuring the stability of the moving device 1 and preventing side rollover. The tension support 30231 is located between the two walking units 301. The tension wheel 30232 is rotatably connected to the tension support 30231. The lower side of the tension wheel 30232 abuts against the synchronous belt 3022 to tension the synchronous belt 3022 and prevent the synchronous belt 3022 from elongating and failing due to long-term use.

[0140] In one possible implementation, the environmental perception system 7 also includes a lidar 705, which is mounted on the upper surface of the lifting unit 2 and centrally located, and is electrically connected to the control device 5.

[0141] Specifically, the lidar 705 is installed on the upper surface of the lifting unit 2 and is centrally located. The lidar 705 has a large scanning area and is electrically connected to the control device 5, enabling the control device 5 to acquire the obstacle position information scanned by the lidar 705.

[0142] In one possible implementation, there are two millimeter-wave radars 702 mounted on the upper surface of the lifting unit 2, with the two millimeter-wave radars 702 arranged one-to-one on both sides of the lidar 705.

[0143] Specifically, there are two millimeter-wave radars 702 installed on the upper surface of the lifting unit 2. The two millimeter-wave radars 702 are arranged one-to-one on both sides of the laser radar 705, so that the depth of the gun hole obtained by the millimeter-wave radar 702 is accurate.

[0144] In one possible implementation, the environmental perception system 7 further includes an ultrasonic obstacle avoidance sensor 706 electrically connected to the control device 5; a plurality of ultrasonic obstacle avoidance sensors 706 are evenly installed in the installation space 404, with each ultrasonic obstacle avoidance sensor 706 facing outward.

[0145] Furthermore, four ultrasonic obstacle avoidance sensors 706 are installed at the four corners of the lower surface of the upper frame 401 in a one-to-one correspondence; the upper frame 401 has two vertical diagonal rectangular surfaces; the vertical surface where each ultrasonic obstacle avoidance sensor 706 is located is arranged parallel to its corresponding diagonal rectangular surface.

[0146] Specifically, the ultrasonic obstacle avoidance sensor 706 is electrically connected to the control device 5. The ultrasonic obstacle avoidance sensor 706 scans and obtains the obstacle position information in the bottom area and transmits it to the control device 5. There are four ultrasonic obstacle avoidance sensors 706, which are installed one-to-one at the four corners of the lower surface of the upper frame 401. The upper frame 401 has two vertical diagonal rectangular surfaces. The vertical surface where each ultrasonic obstacle avoidance sensor 706 is located is set parallel to its corresponding diagonal rectangular surface. The reasonable arrangement allows the lidar 705 and the ultrasonic obstacle avoidance sensor 706 to fully cover the scanning range.

[0147] In one possible implementation, the central axis 706a of each ultrasonic obstacle avoidance sensor 706 is inclined relative to the horizontal plane 9. Generally, the angle between the central axis 706a of each ultrasonic obstacle avoidance sensor 706 and the horizontal plane 9 is 5°.

[0148] Specifically, the angle between the central axis 706a of each ultrasonic obstacle avoidance sensor 706 and the horizontal plane 9 is 5°, which can actively detect whether the ultrasonic obstacle avoidance sensor 706 is malfunctioning. When the central axis 706a of the ultrasonic obstacle avoidance sensor 706 is parallel to the horizontal plane 9, it is impossible to detect whether the ultrasonic obstacle avoidance sensor 706 is malfunctioning.

[0149] In one possible implementation, the robotic arm 602 is a six-degree-of-freedom robotic arm 602.

[0150] Specifically, the six-degree-of-freedom robotic arm 602 facilitates the robotic arm 602 to grasp emulsion explosives 603 at different positions and place the emulsion explosives 603 into the boreholes at different positions.

[0151] In one possible implementation, the robotic arm 602 further includes an arm body 6021, with the front end 6021a of the arm body fixed to the upper surface of the lifting part 2, and the rear end 6021b of the arm body equipped with a gripper 6022; a binocular depth camera 701 is mounted on the upper side of the arm body 6021 and is disposed near the rear end 6021b of the arm body, and a force sensor 704 is mounted on the rear end 6021b of the arm body and is disposed near the gripper 6022.

[0152] Specifically, the binocular depth camera 701 is mounted on the side of the arm body 6021 and is positioned near the tail end 6021b of the arm body to facilitate real-time acquisition of RGBD image information in front of the gripper 6022. Based on the RGBD image information in front of the gripper 6022, the emulsion explosive 603 and the position of the blast hole are identified.

[0153] In one possible implementation, the explosive mounting box 601 is mounted on the upper surface of the lifting part 2. The upper end face of the explosive mounting box 601 is evenly provided with a plurality of mounting openings 6011, and each mounting opening 6011 is used to mount emulsion explosive 603.

[0154] Furthermore, the mounting ports 6011 are arranged in a rectangular array.

[0155] Specifically, the mounting ports 6011 are arranged in a rectangular array to facilitate the control device 5 to control the gripper 6022 to pick up the emulsion explosive 603 in the explosive mounting box 601.

[0156] Please refer to Figure 9 In one possible implementation, the control device 5 includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, enables the following steps: receiving RGBD image information of emulsion explosive 603 in explosive loading box 601 acquired by binocular depth camera 701, and confirming the position of emulsion explosive 603 based on the RGBD image information of emulsion explosive 603 in explosive loading box 601; receiving RGBD image information of the working face of the blast hole acquired by binocular depth camera 701; controlling millimeter-wave radar 702 to identify the blast holes on the working face of the blast hole based on the RGBD image information, and obtaining the target blast hole to be filled; controlling millimeter-wave radar 702 to detect the hole depth data information of the target blast hole; determining whether the hole depth data information is the preset hole depth data information that can be filled with explosive; if so, controlling robotic arm 602 to pick up emulsion explosive 603 at the confirmed position of emulsion explosive 603 and fill it into the blast hole.

[0157] Specifically, after the program is executed by the processor, it can identify the position information of each blast hole and each emulsion explosive 603, and control the robotic arm 602 to pick up the emulsion explosive 603 at the confirmed position and fill it into the blast hole.

[0158] In one possible implementation, when the program is executed by the processor, it can also perform the following steps: acquiring the initial relative position information of the mobile device 1 relative to the working face of the borehole when it is not moving, based on the millimeter-wave radar 702; generating an initial navigation path for the mobile device 1 to travel to the working face of the borehole based on the initial relative position information; controlling the mobile device 1 to travel along the initial navigation path, and detecting the presence of obstacles in real time through the lidar 705 and the ultrasonic obstacle avoidance sensor 706; if so, acquiring the obstacle's relative position information relative to the working face of the borehole; generating an avoidance navigation path based on the obstacle's relative position information, wherein the avoidance navigation path is a navigation path that avoids the location of the obstacle; and controlling the mobile device 1 to travel to the working face of the borehole based on the avoidance navigation path.

[0159] Specifically, after the program is executed by the processor, it controls the mobile device 1 to travel to the working face of the blast hole according to the avoidance navigation path.

[0160] In one possible implementation, when the program is executed by the processor, it can also perform the following steps: receiving force sensor 704 to detect clamping force information of gripper 6022 acting on emulsion explosive 603; determining whether the clamping force information is the preset clamping force information that can clamp emulsion explosive; if not, adjusting the clamping force of gripper 6022 acting on emulsion explosive 603 so that the adjusted clamping force information is the preset clamping force information that can clamp emulsion explosive 603.

[0161] Specifically, after the program is executed by the processor, the clamping force of the gripper 6022 on the emulsion explosive 603 is maintained within a preset range to avoid the clamping force being too large or too small. This ensures that the clamping force of the gripper 6022 and the position movement of the robotic arm 602 work together to prevent the emulsion explosive 603 from falling or being damaged, and to improve the loading accuracy.

[0162] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0163] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A robot for loading explosive emulsions, characterized in that, The explosive emulsion loading robot includes: Mobile devices; A control device is mounted on the mobile device; An explosive loading device is installed on the mobile device. The explosive loading device includes an explosive loading box and a robotic arm. The robotic arm is electrically connected to the control device. The robotic arm includes grippers for gripping emulsion explosives in the explosive loading box. The system includes an environmental perception system comprising a binocular depth camera, a millimeter-wave radar, an odometer, and a force sensor. The binocular depth camera, the millimeter-wave radar, the odometer, and the force sensor are electrically connected to the control device. The binocular depth camera is mounted on the robotic arm, the millimeter-wave radar and the odometer are mounted on the moving device, and the force sensor is mounted inside the robotic arm and is used to detect the clamping force of the grippers on the emulsion explosive. The mobile device includes: Walking section; The lifting unit is equipped with the explosive loading device and the millimeter-wave radar. The mounting frame has a lifting part that can extend and retract vertically relative to the mounting frame at its top and a walking part at its bottom. The control device and the odometer are respectively mounted on the mounting frame. The mounting bracket includes: The upper frame, on which the lifting unit is mounted; Lower board; The upper frame and the lower plate are horizontally arranged and connected by a plurality of the connecting frames. The upper frame, the lower plate and the connecting frames together enclose an installation space. The control device is installed in the installation space and the odometer is installed in the installation space. The environmental perception system also includes a lidar, which is installed on the upper surface of the lifting unit and centrally positioned, and is electrically connected to the control device. The environmental perception system also includes an ultrasonic obstacle avoidance sensor electrically connected to the control device; there are several ultrasonic obstacle avoidance sensors that are evenly installed in the installation space, and each ultrasonic obstacle avoidance sensor is arranged facing outwards. The control device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, enables the following steps: Receive RGBD image information of the emulsion explosive in the explosive mounting box acquired by the binocular depth camera, and confirm the position of the emulsion explosive based on the RGBD image information of the emulsion explosive in the explosive mounting box; The system receives RGBD image information of the working surface of the borehole acquired by the binocular depth camera, and controls the millimeter-wave radar to identify the boreholes on the working surface of the borehole based on the RGBD image information of the working surface of the borehole, so as to obtain the target boreholes to be filled. The millimeter-wave radar is controlled to detect the hole depth data of the target's gun hole; Determine whether the hole depth data is the preset hole depth data that can be filled with explosives; If so, the robotic arm is controlled to pick up the emulsion explosive at the confirmed location and fill it into the target borehole; When the program is executed by the processor, it can also perform the following steps: The initial relative position information of the mobile device with respect to the working face of the borehole is obtained based on the millimeter-wave radar when the mobile device is not moving. Based on the initial relative position information, an initial navigation path is generated for the mobile device to travel to the working face of the blast hole; The mobile device is controlled to travel along the initial navigation path, and the presence of obstacles is detected in real time by the lidar and the ultrasonic obstacle avoidance sensor. If so, obtain the relative position information of the obstacle with respect to the working face of the borehole; An avoidance navigation path is generated based on the relative position information of the obstacle, wherein the avoidance navigation path is a navigation path that avoids the location of the obstacle; The mobile device is controlled to travel to the working face of the blast hole according to the avoidance navigation path.

2. The explosive emulsion loading robot as described in claim 1, characterized in that, The traveling unit includes a plurality of traveling units, each of which includes: The fixed support includes a fixed plate and two support plates formed on both sides of the fixed plate. The fixed plate is detachably connected to the lower plate. The fixed plate and the two support plates together form a slot, and each support plate is provided with a through mounting hole. A flexible coupling is installed in the slot; The wheel, the axle of which passes through the mounting hole corresponding to the support plate and is connected to one end of the flexible coupling for transmission; The reducer, wherein the output shaft of the reducer passes through the mounting hole corresponding to the support plate and is connected to the other end of the flexible coupling for transmission; The motor is electrically connected to the control device; A rotary encoder is mounted on the motor and electrically connected to the motor. The wheels, the flexible coupling, the reducer, and the motor are connected in sequence from the outside to the inside.

3. The explosive emulsion loading robot as described in claim 2, characterized in that, The walking units are four in number and are installed in pairs on both sides of the lower plate. The two walking units on each side are spaced apart, and a belt drive mechanism is also included between the two walking units on each side. The belt drive mechanism includes: There are two synchronous pulleys, which are fixed to the outer circumference of the axles of the two wheels in a one-to-one correspondence; A timing belt is disposed around the outer periphery of the two timing pulleys; The tensioning device includes a tensioning support and a tensioning wheel. The tensioning support is detachably connected to the upper surface of the lower plate and is located between the two traveling units. The tensioning wheel is rotatably connected to the tensioning support and its lower side abuts against the timing belt.

4. The explosive emulsion loading robot as described in claim 3, characterized in that, When the program is executed by the processor, it can also perform the following steps: The force sensor detects the clamping force information of the gripper acting on the emulsion explosive; Determine whether the clamping force information is the preset clamping force information that can clamp emulsion explosives; If not, adjust the clamping force of the gripper acting on the emulsion explosive so that the adjusted clamping force information is the preset clamping force information that can clamp the emulsion explosive.

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