Intelligent charging method for underground tunneling blast hole

Abstract

The application discloses an underground tunneling blast hole intelligent charging method and relates to the field of mine construction. Target blast hole information is acquired through a preset sensing device; current storage information is acquired and combined with the target blast hole information to determine whether the current working mode is a first working mode or a second working mode; when it is determined that the working mode is the first working mode, blast hole distribution information is determined according to the target blast hole information to generate a first charging scheme; when it is determined that the working mode is the second working mode, actual storage is determined according to the current storage information to determine a charging limit condition and determine actual charging targets in the target blast hole information; and a second charging scheme is determined according to the actual charging targets. The working mode is determined according to the current storage information, different inventory conditions in the actual blast hole charging process are combined to generate corresponding charging strategies, and the technical effect of charging according to the inventory scheme reasonably is achieved.

Description

Technical Field

[0001] This application relates to the field of mining construction, and in particular to an intelligent charging method for underground tunneling blast holes. Background Technology

[0002] During blasting excavation, the main method of loading explosives is still the decoupled loading method. In order to ensure that the detonation wave acts better on the rock mass and achieve the purpose of blasting excavation, and at the same time, to reduce the amount of explosives used and control construction costs, the intelligent loading of blast holes is particularly important. Summary of the Invention

[0003] In order to rationally load blast holes according to the inventory plan, this application provides an intelligent charging method for underground tunneling blast holes.

[0004] The intelligent charging method for underground tunneling blast holes provided in this application adopts the following technical solution:

[0005] A method for intelligent charging of explosives in underground tunneling boreholes includes:

[0006] Target borehole information is acquired through a pre-set sensing device;

[0007] Obtain the current stored information and combine it with the target borehole information to determine whether the current working mode is the first working mode or the second working mode;

[0008] When the current working mode is determined to be the first working mode, the borehole distribution information is determined based on the target borehole information;

[0009] The distribution coordinates are determined based on the borehole distribution information, and a first loading scheme is determined accordingly.

[0010] When the current working mode is determined to be the second working mode, the actual storage amount is determined based on the current storage information;

[0011] Based on the actual storage capacity, the loading restrictions are determined, and the actual loading target is identified from the target borehole information.

[0012] A second filling scheme is generated based on the actual filling target.

[0013] Optionally, after the step of acquiring target borehole information through a preset sensing device, the method further includes:

[0014] Obtain the inherent attributes and location information of each borehole in the target borehole information;

[0015] Obtain preset safety conditions and determine the safety score of the corresponding borehole by combining the inherent attributes and the location information;

[0016] Obtain a preset safety threshold and determine whether the borehole planning needs to be redone based on the safety score;

[0017] If not, then invalid blast holes are obtained and the target blast hole information is updated based on the invalid blast holes.

[0018] Optionally, the step of obtaining a preset safety threshold and determining whether borehole planning needs to be re-executed based on the safety score includes:

[0019] Obtain a preset security threshold and use it as a filtering condition;

[0020] The set of invalid boreholes is determined based on the screening criteria and the safety score.

[0021] Obtain invalid quantity information and invalid area information from the set of invalid boreholes;

[0022] When the invalid quantity information exceeds a preset quantity percentage and / or the invalid area information exceeds a preset area percentage, it is determined that the borehole planning needs to be redone.

[0023] Optionally, the step of obtaining the currently stored information and determining whether the current working mode is the first working mode or the second working mode in combination with the target borehole information includes:

[0024] Get the currently stored information;

[0025] Generate storage requirements based on the target borehole information;

[0026] If the current stored information meets the storage requirement conditions, then the current working mode is determined to be the first working mode.

[0027] If the current stored information does not meet the storage requirements, then the current working mode is determined to be the second working mode.

[0028] Optionally, the step of determining the borehole distribution information based on the target borehole information includes:

[0029] Target coordinate information is generated based on the target borehole information;

[0030] Obtain preset coordinate conditions and update the target coordinate information according to the preset coordinate conditions;

[0031] Obtain the current target coordinate information and determine the point information of each coordinate in the current target coordinate information;

[0032] The distribution information of the boreholes is determined based on the location information of each coordinate.

[0033] Optionally, the step of obtaining preset coordinate conditions and updating the target coordinate information according to the preset coordinate conditions includes:

[0034] Obtain preset coordinate conditions, and from the preset coordinate conditions, obtain the coordinate distance conditions and point weight filtering conditions of the points;

[0035] The first point is filtered in the target coordinate information according to the point weight filtering conditions;

[0036] The second point selection is performed on the target coordinate information based on the coordinate distance condition.

[0037] Optionally, the step of determining the distribution coordinates and the first loading scheme based on the borehole distribution information includes:

[0038] Determine the borehole coordinate information based on the borehole distribution information;

[0039] The distribution coordinates are determined based on the borehole coordinate information;

[0040] The loading position information is generated based on the distribution coordinates, and the loading quantity information is determined based on the borehole distribution information.

[0041] The first filling scheme is determined based on the filling location information and the filling quantity information.

[0042] Optionally, the step of determining the loading limit conditions based on the actual storage volume and determining the actual loading target from the target borehole information includes:

[0043] The loading restrictions are determined based on the actual storage volume, and the loading restrictions include quantity restrictions and type restrictions;

[0044] Generate a set of borehole conditions and a loading rule corresponding to the set of borehole conditions from the target borehole information;

[0045] The actual filling target is determined in the filling rules based on the quantity restriction conditions and the type restriction conditions.

[0046] Optionally, the step of generating a set of borehole conditions and the loading rules corresponding to the set of borehole conditions from the target borehole information includes:

[0047] The basic information of each borehole is obtained from the target borehole information. The basic information of each borehole includes: borehole priority information, borehole size information, borehole location information, and borehole remarks information.

[0048] A set of borehole information is generated based on the borehole location information in the target borehole information;

[0049] A loading rule is generated based on the borehole priority information, the borehole size information, and the borehole remarks information.

[0050] Optionally, the step of determining the actual filling target based on the quantity restriction and the type restriction in the filling rule includes:

[0051] The quantity constraint is used as the first traversal condition, and the type constraint is used as the second traversal condition;

[0052] The first traversal condition is updated according to the borehole priority information, and the second traversal condition is updated according to the borehole size information and the borehole annotation information.

[0053] The actual loading target is determined from the target borehole information based on the first traversal condition and the second traversal condition.

[0054] In summary, this application includes the following beneficial technical effects:

[0055] This application acquires target borehole information through a preset sensing device; acquires current stored information and determines the current working mode (first or second working mode) based on the target borehole information; when determined to be the first working mode, it determines borehole distribution information based on the target borehole information to generate a first loading scheme; when determined to be the second working mode, it determines the actual storage volume based on the current stored information to determine loading constraints and identifies the actual loading target in the target borehole information; and it determines a second loading scheme based on the actual loading target. By determining the working mode based on the current stored information and combining it with the technical effect of generating corresponding loading strategies based on different inventory conditions during the actual borehole loading process, this application achieves the technical effect of rationally loading according to the inventory scheme. Attached Figure Description

[0056] Figure 1 This is a flowchart illustrating the first embodiment of the intelligent charging method for underground tunneling boreholes according to this application;

[0057] Figure 2 This is a flowchart illustrating the second embodiment of the intelligent charging method for underground tunneling boreholes in this application;

[0058] Figure 3 This is a flowchart illustrating the third embodiment of the intelligent charging method for underground tunneling boreholes in this application;

[0059] Figure 4 This is a flowchart illustrating the fourth embodiment of the intelligent charging method for underground tunneling boreholes in this application. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] This application provides an intelligent charging method for underground tunneling blast holes, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the intelligent charging method for underground tunneling boreholes according to this application.

[0062] In this embodiment, the intelligent charging method for underground tunneling blast holes includes the following steps:

[0063] Step S10: Obtain target borehole information through a preset sensing device.

[0064] It should be noted that this embodiment is applied to mining operations, and the implementing entity can be a mixed-loading vehicle, which can achieve intelligent borehole finding function: a. By being equipped with a 3D scanner (or other technical solutions), it can identify the specific location of the blast holes on the tunnel cross-section on-site, achieve automatic calibration, and accurately extend the delivery guide into the blast hole for charging operations. b. By importing the on-site blast hole design drawing and combining it with the actual on-site 3D scan data, it can achieve fully automatic borehole finding and charging operations.

[0065] In practical implementation, the pre-set sensing device refers to a device with information collection function, such as ultrasonic sensors, infrared sensors, and video surveillance devices.

[0066] It is understandable that the step of obtaining target borehole information includes drilling holes in the target area using drilling equipment, and after drilling, it includes loading explosives to achieve the purpose of blasting. Therefore, this embodiment also involves an underground explosive loading vehicle for emulsion explosives, the structure of which mainly consists of a driving chassis, a slewing mechanism, a telescopic boom, a hose reel, a hole alignment mechanism, a pipe feeding mechanism, an explosive loading system, and a control system.

[0067] It should be noted that the underground emulsion explosive charging device mainly consists of a base frame, a hopper, a pumping system, and a control system. The charging process is as follows: transport to the working face, deliver the detonating bomb, feed the tube, load the explosive, pull out the tube, and finish charging. Based on this charging process, a dedicated charging technology, explosive formula, control system, and charging system are designed. Manual tube feeding and retraction are employed, making it suitable for tunnel excavation, small quarries, and underground mine blasting operations with a layer height of less than 10 meters, or for charging operations in small quarries. Depending on customer needs, optional mechanisms such as hose feeding and retraction, hose reels, driving chassis, and folding arms can be added, and customization is available based on the customer's mine tunnel dimensions and actual requirements. It can be used for on-site mixing or for loading pre-sensitized bulk emulsion explosives.

[0068] It is understandable that target bore information is obtained through a preset sensing device, that is, the preset sensor scans the bore corresponding to the target area to obtain scanning information. After obtaining the scanning information, the drilling information uploaded after drilling is completed is obtained. The two information are checked and finally the target bore information is generated.

[0069] Step S20: Obtain the current stored information and determine whether the current working mode is the first working mode or the second working mode by combining the target borehole information.

[0070] It should be noted that the current stored information refers to the storage information of materials used for blasting in the boreholes. That is, the storage information of the emulsion explosives mentioned above.

[0071] It should be noted that the descriptions of the first and second working modes in the first and second working modes appearing in this embodiment do not have a corresponding order. The naming in this embodiment is only used to distinguish the differences between the two.

[0072] It is understandable that the first working mode refers to the working mode when the current stored information can meet the explosive storage quantity for construction determined based on the target blast hole information; while the second working mode refers to the working mode when the current stored information cannot meet the explosive storage quantity for construction determined based on the target blast hole information.

[0073] Furthermore, in order to improve the rationality of the judgment between the first working mode and the second working mode, the step of obtaining the current storage information and determining whether the current working mode is the first working mode or the second working mode in combination with the target blast hole information includes: obtaining the current storage information; generating storage requirement conditions based on the target blast hole information; if the current storage information meets the storage requirement conditions, then the current working mode is determined to be the first working mode; if the current storage information does not meet the storage requirement conditions, then the current working mode is determined to be the second working mode.

[0074] It should be noted that the storage requirement conditions are generated based on the target borehole information, that is, the required quantity of emulsion explosive is determined by obtaining the number of target boreholes. The current storage information is then combined with the storage requirement conditions mentioned above to determine whether the required quantity can be met. If so, the current operating mode is determined to be the first operating mode; otherwise, the current operating mode is determined to be the second operating mode.

[0075] Step S30: When the current working mode is determined to be the first working mode, determine the borehole distribution information based on the target borehole information.

[0076] It should be noted that when the current working mode is determined to be the first working mode, it is equivalent to the default inventory being able to meet the ammunition requirements corresponding to the current blast hole, that is, the blast hole distribution information is determined based on the target blast hole information.

[0077] Understandably, determining the distribution information of blast holes based on the target blast hole information means determining the distribution information of blast holes during actual construction by using the blast hole parameters and blast hole locations in the target blast hole information, including the interval information of the distribution and the specific location information of the distribution.

[0078] Step S40: Determine the distribution coordinates and the first loading scheme based on the borehole distribution information.

[0079] It should be noted that the first filling scheme corresponds to the scheme determined in the first working mode. The "first" in the first filling scheme is only used for distinction and has no actual sequential meaning.

[0080] Furthermore, in order to improve the rationality of the first loading scheme, the steps of determining the distribution coordinates and the first loading scheme based on the borehole distribution information include: determining the borehole coordinate information based on the borehole distribution information; determining the distribution coordinates based on the borehole coordinate information; generating loading position information based on the distribution coordinates and determining the loading quantity information based on the borehole distribution information; and determining the first loading scheme based on the loading position information and the loading quantity information.

[0081] It should be noted that the borehole coordinate information is generated by establishing a preset coordinate system, in which the borehole positions in the borehole distribution information are used as the corresponding coordinates according to the principle of proportionality.

[0082] It is understandable that determining distribution coordinate information based on borehole coordinate information means generating actual coordinate data from the obtained borehole coordinate information to serve as distribution coordinate information.

[0083] In practice, determining the first loading scheme based on the loading quantity information and loading location information means determining the quantity of explosives to be loaded based on the loading quantity information and determining the placement location of the explosives to be loaded based on the loading location information.

[0084] Step S50: When the current working mode is determined to be the second working mode, the actual storage amount is determined based on the current storage information.

[0085] It should be noted that when the current working mode is determined to be the second working mode, the actual explosive storage status in the current storage information is obtained as the actual storage quantity.

[0086] Step S60: Determine the loading restrictions based on the actual storage capacity and identify the actual loading target in the target borehole information.

[0087] Understandably, the number of blast holes that can be filled is determined based on the actual amount of explosives stored in the storage, which serves as a filling constraint. Furthermore, since the size information of the blast holes limits the amount of explosives, the actual amount of explosives required is determined based on the blast hole size information before determining the constraint.

[0088] In practice, determining the actual loading target involves determining the amount of explosives to be loaded, generating a reasonable blasting target based on the existing distribution of blast holes, and then obtaining the blasting effect based on the pre-planned parameters.

[0089] Step S70: Generate a second filling plan based on the actual filling target.

[0090] In this specific implementation, the Hetronic wireless remote control based on the CANOpen communication protocol is selected, including a transmitter and a receiver. The receiver uses an RS485 bus for data transmission. Its balanced transmission and differential reception characteristics enable it to suppress common-mode interference. In addition, the bus transceiver has high sensitivity and can detect voltages as low as 200mV, so the transmitted signal can be recovered at a distance of over a kilometer. The specific operation is as follows: the remote transmitter transmits the control signal from the operating handle to the remote receiver. The receiver packages the processed signal and transmits it to the bus. The controller receives the data transmitted by the remote controller according to the data address and collects sensor signals in real time. After processing, it outputs PWM and other related drive signals to control the robotic arm to perform corresponding actions and realize automatic loading of explosives into holes. That is, it proposes a multi-technology fusion system integrating secondary video fusion technology, multi-laser positioning, Hetronic wireless remote control, and RS485 bus data transmission for unmanned explosive loading in underground engineering sites.

[0091] This embodiment acquires target borehole information through a preset sensing device; it acquires current stored information and, in conjunction with the target borehole information, determines whether the current operating mode is a first operating mode or a second operating mode; when determined to be the first operating mode, it determines borehole distribution information based on the target borehole information to generate a first loading plan; when determined to be the second operating mode, it determines the actual storage quantity based on the current stored information to determine loading constraints and identifies the actual loading target in the target borehole information; and it determines a second loading plan based on the actual loading target. By determining the operating mode based on the current stored information and combining this with the technical effect of generating corresponding loading strategies based on different inventory conditions during the actual borehole loading process, it achieves the technical effect of rationally loading according to the inventory plan.

[0092] refer to Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the intelligent charging method for underground tunneling boreholes according to the present invention.

[0093] Based on the first embodiment described above, after step S10 of the intelligent charging method for underground tunneling boreholes in this embodiment, the method further includes:

[0094] Step S101: Obtain the inherent attributes and location information of each borehole in the target borehole information.

[0095] It should be noted that the inherent properties of the borehole in this embodiment refer to the material of the borehole area and the size information of the borehole.

[0096] As can be understood, location information refers to the relative position of the blast holes within the target area. By obtaining location information, the impact range and blasting effect during blasting can be determined.

[0097] Step S102: Obtain the preset safety conditions and determine the safety score of the corresponding blast hole by combining the inherent attributes and location information.

[0098] It should be noted that the preset safety conditions refer to the preset safety score calculation conditions, which generate the safety score based on the coordinate information of the borehole in the preset coordinate system and the score corresponding to the material in the inherent properties of the borehole.

[0099] Understandably, the safety score represents the impact on achieving the blasting objective; the higher the impact, the higher the corresponding safety score.

[0100] Step S103: Obtain the preset safety threshold and determine whether the borehole planning needs to be redone based on the safety score.

[0101] It should be noted that the preset safety threshold refers to the minimum score required to trigger replanning. If the safety score generated based on the blast hole is lower than the preset safety threshold, it will be determined that replanning is required.

[0102] Furthermore, in order to reasonably determine whether borehole planning is necessary, the steps of obtaining a preset safety threshold and determining whether borehole planning needs to be redone based on the safety score include: obtaining the preset safety threshold and using it as a filtering condition to determine an invalid borehole set based on the filtering condition and the safety score; obtaining invalid quantity information and invalid area information from the invalid borehole set; and determining that borehole planning needs to be redone when the invalid quantity information exceeds a preset quantity percentage and / or the invalid area information exceeds a preset area percentage.

[0103] Step S104: If not, obtain invalid blast holes and update the target blast hole information based on the invalid blast holes.

[0104] This embodiment achieves the technical effect of data correction of target blast hole information after obtaining target blast hole information by acquiring the inherent attributes and location information of each blast hole in the target blast hole information; acquiring preset safety conditions and determining the safety score of the corresponding blast hole in combination with the inherent attributes and location information; acquiring preset safety threshold and determining whether blast hole planning needs to be re-planned based on the safety score; if not, acquiring invalid blast holes and updating the target blast hole information based on invalid blast holes. This improves the accuracy of subsequent blast hole charging planning.

[0105] refer to Figure 3 , Figure 3 This is a flowchart illustrating the third embodiment of the intelligent charging method for underground tunneling boreholes according to the present invention.

[0106] Based on the first embodiment described above, step S30 of the intelligent charging method for underground tunneling boreholes in this embodiment further includes:

[0107] Step S301: Generate target coordinate information based on the target borehole information.

[0108] It should be noted that generating target coordinate information based on target borehole information means establishing coordinate information by determining the position and size information in the target borehole information.

[0109] Step S302: Obtain preset coordinate conditions and update the target coordinate information according to the preset coordinate conditions.

[0110] Furthermore, in order to reasonably update the target coordinate information, the steps of obtaining preset coordinate conditions and updating the target coordinate information according to the preset coordinate conditions include: obtaining preset coordinate conditions, obtaining the coordinate distance conditions and point weight filtering conditions of the points in the preset coordinate conditions; performing a first point filtering in the target coordinate information according to the point weight filtering conditions; and performing a second point filtering in the target coordinate information according to the coordinate distance conditions.

[0111] Step S303: Obtain the current target coordinate information and determine the point information of each coordinate in the current target coordinate information.

[0112] Step S304: Determine the borehole distribution information based on the point information of each coordinate.

[0113] This embodiment generates target coordinate information based on target borehole information; obtains preset coordinate conditions and updates the target coordinate information according to the preset coordinate conditions; obtains the current target coordinate information and determines the position information of each coordinate in the current target coordinate information; and determines the borehole distribution information based on the position information of each coordinate. This achieves the technical effect of accurately obtaining borehole distribution information based on target borehole information.

[0114] refer to Figure 4 , Figure 4 This is a flowchart illustrating the fourth embodiment of the intelligent charging method for underground tunneling boreholes according to the present invention.

[0115] Based on the first embodiment described above, step S60 of the intelligent charging method for underground tunneling boreholes in this embodiment further includes:

[0116] Step S601: Determine the loading restrictions based on the actual storage volume. The loading restrictions include quantity restrictions and type restrictions.

[0117] Step S602: Generate a set of borehole conditions and the corresponding loading rules from the target borehole information.

[0118] Furthermore, in order to reasonably generate loading rules, the steps of generating a set of borehole conditions and the corresponding loading rules in the target borehole information include: obtaining the basic information of each borehole in the target borehole information, the basic information of each borehole including: borehole priority information, borehole size information, borehole location information and borehole remarks information; generating a set of borehole conditions based on the borehole location information in the target borehole information; and generating loading rules based on the borehole priority information, borehole size information and borehole remarks information.

[0119] It should be noted that the borehole annotation information refers to the corresponding column where backend administrators can add information through preset channels. Different annotation information can be added according to actual usage needs.

[0120] Step S603: Determine the actual filling target in the filling rules based on the quantity and type restrictions.

[0121] Furthermore, in order to determine the actual loading target, the steps for determining the actual loading target in the loading rules based on quantity restrictions and type restrictions include: using quantity restrictions as the first traversal condition and type restrictions as the second traversal condition; updating the first traversal condition based on borehole priority information, and simultaneously updating the second traversal condition based on borehole size information and borehole annotation information; and determining the actual loading target in the target borehole information based on the first and second traversal conditions.

[0122] This embodiment determines loading restrictions based on the actual storage capacity, including quantity and type restrictions; generates a set of borehole conditions and corresponding loading rules in the target borehole information; determines the actual loading target based on the quantity and type restrictions in the loading rules; and finally determines the actual loading target by determining the loading restrictions, thus achieving the technical effect of accurately obtaining the actual loading target.

[0123] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In practical applications, those skilled in the art can select some or all of it to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0124] In addition, for technical details not described in detail in this embodiment, please refer to the method of intelligent charging of underground tunnel blast holes provided in any embodiment of this application, which will not be repeated here.

[0125] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0126] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0127] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0128] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for intelligent charging of explosives in underground tunneling boreholes, characterized in that, include: Target borehole information is acquired through a pre-set sensing device; Obtain the current stored information and combine it with the target borehole information to determine whether the current working mode is the first working mode or the second working mode; When the current working mode is determined to be the first working mode, the borehole distribution information is determined based on the target borehole information; The distribution coordinates are determined based on the borehole distribution information, and a first loading scheme is determined accordingly. When the current working mode is determined to be the second working mode, the actual storage amount is determined based on the current storage information; Based on the actual storage capacity, the loading restrictions are determined, and the actual loading target is identified from the target borehole information. A second loading plan is generated based on the actual loading target; The step of obtaining the currently stored information and determining whether the current working mode is the first working mode or the second working mode in combination with the target borehole information includes: Get the currently stored information; Generate storage requirements based on the target borehole information; If the current stored information meets the storage requirement conditions, then the current working mode is determined to be the first working mode. If the current stored information does not meet the storage requirement conditions, then the current working mode is determined to be the second working mode. The step of determining the loading restrictions based on the actual storage capacity and determining the actual loading target from the target borehole information includes: The loading restrictions are determined based on the actual storage volume, and the loading restrictions include quantity restrictions and type restrictions; Generate a set of borehole conditions and a loading rule corresponding to the set of borehole conditions from the target borehole information; The actual filling target is determined in the filling rules based on the quantity restrictions and the type restrictions. The step of generating a set of borehole conditions and the corresponding loading rules from the target borehole information includes: The basic information of each borehole is obtained from the target borehole information. The basic information of each borehole includes: borehole priority information, borehole size information, borehole location information, and borehole remarks information. A set of borehole information is generated based on the borehole location information in the target borehole information; A loading rule is generated based on the borehole priority information, the borehole size information, and the borehole remarks information; The step of determining the actual filling target based on the quantity restriction and the type restriction in the filling rule includes: The quantity constraint is used as the first traversal condition, and the type constraint is used as the second traversal condition; The first traversal condition is updated according to the borehole priority information, and the second traversal condition is updated according to the borehole size information and the borehole annotation information. The actual loading target is determined from the target borehole information based on the first traversal condition and the second traversal condition.

2. The intelligent charging method for underground tunneling blast holes according to claim 1, characterized in that, After the step of acquiring target borehole information through a preset sensing device, the method further includes: Obtain the inherent attributes and location information of each borehole in the target borehole information; Obtain preset safety conditions and determine the safety score of the corresponding borehole by combining the inherent attributes and the location information; Obtain a preset safety threshold and determine whether the borehole planning needs to be redone based on the safety score; If not, then invalid blast holes are obtained and the target blast hole information is updated based on the invalid blast holes.

3. The intelligent charging method for underground tunneling blast holes according to claim 2, characterized in that, The step of obtaining a preset safety threshold and determining whether borehole planning needs to be re-executed based on the safety score includes: Obtain a preset security threshold and use it as a filtering condition; The set of invalid boreholes is determined based on the screening criteria and the safety score. Obtain invalid quantity information and invalid area information from the set of invalid boreholes; When the invalid quantity information exceeds a preset quantity percentage and / or the invalid area information exceeds a preset area percentage, it is determined that the borehole planning needs to be redone.

4. The intelligent charging method for underground tunneling blast holes according to claim 1, characterized in that, The step of determining the borehole distribution information based on the target borehole information includes: Target coordinate information is generated based on the target borehole information; Obtain preset coordinate conditions and update the target coordinate information according to the preset coordinate conditions; Obtain the current target coordinate information and determine the point information of each coordinate in the current target coordinate information; The distribution information of the boreholes is determined based on the location information of each coordinate.

5. The intelligent charging method for underground tunneling blast holes according to claim 4, characterized in that, The step of obtaining preset coordinate conditions and updating the target coordinate information according to the preset coordinate conditions includes: Obtain preset coordinate conditions, and from the preset coordinate conditions, obtain the coordinate distance conditions and point weight filtering conditions of the points; The first point is filtered in the target coordinate information according to the point weight filtering conditions; The second point selection is performed on the target coordinate information based on the coordinate distance condition.

6. The intelligent charging method for underground tunneling blast holes according to claim 1, characterized in that, The step of determining the distribution coordinates and the first loading scheme based on the borehole distribution information includes: Determine the borehole coordinate information based on the borehole distribution information; The distribution coordinates are determined based on the borehole coordinate information; The loading position information is generated based on the distribution coordinates, and the loading quantity information is determined based on the borehole distribution information. The first filling scheme is determined based on the filling location information and the filling quantity information.

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