Blast hole charging system and blast hole charging method

Abstract

The invention provides a blast hole charging system and a blast hole charging method, the blast hole charging system comprises a charging truck and a charging robot, the charging truck is provided with a storage tank used for storing explosive raw materials, a conveying system used for on-site mixed charging of explosives and a first conveying pipe communicated with the conveying system; the explosive loading robot is provided with a second explosive conveying pipe, the explosive loading robot can walk between the explosive loading vehicle and a blast hole, when the explosive loading robot walks towards the explosive loading vehicle, the inlet end of the second explosive conveying pipe can be connected to the outlet end of the first explosive conveying pipe, and when the explosive loading robot walks towards the blast hole, the inlet end of the second explosive conveying pipe can be connected to the outlet end of the first explosive conveying pipe. And the outlet end of the second explosive conveying pipe can be inserted into the blast hole, or the outlet end of the second explosive conveying pipe can be pulled out of the blast hole.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine blasting, and in particular relates to a blasthole charging system and a blasthole charging method. Background Art

[0002] Mine blasting is a high-risk industry, and safety is of vital importance during its operation. In mine blasting and construction engineering earthwork blasting, it is usually necessary to load explosives into the blasthole. At present, open-pit mine blasting generally uses mixed loading trucks to complete the on-site loading of explosives.

[0003] Specifically, before charging the blasthole, the driver first drives the charging vehicle to the blasting area, and then manually drags the drug delivery tube on the charging vehicle and inserts it into the blasthole. After the charging is completed, the drug delivery tube is manually pulled out from the blasthole. In this process, the manual dragging, insertion, and pulling out of the drug delivery tube is very labor-intensive and the work efficiency is low. Summary of the invention

[0004] The main purpose of the present disclosure is to provide a blasthole charging system and a blasthole charging method to reduce manual participation in the charging process and improve work efficiency.

[0005] In view of the above objectives, the present disclosure provides the following technical solutions:

[0006] In one aspect of the present disclosure, a blasthole charging system is provided, the blasthole charging system comprising a charging vehicle and a charging robot, the charging vehicle having a storage tank for storing explosive raw materials, a conveying system for mixing explosives on site, and a first drug delivery tube connected to the conveying system; the charging robot is provided with a second drug delivery tube, the charging robot can walk between the charging vehicle and the blasthole, when approaching the charging vehicle, can connect the inlet end of the second drug delivery tube to the outlet end of the first drug delivery tube, when approaching the blasthole, can insert the outlet end of the second drug delivery tube into the blasthole, or pull the outlet end of the second drug delivery tube out of the blasthole.

[0007] An exemplary embodiment of the present disclosure is that the charging robot includes a machine body, a robotic arm and a crawler-type walking mechanism, the crawler-type walking mechanism is arranged below the machine body and can carry the machine body to move, the robotic arm is connected to the machine body, and the outlet end of the second drug delivery tube is connected to the robotic arm, so that the robotic arm can drive the outlet end of the second drug delivery tube to adjust its position so as to insert it into the blast hole or pull it out of the blast hole.

[0008] Optionally, the drug loading robot also includes a drug tube feeder, the robotic arm includes a rotating seat, a fixed seat and a telescopic arm, the rotating seat is rotatably mounted on the machine body, the rotation axis of the rotating seat extends vertically, the fixed seat is connected to the rotating seat, the telescopic arm is movably connected to the fixed seat, and the telescopic arm is a multi-degree-of-freedom telescopic arm, the drug tube feeder is connected to the telescopic arm, and the outlet end of the second drug tube is mounted on the drug tube feeder.

[0009] Specifically, the charging robot further includes a drug delivery tube delivery reel, a charging interface position detector and a main control module, wherein the drug delivery tube delivery reel is rotatably connected to the machine body, the outlet end of the second drug delivery tube is wound around the drug delivery tube delivery reel, the charging interface position detector is arranged at the outlet end of the second drug delivery tube, and is used to monitor the interface position information of the explosive in the blast hole, and transmit the interface position information to the main control module, and the main control module can control the rotation speed of the drug delivery tube delivery reel according to the moving speed of the interface where the explosive is located, thereby realizing the linkage between the withdrawal of the second drug delivery tube and the charging of the blast hole; and / or,

[0010] The medicine loading robot further comprises a rotation speed sensor and a main control module, wherein the rotation speed sensor is used to monitor the rotation speed of the medicine delivery tube reel, and when the rotation speed exceeds a predetermined range, the main control module controls the medicine delivery tube reel to decelerate; when the rotation speed is lower than the predetermined range, the main control module controls the medicine delivery tube reel to accelerate; and / or,

[0011] The medicine loading robot further comprises a first camera module for detecting the road condition during the traveling process, wherein the first camera module can be lifted and lowered above the machine body, and / or,

[0012] The charging robot also includes a second camera module for detecting the precise position information of the blast hole, and the second camera module is arranged on the drug delivery tube feeder.

[0013] Furthermore, the drug loading vehicle also includes a vehicle body and a pipe rack clamp connected to the vehicle body, the outlet end of the first drug delivery tube is clamped on the pipe rack clamp, and the drug loading robot also includes a mounting arm and a pipe feeder, the mounting arm includes a fixed arm and a sliding arm, the fixed arm is installed on the machine body, the sliding arm is movably connected to the fixed arm, and the pipe feeder is connected to the sliding arm, and when the sliding arm moves toward the drug loading vehicle relative to the fixed arm, the pipe feeder can move with the sliding arm and connect the inlet end of the second drug delivery tube to the outlet end of the first drug delivery tube.

[0014] According to another exemplary embodiment of the present disclosure, the drug charging vehicle further comprises a vehicle-mounted reel having a predetermined first tube-retracting pre-tightening force, and the vehicle-mounted reel is configured to rotate around its own axis as the drug charging vehicle moves. When the drug charging vehicle moves away from the drug charging robot, the vehicle-mounted reel rotates around its own axis and pulls out the first drug delivery tube. When the drug charging vehicle approaches the drug charging robot, the first drug delivery tube is retracted under the action of the first tube-retracting pre-tightening force. The vehicle-mounted reel is rotatable around a vertical axis relative to the drug charging vehicle. During the movement of the drug charging vehicle, the vehicle-mounted reel rotates accordingly to avoid large-angle bending of the first drug delivery tube; and / or The drug loading robot is provided with a robot carrying drum, and the robot carrying drum has a predetermined second tube-retracting pre-tightening force. The robot carrying drum is configured to be able to rotate around its own axis as the drug loading robot moves. When the drug loading robot moves away from the drug loading vehicle, the robot carrying drum rotates around its own axis and pulls out the second drug delivery tube. When the drug loading robot approaches the drug loading vehicle, the second drug delivery tube is retracted under the action of the second tube-retracting pre-tightening force. The robot carrying drum is rotatable around the vertical axis relative to the machine body. During the movement of the drug loading robot, the robot carrying drum rotates with it to avoid large-angle bending of the second drug delivery tube.

[0015] Optionally, the blasthole charging system also includes a remote control center and a local control center. The local control center exchanges information with the charging vehicle and the charging robot in real time, respectively, to achieve synchronous control of the charging vehicle and the charging robot, and can control the charging vehicle and the charging robot respectively. The remote control center exchanges information with the local control center in real time, to achieve remote real-time control of the charging vehicle and the charging robot.

[0016] In another aspect, the present disclosure provides a blasthole charging method, which is applicable to the blasthole charging system as described above, and the blasthole charging method comprises:

[0017] Step S1, driving the charging vehicle to a first predetermined position outside the gun area, and placing the charging robot in the gun area;

[0018] Step S2, obtaining the position information of the medicine charging vehicle and the position information of the medicine charging robot, and calculating a first moving path of the medicine charging robot toward the medicine charging vehicle according to the position information of the medicine charging vehicle and the position information of the medicine charging robot;

[0019] Step S3, controlling the charging robot to move along the first moving path toward the charging vehicle and stop at a second predetermined position;

[0020] Step S4, connecting the first drug delivery tube of the drug loading vehicle to the second drug delivery tube of the drug loading robot;

[0021] Step S5, obtaining the overall position information of all blastholes in the blast area, and calculating the second moving path of the charging robot for completing charging of all blastholes according to the overall position information and the second predetermined position information;

[0022] Step S6, controlling the charging robot to move along the second moving path and stop at a predetermined parking position, and completing charging of blastholes within a predetermined area at the parking position.

[0023] In another exemplary embodiment of the present disclosure, in step S5, the method for calculating the second moving path includes:

[0024] Step S51, selecting the first loading blasthole: firstly, calculating the number N of blastholes around each blasthole in the entire blast area whose distance from the blasthole is less than the maximum coverage length of the mechanical arm of the charging robot, and then taking the blasthole corresponding to the largest number N as the first loading blasthole, and taking the position of the first loading blasthole as the first parking position;

[0025] Step S52, selecting the parking position of the charging robot in the area where the remaining blast holes are located: calculating the number E of blast holes in the area where the remaining blast holes are located, where the distance between each blast hole and the surrounding blast holes is less than the maximum coverage length of the robot arm of the charging robot, and taking the blast hole and the surrounding area corresponding to the maximum number E as the area where the parking position is located; the step of selecting the parking position: when the number E is greater than 1, marking the position of the blast hole as the parking position, wherein the remaining blast holes are all the blast holes in the entire blast area minus the obtained loading blast holes and the blast holes that can be covered by the robot arm; when the number E=1, taking the middle position between the current blast hole and another adjacent blast hole as the parking position;

[0026] Step S53, repeating the above step S52 until the number of remaining blastholes is 0, and determining all parking positions in the entire blast area;

[0027] Step S54, using the Dijkstra algorithm to calculate the optimal walking path of the charging robot for all parking positions.

[0028] Optionally, in step S6, during the process of the medicine charging robot moving along the second moving path toward a predetermined target parking position,

[0029] Step S61, real-time monitoring of road conditions. When the road conditions do not meet the driving requirements, the charging robot identifies the characteristics of the roadblock and determines the left and right boundaries of the roadblock;

[0030] Step S62, calculating the distance between the current position of the charging robot and the boundaries on both sides of the roadblock;

[0031] Step S63, selecting the side with a smaller distance from the current position of the charging robot as the bypass side;

[0032] Step S64, in the process of the medicine charging robot moving toward the boundary point of the roadblock on the detour side, calculating in real time the distance M between the current position of the medicine charging robot and the current predetermined target parking position, and calculating in real time the distance L between the current position of the medicine charging robot and other parking positions that have not been reached;

[0033] Step S65, compare the distance L with the distance M. When at least one distance L is smaller than the distance M, use the Dijkstra algorithm to recalculate a new optimal walking route for the remaining parking positions that have not been reached; when the distance between the predetermined target parking position and the charging robot is kept to the minimum, the charging robot bypasses the roadblock and continues to move toward the predetermined target parking position.

[0034] The blasthole charging system and blasthole charging method provided by the present disclosure have at least the following beneficial effects: the first drug delivery tube and the second drug delivery tube can be docked by the charging robot, and the outlet end of the second drug delivery tube can be inserted into the blasthole, or the outlet end of the second drug delivery tube can be pulled out from the blasthole, thereby reducing manual participation in the charging process and improving the working efficiency of the charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or other objects and advantages of the present disclosure will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0036] Figure 1 A structural diagram of a blasthole charging system provided for an exemplary embodiment of the present disclosure.

[0037] Figure 2 for Figure 1 Partial structural diagram of the charging robot.

[0038] Description of reference numerals:

[0039] 1. Charger; 2. Charger robot;

[0040] 11. Vehicle body; 12. Vehicle-mounted reel;

[0041] 13. First drug delivery tube; 21. Machine body;

[0042] 22. Mechanical arm; 23. Crawler-type walking mechanism;

[0043] 24. Robotic reel; 25. Drug delivery tube reel;

[0044] 26. A second drug delivery tube; 28. A drug delivery tube delivery device;

[0045] 29. A second camera module; 31. A charge interface position detector;

[0046] 221, rotating seat; 222, fixed seat;

[0047] 223. Telescopic arm. DETAILED DESCRIPTION

[0048] Example embodiments will now be described more fully with reference to the accompanying drawings. However, it should not be understood that the implementation of the present disclosure is limited to the embodiments set forth herein. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0049] Reference Figure 1 In the mining blasting industry, in order to improve the working efficiency of blasthole charging, the present disclosure provides a blasthole charging system, which includes a charging vehicle 1 and a charging robot 2. The charging vehicle 1 has a storage tank for storing explosive raw materials, a conveying system for mixing explosives on site, and a first drug delivery pipe 13 connected to the conveying system. After the conveying system is started, the explosives in the storage tank move outward along the first drug delivery pipe 13 under the drive of the conveying system.

[0050] The drug loading vehicle 1 provided in the present disclosure may be a drug loading vehicle with a single drug loading function, or may be a mixed drug loading vehicle with both drug loading and drug manufacturing functions.

[0051] The charging robot 2 is provided with a second drug delivery tube 26, and the charging robot 2 can walk between the charging vehicle 1 and the blast hole to connect the inlet end of the second drug delivery tube 26 to the outlet end of the first drug delivery tube 13, so that the second drug delivery tube 26 is connected to the first drug delivery tube 13. When the charging robot 2 moves to the blast hole, the outlet end of the second drug delivery tube 26 can be inserted into the blast hole to prepare for charging the blast hole. In addition, the charging robot 2 can also walk between multiple blast holes to accurately insert the outlet end of the second drug delivery tube 26 into the blast hole, or pull the outlet end of the second drug delivery tube 26 out of the blast hole. The charging robot 2 can insert the outlet end of the second drug delivery tube 26 into the predetermined blast hole, and the explosives can be transported to the predetermined blast hole through the conveying system, so as to realize the insertion and removal of the outlet end of the second drug delivery tube 26 in the same blast hole, and the transfer between different blast holes, and complete the explosive loading of the blast hole.

[0052] The blasthole charging system provided by the present disclosure includes a charging vehicle 1 and a charging robot 2. The charging robot 2 can walk between the charging vehicle 1 and the blasthole. When the charging robot 2 walks toward the charging vehicle 1 and approaches the charging vehicle 1, the second drug delivery tube 26 carried by the charging robot 2 can be transported to the vicinity of the charging vehicle 1, thereby facilitating the docking of the first drug delivery tube 13 and the second drug delivery tube 26. When the first drug delivery tube 13 and the second drug delivery tube 26 are connected, the charging robot 2 can walk toward the predetermined blasthole so as to be able to insert the outlet end of the second drug delivery tube 26 into the blasthole, or pull the outlet end of the second drug delivery tube 26 out of the blasthole to prepare for inserting into another blasthole, thereby reducing the manual participation in the blasthole charging process and improving the working efficiency of the blasthole charging.

[0053] In this embodiment, the blasthole charging system further includes a quick connector, and the inlet end of the second drug delivery tube 26 is connected to the outlet end of the first drug delivery tube 13 through the quick connector. In this embodiment, the quick connector includes a first connector and a second connector that are plugged into each other, one of the first connector and the second connector is connected to the outlet end of the first drug delivery tube 13, and the other is connected to the inlet end of the second drug delivery tube 26. In this way, the quick connector is connected by connecting the first connector and the second connector, and the outlet end of the first drug delivery tube 13 and the inlet end of the second drug delivery tube 26 are connected.

[0054] In this embodiment, the drug loading vehicle 1 includes a vehicle body 11 and a pipe rack clamp (not shown) arranged on the vehicle body 11. The outlet end of the first drug delivery tube 13 can be clamped on the pipe rack clamp. When the drug loading vehicle 1 places the outlet end of the first drug delivery tube 13 at a predetermined position, the drug loading robot 2 can push the inlet end of the second drug delivery tube 26 into the outlet end of the first drug delivery tube 13, thereby achieving the docking of the inlet end of the second drug delivery tube 26 with the outlet end of the first drug delivery tube 13, reducing the manual participation in the docking process of the first drug delivery tube 13 and the second drug delivery tube 26, but not limited to this.

[0055] In the above embodiment, the automatic docking of the inlet end of the second drug delivery tube 26 and the outlet end of the first drug delivery tube 13 by the cooperation of the drug loading robot 2 and the drug loading vehicle 1 is taken as an example for explanation. In addition, as needed, the docking of the inlet end of the second drug delivery tube 26 and the outlet end of the first drug delivery tube 13 can also be completed manually, but not limited to this.

[0056] Continue to refer to Figure 1 As an example, the height and width of the charging robot 2 are smaller than those of the charging vehicle 1. When the charging vehicle 1 has difficulty entering a low or narrow gun area, the charging robot 2 has a great volume advantage, making it easier to enter a low or narrow gun area, thereby improving the versatility of the blasthole charging system.

[0057] Normally, when working in the above-mentioned low gun area or narrow gun area, the charging vehicle 1 can be parked outside the gun area, and the charging robot 2 can walk in the gun area to achieve the docking of the first drug delivery tube 13 and the second drug delivery tube 26, and insert the outlet end of the second drug delivery tube 26 into the gun hole, or pull the outlet end of the second drug delivery tube 26 out of the gun hole, that is, to achieve the outlet end of the second drug delivery tube 26 can move between different gun holes.

[0058] Continue to refer to Figure 1 The drug-charging vehicle 1 further includes a vehicle-mounted reel 12 for accommodating a first drug delivery tube 13, and the vehicle-mounted reel 12 is rotatably connected to the vehicle body 11. During the rotation of the vehicle-mounted reel 12, the first drug delivery tube 13 can be wound around the vehicle-mounted reel 12, or detached from the vehicle-mounted reel 12. With such a configuration, during the movement of the drug-charging vehicle 1, the vehicle-mounted reel 12 can rotate with the movement of the drug-charging vehicle 1, so that the first drug delivery tube 13 can be automatically wound around the vehicle-mounted reel 12, or automatically detached from the vehicle-mounted reel 12.

[0059] In this embodiment, the vehicle-mounted reel 12 has a predetermined first tube-retracting pre-tightening force, and the vehicle-mounted reel 12 is configured to rotate around its own axis as the charging vehicle 1 moves away from the charging robot 2. When the charging vehicle 1 is away from the charging robot 2, the vehicle-mounted reel 12 rotates around its own axis and pulls out the first drug delivery tube 13. When the charging vehicle 1 is close to the charging robot 2, the first drug delivery tube 13 is retracted under the action of the first tube-retracting pre-tightening force, thereby preventing the first drug delivery tube 13 from dragging on the ground.

[0060] The vehicle-mounted reel 12 is configured to rotate around its own axis as the charging vehicle 1 moves. When the charging vehicle 1 moves away from the charging robot 2, the vehicle-mounted reel 12 will rotate around its own axis as the charging vehicle 1 moves, and the first drug delivery tube 13 will be pulled outward from the vehicle-mounted reel 12 to avoid damage to the first drug delivery tube 13 due to excessive pulling. When the charging vehicle 1 moves toward the charging robot 2, the first tube retracting pre-tightening force of the vehicle-mounted reel 12 is used to complete automatic tube retraction, that is, the first drug delivery tube 13 can be timely retracted and wound around the vehicle-mounted reel 12 under the action of the first tube retracting pre-tightening force, thereby effectively avoiding the first drug delivery tube 13 from being worn by dragging on the ground, thereby increasing the service life of the first drug delivery tube 13.

[0061] The vehicle-mounted reel 12 provided by the present invention has a first tube retraction pre-tightening force. During the movement of the drug-charging vehicle 1, the vehicle-mounted reel 12 will rotate along with the movement of the drug-charging vehicle 1, so as to be able to automatically retract and release the outlet end of the first drug delivery tube 13, thereby avoiding large-angle bending or excessive pulling of the first drug delivery tube 13, and also avoiding the first drug delivery tube 13 from being dragged and worn on the ground, thereby increasing the service life of the first drug delivery tube 13.

[0062] In order to further improve the service life of the first drug delivery tube 13, the vehicle-mounted reel 12 is rotatable around the vertical axis relative to the charging vehicle 1. During the movement of the charging vehicle 1, the vehicle-mounted reel 12 can rotate around the vertical axis to prevent the first drug delivery tube 13 from bending at a large angle.

[0063] Specifically, a rotating seat (not shown) is also provided between the vehicle-mounted reel 12 and the vehicle body 11. The rotating seat has a vertical axis. One end of the rotating seat is fixed on the vehicle body 11, and the vehicle-mounted reel 12 is connected to the other end. During the movement of the drug loading vehicle 1, the vehicle-mounted reel 12 can adjust the angle in the horizontal plane around the vertical axis, thereby avoiding excessive bending or pulling of the first drug delivery tube 13, thereby improving the service life of the first drug delivery tube 13.

[0064] The vehicle-mounted reel 12 provided by the present invention can rotate around its own axis as the charging vehicle 1 moves, so that the first drug delivery tube 13 can be automatically wound around the vehicle-mounted reel 12 or automatically detached from the vehicle-mounted reel 12 as the charging vehicle 1 moves; the vehicle-mounted reel 12 is configured to be able to rotate around the vertical axis of the rotating seat. During the movement of the charging vehicle 1, the vehicle-mounted reel 12 can adjust the angle in the horizontal plane around the vertical axis, thereby avoiding excessive wear, bending or pulling of the first drug delivery tube 13, thereby increasing the service life of the first drug delivery tube 13.

[0065] Continue to refer to Figure 1 The charging robot 2 includes a machine body 21 and a robot reel 24 rotatably connected to the machine body 21 . The working principle of the robot reel 24 is roughly the same as that of the vehicle reel 12 , which will not be described in detail.

[0066] When the medicine charging robot 2 moves away from the medicine charging vehicle 1, the robot carrying drum 24 will rotate around its own axis as the medicine charging robot 2 moves, and pull the second medicine delivery tube 26 outward. When the medicine charging robot 2 moves toward the medicine charging vehicle 1, the second medicine delivery tube 26 will be automatically retracted under the action of the second tube retracting pre-tightening force of the robot carrying drum 24.

[0067] Specifically, the drug charging robot 2 is provided with a robot carrying reel 24, which has a predetermined second tube-retracting pre-tightening force, and the robot carrying reel 24 is configured to be able to rotate around its own axis as the drug charging robot 2 moves. When the drug charging robot 2 is away from the drug charging vehicle 1, the robot carrying reel 24 rotates around its own axis and pulls the second drug delivery tube 26 outward, and when the drug charging robot 2 is close to the drug charging vehicle 1, the second drug delivery tube 26 is retracted under the action of the second tube-retracting pre-tightening force. Furthermore, the robot carrying reel 24 is rotatable around the vertical axis relative to the machine body 21. During the movement of the drug charging robot 2, the robot carrying reel 24 rotates around the vertical axis to avoid large-angle bending of the second drug delivery tube 26, thereby increasing the service life of the second drug delivery tube 26.

[0068] The blast hole charging system provided by the present invention can effectively avoid excessive bending and pulling of the drug delivery tube, and effectively avoid the wear of the drug delivery tube by dragging on the ground, thereby increasing the service life of the drug delivery tube.

[0069] In order to facilitate the drug loading robot 2 to connect the second drug delivery tube 26 to the first drug delivery tube 13, in this embodiment, the drug loading robot 2 also includes a mounting arm (not shown) and a tube feeder (not shown). The tube feeder can drive the inlet end of the second drug delivery tube 26 to be inserted into the outlet end of the first drug delivery tube 13 to connect the first drug delivery tube 13 and the second drug delivery tube 26, or pull the inlet end of the second drug delivery tube 26 out of the outlet end of the first drug delivery tube 13 to separate the first drug delivery tube 13 and the second drug delivery tube 26.

[0070] The mounting arm is connected between the tube feeder and the machine body 21. For example but not limited to, the mounting arm is configured as a retractable structure to be able to drive the tube feeder to adjust its position, thereby adjusting the position of the tube feeder and then adjusting the position of the inlet end of the second drug delivery tube 26.

[0071] Specifically, the mounting arm may include a fixed arm and a sliding arm, the fixed arm is mounted on the machine body 21, the sliding arm is movably connected to the fixed arm, and the pipe delivery device is connected to the sliding arm. After the drug loading robot 2 approaches the drug loading vehicle 1, the sliding arm may move toward the drug loading vehicle 1 and deliver the inlet end of the second drug delivery tube 26 to the pipe rack clamp. Since the outlet end of the first drug delivery tube 13 is clamped on the pipe rack clamp, the inlet end of the second drug delivery tube 26 can be connected to the outlet end of the first drug delivery tube 13.

[0072] An optional embodiment, in this embodiment, the fixed arm extends approximately in a horizontal plane, the sliding arm is slidably disposed on the fixed arm, and the tube feeder is connected to the protruding end of the sliding arm, but not limited thereto.

[0073] The present disclosure provides a drug loading robot 2 including a mounting arm and a tube delivery device. When the drug loading robot 2 approaches the drug loading vehicle 1 and reaches a predetermined position, the sliding arm can extend toward the drug loading vehicle 1, and the tube delivery device can connect the inlet end of the second drug delivery tube 26 to the outlet end of the first drug delivery tube 13, thereby completing the docking of the second drug delivery tube 26 and the first drug delivery tube 13, and the docking process does not require the participation of an operator.

[0074] In addition, in order to meet the angle adjustment of the mounting arm in the horizontal plane, a rotating seat (not shown) can be arranged between the fixed arm and the machine body 21. The rotating seat has a vertical rotation axis. One end of the rotating seat is fixed to the machine body 21, and the fixed arm is connected to the other end, so that the fixed arm can be adjusted in angle in the horizontal plane around the vertical rotation axis relative to the machine body 21.

[0075] Continue to refer to Figure 1 Furthermore, in this embodiment, the charging robot 2 also includes a mechanical arm 22 and a crawler walking mechanism 23. The crawler walking mechanism 23 is arranged below the machine body 21 and can carry the machine body 21 to move. The mechanical arm 22 is connected to the machine body 21 and can adjust the position of the second drug delivery tube 26 so that the outlet end of the second drug delivery tube 26 can be inserted into the blast hole, or the outlet end of the second drug delivery tube 26 can be pulled out from the blast hole.

[0076] In this embodiment, the crawler-type walking mechanism 23 may include a driving wheel, a driven wheel and a crawler belt. The driving wheel and the driven wheel may be arranged on the machine body 21 at intervals. The crawler belt is respectively sleeved on the periphery of the driving wheel and the driven wheel. The driving wheel can drive the driven wheel to rotate, thereby driving the crawler belt to rotate. In this embodiment, the driving wheel may be a sprocket wheel, and the sprocket teeth between the driving wheel and the crawler belt are meshed, thereby improving the mobile reliability of the crawler-type walking mechanism, but the present invention is not limited thereto.

[0077] The structure of the crawler-type walking mechanism 23 can refer to the existing structure and will not be described in detail here.

[0078] In this embodiment, by configuring the charging robot 2 with a crawler-type walking mechanism 23, it can be applied to blasting areas with relatively harsh environments, for example, especially to soft or muddy blasting areas, thereby improving the versatility of the blasthole charging system.

[0079] When the charging vehicle is used for charging operations, the blast holes are distributed on the ground, which is the blast area. The overall position information and precise position information of the blast holes are both reflected as two-dimensional coordinates.

[0080] Reference Figure 2In this embodiment, the drug loading robot 2 also includes a drug delivery tube feeder 28, and the robotic arm 22 includes a rotating seat 221, a fixed seat 222 and a telescopic arm 223. One end of the rotating seat 221 is installed on the machine body 21, and the fixed seat 222 is connected to the other end of the rotating seat 221. The rotation axis of the rotating seat 221 extends in the vertical direction, so that the fixed seat 222 can rotate around the rotation axis relative to the machine body 21 to adjust the angle of the robotic arm 22 in the horizontal plane.

[0081] The telescopic arm 223 is movably connected to the fixed seat 222, the medicine tube delivery device 28 is connected to the telescopic arm 223, and the outlet end of the second medicine tube 26 is clamped by the medicine tube delivery device 28. When the telescopic arm 223 moves relative to the fixed seat 222, it can drive the outlet end of the second medicine tube 26 to adjust its position. The telescopic arm 223 is a multi-degree-of-freedom telescopic arm that can be flexibly rotated in space. With this arrangement, the posture of the medicine tube delivery device 28 in the air is adjustable.

[0082] The present invention provides a rotating seat 221 so that the fixed seat 222 can rotate relative to the machine body 21 around a rotation axis extending in a vertical direction to achieve angle adjustment in the horizontal plane. The telescopic arm 223 is movable relative to the fixed seat 222 so as to be able to extend or retract, thereby driving the outlet end of the second drug delivery tube 26 to adjust its position, thereby meeting the needs of blast hole insertion at different positions.

[0083] The drug delivery tube delivery device 28 is connected to the telescopic arm 223, and the outlet end of the second drug delivery tube 26 is clamped on the drug delivery tube delivery device 28. When the telescopic arm 223 moves relative to the fixed seat 222, the outlet end of the second drug delivery tube 26 can move with the telescopic arm 223, thereby adjusting the position of the outlet end of the second drug delivery tube 26 so that it can be aligned with the blast hole and inserted into the blast hole. When the telescopic arm 223 rotates relative to the machine body 21 around the rotation axis extending in the vertical direction, the outlet end of the second drug delivery tube 26 can rotate relative to the machine body 21 together with the telescopic arm 223, thereby adjusting the position of the outlet end of the second drug delivery tube 26.

[0084] In this embodiment, the drug loading robot 2 also includes a drug delivery tube delivery reel 25, which is rotatably connected to the machine body 21. The outlet end of the second drug delivery tube 26 can be wound around the drug delivery tube delivery reel 25. By rotating the drug delivery tube delivery reel 25, the outlet end of the second drug delivery tube 26 can be inserted into a predetermined blast hole, or pulled out from the predetermined blast hole, that is, by controlling the rotation direction of the drug delivery tube delivery reel 25, the delivery or retraction of the second drug delivery tube 26 can be controlled, and by controlling the rotation speed of the drug delivery tube delivery reel 25, the delivery speed or retraction speed of the second drug delivery tube 26 can be controlled.

[0085] As an example, the charging robot 2 also includes a charging interface position detector 31, which is arranged at the outlet end of the second drug delivery tube 26, and is used to monitor the interface position information of the explosive in the blast hole, and can transmit the interface position information to the main control module. The main control module can control the rotation speed of the drug delivery tube delivery reel 25 according to the interface position information of the explosive in the blast hole, so as to control the withdrawal speed of the outlet end of the second drug delivery tube 26, thereby realizing the linkage between the withdrawal of the second drug delivery tube 26 and the charging of the blast hole.

[0086] In this embodiment, the blasthole charging system also includes a remote control center and a local control center. The local control center interacts with the charging vehicle 1 and the charging robot 2 in real time to achieve synchronous control of the charging vehicle 1 and the charging robot 2, and can control the charging vehicle 1 and the charging robot 2 respectively. The remote control center interacts with the local control center in real time to achieve remote real-time control of the charging vehicle 1 and the charging robot 2.

[0087] Normally, the outlet end of the second drug delivery tube 26 can be inserted into the bottom wall of the blast hole or close to the bottom wall, and this position can be monitored by the charge interface position detector 31 and transmitted to the main control module, and the main control module can control the drug delivery tube delivery reel 25 to stop delivering the tube. At this time, the main control module can transmit a signal to the local control center, so that the local control center starts the delivery system of the charge vehicle 1 and delivers explosives into the drug delivery tube, thereby allowing the explosives to enter the corresponding blast hole.

[0088] As the amount of explosives in the borehole increases, the explosive interface continues to rise. The charge interface position detector 31 will monitor the rising speed of the explosive interface in real time and transmit the rising speed of the explosive interface to the main control module. The main control module will control the rotation speed of the drug delivery tube delivery reel 25 according to the rising speed of the explosive interface, thereby achieving the purpose of controlling the retracting speed of the second drug delivery tube 26.

[0089] Furthermore, the drug loading robot 2 also includes a speed sensor (not shown), which is used to monitor the rotation speed of the drug delivery tube delivery reel 25 to realize the monitoring of the rotation speed of the drug delivery tube delivery reel 25, so that the rotation speed of the drug delivery tube delivery reel 25 is within a predetermined range, thereby monitoring the tube collection speed of the outlet end of the second drug delivery tube 26.

[0090] When the speed sensor detects that the rotation speed of the drug delivery tube delivery reel 25 exceeds a predetermined range, the main control module can control the drug delivery tube delivery reel 25 to decelerate; when the speed sensor detects that the rotation speed of the drug delivery tube delivery reel 25 is lower than a predetermined range, the main control module can control the drug delivery tube delivery reel 25 to accelerate, so that the rotation speed of the drug delivery tube delivery reel 25 is controlled within a predetermined range, avoiding the second drug delivery tube 26 from delivering (or collecting) the drug delivery tube too fast or too slow, thereby improving the reliability of the drug loading robot 2, but not limited to this.

[0091] The remote control center can exchange information with the local control center in real time to achieve remote real-time control of the charging vehicle 1 and the charging robot 2. The operator can control them without being in the gun area or around the gun area, thereby improving the ease of use of the blasthole charging system.

[0092] In order to further improve the reliability of the blasthole charging system, the charging robot 2 also includes a first camera module (not shown), which is used to monitor whether the road conditions in the direction of the charging robot 2 are suitable for traveling, and send the captured video information to the main control module. When the road conditions do not meet the driving requirements, the main control module controls the charging robot 2 to turn in time, thereby improving the reliability of the charging robot 2 and the reliability of the blasthole charging system.

[0093] Continuing to refer to the accompanying drawings, in order to improve the versatility of the first camera module, the first camera module is set to be height-adjustable. Specifically, the drug loading robot 2 also includes a telescopic frame (not shown), which extends approximately vertically, and the bottom end of the telescopic frame is fixed to the machine body 21, and the first camera module is fixed to the top of the telescopic frame. The length of the telescopic frame in the vertical direction is adjustable. By extending or shortening the length of the telescopic frame, the height of the first camera module in the vertical direction is adjusted to meet different shooting ranges. As an example, the telescopic frame may include a telescopic cylinder, or a screw assembly, but is not limited thereto.

[0094] In order to further improve the charging accuracy of the charging robot 2, the charging robot 2 also includes a second camera module 29 for monitoring the precise position information of the blast holes, thereby avoiding inaccurate positioning caused by incorrect overall position information of all blast holes, thereby improving the charging accuracy of the blast hole charging system.

[0095] As an example, the second camera module 29 is disposed on the drug delivery tube 28, but the present invention is not limited thereto.

[0096] In this embodiment, the first camera module is arranged above the second camera module 29 to have a wider field of view, and the second camera module 29 is arranged on the drug delivery tube 28 to be closer to the ground of the blasting area, so as to obtain the blasting hole position information more accurately.

[0097] When the above-mentioned blasthole charging system is used for charging operation, the charging vehicle 1 is first driven to a predetermined position outside the blasting area, at which time the charging vehicle 1 can be turned off and stationary at the predetermined position.

[0098] Then, the charging robot 2 is placed in the blasting area, and the communication system of the charging robot 2 and the communication system of the charging vehicle 1 are started, so that the charging vehicle 1 and the charging robot 2 can exchange position information and work status.

[0099] Typically, the charging robot 2 and the charging vehicle 1 may be provided with position sensors respectively for monitoring their own position information, but this is not limited thereto.

[0100] After obtaining the position information of both the charging vehicle 1 and the charging robot 2 , the charging robot 2 can move toward the charging vehicle 1 and connect the inlet end of the second drug delivery tube 26 to the outlet end of the first drug delivery tube 13 , thereby achieving the connection between the first drug delivery tube 13 and the second drug delivery tube 26 .

[0101] Specifically, when the drug loading robot 2 moves to a predetermined position, the sliding arm of the mounting arm will extend toward the tube rack clamp and connect the inlet end of the second drug delivery tube 26 to the outlet end of the first drug delivery tube 13 , thereby achieving docking of the first drug delivery tube 13 and the second drug delivery tube 26 .

[0102] Then, the charging robot 2 calculates the moving path of the charging robot 2 in the gun area to complete the charging of all gun holes according to its current position and the overall position information of all gun holes in the entire gun area. After calculating the above moving path, all gun holes in the gun area can be numbered, and the charging robot 2 can walk and stop on the moving path. When the charging robot 2 stops at the parking position, the drug delivery tube feeder 28 can insert the outlet end of the second drug delivery tube 26 into all gun holes in the area covered by the robot arm 22 to complete the charging of all gun holes in the area corresponding to the parking position.

[0103] As an example, when all the blastholes in the blast area are distributed in an array, the blastholes can be numbered row by row (or column by column), and the end of the previous row (or column) is adjacent to the start of the next row (or column). When all the blastholes in the blast area are distributed irregularly, they can be calculated and numbered by computer with reference to the commonly used optimal path algorithm.

[0104] In the above process, the overall position information of all blast holes in the entire blast area can be pre-stored in the local control center, and the charging robot 2 can exchange information with the local control center to obtain the overall position information, or the camera module of the charging robot 2 can obtain it on-site as needed, all of which are within the protection scope of the present disclosure.

[0105] In this embodiment, the overall position information of all blastholes in the entire blast area is pre-stored in the remote control center, and the remote control center sends the overall position information to the charging robot 2 and the charging vehicle 1. At the same time, as needed, the charging parameters of the blastholes can also be sent to the charging robot 2 and the charging vehicle 1. Accordingly, the charging robot 2 and the charging vehicle 1 send their own position information, working status information, charging data and other information to the local control center in real time, thereby realizing the synchronization of blasthole charging system information.

[0106] After determining the charging movement path of the charging robot 2, the charging robot 2 can charge the blasthole according to the movement path and in combination with the camera module. Specifically, when the charging robot 2 moves to the parking position, the first camera module monitors the road condition information in real time. When the road condition does not meet the driving requirements, the charging robot will change the forward direction to bypass this section of the faulty road condition, thereby further improving the movement reliability of the charging robot 2.

[0107] Furthermore, the second camera module 29 will obtain the precise position information of the blast hole and transmit the precise position information to the main control module. The main control module will adjust the position of the drug delivery tube 28 according to the precise position information so that the outlet end of the second drug delivery tube 26 can be aligned with the target blast hole, thereby completing the charging of the blast hole.

[0108] In the blasthole charging system provided by the present disclosure, the charging robot 2 can walk in the blasthole area without the need for operators to enter the blasthole area, which improves the personal safety of operators to a certain extent. Furthermore, the charging robot 2 completes the pipeline docking of the second drug delivery tube 26 and the first drug delivery tube 13, and can accurately insert the second drug delivery tube 26 into the blasthole that needs to be loaded with explosives, thereby reducing manual participation in the blasthole charging process, reducing labor, and improving work efficiency.

[0109] In another aspect, the present disclosure provides a blasthole charging method, which is applicable to the blasthole charging system as described above, and the charging method comprises:

[0110] Step S1, driving the charging vehicle 1 to a first predetermined position outside the gun area, and placing the charging robot 2 in the gun area;

[0111] Step S2, obtaining the position information of the charging vehicle 1 and the position information of the charging robot 2, and calculating a first moving path of the charging robot 2 toward the charging vehicle 1 according to the position information of the charging vehicle 1 and the position information of the charging robot 2;

[0112] Step S3, controlling the charging robot 2 to move along the first moving path toward the charging vehicle 1 and stop at a second predetermined position;

[0113] Step S4, connecting the first drug delivery tube 13 of the drug loading vehicle 1 to the second drug delivery tube 26 of the drug loading robot 2;

[0114] Step S5, obtaining the overall position information of all blastholes in the blast area, and calculating the second moving path of the charging robot 2 for completing charging of all blastholes according to the second predetermined position information and the overall position information;

[0115] Step S6, controlling the charging robot 2 to move along the second moving path and stop at a predetermined parking position, and completing charging of blastholes within a predetermined area at the parking position.

[0116] In step S2, while obtaining the position information of the charging robot 2, the working status information of the charging robot 2 can also be obtained, and the charging robot 2 and the charging vehicle 1 can communicate and interact to share information.

[0117] In step S5, the overall position information of all blast holes in the gun area can be pre-stored in the local control center. When the charging robot 2 needs the overall position information, it can communicate with the local control center to obtain the overall position information. It can also be obtained by shooting with the camera module carried by the charging robot 2, all of which are within the protection scope of the present disclosure.

[0118] According to an exemplary embodiment of the present disclosure, in step S5, the method for calculating the second moving path includes:

[0119] Step S51, selecting the first loading blasthole: firstly, calculating the number N of blastholes around each blasthole in the entire blast area whose distance from the blasthole is less than the maximum coverage length of the mechanical arm 22 of the charging robot 2, and then taking the blasthole corresponding to the largest number N as the first loading blasthole, and taking the position of the first loading blasthole as the first parking position;

[0120] Step S52, selecting the parking position of the charging robot 2 in the area where the remaining blast holes are located: calculating the number E of blast holes in the area where the remaining blast holes are located, the distance between each blast hole and the surrounding blast holes is less than the maximum coverage length of the mechanical arm 22 of the charging robot 2, taking the blast hole and the surrounding area corresponding to the maximum number E as the area where the parking position is located; when the number E is greater than 1, marking the position of the blast hole as the parking position, wherein the remaining blast holes are all the blast holes in the entire blast area minus the blast holes that can be covered by the mechanical arm of the charging robot at the parking position that has been obtained; when the number E=1, taking the middle position between the current blast hole and another adjacent blast hole as the parking position;

[0121] Step S53, repeating the above step S52 until the number of remaining blastholes is 0, and determining all parking positions in the entire blast area;

[0122] Step S54, using the Dijkstra algorithm for all parking positions to calculate the optimal walking path of the charging robot.

[0123] In step S51, the distance between the second predetermined position and each blast hole may be calculated respectively, and the blast hole closest to the second predetermined position is taken as the first loading blast hole, but this is not limited to this.

[0124] In step S6, further, when the medicine charging robot 2 moves along the second moving path toward the predetermined target parking position, if the road condition does not meet the driving requirements, the medicine charging robot 2 will change the forward direction.

[0125] Specifically, in step S6, during the process of the charging robot 2 moving along the second moving path toward the predetermined target parking position,

[0126] Step S61, real-time monitoring of road conditions. When the road conditions do not meet the driving requirements, the charging robot 2 identifies the characteristics of the roadblock and determines the left and right boundaries of the roadblock;

[0127] Step S62, calculating the distance between the current position of the charging robot 2 and the boundaries on both sides of the roadblock;

[0128] Step S63, selecting the side with a smaller distance from the current position of the charging robot 2 as the bypass side;

[0129] Step S64, in the process of the charging robot 2 moving toward the boundary point of the roadblock on the bypass side, the distance M between the current position of the charging robot 2 and the current predetermined target parking position is calculated in real time, and the distance L between the current position of the charging robot 2 and other parking positions that have not been reached is calculated in real time;

[0130] Step S65, compare the distance L with the distance M. When at least one distance L is smaller than the distance M, use the Dijkstra algorithm to recalculate a new optimal walking route for the remaining parking positions that have not been reached; when the distance between the predetermined target parking position and the charging robot 2 is kept to the minimum, the charging robot 2 bypasses the roadblock and continues to move toward the predetermined target parking position, and continues to walk according to the originally planned optimal walking path, but is not limited to this.

[0131] Furthermore, in step S6, the charging robot 2 will use the camera module to complete the precise positioning of the blasthole and insert the outlet end of the second drug delivery tube 26 into the target blasthole. Usually, the outlet end of the second drug delivery tube 26 is first inserted into the bottom of the blasthole, and then the conveying system is started to pump the explosives in the charging vehicle 1 into the blasthole. As the explosive interface in the blasthole rises, the main control module will control the drug delivery tube reel 25 to rotate to achieve tube collection, and at this time, the outlet end of the second drug delivery tube 26 will move upward.

[0132] In this embodiment, the explosive delivery system and the drug delivery pipe delivery reel 25 are linked to achieve the same rising speed of the explosive interface in the blast hole as the moving speed of the outlet end of the second drug delivery pipe 26, but this is not limited to this.

[0133] In order to further improve the reliability of the blasthole charging system, the charging amount of each blasthole will be controlled according to the expected charging parameters of the local control center. At the same time, the charging robot will also feed back the actual charging parameters to the local control center, but not limited to this.

[0134] In this embodiment, when the drug charging robot 2 moves along the second moving path, the drug charging vehicle 1 can remain at the original stop position or move as needed. When the drug charging vehicle 1 moves, the vehicle-mounted reel 12 will rotate with the movement of the drug charging vehicle 1 so as to be able to retract and release the outlet end of the first drug delivery tube 13. Similarly, when the drug charging robot 2 moves, the robot-mounted reel 24 will automatically rotate with the movement of the drug charging robot 2 so as to be able to retract and release the inlet end of the second drug delivery tube 26. During the follow-up movement of the vehicle-mounted reel 12 and the robot-mounted reel 24, the predetermined tube retraction preload force will be maintained.

[0135] The blasthole charging system provided by the present disclosure includes a charging vehicle 1 and a charging robot 2. The charging robot 2 can walk in the blasthole area, thereby preventing the charging vehicle 1 from entering the blasthole area, and improving the safety of the blasthole charging system. On the other hand, even in a low blasthole area or a narrow blasthole area, the charging robot 2 of the blasthole charging system provided by the present disclosure can enter the low blasthole area or a narrow blasthole area, and can charge the blasthole, thereby improving the versatility of the blasthole charging system. Furthermore, the charging robot 2 provided by the present disclosure walks in the blasthole area, thereby realizing the work of pipeline docking, pipe dragging, pipe insertion, pipe collection, and charging, reducing manual participation in the blasthole area and improving work efficiency. The present disclosure can observe the explosive interface in the blasthole in real time and realize the linkage of charging and pipe withdrawal through the cooperation of the camera module and the main control module.

[0136] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0137] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0138] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0139] The features, structures or characteristics described in the present disclosure may be combined in one or more embodiments in any suitable manner. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

Claims

1. A blasthole charging system, characterized in that: The blasthole charging system comprises: A charging vehicle (1) having a storage tank for storing explosive raw materials, a conveying system for mixing explosives on site, and a first drug delivery pipe (13) connected to the conveying system; The charging robot (2) is provided with a second drug delivery tube (26). The charging robot (2) is capable of walking between the charging vehicle (1) and the blast hole. When approaching the charging vehicle (1), the inlet end of the second drug delivery tube (26) can be connected to the outlet end of the first drug delivery tube (13). When approaching the blast hole, the outlet end of the second drug delivery tube (26) can be inserted into the blast hole, or the outlet end of the second drug delivery tube (26) can be pulled out from the blast hole.

2. The blasthole charging system according to claim 1, characterized in that: The charging robot (2) comprises a machine body (21), a mechanical arm (22) and a crawler-type walking mechanism (23); the crawler-type walking mechanism (23) is arranged below the machine body (21) and can carry the machine body (21) to move; the mechanical arm (22) is connected to the machine body (21); the outlet end of the second drug delivery tube (26) is connected to the mechanical arm (22), so that the mechanical arm (22) can drive the outlet end of the second drug delivery tube (26) to adjust its position so as to insert it into the blast hole or pull it out of the blast hole.

3. The blasthole charging system according to claim 2, characterized in that: The drug loading robot (2) also includes a drug delivery tube feeder (28), the robot arm (22) includes a rotating seat (221), a fixed seat (222) and a telescopic arm (223), the rotating seat (221) is rotatably mounted on the machine body (21), the rotation axis of the rotating seat (221) extends vertically, the fixed seat (222) is connected to the rotating seat (221), the telescopic arm (223) is movably connected to the fixed seat (222), and the telescopic arm (223) is a multi-degree-of-freedom telescopic arm, the drug delivery tube feeder (28) is connected to the telescopic arm (223), and the outlet end of the second drug delivery tube (26) is mounted on the drug delivery tube feeder (28).

4. The blasthole charging system according to claim 3, characterized in that: The charging robot (2) further comprises a drug delivery tube delivery reel (25), a charging interface position detector (31) and a main control module, wherein the drug delivery tube delivery reel (25) is rotatably connected to the machine body (21), the outlet end of the second drug delivery tube (26) is wound around the drug delivery tube delivery reel (25), the charging interface position detector (31) is arranged at the outlet end of the second drug delivery tube (26), and is used to monitor the interface position information of the explosive in the blast hole, and transmit the interface position information to the main control module, the main control module can control the rotation speed of the drug delivery tube delivery reel (25) according to the moving speed of the interface where the explosive is located, thereby realizing the linkage between the withdrawal of the second drug delivery tube (26) and the charging of the blast hole; and / or, The medicine loading robot (2) further comprises a rotation speed sensor and a main control module, wherein the rotation speed sensor is used to monitor the rotation speed of the medicine delivery tube reel (25), and when the rotation speed exceeds a predetermined range, the main control module controls the medicine delivery tube reel (25) to decelerate; when the rotation speed is lower than the predetermined range, the main control module controls the medicine delivery tube reel (25) to accelerate; and / or, The medicine loading robot (2) further comprises a first camera module for detecting the road condition during the travel process, wherein the first camera module can be raised and lowered above the machine body (21), and / or, The charging robot (2) further comprises a second camera module (29) for detecting precise position information of the blast hole, and the second camera module (29) is arranged on the drug delivery tube feeder (28).

5. The blasthole charging system according to any one of claims 2 to 4, characterized in that: The drug loading vehicle (1) further comprises a vehicle body (11) and a pipe rack clamp connected to the vehicle body (11), the outlet end of the first drug delivery tube (13) being clamped on the pipe rack clamp, the drug loading robot (2) further comprises a mounting arm and a pipe feeder, the mounting arm comprising a fixed arm and a sliding arm, the fixed arm being mounted on the machine body (21), the sliding arm being movably connected to the fixed arm, the pipe feeder being connected to the sliding arm, and when the sliding arm moves relative to the fixed arm toward the drug loading vehicle (1), the pipe feeder can move with the sliding arm and connect the inlet end of the second drug delivery tube (26) to the outlet end of the first drug delivery tube (13).

6. The blasthole charging system according to claim 5, characterized in that: The drug-charging vehicle (1) further comprises a vehicle-mounted reel (12), wherein the vehicle-mounted reel (12) has a predetermined first tube-retracting pre-tightening force, and the vehicle-mounted reel (12) is configured to rotate around its own axis as the drug-charging vehicle (1) moves away from the drug-charging robot (2), the vehicle-mounted reel (12) rotates around its own axis and pulls out the first drug delivery tube (13), and when the drug-charging vehicle (1) approaches the drug-charging robot (2), the first drug delivery tube (13) is retracted under the action of the first tube-retracting pre-tightening force, and the vehicle-mounted reel (12) is rotatable around a vertical axis relative to the drug-charging vehicle (1). During the movement of the drug-charging vehicle (1), the vehicle-mounted reel (12) can rotate around the vertical axis to avoid large-angle bending of the first drug delivery tube (13); and / or, The drug loading robot (2) is provided with a robot carrying drum (24), and the robot carrying drum (24) has a predetermined second tube retracting pre-tightening force. The robot carrying drum (24) is configured to be able to rotate around its own axis as the drug loading robot (2) moves. When the drug loading robot (2) moves away from the drug loading vehicle (1), the robot carrying drum (24) rotates around its own axis and pulls the second drug delivery tube (26) outward. When the drug loading robot (2) approaches the drug loading vehicle (1), the second drug delivery tube (26) is retracted under the action of the second tube retracting pre-tightening force. The robot carrying drum (24) is rotatable around a vertical axis relative to the machine body (21). During the movement of the drug loading robot (2), the robot carrying drum (24) rotates with the robot to prevent the second drug delivery tube (26) from bending at a large angle.

7. The blasthole charging system according to claim 1, characterized in that: The blasthole charging system further comprises a remote control center and a local control center. The local control center respectively exchanges information with the charging vehicle (1) and the charging robot (2) in real time to achieve synchronous control of the charging vehicle (1) and the charging robot (2), and can respectively control the charging vehicle (1) and the charging robot (2). The remote control center exchanges information with the local control center in real time to achieve remote real-time control of the charging vehicle (1) and the charging robot (2).

8. A method for charging a blast hole, characterized in that: Applicable to the blasthole charging system according to any one of claims 1 to 7, the blasthole charging method comprising: Step S1, driving the charging vehicle (1) to a first predetermined position outside the gun area, and placing the charging robot (2) in the gun area; Step S2, obtaining the position information of the medicine charging vehicle (1) and the position information of the medicine charging robot (2), and calculating a first moving path of the medicine charging robot (2) toward the medicine charging vehicle (1) based on the position information of the medicine charging vehicle (1) and the position information of the medicine charging robot (2); Step S3, controlling the medicine charging robot (2) to move along the first moving path toward the medicine charging vehicle (1) and stop at a second predetermined position; Step S4, connecting the first drug delivery tube (13) of the drug loading vehicle (1) to the second drug delivery tube (26) of the drug loading robot (2); Step S5, obtaining the overall position information of all blastholes in the blast area, and calculating the second moving path of the charging robot (2) for completing charging of all blastholes according to the overall position information and the second predetermined position information; Step S6, controlling the charging robot (2) to move along the second moving path and stop at a predetermined parking position, and completing charging of blastholes within a predetermined area at the parking position.

9. The blasthole charging method according to claim 8, characterized in that: In step S5, the method for calculating the second moving path includes: Step S51, selecting the first loading blasthole: firstly, calculating the number N of blastholes around each blasthole in the entire blast area whose distance from the blasthole is less than the maximum coverage length of the mechanical arm (22) of the charging robot (2), then taking the blasthole corresponding to the largest number N as the first loading blasthole, and taking the position of the first loading blasthole as the first parking position; Step S52, selecting the parking position of the charging robot (2) in the area where the remaining blast holes are located: calculating the number E of blast holes in the area where the remaining blast holes are located, the distance between each blast hole and the surrounding blast holes is less than the maximum coverage length of the mechanical arm (22) of the charging robot (2), taking the blast hole and the surrounding area corresponding to the maximum number E as the area where the parking position is located; when the number E is greater than 1, marking the position of the blast hole as the parking position, wherein the remaining blast holes are all the blast holes in the entire blast area minus the blast holes that can be covered by the mechanical arm of the charging robot at the parking position that has been obtained; when the number E=1, taking the middle position between the current blast hole and another adjacent blast hole as the parking position; Step S53, repeating the above step S52 until the number of remaining blastholes is 0, and determining all parking positions in the entire blast area; Step S54, using the Dijkstra algorithm to calculate the optimal walking path of the charging robot for all parking positions.

10. The blasthole charging method according to claim 8, characterized in that: In step S6, during the process of the medicine charging robot (2) moving along the second moving path toward the predetermined target parking position, Step S61, real-time monitoring of road conditions. When the road conditions do not meet the driving requirements, the charging robot (2) identifies the characteristics of the roadblock and determines the left and right boundaries of the roadblock; Step S62, calculating the distance between the current position of the charging robot (2) and the boundaries on both sides of the roadblock; Step S63, selecting the side with a smaller distance from the current position of the charging robot (2) as the bypass side; Step S64, in the process of the medicine loading robot (2) moving on the bypass side toward the boundary point of the roadblock, calculating in real time the distance M between the current position of the medicine loading robot (2) and the current predetermined target parking position, and calculating in real time the distance L between the current position of the medicine loading robot (2) and other parking positions that have not been reached; Step S65, compare the distance L with the distance M. When at least one distance L is smaller than the distance M, use the Dijkstra algorithm to recalculate a new optimal walking route for the remaining parking positions that have not been reached; when the distance between the predetermined target parking position and the charging robot (2) is kept to a minimum, the charging robot (2) bypasses the roadblock and continues to move toward the predetermined target parking position.

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