Method and system for identifying filling depth of ammonium nitrate fuel oil explosive

Abstract

The invention relates to the technical field of ammonium nitrate fuel oil explosive filling, in particular to an ammonium nitrate fuel oil explosive filling depth identification method and system. Comprising a signal acquisition module, a data processing module, a robot filling module, a detection module and a system platform, the signal acquisition module comprises a blast hole positioning module, a PLC controller module and an identification module, and the PLC controller module comprises a CPU unit, a memory unit, an input unit, an output unit, a communication unit and an expansion unit. The identification module comprises a vibrator unit and a traction unit, the traction unit comprises a traction motor, a traction string, a fixed seat and a bracket, the explosive is grabbed through the traction unit, then the vibrator unit is connected, and the change of a vibration signal is accurately captured by utilizing the resonance characteristic of a piezoelectric ceramic vibrator, so that the high-precision monitoring of the position of the explosive is realized.

Description

Technical Field

[0001] The invention relates to the technical field of ammonium nitrate oil explosive filling, and in particular to an ammonium nitrate oil explosive filling depth identification method and a system thereof. Background Art

[0002] Ammonium oil fuel oil explosive is a powdered or granular explosive mixture mainly composed of ammonium nitrate and diesel. Wood powder is used as a loosening agent. It has low sensitivity, is difficult to detonate, and has a strong tendency to absorb moisture and consolidate. Ammonium oil fuel oil explosive is often used in primary applications such as coal mining, quarrying, and metal mining due to its low production cost and easy use. There are many types of ammonium oil fuel oil explosive, including powdered ammonium oil fuel oil explosive, porous granular ammonium oil fuel oil explosive, heavy ammonium oil fuel oil explosive, granular sticky explosive, thickened granular ammonium oil fuel oil explosive, etc., which are suitable for different blasting engineering working environments, such as open-pit, rock type, water-resistant rock type, and coal mine permitted type.

[0003] However, in the prior art, when installing ammonium nitrate explosives, it is necessary to confirm whether the explosives are installed at the designated position, and the traditional method is too cumbersome, which easily affects the loading efficiency. Summary of the invention

[0004] The object of the present invention is to provide a method and system for identifying the filling depth of ammonium oil-fuel mixture, aiming to solve the technical problem that when installing ammonium oil-fuel mixture in the prior art, it is necessary to confirm whether the explosive is installed to a specified position, while the traditional method is too cumbersome, thus easily affecting the filling efficiency.

[0005] To achieve the above object, a kind of ammonium oil-fuel mixture filling depth identification system adopted by the present invention comprises a signal acquisition module, a data processing module, a robot loading module, a detection module and a system platform, the signal acquisition module comprises a blasthole positioning module, a PLC controller module and an identification module, the PLC controller module comprises a CPU unit, a memory unit, an input unit, an output unit, a communication unit and an expansion unit, the identification module comprises a vibrator unit and a traction unit, the traction unit comprises a traction motor, a traction string, a fixed seat and a bracket, one end of the traction string is provided with a manipulator, one end of the fixed seat is provided with a guide wheel, a connecting ear is provided above the fixed seat, the traction motor is fixedly connected with the fixed seat and is located at the outside of the fixed seat, the traction string is arranged at the output end of the traction motor, the fixed seat is fixedly connected with the bracket and is located at one end of the bracket away from the connecting ear, and the traction string extends to the bottom of the bracket through the guide wheel, the signal acquisition module is connected with the system platform, the data processing module is connected with the system platform, the robot loading module is connected with the system platform, and the detection module is connected with the system platform;

[0006] The PLC controller module is used to receive input from image recognition technology and blasthole depth information, and control the charging equipment after processing;

[0007] The vibrator unit is used to generate vibration;

[0008] The traction unit is used to grab the explosive and transmit the vibration frequency to the vibrator unit;

[0009] The robot loading module is used to install explosives;

[0010] The detection module is used to detect the temperature and pressure of the environment in which the explosive is located;

[0011] The CPU unit is used as the core of the PLC. The CPU is responsible for executing system programs, processing tasks such as logical operations, arithmetic operations, sequential control, and coordinating the work of various parts;

[0012] The memory unit is used to store operating system software, application programs and data;

[0013] The input unit is used to receive external signals;

[0014] The output unit is used to send the processed instructions to the execution mechanism;

[0015] The communication unit is used to support multiple communication protocols;

[0016] The expansion unit is used to enhance functions or expand I / O points.

[0017] Wherein, the data processing module includes a filtering unit, a denoising unit, a calibration unit and an algorithm analysis unit, and the filtering unit, the denoising unit, the calibration unit and the algorithm analysis unit are all connected to the system platform;

[0018] The filtering unit is used to suppress and prevent interference;

[0019] The denoising unit is used to remove noise in the data;

[0020] The calibration unit is used to improve the accuracy of data, ensure the reliability of scientific research, and ensure the safety of experiments;

[0021] The algorithm analysis unit is used to improve data processing efficiency, optimize data storage structure, and enhance data processing flexibility.

[0022] The robot loading module includes an automatic positioning unit, a remote control unit, a medicine pressing unit, a mechanical arm unit and a loading unit, and the automatic positioning unit, the remote control unit, the medicine pressing unit, the mechanical arm unit and the loading unit are all connected to the system platform;

[0023] The automatic positioning unit is used to automatically position the mechanical arm unit and load explosives on the tunnel face;

[0024] The remote control unit is used to remotely control the mechanical arm unit to work;

[0025] The charge pressing unit is used to automatically pressurize the explosive after installation;

[0026] The mechanical arm unit is used to support the entire weight of the traction unit;

[0027] The charging unit is used to charge explosives according to predetermined parameters.

[0028] Wherein, the detection module includes a pressure sensor unit and a temperature sensor unit, and the pressure sensor unit and the temperature sensor unit are both connected to the system platform;

[0029] The pressure sensor unit is used to detect the pressure of the environment in which the explosive is located;

[0030] The temperature sensor unit is used to detect the temperature of the environment in which the explosive is located.

[0031] Wherein, the blasthole positioning module includes a drone image recognition unit and an intelligent recognition algorithm unit, and both the drone image recognition unit and the intelligent recognition algorithm unit are connected to the system platform;

[0032] The drone image recognition unit is used to accurately locate each blast hole in the blasting area;

[0033] The intelligent recognition algorithm unit is used to use advanced image processing and recognition algorithms to quickly and accurately identify blastholes.

[0034] Wherein, described ammonium oil-fuel mixture filling depth identification system also comprises prompting module and display module, described prompting module comprises flashing light unit and loudspeaker unit, described display module comprises LCD display unit and button operation unit, described flashing light unit and described loudspeaker unit are both connected with described system platform, and described LCD display unit and described button operation unit are both connected with described system platform;

[0035] The flashing light unit is used to flash to remind the explosives after they are installed in place;

[0036] The speaker unit is used to emit a warning sound to remind the staff that the explosives are installed in place;

[0037] The LCD display unit is used to provide an intuitive operating interface and display the explosive filling depth, temperature and pressure in real time;

[0038] The button operation unit is used to control the operation of the entire system.

[0039] The present invention also provides an ammonium oil-fuel mixture filling depth identification method, which is applied to the above-mentioned ammonium oil-fuel mixture filling depth identification system, comprising the following steps:

[0040] S1: First, placing the explosive under the manipulator so that the manipulator grabs the explosive, and setting the vibrator unit above the manipulator;

[0041] S2: the support is moved as a whole to the top of the blast hole by the mechanical arm unit, and the traction rope is in a taut state under the action of the gravity of the explosive;

[0042] S3: Then, the explosive and the vibrator unit are accurately adjusted to the center of the blast hole through the blast hole positioning module;

[0043] S4: Then, the traction motor is controlled to rotate clockwise, so that the explosive slowly descends under the action of the traction rope, and the vibrator unit is started at the same time, so that the explosive slowly enters the blast hole. After the explosive is installed in place, the traction rope is in a relaxed state;

[0044] S5: when the traction rope is in a taut state, the traction rope generates a small frequency swing under the action of the vibrator unit, and it is determined that the explosive has not reached the designated position;

[0045] S6: When the traction rope is in a relaxed state, the traction rope generates a large frequency swing under the action of the vibrator unit, and it is determined that the explosive has reached the designated position.

[0046] The invention discloses an ammonium oil-fuel oil filling depth identification method and system thereof, comprising a signal acquisition module, a data processing module, a robot loading module, a detection module and a system platform, wherein the signal acquisition module comprises a blasthole positioning module, a PLC controller module and an identification module, wherein the PLC controller module comprises a CPU unit, a memory unit, an input unit, an output unit, a communication unit and an expansion unit, wherein the identification module comprises a vibrator unit and a traction unit, wherein the identification module comprises a vibrator unit and a traction unit, wherein the traction unit comprises a traction motor, a traction string, a fixing seat and a bracket, wherein the signal acquisition module is connected to the system platform, wherein the data processing module is connected to the system platform, wherein the robot loading module is connected to the system platform, wherein the detection module is connected to the system platform, wherein the explosive is grabbed by the traction unit, and then the vibrator unit is connected, and the resonance characteristics of a piezoelectric ceramic vibrator are used to accurately capture the change of a vibration signal, thereby realizing high-precision monitoring of the position of the explosive, and effectively solving the technical problem that when the ammonium oil-fuel oil explosive is installed, it is necessary to confirm whether the explosive is installed to a specified position, and the traditional method is too cumbersome, thereby easily affecting the filling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a schematic diagram of the principle of the ammonium oil fuel oil filling depth identification system of the present invention.

[0049] Figure 2 The invention discloses a schematic diagram of a prompt module in a system for identifying the filling depth of an ammonium nitrate fuel oil explosive according to the invention.

[0050] Figure 3 The utility model is a schematic diagram of the principle of a display module in the ammonium nitrate fuel oil filling depth identification system of the present invention.

[0051] Figure 4 The utility model is a schematic diagram of the principle of the emergency module in the ammonium oil fuel explosive filling depth identification system of the present invention.

[0052] Figure 5 The invention discloses a schematic diagram of the principle of a data management module in the ammonium nitrate fuel oil filling depth recognition system.

[0053] Figure 6 The invention discloses a structural schematic diagram of a traction unit in a system for identifying the filling depth of an ammonium nitrate fuel oil explosive.

[0054] Figure 7 The invention discloses a flow chart of steps of a method for identifying the filling depth of an ammonium nitrate fuel oil explosive.

[0055] 1-Signal acquisition module, 2-Data processing module, 3-Robot loading module, 4-Detection module, 5-System platform, 6-Burner hole positioning module, 7-PLC controller module, 8-Identification module, 9-Vibrator unit, 10-Traction unit, 11-Filter unit, 12-Denoising unit, 13-Calibration unit, 14-Algorithm analysis unit, 15-Automatic positioning unit, 16-Remote control unit, 17-Pressure unit, 18-Robot arm unit, 19-Loading unit, 20-Pressure sensor unit, 21-Temperature sensor unit, 22-UAV image recognition unit, 23-Intelligent recognition algorithm unit, 24-Prompt module, 2 5-display module, 26-emergency module, 27-data management module, 28-alarm unit, 29-buzzer unit, 30-emergency stop unit, 31-data storage unit, 32-data query unit, 33-data encryption unit, 34-flashing light unit, 35-speaker unit, 36-LCD display unit, 37-button operation unit, 38-CPU unit, 39-memory unit, 40-input unit, 41-output unit, 42-communication unit, 43-extension unit, 44-traction motor, 45-traction rope, 46-fixed seat, 47-bracket, 48-manipulator, 49-guide wheel, 50-connecting ear. DETAILED DESCRIPTION

[0056] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0057] See also Figure 1 to Figure 6The present invention provides an ammonium oil-fuel explosive filling depth recognition system, comprising a signal acquisition module 1, a data processing module 2, a robot filling module 3, a detection module 4 and a system platform 5, wherein the signal acquisition module 1 comprises a blasthole positioning module 6, a PLC controller module 7 and an identification module 8, wherein the PLC controller module 7 comprises a CPU unit 38, a memory unit 39, an input unit 40, an output unit 41, a communication unit 42 and an expansion unit 43, wherein the identification module 8 comprises a vibrator unit 9 and a traction unit 10, wherein the traction unit comprises a traction motor 44, a traction string 45, a fixing seat 46 and a bracket 47, wherein one end of the traction string 45 is provided with a manipulator 48, and one end of the fixing seat 46 is provided with a manipulator 48. A guide wheel 49 is provided at the end, a connecting ear 50 is provided above the fixing seat 46, the traction motor 44 is fixedly connected to the fixing seat 46 and is located on the outside of the fixing seat 46, the traction rope 45 is provided at the output end of the traction motor 44, the fixing seat 46 is fixedly connected to the bracket 47 and is located at the end of the bracket 47 away from the connecting ear 50, and the traction rope 45 extends to the bottom of the bracket 47 through the guide wheel 49, the signal acquisition module is connected to the system platform 5, the data processing module 2 is connected to the system platform 5, the robot loading module 3 is connected to the system platform 5, and the detection module 4 is connected to the system platform 5;

[0058] The PLC controller module 7 is used to receive input from image recognition technology and blasthole depth information, and control the charging equipment after processing;

[0059] The vibrator unit 9 is used to generate vibration;

[0060] The traction unit 10 is used to grab the explosive and transmit the vibration frequency to the vibrator unit 9;

[0061] The robot loading module 3 is used to install explosives;

[0062] The detection module 4 is used to detect the temperature and pressure of the environment in which the explosive is located;

[0063] The CPU unit 38 is used as the core of the PLC. The CPU is responsible for executing system programs, processing tasks such as logical operations, arithmetic operations, sequential control, and coordinating the work of various parts;

[0064] The memory unit 39 is used to store operating system software, application programs and data;

[0065] The input unit 40 is used to receive external signals;

[0066] The output unit 41 is used to send the processed instructions to the execution mechanism;

[0067] The communication unit 42 is used to support multiple communication protocols;

[0068] The expansion unit 43 is used to enhance functions or expand I / O points.

[0069] In this embodiment, the explosive is placed below the manipulator 48 so that the manipulator 48 grabs the explosive, and the vibrator unit 9 is arranged above the manipulator 48, and then connected to the robot loading module 3 through the connecting ear 50, so that the robot loading module 3 moves the bracket 47 as a whole to the top of the blast hole. At this time, the traction rope 45 is in a taut state under the action of the gravity of the explosive, and then the traction motor 44 is controlled to rotate clockwise so that the explosive slowly descends under the action of the traction rope 45, and the vibrator unit 9 is started at the same time, and the explosive slowly enters the blast hole. After the explosive is installed in place, the traction rope 45 is in a relaxed state. When the traction rope 45 is in a taut state, the traction rope 45 produces a small frequency swing under the action of the vibrator unit 9, and it is determined that the explosive has not reached the specified position. When the traction rope 45 is in a relaxed state, the traction rope 45 produces a large frequency swing under the action of the vibrator unit 9, and it is determined that the explosive has reached the specified position.

[0070] Further, the data processing module 2 includes a filtering unit 11, a denoising unit 12, a calibration unit 13 and an algorithm analysis unit 14, and the filtering unit 11, the denoising unit 12, the calibration unit 13 and the algorithm analysis unit 14 are all connected to the system platform 5;

[0071] The filtering unit 11 is used to suppress and prevent interference;

[0072] The denoising unit 12 is used to remove noise in the data;

[0073] The calibration unit 13 is used to improve the accuracy of data, ensure the reliability of scientific research, and ensure the safety of experiments;

[0074] The algorithm analysis unit 14 is used to improve data processing efficiency, optimize data storage structure, and enhance data processing flexibility.

[0075] In this embodiment, the filtering unit 11 is used to suppress and prevent interference; the denoising unit 12 is used to remove noise in the data; the calibration unit 13 is used to improve the accuracy of the data, ensure the reliability of scientific research, and ensure the safety of the experiment; the algorithm analysis unit 14 is used to improve the data processing efficiency, optimize the data storage structure, and enhance the flexibility of data processing.

[0076] Furthermore, the robot loading module 3 includes an automatic positioning unit 15, a remote control unit 16, a medicine pressing unit 17, a mechanical arm unit 18 and a loading unit 19, and the automatic positioning unit 15, the remote control unit 16, the medicine pressing unit 17, the mechanical arm unit 18 and the loading unit 19 are all connected to the system platform 5;

[0077] The automatic positioning unit 15 is used to automatically position the mechanical arm unit 18 and load explosives on the tunnel face;

[0078] The remote control unit 16 is used to remotely control the mechanical arm unit 18 to work;

[0079] The charge pressing unit 17 is used to automatically pressurize the explosive after installation;

[0080] The mechanical arm unit 18 is used to support the overall weight of the traction unit 10;

[0081] The charging unit 19 is used to charge explosives according to predetermined parameters.

[0082] In this embodiment, the automatic positioning unit 15 is used to automatically position the robotic arm unit 18 and load explosives on the palm face; the remote control unit 16 is used to remotely control the robotic arm unit 18 to work; the charge pressing unit 17 is used to automatically pressurize the explosives after installation; the robotic arm unit 18 is used to support the overall weight of the traction unit 10; and the loading unit 19 is used to load the explosives according to predetermined parameters.

[0083] Further, the detection module 4 includes a pressure sensor unit 20 and a temperature sensor unit 21, and both the pressure sensor unit 20 and the temperature sensor unit 21 are connected to the system platform 5;

[0084] The pressure sensor unit 20 is used to detect the pressure of the environment in which the explosive is located;

[0085] The temperature sensor unit 21 is used to detect the temperature of the environment in which the explosive is located.

[0086] In this embodiment, the pressure sensor unit 20 is used to detect the pressure of the environment in which the explosive is located; and the temperature sensor unit 21 is used to detect the temperature of the environment in which the explosive is located.

[0087] Further, the blasthole positioning module 6 includes a drone image recognition unit 22 and an intelligent recognition algorithm unit 23, and both the drone image recognition unit 22 and the intelligent recognition algorithm unit 23 are connected to the system platform 5;

[0088] The drone image recognition unit 22 is used to accurately locate each blast hole in the blasting area;

[0089] The intelligent recognition algorithm unit 23 is used to use advanced image processing and recognition algorithms to quickly and accurately identify blastholes.

[0090] In this embodiment, the drone image recognition unit 22 is used to accurately locate each blast hole in the blasting area; the intelligent recognition algorithm unit 23 is used to use advanced image processing and recognition algorithms to quickly and accurately identify the blast holes.

[0091] Further, described ammonium oil-fuel mixture filling depth identification system also comprises prompting module 24 and display module 25, described prompting module 24 comprises flashing light unit 34 and loudspeaker unit 35, described display module 25 comprises LCD display unit 36 ​​and button operation unit 37, described flashing light unit 34 and described loudspeaker unit 35 are all connected with described system platform 5, and described LCD display unit 36 ​​and described button operation unit 37 are all connected with described system platform 5;

[0092] The flashing light unit 34 is used to flash to remind the explosives after they are installed in place;

[0093] The speaker unit 35 is used to emit a warning sound to remind the staff that the explosives are installed in place;

[0094] The LCD display unit 36 ​​is used to provide an intuitive operating interface and display the explosive filling depth, temperature and pressure in real time;

[0095] The button operation unit 37 is used to control the operation of the entire system.

[0096] In this embodiment, the flashing light unit 34 is used to flash a prompt after the explosives are in place; the speaker unit 35 is used to emit a prompt sound to remind the staff that the explosives are in place; the LCD display unit 36 ​​is used to provide an intuitive operation interface, and display the explosive filling depth, temperature and pressure in real time; the button operation unit 37 is used to control the operation of the entire system.

[0097] Further, the ammonium oil-fuel mixture filling depth identification system also includes an emergency module 26 and a data management module 27, and the emergency module 26 and the data management module 27 are both connected to the system platform 5;

[0098] The emergency module 26 is used to issue an alarm and urgently stop the operation of the system in an emergency;

[0099] The data management module 27 is used to store the detection data generated when the explosives are installed.

[0100] In this embodiment, the emergency module 26 is used to issue an alarm and urgently stop the operation of the system in an emergency; the data management module 27 is used to store the detection data generated when the explosives are installed.

[0101] Further, the emergency module 26 includes an alarm unit 28, a buzzer unit 29 and an emergency stop unit 30, and the alarm unit 28, the buzzer unit 29 and the emergency stop unit 30 are all connected to the system platform 5;

[0102] The alarm unit 28 is used to give an alarm in an emergency;

[0103] The buzzer unit 29 is used to emit a buzzer sound in an emergency;

[0104] The emergency stop unit 30 is used to stop all operations of the system in an emergency.

[0105] In this embodiment, the alarm unit 28 is used to give an alarm in an emergency; the buzzer unit 29 is used to emit a buzzer sound in an emergency; and the emergency stop unit 30 is used to stop all operations of the system in an emergency.

[0106] Furthermore, the data management module 27 includes a data storage unit 31 , a data query unit 32 and a data encryption unit 33 , and the data storage unit 31 , the data query unit 32 and the data encryption unit 33 are all connected to the system platform 5 .

[0107] The data storage unit 31 is used to store the data detected when the explosive is installed;

[0108] The data query unit 32 is used to query the data detected when the explosive is installed;

[0109] The data encryption unit 33 is used to encrypt the data detected when the explosives are installed.

[0110] In this embodiment, the data storage unit 31 is used to store the data detected when the explosives are installed; the data query unit 32 is used to query the data detected when the explosives are installed; and the data encryption unit 33 is used to encrypt the data detected when the explosives are installed.

[0111] Based on the present invention, please refer to Figure 7 The present invention also provides a method for identifying the filling depth of an ammonium oil-fuel mixture, which is applied to the above-mentioned ammonium oil-fuel mixture filling depth identification system, comprising the following steps:

[0112] First, the explosive is placed under the manipulator 48 so that the manipulator 48 grabs the explosive, and the vibrator unit 9 is placed above the manipulator 48;

[0113] S2: The support 47 is moved as a whole to the top of the blast hole by the mechanical arm unit 18. At this time, the traction rope 45 is in a taut state under the action of the gravity of the explosives.

[0114] S3: Then, the explosive and the vibrator unit 9 are accurately adjusted to the middle of the blast hole through the blast hole positioning module 6;

[0115] S4: Then the traction motor 44 is controlled to rotate clockwise, so that the explosive slowly descends under the action of the traction rope 45, and the vibrator unit 9 is started at the same time, so that the explosive slowly enters the blast hole. After the explosive is installed in place, the traction rope 45 is in a relaxed state;

[0116] S5: When the traction rope 45 is in a taut state, the traction rope 45 generates a small frequency swing under the action of the vibrator unit, and it is determined that the explosive has not reached the designated position;

[0117] S6: When the traction rope 45 is in a relaxed state, the traction rope 45 generates a large frequency swing under the action of the vibrator unit, and it is determined that the explosive has reached the designated position.

[0118] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A ANFO filling depth recognition system, characterized in that, It includes a signal acquisition module, a data processing module, a robot loading module, a detection module and a system platform. The signal acquisition module includes a blasthole positioning module, a PLC controller module and an identification module. The PLC controller module includes a CPU unit, a memory unit, an input unit, an output unit, a communication unit and an expansion unit. The identification module includes a vibrator unit and a traction unit. The traction unit includes a traction motor, a traction rope, a fixed seat and a bracket. A manipulator is arranged at one end of the traction rope, a guide wheel is arranged at one end of the fixed seat, a connecting ear is arranged above the fixed seat, the traction motor is fixedly connected to the fixed seat and is located at the outside of the fixed seat, the traction rope is arranged at the output end of the traction motor, the fixed seat is fixedly connected to the bracket and is located at one end of the bracket away from the connecting ear, and the traction rope extends to the bottom of the bracket through the guide wheel. The signal acquisition module is connected to the system platform, the data processing module is connected to the system platform, the robot loading module is connected to the system platform, and the detection module is connected to the system platform. The PLC controller module is used to receive input from image recognition technology and blasthole depth information, and control the charging equipment after processing; The vibrator unit is used to generate vibration; The traction unit is used to grab the explosive and transmit the vibration frequency to the vibrator unit; The robot loading module is used to install explosives; The detection module is used to detect the temperature and pressure of the environment in which the explosive is located; The CPU unit is used as the core of the PLC. The CPU is responsible for executing system programs, processing tasks such as logical operations, arithmetic operations, sequential control, and coordinating the work of various parts; The memory unit is used to store operating system software, application programs and data; The input unit is used to receive external signals; The output unit is used to send the processed instructions to the execution mechanism; The communication unit is used to support multiple communication protocols; The expansion unit is used to enhance functions or expand I / O points.

2. ammonium oil-fuel mixture filling depth recognition system as claimed in claim 1, is characterized in that, The data processing module includes a filtering unit, a denoising unit, a calibration unit and an algorithm analysis unit, and the filtering unit, the denoising unit, the calibration unit and the algorithm analysis unit are all connected to the system platform; The filtering unit is used to suppress and prevent interference; The denoising unit is used to remove noise in the data; The calibration unit is used to improve the accuracy of data, ensure the reliability of scientific research, and ensure the safety of experiments; The algorithm analysis unit is used to improve data processing efficiency, optimize data storage structure, and enhance data processing flexibility.

3. ammonium oil-fuel mixture filling depth recognition system as claimed in claim 2, is characterized in that, The robot loading module includes an automatic positioning unit, a remote control unit, a medicine pressing unit, a mechanical arm unit and a loading unit, and the automatic positioning unit, the remote control unit, the medicine pressing unit, the mechanical arm unit and the loading unit are all connected to the system platform; The automatic positioning unit is used to automatically position the mechanical arm unit and load explosives on the tunnel face; The remote control unit is used to remotely control the mechanical arm unit to work; The charge pressing unit is used to automatically pressurize the explosive after installation; The mechanical arm unit is used to support the entire weight of the traction unit; The charging unit is used to charge explosives according to predetermined parameters.

4. ammonium oil-fuel mixture filling depth recognition system as claimed in claim 3, is characterized in that, The detection module includes a pressure sensor unit and a temperature sensor unit, and both the pressure sensor unit and the temperature sensor unit are connected to the system platform; The pressure sensor unit is used to detect the pressure of the environment in which the explosive is located; The temperature sensor unit is used to detect the temperature of the environment in which the explosive is located.

5. ammonium oil-fuel mixture filling depth recognition system as claimed in claim 4, is characterized in that, The blasthole positioning module includes a drone image recognition unit and an intelligent recognition algorithm unit, and both the drone image recognition unit and the intelligent recognition algorithm unit are connected to the system platform; The drone image recognition unit is used to accurately locate each blast hole in the blasting area; The intelligent recognition algorithm unit is used to use advanced image processing and recognition algorithms to quickly and accurately identify blastholes.

6. ammonium oil-fuel mixture filling depth recognition system as claimed in claim 5, is characterized in that, Described ammonium oil-fuel mixture filling depth identification system also comprises a prompting module and a display module, described prompting module comprises a flashing light unit and a loudspeaker unit, described display module comprises an LCD display unit and a button operation unit, described flashing light unit and described loudspeaker unit are both connected with described system platform, described LCD display unit and described button operation unit are both connected with described system platform; The flashing light unit is used to flash to remind the explosives after they are installed in place; The speaker unit is used to emit a warning sound to remind the staff that the explosives are installed in place; The LCD display unit is used to provide an intuitive operating interface and display the explosive filling depth, temperature and pressure in real time; The button operation unit is used to control the operation of the entire system.

7. An ammonium oil-fuel mixture filling depth identification method is applied to the ammonium oil-fuel mixture filling depth identification system as claimed in claim 6, characterized in that, The steps include: S1: First, placing the explosive under the manipulator so that the manipulator grabs the explosive, and setting the vibrator unit above the manipulator; S2: the support is moved as a whole to the top of the blast hole by the mechanical arm unit, and the traction rope is in a taut state under the action of the gravity of the explosive; S3: Then, the explosive and the vibrator unit are accurately adjusted to the center of the blast hole through the blast hole positioning module; S4: Then, the traction motor is controlled to rotate clockwise, so that the explosive slowly descends under the action of the traction rope, and the vibrator unit is started at the same time, so that the explosive slowly enters the blast hole. After the explosive is installed in place, the traction rope is in a relaxed state; S5: when the traction rope is in a taut state, the traction rope generates a small frequency swing under the action of the vibrator unit, and it is determined that the explosive has not reached the designated position; S6: When the traction rope is in a relaxed state, the traction rope generates a large frequency swing under the action of the vibrator unit, and it is determined that the explosive has reached the designated position.

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