A method and system for identifying the filling depth of ammonium nitrate fuel oil explosive

Abstract

The present invention relates to the technical field of ammonium nitrate fuel oil explosive filling, and specifically relates to a method and system for identifying the filling depth of ammonium nitrate fuel oil explosive; it includes a signal acquisition module, a data processing module, a robot filling module, a detection module and a system platform. The signal acquisition module includes a blast hole 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 thin rope, a fixed seat and a bracket. The explosive is grabbed through the traction unit, and then connected to the vibrator unit. The resonant characteristics of the piezoelectric ceramic vibrator are used to accurately capture the change of the vibration signal, so as to realize the high-precision monitoring of the position of the explosive.

Description

Technical Field

[0001] The present invention relates to the technical field of ammonium nitrate fuel oil explosive filling, and particularly relates to a method and a system for identifying the filling depth of ammonium nitrate fuel oil explosive. Background Art

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

[0003] However, in the prior art, when installing ammonium nitrate fuel oil explosive, it is necessary to confirm whether the explosive is installed at the designated position, and the traditional method is too cumbersome, which is likely to affect the filling efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and a system for identifying the filling depth of ammonium nitrate fuel oil explosive, aiming to solve the technical problem that in the prior art, when installing ammonium nitrate fuel oil explosive, it is necessary to confirm whether the explosive is installed at the designated position, and the traditional method is too cumbersome, which is likely to affect the filling efficiency.

[0005] To achieve the above purpose, an ammonium nitrate fuel oil explosive filling depth identification system adopted by the present invention includes a signal acquisition module, a data processing module, a robot filling module, a detection module, and a system platform. The signal acquisition module includes a blast hole 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 thin rope, a fixed seat, and a bracket. One end of the traction thin rope is provided with a manipulator. One end of the fixed seat is provided with a guide wheel. A connecting ear is arranged above the fixed seat. The traction motor is fixedly connected to the fixed seat and is located outside the fixed seat. The traction thin 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 thin rope extends to the lower part 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 filling module is connected to the system platform, and the detection module is connected to the system platform;

[0006] The PLC controller module is used to receive inputs from image recognition technology and hole depth information, process them, and then control the charging equipment;

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

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

[0009] The robotic loading module is used to install the explosive;

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

[0011] The CPU unit serves as the core of the PLC. The CPU is responsible for executing the system program, handling tasks such as logical operations, arithmetic operations, and sequence control, and coordinating the work of each part;

[0012] The memory unit is used to store the 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 actuator;

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

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

[0017] Among them, the data processing module includes a filtering unit, a denoising unit, a calibration unit, and an algorithm analysis unit. 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 from the data;

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

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

[0022] Among them, the robotic loading module includes an automatic positioning unit, a remote control unit, a pressing unit, a robotic arm unit, and a loading unit. The automatic positioning unit, the remote control unit, the pressing unit, the robotic arm unit, and the loading unit are all connected to the system platform;

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

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

[0025] The explosive pressing unit is used to automatically press the installed explosives;

[0026] The robotic arm unit is used to support the overall weight of the traction unit;

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

[0028] Among them, 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;

[0029] The pressure sensor unit is used to detect the pressure of the environment where the explosives are located;

[0030] The temperature sensor unit is used to detect the temperature of the environment where the explosives are located.

[0031] Among them, the blast hole 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 position each blast hole in the blasting area;

[0033] The intelligent recognition algorithm unit is used to quickly and accurately identify blast holes by using advanced image processing and recognition algorithms.

[0034] Among them, the ammonium nitrate fuel oil explosive loading depth recognition system further includes a prompt module and a display module. The prompt module includes a flashing light unit and a horn unit, the display module includes an LCD display screen unit and a button operation unit, the flashing light unit and the horn unit are both connected to the system platform, and the LCD display screen unit and the button operation unit are both connected to the system platform;

[0035] The flashing light unit is used to give a flashing prompt after the explosives are installed in place;

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

[0037] The LCD display screen unit is used to provide an intuitive operation interface and display the explosive loading 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 a method for identifying the filling depth of ammonium nitrate fuel oil explosive, which is applied to the ammonium nitrate fuel oil explosive filling depth identification system described above, and includes the following steps:

[0040] S1: First, by placing the explosive under the manipulator, the manipulator grabs the explosive, and at the same time, the vibrator unit is arranged above the manipulator;

[0041] S2: Then, the manipulator unit moves the whole bracket to directly above the blast hole. At this time, the traction thin rope is in a taut state under the action of the gravity of the explosive;

[0042] S3: Then, the blast hole positioning module accurately adjusts the explosive and the vibrator unit to the exact middle of the blast hole;

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

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

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

[0046] A method and system for identifying the filling depth of ammonium nitrate fuel oil explosive of the present invention, including a signal acquisition module, a data processing module, a robot filling module, a detection module and a system platform. The signal acquisition module includes a blast hole 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 thin rope, a fixed seat and a bracket. The signal acquisition module is connected to the system platform, the data processing module is connected to the system platform, the robot filling module is connected to the system platform, and the detection module is connected to the system platform. The explosive is grabbed by the traction unit, and then the vibrator unit is connected. The resonant characteristics of the piezoelectric ceramic vibrator are used to accurately capture the change of the vibration signal, so as to realize the high-precision monitoring of the position of the explosive, and effectively solve the technical problem that when installing ammonium nitrate fuel oil explosive, it is necessary to confirm whether the explosive is installed at the specified position, and the traditional method is too cumbersome, thus easily affecting the filling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

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

[0049] Figure 2 It is a schematic diagram of the principle of the prompt module in the ammonium nitrate fuel oil explosive filling depth identification system of the present invention.

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

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

[0052] Figure 5 It is a schematic diagram of the principle of the data management module in the ammonium nitrate fuel oil explosive filling depth identification system of the present invention.

[0053] Figure 6 It is a schematic diagram of the structure of the traction unit in the ammonium nitrate fuel oil explosive filling depth identification system of the present invention.

[0054] Figure 7 It is a step flow chart of a method for identifying the filling depth of ANFO explosives according to the present invention.

[0055] 1 - Signal acquisition module, 2 - Data processing module, 3 - Robot filling module, 4 - Detection module, 5 - System platform, 6 - Blasthole positioning module, 7 - PLC controller module, 8 - Identification module, 9 - Vibrator unit, 10 - Traction unit, 11 - Filtering unit, 12 - Denoising unit, 13 - Calibration unit, 14 - Algorithm analysis unit, 15 - Automatic positioning unit, 16 - Remote control unit, 17 - Pressing unit, 18 - Manipulator unit, 19 - Filling unit, 20 - Pressure sensor unit, 21 - Temperature sensor unit, 22 - UAV image recognition unit, 23 - Intelligent recognition algorithm unit, 24 - Prompt module, 25 - 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 - Expansion unit, 44 - Traction motor, 45 - Traction string, 46 - Fixed seat, 47 - Bracket, 48 - Manipulator, 49 - Guide wheel, 50 - Connecting ear. Specific embodiments

[0056] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0057] Please refer to Figures 1 to 6, the present invention provides an ammonium nitrate fuel oil explosive filling depth identification system, which includes a signal acquisition module 1, a data processing module 2, a robot filling module 3, a detection module 4 and a system platform 5. The signal acquisition module 1 includes a blast hole positioning module 6, a PLC controller module 7 and an identification module 8. The PLC controller module 7 includes 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. The identification module 8 includes a vibrator unit 9 and a traction unit 10. The traction unit includes a traction motor 44, a traction thin rope 45, a fixed seat 46 and a bracket 47. One end of the traction thin rope 45 is provided with a manipulator 48. One end of the fixed seat 46 is provided with a guide wheel 49. Above the fixed seat 46 is provided with a connecting ear 50. The traction motor 44 is fixedly connected to the fixed seat 46 and is located outside the fixed seat 46. The traction thin rope 45 is arranged at the output end of the traction motor 44. The fixed seat 46 is fixedly connected to the bracket 47 and is located at one end of the bracket 47 away from the connecting ear 50. And the traction thin rope 45 extends to the lower part 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 filling module 3 is connected to the system platform 5. The detection module 4 is connected to the system platform 5;

[0058] The PLC controller module 7 is used to receive the input from image recognition technology and blast hole 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 at the same time transmit the vibration frequency to the vibrator unit 9;

[0061] The robot filling module 3 is used to install the explosive;

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

[0063] The CPU unit 38 is used as the core of the PLC. The CPU is responsible for executing the system program, processing logical operations, arithmetic operations, sequence control and other tasks, and coordinating the work of each part;

[0064] The memory unit 39 is used to store the 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 actuator;

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

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

[0069] In this embodiment, by placing the explosive under the manipulator 48, the manipulator 48 grabs the explosive. At the same time, 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 whole bracket 47 to directly above the blast hole. At this time, the traction thin rope 45 is in a taut state under the action of the gravity of the explosive. Subsequently, control the traction motor 44 to rotate clockwise, so that the explosive slowly descends under the action of the traction thin rope 45. At the same time, start the vibrator unit 9, and the explosive slowly enters the blast hole. After the explosive is installed in place, at this time, the traction thin rope 45 is in a relaxed state. When the traction thin rope 45 is in a taut state, the traction thin rope 45 generates small-frequency swings under the action of the vibrator unit 9, then it is determined that the explosive has not reached the designated position. When the traction thin rope 45 is in a relaxed state, the traction thin rope 45 generates large-frequency swings under the action of the vibrator unit 9, then it is determined that the explosive has reached the designated 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. 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 guarantee the safety of experiments;

[0074] 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.

[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 data, ensure the reliability of scientific research, and guarantee the safety of experiments; 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 pressing unit 17, a robotic arm unit 18, and a loading unit 19. The automatic positioning unit 15, the remote control unit 16, the pressing unit 17, the robotic 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 robotic arm unit 18 and load explosives on the heading face;

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

[0079] The pressing unit 17 is used to automatically press the installed explosives;

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

[0081] The loading 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 heading face; the remote control unit 16 is used to remotely control the robotic arm unit 18 to work; the pressing unit 17 is used to automatically press the installed explosives; the robotic arm unit 18 is used to support the overall weight of the traction unit 10; the loading unit 19 is used to charge explosives according to predetermined parameters.

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

[0084] The pressure sensor unit 20 is used to detect the pressure of the environment where the explosives are located;

[0085] The temperature sensor unit 21 is used to detect the temperature of the environment where the explosives are located.

[0086] In this embodiment, the pressure sensor unit 20 is used to detect the pressure of the environment where the explosives are located; the temperature sensor unit 21 is used to detect the temperature of the environment where the explosives are located.

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

[0088] The UAV 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 quickly and accurately identify the blast holes by using advanced image processing and recognition algorithms.

[0090] In this embodiment, the UAV 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 quickly and accurately identify the blast holes by using advanced image processing and recognition algorithms.

[0091] Furthermore, the ammonium nitrate fuel oil charge depth recognition system further includes a prompt module 24 and a display module 25. The prompt module 24 includes a flashing light unit 34 and a horn unit 35. The display module 25 includes an LCD display screen unit 36 and a button operation unit 37. Both the flashing light unit 34 and the horn unit 35 are connected to the system platform 5. Both the LCD display screen unit 36 and the button operation unit 37 are connected to the system platform 5;

[0092] The flashing light unit 34 is used to give a flashing prompt after the explosive is installed in place;

[0093] The horn unit 35 is used to emit a prompt sound to remind the staff that the explosive is installed in place;

[0094] The LCD display screen unit 36 is used to provide an intuitive operation interface and display the explosive charge 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 give a flashing prompt after the explosive is installed in place; the horn unit 35 is used to emit a prompt sound to remind the staff that the explosive is installed in place; the LCD display screen unit 36 is used to provide an intuitive operation interface and display the explosive charge depth, temperature and pressure in real time; the button operation unit 37 is used to control the operation of the entire system.

[0097] Furthermore, the ammonium nitrate fuel oil charge depth recognition system further includes an emergency module 26 and a data management module 27. Both the emergency module 26 and the data management module 27 are connected to the system platform 5;

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

[0099] The data management module 27 is used to store the detection data generated during the installation of the explosive.

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

[0101] Further, the emergency module 26 includes an alarm unit 28, a buzzer unit 29, and an emergency stop unit 30. 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 case of an emergency;

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

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

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

[0106] Further, the data management module 27 includes a data storage unit 31, a data query unit 32, and a data encryption unit 33. 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 during the installation of the explosive;

[0108] The data query unit 32 is used to query the data detected during the installation of the explosive;

[0109] The data encryption unit 33 is used to encrypt the data detected during the installation of the explosive.

[0110] In this embodiment, the data storage unit 31 is used to store the data detected during the installation of the explosive; the data query unit 32 is used to query the data detected during the installation of the explosive; the data encryption unit 33 is used to encrypt the data detected during the installation of the explosive.

[0111] Based on the present invention, please refer to Figure 7 , the present invention also provides a method for identifying the filling depth of ammonium nitrate fuel oil explosive, which is applied to the ammonium nitrate fuel oil explosive filling depth identification system described above, and includes the following steps:

[0112] First, place the explosive under the manipulator 48 so that the manipulator 48 grabs the explosive, and at the same time, set the vibrator unit 9 above the manipulator 48;

[0113] S2: Then, use the robotic arm unit 18 to move the entire bracket 47 directly above the blast hole. At this time, the towing thin string 45 is in a taut state under the action of the gravity of the explosive;

[0114] S3: Next, use the blast hole positioning module 6 to accurately adjust the explosive and the vibrator unit 9 to the exact middle of the blast hole;

[0115] S4: Subsequently, control the towing motor 44 to rotate clockwise, so that the explosive slowly descends under the action of the towing thin string 45. At the same time, start the vibrator unit 9, and the explosive slowly enters the blast hole. After the explosive is installed in place, at this time, the towing thin string 45 is in a relaxed state;

[0116] S5: When the towing thin string 45 is in a taut state, the towing thin string 45 generates small-frequency swings under the action of the vibrator unit, then it is determined that the explosive has not reached the designated position;

[0117] S6: When the towing thin string 45 is in a relaxed state, the towing thin string 45 generates large-frequency swings under the action of the vibrator unit, then it is determined that the explosive has reached the designated position.

[0118] The above-disclosed is only a preferred embodiment of the present invention. Of course, the scope of the rights of the present invention cannot be limited by this. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the invention.

Claims

1. A ANFO filling depth recognition system, characterized in that, It comprises 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 traction unit comprises a traction motor, a traction rope, a fixing seat and a bracket, wherein a manipulator is arranged at one end of the traction rope, a guide wheel is arranged at one end of the fixing seat, a connecting ear is arranged above the fixing seat, the traction motor is fixedly connected to the fixing seat and is located at the outside of the fixing seat, the traction rope is arranged at the output end of the traction motor, the fixing 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 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 quickly and accurately identify blastholes using advanced image processing and recognition algorithms; 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 logical operations, arithmetic operations, sequential control tasks, 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; By placing the explosive under the manipulator, the manipulator grabs the explosive, and at the same time, the vibrator unit is set above the manipulator, and then connected to the robot loading module through the connecting ear, the robot loading module moves the bracket as a whole to the top of the blast hole. At this time, the traction rope is in a taut state under the action of the gravity of the explosive. Then the traction motor is controlled to rotate clockwise, so that the explosive slowly descends under the action of the traction rope, and at the same time, the vibrator unit is started, and the explosive slowly enters the blast hole. After the explosive is installed in place, the traction rope is in a relaxed state. When the traction rope is in a taut state, the traction rope produces a small frequency swing under the action of the vibrator unit, and it is determined that the explosive has not reached the specified position. When the traction rope is in a relaxed state, the traction rope produces a large frequency swing under the action of the vibrator unit, and it is determined that the explosive has reached the specified position.

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 1, 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.

6. an ammonium oil-fuel mixture filling depth identification method, applied to the ammonium oil-fuel mixture filling depth identification system as claimed in claim 5, 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 blasthole through the blasthole 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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