Hole-aligning explosive loading method for on-site mixed loading ammonium nitrate fuel oil explosive truck

Abstract

The invention discloses a hole-to-hole charging method for an on-site mixed loading ammonium nitrate fuel oil explosive truck, and the method specifically comprises the following steps: S1, driving the on-site mixed loading ammonium nitrate fuel oil explosive truck to a starting point, surveying and mapping a first row of blast holes and a second row of blast holes through a laser radar, and planning a driving path; s2, establishing coordinate axes by taking the axis of a motor in the on-site mixed loading ammonium nitrate fuel oil explosive truck as an original point, the direction of the driving path as an X axis and the direction vertical to the driving path as a Y axis, so as to determine the coordinates of the blast hole; s3, the on-site mixed loading ammonium nitrate fuel oil explosive truck runs along the running path, the real-time distance between the motor and the blast hole is detected in real time, and when the real-time distance is a preset distance L, the on-site mixed loading ammonium nitrate fuel oil explosive truck stops running; and S4, after the on-site mixed loading ammonium nitrate fuel oil explosive vehicle stops running, the laser radar measures the angle of the target blast hole so as to calculate the rotation angle of the horizontal spiral, then an outlet of the horizontal spiral is arranged above the blast hole according to the rotation angle, and charging is started according to the set number.

Description

Technical Field

[0001] The invention relates to the technical field of engineering blasting, in particular to a method for charging explosive holes in an on-site mixed ammonium nitrate oil explosive vehicle. Background Art

[0002] At present, many on-site ammonium nitrate oil explosive trucks still use manual driving. When driving to a suitable position, the vertical spiral is manually operated to place the drug delivery outlet at the end of the elevated spiral just above the blasthole to position and load the blasthole. This is not only inefficient, but also poses a safety hazard. Therefore, the development of an explosive truck device that can automatically align the hole and achieve accurate loading has become an urgent problem to be solved in the industry. Summary of the invention

[0003] Aiming at the problem of low blasthole filling efficiency in the prior art, the present invention provides a method for charging blastholes using an on-site mixed ammonium nitrate oil explosive vehicle.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A method for charging holes of an on-site mixed ammonium oil-fuel explosive vehicle, specifically comprising the following steps:

[0006] S1: Drive the on-site ammonium oil and fuel explosive truck to the starting point, map the first row of blastholes and the second row of blastholes through laser radar, and plan the driving path;

[0007] S2: Take the axis center of the motor in the on-site ammonium oil explosive vehicle as the origin, the direction of the driving path as the X-axis, and the direction perpendicular to the driving path as the Y-axis to establish the coordinate axis, so as to determine the blasthole coordinates;

[0008] S3: The on-site ammonium oil mixed explosive vehicle travels along the driving path and detects the real-time distance between the motor and the blasthole in real time. When the distance is the preset distance L, the on-site ammonium oil mixed explosive vehicle stops traveling;

[0009] S4: After the on-site ammonium nitrate oil explosive truck stops driving, the laser radar measures the angle of the target blast hole, thereby calculating the rotation angle of the horizontal spiral, and then places the outlet of the horizontal spiral above the blast hole according to the rotation angle, and starts loading according to the set quantity.

[0010] Preferably, the S1 includes:

[0011] S1-1: The laser radar measures the first blast hole A1 and the second blast hole A2 of the first row of blast holes on both sides, and the third blast hole B1 and the fourth blast hole B2 of the second row of blast holes in real time to obtain surveying parameters, including the distance and angle between the laser radar and the blast hole;

[0012] S1-2: A first connecting line can be obtained by connecting the first blast hole A1 and the third blast hole B1, and a second connecting line can be obtained by connecting the second blast hole A2 and the fourth blast hole B2. Then, the midpoint of the first connecting line and the midpoint of the second connecting line are connected to obtain a third connecting line, and the third connecting line is used as the driving path.

[0013] Preferably, the laser radar is installed in the middle position directly in front of the on-site ammonium nitrate oil explosive mixing truck, that is, the laser radar coincides with the driving path.

[0014] Preferably, in S2, the calculation method of the blasthole coordinates is:

[0015] x i =r i cosβ i +R,y i =r i cosβ i +R (1)

[0016] In formula (1), (x i ,y i ) represents the coordinates of the i-th blast hole; r i represents the distance between the laser radar and the i-th blast hole; β i represents the angle between the laser radar and the i-th blast hole; R represents the distance between the laser radar and the motor axis.

[0017] Preferably, in S3, the distance between the motor and the i-th blasthole is:

[0018]

[0019] In formula (2), (x i ,y i ) represents the coordinates of the ith blast hole; s i Represents the distance between the motor and the i-th blast hole.

[0020] Preferably, in S4, the horizontal spiral rotates to the i-th blast hole A i The rotation angle is:

[0021]

[0022] In formula (3), θ i Indicates that the horizontal spiral rotates to the i-th blast hole A i (x i ',y i '); L represents the rotation angle between the motor and the i-th blast hole A i (x i ',y i ') distance; r i ' represents the real-time distance between the laser radar and the i-th blast hole; βi ' represents the real-time angle between the laser radar and the i-th blast hole; R represents the distance between the laser radar and the motor axis.

[0023] In summary, due to the adoption of the above technical solution, compared with the prior art, the present invention has at least the following beneficial effects:

[0024] The patented automatic hole-aligning device has the advantages of accurate positioning, simple operation, safety and reliability. The innovation lies in the combination of laser ranging and image processing technology, which realizes the rapid identification and accurate positioning of the drill hole and improves the control accuracy and adaptability of the device.

[0025] In practical applications, the patented automatic hole alignment device significantly improves the efficiency and safety of loading explosive vehicles. Through automated control, it reduces manual operation errors and safety hazards, while reducing the labor intensity of workers and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a method for charging holes in an on-site mixed ammonium nitrate oil explosive vehicle according to an exemplary embodiment of the present invention.

[0027] Figure 2 Schematic diagram of driving route planning according to an exemplary embodiment of the present invention.

[0028] Figure 3 A schematic diagram of a coordinate establishment principle according to an exemplary embodiment of the present invention.

[0029] Figure 4 Schematic diagram of the rotation angle of a horizontal spiral according to an exemplary embodiment of the present invention.

[0030] Figure 5 A schematic diagram of an on-site mixed ammonium nitrate oil explosive vehicle according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following examples, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0032] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] like Figure 1 As shown, the present invention provides a method for charging holes of a field mixed ammonium oil-fuel explosive vehicle, which specifically comprises the following steps:

[0034] S1: First, the on-site ammonium oil fuel mixed explosive truck is driven to the starting point, and the first row of blast holes and the second row of blast holes on both sides of the truck are mapped by laser radar 1, the driving path is planned, and the driving path is provided to the driving driving system (the existing driving system) of the on-site ammonium oil fuel mixed explosive truck.

[0035] S1-1: In this embodiment, the blastholes are evenly distributed by row number, and the two rows of blastholes are relatively parallel, which may be parallel broken lines or parallel lines, and the driving path is parallel to the two rows of blastholes. In order to improve the operation efficiency, the on-site mixed ammonium oil explosive truck is generally driven in the middle of the two rows of blastholes, which is convenient for loading explosives into the blastholes on both sides.

[0036] like Figure 2 As shown, the laser radar 1 maps the first blast hole A1 and the second blast hole A2 of the first row of blast holes on both sides of itself in real time, and the third blast hole B1 and the fourth blast hole B2 of the second row of blast holes.

[0037] In this embodiment, the first blast hole and the second blast hole are not repeated, and the third blast hole and the fourth blast hole are not repeated; and the first blast hole A1, the second blast hole A2, the third blast hole B1, and the fourth blast hole B2 are all located in front of the laser radar 1, which is convenient for planning the driving path after surveying and mapping, and controlling the vehicle to move along the driving path.

[0038] In this embodiment, the laser radar 1 maps the blasthole to obtain mapping parameters, and the mapping parameters include the straight-line distance and angle between the laser radar 1 and the blasthole.

[0039] S1-2: A first connecting line can be obtained by connecting the first blast hole A1 and the third blast hole B1, and a second connecting line can be obtained by connecting the second blast hole A2 and the fourth blast hole B2. Then, the midpoint of the first connecting line and the midpoint of the second connecting line are connected to obtain a third connecting line, and the third connecting line is used as the driving path.

[0040] In this embodiment, as the vehicle is moving forward, the mapped blast holes are constantly changing, so the driving path is updated in real time according to the changes in the positions of the blast holes, thereby ensuring that the vehicle can load explosives into both the first and second rows of blast holes on both sides.

[0041] In this embodiment, in order to ensure that the vehicle travels along the driving path, the laser radar 1 is installed in the middle position directly in front of the vehicle, that is, the laser radar 1 always moves on the driving path.

[0042] S2: With the axis center of the motor 3 in the on-site mixed ammonium nitrate oil explosive vehicle as the origin, the direction of the travel path is the X-axis (the travel direction is the positive direction of the X-axis), and the direction perpendicular to the travel path is the Y-axis (upwards is the positive direction of the Y-axis), and a coordinate axis is established to determine the blasthole coordinates.

[0043] like Figure 3 As shown, when the on-site ammonium oil-fuel mixture truck is located at the starting point, the coordinate axis is established, and the distance between the laser radar 1 and the motor 3 is a fixed distance R. When the laser radar 1 maps the blasthole, the distance and angle between the laser radar 1 and the blasthole can be obtained, so that the coordinates of the blasthole can be determined.

[0044] For example, the calculation method of the coordinates (x1, y1) of the first blasthole A1 is:

[0045] x1=r1 cosβ1+R, y1=r1 cosβ1+R (1)

[0046] In formula (1), (x1, y1) represents the coordinates of the first blast hole A1; r1 represents the distance between the laser radar 1 and the first blast hole A1; β1 represents the angle between the laser radar 1 and the first blast hole A1; and R represents the distance between the laser radar 1 and the origin.

[0047] That is, the coordinates of any blasthole (x i ,y i ) is calculated as:

[0048] x i =r i cosβ i +R,y i =r i cosβ i +R (2)

[0049] In formula (2), (x i ,y i ) represents the coordinates of the i-th blast hole; r i represents the distance between LiDAR 1 and the i-th blast hole; β i represents the angle between LiDAR 1 and the i-th blast hole; R represents the distance between LiDAR 1 and the origin.

[0050] S3: The on-site ammonium oil fuel oil mixed explosive truck travels along the driving path and detects the real-time distance between the motor 3 and the blasthole in real time. When it reaches the preset distance L, the on-site ammonium oil fuel mixed explosive truck stops traveling.

[0051] In the present embodiment, the on-site mixed ammonium nitrate oil explosive vehicle travels along the driving path from the starting point, and the position of the coordinate origin changes in real time, and the position of the blasthole coordinate also changes in real time, and the distance between the coordinate origin (the axle center of motor 3) and the blasthole also changes in real time.

[0052] Therefore, the position of the i-th blast hole is mapped in real time by the laser radar 1, so as to determine the distance between the motor 3 and the i-th blast hole. i When the preset distance L is reached, the on-site ammonium oil explosive mixing truck stops driving.

[0053]

[0054] In formula (3), (x i ,y i ) represents the coordinates of the ith blast hole; s i Represents the distance between motor 3 and the i-th blast hole.

[0055] S4: After the on-site ammonium nitrate oil explosive truck stops driving, the laser radar 1 measures the angle of the target blast hole, thereby calculating the rotation angle θ of the horizontal spiral 5, and then the motor 3 controls the vertical spiral 4 to rotate, so that the outlet of the horizontal spiral 5 is placed above the blast hole, and the charging is started according to the set quantity.

[0056] like Figure 4 As shown in the figure, if the target blast hole is the first blast hole A1 (x1', y1') (the coordinate origin is dynamic, so the coordinate value of the first blast hole also changes in real time), the rotation angle of the horizontal spiral 5 is:

[0057]

[0058] In formula (4), θ1 represents the rotation angle of the horizontal screw 5 to the first blast hole A1 (x1', y1'); L represents the distance between the motor 3 and the first blast hole A1 (x1', y1').

[0059] Then the horizontal spiral 5 rotates to the i-th blast hole A i (x i ',y i ') is:

[0060]

[0061] In formula (5), θ i Indicates that the horizontal spiral 5 rotates to the i-th blast hole A i (x i ',y i ') of the rotation angle; L represents the rotation angle between the motor 3 and the i-th blast hole A i (x i ',y i ') distance; r i ' represents the real-time distance between the laser radar and the i-th blast hole; β i ' represents the real-time angle between the laser radar and the i-th blast hole; R represents the distance between the laser radar and the motor axis.

[0062] In this embodiment, the installation structure of the driving system 2, the motor 3, the vertical screw 4, and the horizontal screw 5 is the existing method. The technical improvement of the present invention is not in the improvement of the installation structure, so the installation structure will not be described in detail here.

[0063] For example, Figure 5 As shown, the laser radar 1 is installed in the middle position in front of the on-site ammonium oil and fuel oil mixed explosive vehicle, and the driving system 2 is installed in the cab of the on-site ammonium oil and fuel oil mixed explosive vehicle; the motor 3 is installed on the upper part of the vertical spiral 4 and is located behind the laser radar 1; the horizontal spiral 5 is placed on the support frame behind the vehicle and is connected to the vertical spiral 4. The motor 3 drives the vertical spiral 4 to rotate, thereby controlling the horizontal spiral 5 to swing with the motor 3 as the center of the circle, and finally located above the target blast hole.

[0064] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for charging holes of a field mixed ammonium nitrate oil explosive vehicle, characterized in that: The specific steps include: S1: Drive the on-site ammonium oil and fuel explosive truck to the starting point, map the first row of blastholes and the second row of blastholes through laser radar, and plan the driving path; S2: Take the axis center of the motor in the on-site ammonium oil explosive vehicle as the origin, the direction of the driving path as the X-axis, and the direction perpendicular to the driving path as the Y-axis to establish the coordinate axis, so as to determine the blasthole coordinates; S3: The on-site ammonium oil mixed explosive vehicle travels along the driving path and detects the real-time distance between the motor and the blasthole in real time. When the distance is the preset distance L, the on-site ammonium oil mixed explosive vehicle stops traveling; S4: After the on-site ammonium nitrate oil explosive truck stops driving, the laser radar measures the angle of the target blast hole, thereby calculating the rotation angle of the horizontal spiral, and then places the outlet of the horizontal spiral above the blast hole according to the rotation angle, and starts loading according to the set quantity.

2. a kind of on-site mixed ammonium oil-fuel oil explosive vehicle charging method to the hole as claimed in claim 1, is characterized in that, The S1 includes: S1-1: The laser radar measures the first blast hole A1 and the second blast hole A2 of the first row of blast holes on both sides, and the third blast hole B1 and the fourth blast hole B2 of the second row of blast holes in real time to obtain surveying parameters, including the distance and angle between the laser radar and the blast hole; S1-2: A first connecting line can be obtained by connecting the first blast hole A1 and the third blast hole B1, and a second connecting line can be obtained by connecting the second blast hole A2 and the fourth blast hole B2. Then, the midpoint of the first connecting line and the midpoint of the second connecting line are connected to obtain a third connecting line, and the third connecting line is used as the driving path.

3. a kind of on-site mixed ammonium oil-fuel oil explosive vehicle charging method to the hole as claimed in claim 2, it is characterized in that, The laser radar is installed in the middle position in front of the on-site ammonium nitrate explosive mixing truck, that is, the laser radar coincides with the driving path.

4. a kind of on-site mixed ammonium oil-fuel oil explosive vehicle charging method to the hole as claimed in claim 1, is characterized in that, In S2, the calculation method of the blasthole coordinates is: x i =r i cosβ i +R,y i =r i cosβ i +R (1) In formula (1), (x i ,y i ) represents the coordinates of the i-th blast hole; r i represents the distance between the laser radar and the i-th blast hole; β i represents the angle between the laser radar and the i-th blast hole; R represents the distance between the laser radar and the motor axis.

5. A method for charging the holes of a field mixed ammonium nitrate oil explosive vehicle as claimed in claim 1, characterized in that: In S3, the distance between the motor and the i-th blast hole is: In formula (2), (x i ,y i ) represents the coordinates of the ith blast hole; s i Represents the distance between the motor and the i-th blast hole.

6. A method for charging the holes of a field mixed ammonium nitrate oil explosive vehicle as claimed in claim 1, characterized in that: In S4, the horizontal spiral rotates to the i-th blast hole A i The rotation angle is: In formula (3), θ i Indicates that the horizontal spiral rotates to the i-th blast hole A i (x i ',y i '); L represents the rotation angle between the motor and the i-th blast hole A i (x i ',y i ') distance; r i ' represents the real-time distance between the laser radar and the i-th blast hole; β i ' represents the real-time angle between the laser radar and the i-th blast hole; R represents the distance between the laser radar and the motor axis.

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