Multi-point synchronous automatic detonating system and detonating method based on Beidou satellite

Abstract

The invention relates to a multi-point synchronous automatic initiation system and method based on a Beidou satellite, and mainly solves the technical problem that an initiation system in the prior art cannot perform multi-point simultaneous initiation. Comprising a Beidou receiver module for positioning and outputting geographical location information and time information, an FPGA module for receiving serial port information and pulse signals of the Beidou receiver module, analyzing the serial port information and processing the pulse signals, and an automatic detonation control module connected with the FPGA module. According to the multipoint synchronous automatic detonating system and detonating method based on the Beidou satellite, the Beidou receiver module receives the Beidou satellite signal and transmits the Beidou satellite signal to the FPGA module, and the FPGA module can achieve simultaneous automatic control detonating at the same time at multiple different geographic positions by analyzing and processing the Beidou satellite signal.

Description

Technical Field

[0001] The present invention relates to a large-scale engineering detonation system and a detonation method, and in particular to a Beidou satellite-based multi-point synchronous automatic detonation system and a detonation method. Background Art

[0002] In large-scale explosive scientific experiments or large-scale engineering blasting, ensuring sound, measurement, and safety are important criteria for the success of the experiment. Detonation technology is an important link in the test process, which has a significant impact on the reliability, punctuality, safety, and test environment of the test. In traditional tests, high-voltage detonators are generally used to generate high-energy pulses, which are then remotely detonated after long-distance transmission. This situation generally corresponds to detonation operations at a certain location. However, in some special engineering applications, blasting operations or scientific experiments need to be carried out simultaneously at multiple points that are far apart (more than 100 kilometers). This method loses the possibility of "simultaneous" detonation.

[0003] Later, a detonation system using wireless transmission was developed. The system is equipped with a wireless transmission module combined with a single-chip microcomputer at the location of the detonator. The single-chip microcomputer is powered by a battery. When a button command is detected, the single-chip microcomputer controls the wireless transmission module to send a signal. The wireless signal is amplified and then radiated electromagnetically, thereby transmitting to the detonator to trigger the detonator to detonate. However, the transmission distance of wireless signals is limited, and is greatly affected by environmental and geographical factors. Its time synchronization accuracy is basically maintained at the order of hundreds of milliseconds, which cannot meet the experimental requirements of scientific experiments or large-scale engineering blasting. Therefore, it is urgent to develop a new type of detonation system, which uses my country's Beidou satellite timing system to synchronize triggering through position and time association to achieve automatic and safe detonation at multiple points in a wide area. At the same time, it can also meet the requirement that the detonation process can be safely canceled by software or on-site operation before the set detonation system action time is reached. Summary of the invention

[0004] The purpose of the present invention is to solve the technical problem that the existing detonation system cannot perform multi-point simultaneous detonation, and to provide a multi-point synchronous automatic detonation system and a detonation method based on Beidou satellite, which organically combines the Beidou receiver module with the FPGA module and the detonation automatic control module to realize wide-area multi-point synchronous automatic control detonation.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A multi-point synchronous automatic detonation system based on Beidou satellite, which is special in that it includes: a plurality of detonation units respectively arranged at different detonation points, each detonation unit includes a Beidou receiver module for positioning and outputting serial port information and second pulse signals with geographical location information and time information, an FPGA module for receiving the serial port information of the Beidou receiver module and the first second pulse signal, parsing the serial port information and processing the first second pulse signal, and an automatic detonation control module;

[0007] The FPGA module includes a processor module, a time interval measurement module, a constant temperature crystal oscillator module, a digital potentiometer module, a frequency division module, a frequency multiplication module, a pulse generation module and a power amplifier module; the time interval measurement module receives a first second pulse signal sent by the Beidou receiver module and enters the first input end of the time interval measurement module; the square wave generated by the constant temperature crystal oscillator module forms a second second pulse signal after passing through the frequency multiplication module and the frequency division module and enters the second input end of the time interval measurement module; the time interval measurement module compares and analyzes the first second pulse signal and the second second pulse signal and outputs them to the processor module; the processor module is used to parse the serial port information and issue a frequency adjustment instruction and a trigger output instruction according to the result of the comparison and analysis; the digital potentiometer module is used to receive the frequency adjustment instruction of the processor module and perform voltage adjustment on the constant temperature crystal oscillator module; the input end of the pulse generation module is connected to the processor module, and its first output end is connected to the power amplifier module, the power amplifier module is used to receive the trigger output instruction of the processor module and generate a trigger pulse, and the trigger pulse controls the detonation automatic control module to detonate after passing through the power amplifier module.

[0008] Furthermore, the automatic detonation control module includes a battery pack module, a DC / DC conversion module, an energy storage module and an electronic switch control module connected in sequence; the battery pack module outputs a voltage, which is converted by the DC / DC conversion module and output to the energy storage module for energy storage operation; the output end of the power amplifier module in the FPGA module is connected to the input end of the electronic switch control module, and the output end of the electronic switch control module is connected to the energy storage module, and the energy storage module is controlled to discharge through the electronic switch control module to generate a high-energy pulse for detonation.

[0009] Furthermore, the FPGA module also includes an LCD display module, a keyboard / software input module and a pre-processing module;

[0010] The input end of the LCD display module is connected to the output end of the processor module, and the time position information output by the Beidou receiver module is processed by the processor module and displayed through the LCD display module; the output end of the keyboard / software input module is connected to the input end of the processor module for setting the detonation time;

[0011] The input end of the preprocessing module is connected to the second pulse output end of the Beidou receiver module, and the output end is connected to the second input end of the time interval measurement module. The preprocessing module is used to filter and preprocess the first second pulse signal, remove related noise components, form a waveform with a relatively stable rising edge, and then enter the second input end of the time interval measurement module.

[0012] Furthermore, the FPGA module also includes a brake control module, the output end of the brake control module is connected to the input end of the processor module, and is used to send a cancellation instruction to stop the operation of the automatic detonation control module.

[0013] Furthermore, it also includes a data acquisition device, wherein the input end of the data acquisition device is connected to the second output end of the pulse generating module.

[0014] Furthermore, the digital potentiometer module adopts AD5231.

[0015] A multi-point synchronous automatic detonation method based on Beidou satellite, which is special in that it includes the following steps:

[0016] Step 1, multiple detonation units are set at different detonation points, and the Beidou receiver module of each detonation unit performs positioning and timing operations to obtain serial port data and the first second pulse signal containing current geographic location information and time information. The serial port data and the first second pulse signal enter the FPGA module, and the processor module parses the serial port data to obtain the current geographic location information and time information, and obtains the location information and current time of the corresponding detonation point;

[0017] Step 2, the corresponding time interval measurement module receives the first pulse signal; at the same time, the square wave generated by the constant temperature crystal oscillator module is multiplied by the frequency multiplication module, and then divided by the frequency division module to form a 1pps pulse as the second pulse signal entering the time interval measurement module;

[0018] Step 3, the time interval measurement module compares and analyzes the first pulse-per-second signal and the second pulse-per-second signal. The processor module issues a frequency adjustment instruction according to the comparison and analysis result to adjust the output voltage of the digital potentiometer module. The digital potentiometer module tames the output pulse of the constant temperature crystal oscillator module by adjusting the supply voltage of the constant temperature crystal oscillator module. When the error between the two pulse-per-second signals is within 10ns, the constant temperature crystal oscillator is in a tamed state, and its output frequency is constant and no longer changes. At this time, the system time state is displayed as a Lock state.

[0019] Step 4, setting the detonation time on the processor module. When the set detonation time is reached, the processor module issues a trigger output instruction, outputs a synchronous pulse signal through the pulse generation module, and generates a high-energy pulse to detonate the electric detonator at the corresponding detonation point.

[0020] Furthermore, in step 1, the position information and current time of each detonation point are displayed through an LCD display module;

[0021] In step 2, before the time interval measurement module receives the first channel of second pulse signal, the preprocessing module performs filtering preprocessing on the first channel of second pulse signal to remove relevant noise components and form a waveform with a relatively stable rising edge.

[0022] Furthermore, the step 4 is specifically as follows: setting the detonation time on the processor module through the keyboard / software input module. When the set detonation time is reached, the processor module issues a trigger output instruction, controls the pulse generating module to output a synchronous pulse signal, turns on the electronic switch control module, and the electronic switch control module turns on the energy storage module to perform a discharge operation, thereby generating a high-energy pulse to detonate the electric detonator at the corresponding detonation point; while generating the high-energy pulse, the pulse generating module generates a trigger pulse of a TTL level, which is used to trigger the acquisition device to perform a synchronous acquisition operation at the corresponding detonation point.

[0023] Furthermore, in step 4, when the set detonation time is not reached and the detonation process needs to be canceled, the brake control module sends an execution cancellation instruction to the processor module, and the detonation automatic control module stops working.

[0024] Compared with the prior art, the present invention has the following beneficial technical effects:

[0025] 1. The Beidou satellite-based multi-point synchronous automatic detonation system and detonation method of the present invention, the Beidou receiver module receives the Beidou satellite signal, the serial port information and the second pulse signal are transmitted to the FPGA module, the FPGA module performs positioning and timing operations, and the Beidou receiver module can obtain the characteristics of position positioning in real time. The automatic detonation system is set at different detonation points, so that multiple different geographical locations can be detonated at the same time. At the same time, it can also realize the micro-difference system detonation according to the time series.

[0026] 2. The Beidou satellite-based multi-point synchronous automatic detonation system and detonation method of the present invention, the second pulse signal after FPGA decoding is tamed by the time interval measurement module, and the high-precision detonation time is output, and the detonation is automatically controlled. It has the characteristics of easy operation, strong controllability, fast and convenient operation, and reusability.

[0027] 3. The Beidou satellite-based multi-point synchronous automatic detonation system and detonation method of the present invention can output two synchronous trigger signals from the pulse generation module at the same time of detonation, thereby realizing the time correlation between different test systems.

[0028] 4. The Beidou satellite-based multi-point synchronous automatic detonation system and detonation method of the present invention can perform a one-key braking operation through the software in the FPGA module, thereby terminating the ongoing detonation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a principle block diagram of an embodiment of a multi-point synchronous automatic detonation system based on Beidou satellite of the present invention;

[0030] Figure 2 It is a structural block diagram of a Beidou receiver module and an FPGA module in an embodiment of a Beidou satellite-based multi-point synchronous automatic detonation system of the present invention;

[0031] Figure 3 It is a structural block diagram of a pulse generation module and an automatic detonation control module in an embodiment of a multi-point synchronous automatic detonation system based on Beidou satellite of the present invention;

[0032] The following are the descriptions of the reference numerals:

[0033] 1- Beidou receiver module, 2- FPGA module, 3- detonation automatic control module, 21- processor module, 22- time interval measurement module, 23- constant temperature crystal oscillator module, 24- digital potentiometer module, 25- frequency division module, 26- frequency multiplication module, 27- pulse generation module, 28- power amplifier module, 29- LCD display module, 30- keyboard / software input module, 210- brake control module, 31- battery pack module, 32- DC / DC conversion module, 33- energy storage module, 34- electronic switch control module. DETAILED DESCRIPTION

[0034] In order to make the purpose, advantages and features of the present invention clearer, the multi-point synchronous automatic detonation system and detonation method based on Beidou satellite proposed by the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these implementations are only used to explain the technical principles of the present invention, and the purpose is not to limit the protection scope of the present invention.

[0035] like Figure 1 , Figure 2As shown, the multi-point synchronous automatic detonation system based on Beidou satellite of the present invention includes Beidou receiver module 1, FPGA module 2, and detonation automatic control module 3. Among them, FPGA module 2 includes processor module 21, time interval measurement module 22, constant temperature crystal oscillator module 23, digital potentiometer module 24, frequency division module 25, frequency multiplication module 26, pulse generation module 27, power amplification module 28, LCD display module 29, keyboard / software input module 30, and brake control module 210. FPGA module 2 is the core of the whole system, which is equivalent to the CPU of a computer. The power module is used to supply power to the Beidou receiver module 1, the FPGA module 2, and the automatic detonation control module 3. The functions of the FPGA module 2 in the entire system are mainly: 1. Decoding the pulse signal of the Beidou receiver module 1 to provide information such as geographic location and time; 2. Displaying information such as geographic location and time on the LCD display module 29; 3. Setting the required detonation time through the keyboard / software input module 30; 4. The brake control module 210 can recognize a one-button brake action and terminate the detonation program; 5. Recognizing the software brake action and terminating the detonation program.

[0036] The LCD display module 29 is mainly used to display geographic location information and time information, and automatic detonation countdown information; the keyboard / software input module 30 is used to set and input the intended detonation time; the brake control module 210 is used to terminate the running automatic control module; the processor module 21 is used for the FPGA module 2 to communicate with the Beidou receiver module 1, analyze the location and time information, control the voltage of the digital potentiometer module 24 through interruption, and adjust the output pulse signal of the constant temperature crystal oscillator module 23; the second pulse signal of the Beidou receiver module 1 is input into the time interval measurement module 22 in the FPGA module 2, and compared and analyzed with the 1pps signal after the constant temperature crystal oscillator module 23. If the interval is less than 10ns, it proves that it has been tamed. After taming, the system displays the lock state, and the 1pps second pulse of the constant temperature crystal oscillator module 23 is used for system processing, and the output 1pps second pulse signal of the constant temperature crystal oscillator is used in all subsequent operations.

[0037] like Figure 3 As shown, the automatic detonation control module 3 includes a battery pack module 31, a DC / DC conversion module 32, an energy storage module 33 and an electronic switch control module 34; the battery pack module 31 outputs a voltage, which is converted by the DC / DC conversion module 32 and output to the energy storage module 33 for energy storage operation; the output end of the power amplifier module 28 in the FPGA module 2 is connected to the input end of the electronic switch control module 34, and the output end of the electronic switch control module 34 is connected to the energy storage module 33; the electronic switch control module 34 controls the energy storage module 33 to discharge, and generates a high-energy pulse for detonation.

[0038] The working process of synchronous detonation of the present invention is: the FPGA module 2 performs filtering preprocessing on the received second pulse signal, removes the relevant noise components, forms a waveform with a relatively stable rising edge, and the processed pulse signal enters the time interval measurement module 22 as the first pulse signal; at the same time, the square wave generated by the constant temperature crystal oscillator module 23 is multiplied by the frequency multiplication module 26, and then divided by the frequency division module 25 to form a 1pps second pulse as the second pulse signal entering the time interval measurement module 22; the time interval measurement module 22 compares and analyzes the first second pulse signal and the second second pulse signal, and uses the interrupt instruction to adjust the output voltage of the digital potentiometer module 24, and the digital potentiometer module 24 adjusts the constant temperature crystal The power supply voltage of the vibration module 23 is used to tame the output pulse of the constant temperature crystal oscillator module 23. When the error between the two second pulse signals is within 10ns, the constant temperature crystal oscillator is in a tamed state, and its output frequency is constant and no longer changes. At this time, the system time state is displayed as a Lock state; the detonation time is set on the processor module 21 through the keyboard / software input module 30. After the set detonation time is reached, the pulse generation module 27 outputs a synchronous pulse signal, turns on the electronic switch control module 34, and the electronic switch control module 34 turns on the energy storage module 33 for discharge operation, generating a high-energy pulse to detonate the electric detonator; while generating a high-energy pulse, the pulse generation module 27 generates a trigger pulse of a TTL level, which is used to trigger the acquisition device to perform the acquisition operation. The battery pack module 31 outputs a DC12V voltage, which is converted by DC / DC to output a DC200V voltage to charge the energy storage module 33.

[0039] The present invention proposes a Beidou satellite-based multi-point synchronous automatic detonation method, and its specific implementation process is:

[0040] Step 1, Beidou receiver module 1 performs positioning and timing operations, obtains serial port data and second pulse signals containing current geographic location information and time information, and the serial port data and second pulse signals enter FPGA module 2, FPGA module 2 parses the serial port data to obtain current geographic location information and time information, and saves the location information to processor module 21, and gives the location information and current time of each detonation point through LCD display module 29, and updates once every second; at this time, the system location information output status displays State;

[0041] Step 2, FPGA module 2 performs filtering preprocessing on the received second pulse signal, removes relevant noise components, forms a waveform with a relatively stable rising edge, and the processed pulse signal enters the time interval measurement module 22 as the first pulse signal; at the same time, the 10MHz square wave generated by the constant temperature crystal oscillator module 23 is converted into a 100MHz square wave after frequency multiplication by the frequency multiplication module 26, and then divided by the frequency division module 25 to form a 1pps second pulse as the second pulse signal entering the time interval measurement module 22;

[0042] Step 3, the time interval measurement module 22 compares and analyzes the first pulse-per-second signal and the second pulse-per-second signal, and uses the interrupt instruction to adjust the output voltage of the digital potentiometer module 24. The digital potentiometer module 24 tames the output pulse of the constant temperature crystal oscillator module 23 by adjusting the power supply voltage of the constant temperature crystal oscillator module 23. When the error between the two pulse-per-second signals is within 10ns, the constant temperature crystal oscillator is in a tamed state, and its output frequency is constant and no longer changes. At this time, the system time state is displayed as a Lock state;

[0043] Step 4, set the detonation time on the processor module 21 through the keyboard / software input module 30. When the set detonation time is reached, the pulse generation module 27 outputs a synchronous pulse signal, turns on the electronic switch control module 34, and the electronic switch control module 34 turns on the energy storage module 33 to perform a discharge operation, generating a high-energy pulse to detonate the electric detonator; while generating a high-energy pulse, the pulse generation module 27 generates a TTL level trigger pulse to trigger the acquisition device to perform a collection operation. When the set detonation time is not reached, the detonation process needs to be canceled for some reason, and the brake control module 210 sends an execution cancellation instruction to stop the detonation automatic control module 3, thereby realizing the function of terminating the detonation process.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A multi-point synchronous automatic detonation system based on Beidou satellite, characterized in that: It comprises a Beidou receiver module (1) for positioning and outputting serial port information and second pulse signals with geographical location information and time information, an FPGA module (2) for receiving the serial port information and second pulse signals of the Beidou receiver module (1), parsing the serial port information and processing the pulse signals, and an automatic detonation control module (3); The FPGA module (2) comprises a processor module (21), a time interval measurement module (22), a constant temperature crystal oscillator module (23), a digital potentiometer module (24), a frequency division module (25), a frequency multiplication module (26), a pulse generation module (27) and a power amplification module (28); the time interval measurement module (22) receives a first channel of second pulse signals sent by the Beidou receiver module (1) and enters the first input end of the time interval measurement module (22); the square wave generated by the constant temperature crystal oscillator module (23) is converted into a second channel of second pulse signals after passing through the frequency multiplication module (26) and the frequency division module (25) and enters the second input end of the time interval measurement module (22); the time interval measurement module (22) converts the first channel of second pulse signals into a second channel of second pulse signals. After being compared and analyzed with the second pulse signal, the first pulse signal is output to the processor module (21); the processor module (21) is used to parse the serial port information and issue a frequency adjustment instruction and a trigger output instruction according to the result of the comparison and analysis; the digital potentiometer module (24) is used to receive the frequency adjustment instruction of the processor module (21) and perform voltage adjustment on the constant temperature crystal oscillator module (23); the input end of the pulse generating module (27) is connected to the processor module (21), and the first output end thereof is connected to the power amplifier module (28); the power amplifier module (28) is used to receive the trigger output instruction of the processor module (21) and generate a trigger pulse; after the trigger pulse passes through the power amplifier module (28), the detonation automatic control module (3) is controlled to detonate.

2. The Beidou satellite-based multi-point synchronous automatic detonation system according to claim 1 is characterized in that: The automatic detonation control module (3) comprises a battery pack module (31), a DC / DC conversion module (32), an energy storage module (33) and an electronic switch control module (34) which are connected in sequence; the battery pack module (31) outputs a voltage which is converted by the DC / DC conversion module (32) and output to the energy storage module (33) for energy storage operation; the output end of the power amplifier module (28) in the FPGA module (2) is connected to the input end of the electronic switch control module (34), the output end of the electronic switch control module (34) is connected to the energy storage module (33), and the electronic switch control module (34) controls the energy storage module (33) to discharge, thereby generating a high-energy pulse for detonation.

3. The Beidou satellite-based multi-point synchronous automatic detonation system according to claim 2 is characterized in that: The FPGA module (2) further comprises an LCD display module (29) and a keyboard / software input module (30); The input end of the LCD display module (29) is connected to the output end of the processor module (21); the time position information output by the Beidou receiver module (1) is processed by the processor module (21) and then displayed by the LCD display module (29); the output end of the keyboard / software input module (30) is connected to the input end of the processor module (21) and is used to set the detonation time.

4. The Beidou satellite-based multi-point synchronous automatic detonation system according to claim 3 is characterized in that: The FPGA module (2) further comprises a brake control module (210), the output end of the brake control module (210) being connected to the input end of the processor module (21) and being used for sending a cancellation instruction to stop the operation of the automatic detonation control module (3).

5. The Beidou satellite-based multi-point synchronous automatic detonation system according to claim 4 is characterized in that: It also includes a data acquisition device, the input end of which is connected to the second output end of the pulse generating module (27).

6. The Beidou satellite-based multi-point synchronous detonation system according to claim 5 is characterized in that: The digital potentiometer module (24) adopts AD5231.

7. A Beidou satellite-based multi-point synchronous automatic detonation method, using the Beidou satellite-based multi-point synchronous automatic detonation system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1, multiple detonation units are arranged at different detonation points, the Beidou receiver module (1) of each detonation unit performs positioning and timing operations, obtains serial port data containing current geographical location information and time information and a first second pulse signal, the serial port data and the first second pulse signal enter the FPGA module (2), the processor module (21) parses the serial port data to obtain the current geographical location information and time information, and obtains the location information and current time of the corresponding detonation point; Step 2, the corresponding time interval measurement module (22) receives the first pulse signal; at the same time, the square wave generated by the constant temperature crystal oscillator module (23) is frequency-multiplied by the frequency multiplication module (24), and then divided by the frequency division module (23) to form a 1pps pulse as the second pulse signal to enter the time interval measurement module (22); Step 3, the time interval measurement module (22) performs comparative analysis on the first pulse-per-second signal and the second pulse-per-second signal, and the processor module (21) issues a frequency adjustment instruction according to the comparative analysis result to adjust the output voltage of the digital potentiometer module (24), and the digital potentiometer module (24) tames the output pulse of the constant temperature crystal oscillator module (23) by adjusting the supply voltage of the constant temperature crystal oscillator module (23). When the error between the two pulse-per-second signals is within 10 ns, the constant temperature crystal oscillator is in a tamed state, and its output frequency is constant and no longer changes. At this time, the system time state is displayed as a Lock state; Step 4, setting the detonation time on the processor module (21). When the set detonation time is reached, the processor module (21) issues a trigger output instruction, outputs a synchronous pulse signal through the pulse generating module (27), and generates a high-energy pulse to detonate the electric detonator at the corresponding detonation point.

8. The Beidou satellite-based multi-point synchronous automatic detonation method according to claim 7 is characterized in that: The step 1 is to display the position information and current time of each detonation point through an LCD display module (29); In step 2, before the time interval measurement module (22) receives the first channel of second pulse signal, the first channel of second pulse signal is filtered and preprocessed by the preprocessing module to remove relevant noise components and form a waveform with a relatively stable rising edge.

9. The Beidou satellite-based multi-point synchronous automatic detonation method according to claim 8, characterized in that: The step 4 specifically comprises setting the detonation time on the processor module (21) through the keyboard / software input module (30); when the set detonation time is reached, the processor module (21) issues a trigger output instruction, controls the pulse generating module (27) to output a synchronous pulse signal, turns on the electronic switch control module (34), and the electronic switch control module (34) turns on the energy storage module (33) to perform a discharge operation, thereby generating a high-energy pulse to detonate the electric detonator corresponding to the detonation point; while generating the high-energy pulse, the pulse generating module (27) generates a trigger pulse of a TTL level, which is used to trigger the acquisition device to perform a synchronous acquisition operation corresponding to the detonation point.

10. The detonation method of the Beidou satellite-based multi-point synchronous detonation system according to claim 9, characterized in that: In step 4, when the set detonation time is not reached and the detonation process needs to be cancelled, a cancellation instruction is sent to the processor module (21) via the brake control module (210), and the operation of the automatic detonation control module (3) stops.

Images