Intelligent charging system, intelligent charging method and storage medium

Abstract

The invention discloses an intelligent charging system, an intelligent charging method and a storage medium. The system comprises an explosive mixing and loading truck, an explosive loading robot and a connecting device, and the explosive mixing and loading truck is used for responding to a walking instruction, driving in an explosion area based on driving route information and parking when driving to a target parking point corresponding to a current target explosion area; the mixed loading explosive truck comprises a control module which is used for controlling the mixed loading explosive truck to stop after determining that the mixed loading explosive truck reaches the target parking point and sending a hole searching starting instruction; the explosive loading robot is used for sequentially positioning each blast hole in the blast holes covered by the target parking point based on the hole searching route on the basis of the hole searching starting instruction; after positioning of each blast hole is completed, responding to a charging starting instruction, receiving explosive conveyed by the mixed charging explosive truck, and loading the explosive to the blast holes until charging of each blast hole is completed; and the connecting device is arranged between the mixed loading explosive truck and the loading robot.

Description

Technical Field

[0001] The present application relates to the field of industrial control technology, and in particular to an intelligent charging system, an intelligent charging method and a storage medium. Background Art

[0002] At present, the main method of rock breaking in mining is still blasting, and its mining process mainly includes drilling, charging, blasting, mining and transportation. Among them, rock drilling, mining and transportation have been mechanized or automated, while the degree of automation of charging and blasting is relatively low. With the increase in demand for mineral resources, various companies are gradually turning to ultra-large-scale mining. The mechanization level of charging and blasting has become an influencing factor restricting the improvement of the efficiency of the blasting process.

[0003] As a mining blasting charging equipment that integrates explosives transportation, mixing and loading, dynamite trucks, especially large dynamite trucks, have gradually become the main equipment for charging and blasting operations in large open-pit mines.

[0004] For example, the on-site mixed explosives truck can directly input the explosives into the blasthole after finding the hole and positioning to complete the charging. The on-site mixed explosives truck saves a lot of time and economic costs for mining in the charging link of blasting operations. The on-site mixed explosives truck can be divided into two types based on the cantilever method: the side-rotating mixed explosives truck and the elevated spiral mechanical arm mixed explosives truck.

[0005] However, although the charging mode of the above-mentioned explosive vehicle is relatively much better than the previous manual charging, reducing the number of workers in blasting operations, improving work efficiency, and strengthening safety production, it still has certain limitations and problems.

[0006] (1) For the side-rotating mixed-explosive vehicle, due to the short side-rotating arm, the vehicle needs to frequently reciprocate on the working plate where the holes have been perforated during the process of hole finding and charging, so that the side-rotating arm can complete the charging process in an orderly manner. At the same time, there are problems such as inaccurate autonomous hole finding and hole positioning, and inaccurate quantitative charging.

[0007] (2) For the high-rise spiral mechanical arm mixed-loading explosives vehicle, its mechanical arm is relatively long, which can reduce the frequency and distance of the explosives vehicle's operation on the working plate. However, precisely because the mechanical arm is relatively long, the explosives vehicle often has hole deviations and cannot accurately align the holes in one go during autonomous hole finding, especially the hole-aligning and charging process after autonomous hole finding, which leads to inaccurate quantitative charging quantity after hole alignment. At the same time, when the mechanical arm is not in place, manual cooperation is occasionally required to complete the secondary hole alignment, that is, the elephant trunk-like charging tube at the front end of the mechanical arm is manually aligned with the borehole mouth to complete the charging operation. The operation mode of this explosives vehicle is not coordinated in place and the charging efficiency is not high. Moreover, because the high-hanging mechanical arm is too long, the charging control accuracy of the mixed-loading explosives vehicle is relatively low, and the charging effect is poor.

[0008] Therefore, both of the above two types of explosive vehicles cannot fully realize automatic, intelligent and efficient collaborative operation of charging. Summary of the invention

[0009] In view of this, the embodiments of the present application provide an intelligent charging system, an intelligent charging method and a storage medium, which aim to solve the technical problems of the original elevated spiral robotic arm mixed explosive charging vehicle, such as difficulty in hole finding, difficulty in precise positioning, inaccurate quantitative charging, low charging efficiency and poor collaborative operation effect.

[0010] The technical solution of the embodiment of the present application is implemented as follows:

[0011] In a first aspect, an embodiment of the present application provides an intelligent charging system, the system comprising:

[0012] The mixed explosives vehicle is used to respond to the travel instruction, travel in the blasting area based on the driving route information, and stop at the target parking point corresponding to the current target blasting area; and after stopping, respond to the charge completion instruction, continue to travel to the next target parking point;

[0013] The mixed explosive vehicle includes a control module for determining the driving route information of the mixed explosive vehicle in the blasting area and the target parking point corresponding to the current target blasting area; sending the driving route information, the target parking point and the travel instruction to the mixed explosive vehicle;

[0014] After determining that the mixed explosive vehicle has arrived at the target parking point, the mixed explosive vehicle is controlled to stop and a hole-finding start instruction is sent; after the hole-finding of each blast hole corresponding to the target blasting area is completed, a charge-loading start instruction is sent and the mixed explosive vehicle is controlled to transport explosives until all blast holes in the target blasting area are fully loaded;

[0015] The charging robot is used to determine the position information and hole-finding route of each blast hole covered by the target parking point after the mixed explosive vehicle drives to the target parking point; based on the hole-finding start instruction, sequentially locate each blast hole among the blast holes covered by the target parking point based on the hole-finding route; and after each blast hole is located, respond to the charging start instruction, receive the explosives transported by the mixed explosive vehicle, and load the explosives into the blast holes until the charging of each blast hole is completed;

[0016] A connecting device is arranged between the mixed explosive vehicle and the charging robot, and is used for receiving the explosives transported by the mixed explosive vehicle and transporting the explosives to the charging robot.

[0017] In some embodiments, the explosive vehicle transport vehicle includes an explosive vehicle onboard terminal module, which is used to obtain the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blast holes in the current target blasting area, and the activity radius information of the charging robot; and obtain its own position information;

[0018] The control module is also used to determine that the charging of each blasthole covered by the last target parking point is completed, and then generate and send the travel instruction to the mixed explosive vehicle;

[0019] The control module is also used to receive the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blasting holes in the current target blasting area, and the activity radius information of the charging robot;

[0020] For each of the plurality of candidate stopping points, determining a Euclidean distance between each of the candidate stopping points and the plurality of blast holes;

[0021] Determining identification information of each blast hole covered by each candidate parking point based on the Euclidean distance of each parking point and the activity radius information of the charging robot;

[0022] Determine the location information of the target parking point of the mixed explosive vehicle based on the identification information of each blasthole covered by each candidate parking point;

[0023] The explosive vehicle-mounted terminal module is also used to optimize the target parking point and the parking position of the mixed explosive vehicle based on the current target blasting area and the position information of the target blast hole to be loaded with explosives.

[0024] In some embodiments, the explosives truck transport vehicle includes an explosives truck onboard terminal module for obtaining entry point position information of the mixed explosives truck entering the blasting area and exit point position information of the mixed explosives truck exiting the blasting area;

[0025] The control module is also used to receive the entry point position information of the mixed explosive vehicle entering the blasting area and the exit point position information of the mixed explosive vehicle exiting the blasting area;

[0026] Constructing a first node set based on the location information of the target parking point, the location information of the entry point, and the location information of the exit point;

[0027] And based on the first node set, calculating the Euclidean distance between each node to generate a first distance matrix;

[0028] Determine the driving route information of the mixed explosive vehicle based on the first node set, the first distance matrix and the traveling salesman algorithm;

[0029] The explosive vehicle-mounted terminal module is also used to optimize the driving route information based on the current target blasting area and the position information of the target blast hole to be loaded with explosives.

[0030] In some embodiments, the charging robot is further used to construct a second node set based on the position information of the target parking point and the position information of each blast hole corresponding to the target parking point;

[0031] Calculating the Euclidean distance between the target parking point and each of the blast holes to generate a second distance matrix;

[0032] Based on the second node set, the second distance matrix and the traveling salesman algorithm, a hole-finding route for the installation robot is generated.

[0033] In some embodiments, the mixed explosive vehicle further comprises:

[0034] A vertical spiral rotating mechanism is respectively connected to the multiple material boxes and one end of the connecting device, and is used to receive the explosives in the multiple material boxes and mix the explosives, and transport the mixed explosives to the connecting device;

[0035] The charging robot is also used to send the position information of each blast hole to the control module after the blast hole search is completed;

[0036] The control module is also used to compare the position information of the blastholes with the position information of each blasthole in the blasting design database based on the position information of the blastholes, determine and send the target quantity of explosives required for the blastholes to the mixed explosives vehicle;

[0037] The explosive vehicle-mounted terminal module is also used to control the delivery of the target amount of mixed explosive to the connecting device.

[0038] In some embodiments, the mixed explosive vehicle further comprises:

[0039] A positive pressure pneumatic conveying device connected to the connecting device, for responding to the charge start instruction, switching the working state to the running state, so as to guide the target amount of mixed explosive to be conveyed to the connecting device;

[0040] A solenoid valve, used to respond to the charge start instruction, start the solenoid valve, and control the mixed explosive vehicle to enter an explosive delivery state;

[0041] The flow meter is arranged between the vertical spiral rotating mechanism and one end of the connecting device, and is used to respond to the instruction information sent by the on-board terminal module of the explosive vehicle. When the solenoid valve is started, it measures the mixed explosive based on the target quantity and outputs the target quantity of mixed explosive to the connecting device.

[0042] In some embodiments, the medicine loading robot further comprises:

[0043] A rotating device, used to adjust the posture of the charging robot;

[0044] a rigid charge conduit connected to the other end of the connecting device and used to receive a target amount of mixed explosive delivered by the connecting device;

[0045] A blasthole positioning structure is connected to the rigid charge conduit and is used to position the blasthole in response to the hole finding start instruction; the charge robot is also used to control the rigid charge conduit to be inserted into the blasthole after determining that the positioning is completed;

[0046] The negative pressure pneumatic conveying device is used to guide the target amount of mixed explosive to be transported from the other end of the connecting device to the charging robot.

[0047] In some embodiments, the connecting device comprises:

[0048] A multi-angle rotating structure, which is arranged on the top of the mixed explosive vehicle and connected to the vertical spiral rotating mechanism, and is used to receive the target amount of explosives;

[0049] A rigid explosive delivery pipe, one end of which is connected to the multi-angle rotating structure;

[0050] A flexible explosive delivery pipe, one end of which is connected to the other end of the rigid explosive delivery pipe, and the other end of which is connected to the charging robot;

[0051] A first delivery pipe interface, disposed between the rigid explosive delivery pipe and the flexible explosive delivery pipe;

[0052] The second delivery pipe interface is arranged between the flexible explosive delivery pipe and the charging robot.

[0053] In a second aspect, an embodiment of the present application provides an intelligent charging method of the intelligent charging system as described in the first aspect above, comprising:

[0054] The control module determines the driving route information of the mixed explosive vehicle in the blasting area and the target parking point corresponding to the current target blasting area;

[0055] Sending the driving route information, the target parking point and the travel instruction to the mixed explosives vehicle;

[0056] After determining that the mixed explosive vehicle has arrived at the target parking point, controlling the mixed explosive vehicle to stop and sending a hole-finding start instruction;

[0057] After the hole search for each blast hole corresponding to the target blasting area is completed, a charge start instruction is sent, and the mixed explosive vehicle is controlled to transport explosives until all the blast holes in the target blasting area are fully charged.

[0058] In some embodiments, the method further comprises:

[0059] When it is determined that the charging of each blasthole covered by the last parking point is completed, the travel instruction is generated and sent to the mixed explosive vehicle.

[0060] In some embodiments, the method further comprises:

[0061] Receive the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blasting holes in the current target blasting area, and the activity radius information of the charging robot;

[0062] For each of the plurality of candidate stopping points, determining a Euclidean distance between each of the candidate stopping points and the plurality of blast holes;

[0063] Determining identification information of each blast hole covered by each candidate parking point based on the Euclidean distance of each parking point and the activity radius information of the charging robot;

[0064] Based on the identification information of each blast hole covered by each of the candidate parking points, the position information of the target parking point of the mixed explosive vehicle is determined.

[0065] In a third aspect, an embodiment of the present application provides a computer storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the second aspect are implemented.

[0066] The technical solution provided by the embodiment of the present application is an intelligent charging system, including a mixed explosive vehicle, a charging robot and a connecting device. The mixed explosive vehicle is used to respond to a walking instruction, travel in a blasting area based on driving route information, and stop at a target parking point corresponding to the current target blasting area; and after stopping, respond to a charging end instruction and continue to travel to the next target parking point; the mixed explosive vehicle includes a control module, which is used to determine the driving route information of the mixed explosive vehicle in the blasting area and the target parking point corresponding to the current target blasting area; send the driving route information, the target parking point and the walking instruction to the mixed explosive vehicle; after determining that the mixed explosive vehicle has arrived at the target parking point, control the mixed explosive vehicle to stop, and send a hole-finding start instruction; at the target blasting area corresponding to the target parking point, the mixed explosive vehicle is stopped. After each blast hole search is completed, a charging start instruction is sent, and the mixed explosive truck is controlled to transport explosives until all the blast holes in the target blasting area are fully loaded; the charging robot is used to determine the position information and the hole search route of each blast hole covered by the target parking point after the mixed explosive truck drives to the target parking point; based on the hole search start instruction, each blast hole in each blast hole covered by the target parking point is located in sequence based on the hole search route; and after each blast hole is located, the explosives transported by the mixed explosive truck are received in response to the charging start instruction, and the explosives are loaded into the blast hole until the charging of each blast hole is completed; a connecting device is arranged between the mixed explosive truck and the charging robot, and is used to receive the explosives transported by the mixed explosive truck and transport the explosives to the charging robot.

[0067] Thus, the embodiment of the present application provides an intelligent charging system for collaborative operation of an explosive vehicle and a charging robot, comprising a mixed explosive transport vehicle (hereinafter referred to as an explosive vehicle), a charging robot, a connecting device and a control module, which can realize the automation and intelligent operation of the charging process in the process of open-pit mining and blasting, improve the efficiency of collaborative operation between various processes and equipment in the charging process, and achieve continuous, efficient and collaborative intelligent operation effects. Specifically, the explosive vehicle itself no longer needs to control the elevated spiral mechanical long arm to directly perform hole finding, hole alignment and charging operations, and is mainly responsible for the precise transportation and accurate distribution of explosives; the charging robot is mainly responsible for autonomous hole finding, precise hole alignment and efficient charging; the connecting device and the control module are the key connection modules for the efficient operation of the collaborative explosive vehicle and the charging robot, and are mainly responsible for the interaction, perception, decision-making and execution control operations between the explosive vehicle and the charging robot, and collaborate the two to accurately and efficiently complete the charging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 A schematic diagram of the structure of the intelligent charging system provided in the embodiment of the present application;

[0069] Figure 2 A schematic diagram of an optimization algorithm for route planning of an explosives vehicle provided in an embodiment of the present application;

[0070] Figure 3A schematic diagram of a hole-finding route optimization algorithm for a charging robot provided in an embodiment of the present application;

[0071] Figure 4 A schematic diagram of a flow chart of an intelligent charging method provided in an embodiment of the present application;

[0072] Figure 5 A control flow diagram of an intelligent charging system provided for an application example of this application;

[0073] Figure 6 A schematic flow chart of an open-pit mine mixed explosives charging method that is provided as another application example of the present application.

[0074] Description of Reference Numerals

[0075] 1. Mixed explosives truck; 11. Control module; 12. Vertical spiral rotating mechanism; 13. Positive pressure wind conveying device; 14. Material box;

[0076] 2. Charging robot; 21. Rotating device; 22. Rigid charging guide tube; 23. Gunhole positioning structure;

[0077] 3. Connecting device; 31. Multi-angle rotating structure; 32. Rigid explosive delivery pipe; 33. Flexible explosive delivery pipe; 34. First delivery pipe interface; 35. Second delivery pipe interface. DETAILED DESCRIPTION

[0078] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0079] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0080] In the related art, the automatic charging technology of the mixed explosive vehicle includes the charging scheme of the elevated spiral mechanical long-arm mixed explosive vehicle, which means that the elevated spiral mechanical long-arm mixed explosive vehicle (including the mechanical long arm and the trunk structure) directly performs hole finding, positioning and charging. However, the following main problems exist in the implementation process:

[0081] 1. It is difficult for the built-in mechanical long arm (including the elephant trunk structure) to automatically find holes;

[0082] 2. The location of the blast hole (the center of the blast hole) after the mechanical long arm of the mixed explosive vehicle finds the hole is not accurate;

[0083] 3. The charging tube at the front end of the mechanical long arm (including the trunk structure) of the mixed explosives vehicle is prone to deviation or misalignment when inserted into the blasthole for charging according to the aforementioned blasthole positioning, which often leads to the problem that charging cannot be completed in one go or explosives are spilled around the blasthole;

[0084] 4. The elevated spiral mechanical long-arm charging vehicle has a long distance to transport explosives and the space at the front end of the mechanical arm (elephant trunk charging tube) is limited, resulting in inaccurate distribution and transportation of explosives. The amount of explosives loaded into the blast hole is inconsistent with the charging requirements of the original blasting design blast hole, which affects the subsequent blasting effect.

[0085] The embodiments of the present application provide an intelligent charging system and an intelligent charging method, which can realize the automation and intelligent operation of the charging process in the process of open-pit mining blasting technology, improve the collaborative operation efficiency between various processes and equipment in the charging process, and achieve continuous, efficient, collaborative and intelligent operation effects.

[0086] The present application embodiment provides an intelligent charging system, such as Figure 1 As shown, the system includes: an explosive mixing vehicle 1, a charging robot 2 and a connecting device 3.

[0087] In the embodiment of the present application, for the explosives truck, the explosives truck itself no longer needs to control the elevated spiral mechanical long arm to directly perform hole finding, hole alignment and charging operations, and is mainly responsible for the precise transportation and accurate distribution of explosives; the charging robot 2 replaces the mechanical long arm of the mixed explosives truck 1 to perform autonomous hole finding, precise hole alignment and efficient charging; the connecting device 3 is arranged between the mixed explosives truck 1 and the charging robot 2, and is used to receive the explosives transported by the mixed explosives truck 1 and to transport the explosives to the charging robot 2.

[0088] Here, the mixed explosive vehicle 1 includes a control module 11, which is used to coordinate the explosive vehicle and the charging robot 2 to work efficiently. The module is mainly responsible for the interaction, perception, decision-making and execution control operations between the explosive vehicle and the charging robot 2, and coordinates the two to complete the charging process accurately and efficiently.

[0089] Here, the mixed explosive vehicle 1 is a mine blasting charging equipment that integrates explosive transportation, mixing, and loading. Specifically, the mixed explosive vehicle 1 includes a device for responding to a travel instruction, driving in the blasting area based on the driving route information, and stopping at a target parking point corresponding to the current target blasting area; and after stopping, responding to a charging end instruction, continuing to drive to the next target parking point.

[0090] Here, the mixed explosive vehicle 1 includes a control module 11, which is used to determine the driving route information of the mixed explosive vehicle 1 in the blasting area and the target parking point corresponding to the current target blasting area; send the driving route information, the target parking point and the travel instruction to the mixed explosive vehicle 1; after determining that the mixed explosive vehicle 1 has arrived at the target parking point, control the mixed explosive vehicle 1 to stop and send a hole-finding start instruction; after the hole-finding of each blast hole corresponding to the target blasting area is completed, send a charging start instruction, and control the mixed explosive vehicle 1 to transport explosives until all blast holes in the target blasting area are fully charged.

[0091] Here, the target parking point refers to the reasonable division of the blasting area into N charging areas, each charging area has only one optimal parking position, and the optimal parking position is the position of the target parking point. The mixed explosive vehicle 1 will drive to the target parking point according to the determined driving route and park here to complete the subsequent charging task. The target parking point can satisfy the charging robot 2 to complete the hole finding, positioning and charging work of all the blast holes in the area.

[0092] Exemplarily, when the current target explosion zone is located in the charge area a, the best parking point of the charge area a is the target parking point corresponding to the current target explosion zone.

[0093] Here, the number of the charging robot 2 includes at least one.

[0094] Furthermore, the number of the explosives mixed loading vehicle 1 and the charging machine can be one explosives vehicle and one charging robot 2 working together, such as Figure 1 As shown. Alternatively, one explosive vehicle may be equipped with two or more charging robots for collaborative operation.

[0095] Here, the charging robot 2 replaces the mechanical long arm of the explosive mixing vehicle 1 and is responsible for performing the specific charging operation.

[0096] Here, the charging robot 2 is used to determine the position information and hole-finding route of each blast hole covered by the target parking point after the mixed explosives truck 1 drives to the target parking point; based on the hole-finding start instruction, each blast hole in the blast holes covered by the target parking point is located in turn based on the hole-finding route; and after each blast hole is located, it responds to the charging start instruction, receives the explosives transported by the mixed explosives truck 1, and loads the explosives into the blast holes until the charging of each blast hole is completed.

[0097] Here, the charging robot 2 can complete precise blast hole positioning through sensors or machine vision technology.

[0098] Here, the main task of the connecting device 3 is to ensure the transportation of explosives between the mixed explosives truck 1 and the charging robot 2. It is arranged between the explosives truck and the charging robot 2 to receive the explosives transported by the explosives truck and transport the explosives to the charging robot 2.

[0099] For example, in the embodiment of the present application, to realize the collaborative operation between the explosives mixing vehicle 1 and the charging robot 2, the following three subsystems need to be included:

[0100] System 1: A calculation and control system for planning the optimal travel route, parking position and rest position of the mixed explosive vehicle 1 according to the blasting area range and the position of the blast hole. The control module 11 of the explosive vehicle is used for execution.

[0101] Based on the control module 11, the following objectives can be achieved: according to the size range of the blasting area and the position of the blast hole mouth, an optimal walking route (driving route) is planned, and all parking positions and stop positions are determined at the same time. After the mixed explosive truck 1 stops at each parking position (target parking point), the charging robot 2 uses the explosive truck as the reference center to complete the hole finding, positioning and charging of all blast holes in the position area.

[0102] It can also be understood that the control module 11 is used to realize the path planning and parking position planning of the mixed explosive vehicle 1. Specifically, the control module 11 can reasonably divide the blasting area into N charging areas, each charging area has only one optimal parking position, and after determining the optimal stop position (i.e., the target parking point), the optimal stop position can satisfy the charging robot 2 to complete the hole finding, positioning and charging work of all the blast holes in the area.

[0103] It can be understood that when the control module 11 is performing path planning and stopping point determination, it is necessary to consider not only the size range of the blasting area and the position of the blast hole mouth, but also the maximum and minimum charging radius of the mixed explosive vehicle 1 and the charging robot 2 (with the mixed explosive vehicle 1 as the center, the size range of the mixed explosive delivery pipe between the mixed explosive vehicle 1 and the charging robot 2, and the scalability), that is, the maximum radius and minimum radius that the charging robot 2 can cover when charging in a 360° circular manner with the mixed explosive vehicle 1 as the center.

[0104] System 2: The charging robot 2 plans the calculation and control system of the optimal hole-finding route according to the information such as the blasting area range, the position of the blast hole mouth and the parking position of the mixed explosive vehicle 1, which is executed by the charging robot 2.

[0105] Based on the charging robot 2, the following objectives can be achieved: according to the information such as the blasting area range, the position of the blast hole mouth and the parking position of the mixed explosive vehicle 1, an optimal hole-finding route is planned for each parking position and stop position of the mixed explosive vehicle 1, so that the charging robot 2 can accurately and efficiently complete the hole-finding, positioning and charging of all blast holes in the area around the parking position of the mixed explosive vehicle 1, avoiding the charging robot 2 to repeatedly walk back and forth or avoid missing individual blast holes, which may lead to the inability to complete hole-finding, positioning and charging.

[0106] When the charging robot 2 determines the hole-finding route, the following factors need to be considered: the size range of the blasting area, the position of the blast hole mouth, the driving route and parking position of the mixed explosive vehicle 1, and the size range and scalability of the mixed explosive delivery pipe between the mixed explosive vehicle 1 and the charging robot 2.

[0107] System 3: An interactive control system between the explosives mixing vehicle 1 and the charging robot 2.

[0108] The interactive control system is used to complete information transmission, command communication and feedback between the explosive mixing vehicle 1 and the charging robot 2. The interactive control box system is jointly implemented by the control module 11 and the charging robot 2, and specifically includes: first, after the mixed explosive vehicle 11 walks and parks according to the predetermined planned walking route and the position is determined, the charging robot 2 is instructed to start hole finding and positioning operations; second, after the charging robot 2 automatically finds holes and accurately locates according to the planned hole finding route, it transmits the position information of the blasthole mouth to the vehicle-mounted terminal of the mixed explosive vehicle 1, and notifies it that the charging operation can be started; third, after the mixed explosive vehicle 1 completes the blasthole matching according to the received blasthole position information to obtain the designed charging explosive amount, it notifies the charging robot 2 to start charging and quantitatively transport the mixed explosive, and promptly notifies the charging robot 2 that the transportation is completed after the transportation is completed; fourth, after the charging robot 2 completes the blasthole charging, it feedbacks to the mixed explosive vehicle 1 that the blasthole charging work has been completed; fifth, after the charging robot 2 completes the charging work of all blastholes around the target parking position of the mixed explosive vehicle 1, it notifies the mixed explosive vehicle 1 that the blastholes in the parking position area have been loaded, and the mixed explosive vehicle 1 can drive to the next parking position.

[0109] In this way, the embodiment of the present application provides an intelligent charging system in which a mixed explosive vehicle and a charging robot work together, including a mixed explosive transport vehicle, a charging robot and a connecting device. This can realize the automation and intelligent operation of the charging process in the open-pit mining blasting process, improve the collaborative operation efficiency between various processes and equipment in the charging process, and achieve continuous, efficient, collaborative and intelligent operation effects.

[0110] Specifically, the mixed explosive vehicle 1 itself no longer needs to control the elevated spiral mechanical long arm to directly perform hole finding, hole alignment and charging operations, and is mainly responsible for the precise transportation and accurate distribution of explosives; the charging robot 2 is mainly responsible for autonomous hole finding, precise hole alignment and efficient charging; the control module 11 is a module used to coordinate the efficient operation of the mixed explosive vehicle 1 and the charging robot 2, and is mainly responsible for the interaction, perception, decision-making and execution control operations of the mixed explosive vehicle 1 and the charging robot 2, and coordinates the two to accurately and efficiently complete the charging process.

[0111] In some embodiments, the control module 11 is further used to determine that the charging of each blast hole covered by the previous target parking point is completed, and then generate and send a travel instruction to the mixed explosive vehicle 1.

[0112] In some embodiments, the explosives truck transport vehicle includes an explosives truck on-board terminal module, which is used to obtain the location information of multiple candidate parking points in the current target blasting area, the location information of multiple blast holes in the current target blasting area, and the activity radius information of the charging robot; as well as to obtain its own location information.

[0113] It can be understood that the on-board terminal module of the explosive truck contains a human-computer interaction module, which has the functions of positioning and signal reception and transmission, and can obtain the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blast holes in the current target blasting area and the activity radius information of the charging robot; as well as obtain its own position information.

[0114] In some embodiments, the control module 11 is further used to obtain the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blasting holes in the current target blasting area, and the activity radius information of the charging robot 2;

[0115] For each of the plurality of candidate stopping points, determining a Euclidean distance between each candidate stopping point and the plurality of blast holes;

[0116] Based on the Euclidean distance of each parking point and the activity radius information of the charging robot 2, the identification information of each blast hole covered by each candidate parking point is determined;

[0117] Based on the identification information of each blasthole covered by each candidate parking point, the position information of the target parking point of the mixed explosive vehicle 1 is determined.

[0118] Here, the position information of the candidate parking points and the blast holes in the blasting area are both two-dimensional coordinate information.

[0119] For example, according to the design parameters of the mixed explosive vehicle 1, with the mixed explosive vehicle 1 as the center, the charging robot 2 covers a radius of R and covers 360 degrees. A blasting design scheme for the blasting area is obtained. For example, in the blasting design scheme, there are N blasting holes in the open-pit mine design blasting area, and the two-dimensional coordinates are known. There are M possible parking points of the mixed explosive vehicle 1 in the current target blasting area, and the two-dimensional coordinates are known.

[0120] Here, the target parking point of the embodiment of the present application is the optimal parking point of the mixed explosive vehicle 1, and through the correspondence between each target parking point and the charging blasthole, the number of parking points can be reduced while achieving full coverage of all blastholes.

[0121] Exemplarily, the optimal arrangement of the parking point of the mixed explosive vehicle 1, i.e., the determination process of the target parking point, includes:

[0122] (1) Data input and initialization, that is, obtaining the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blast holes in the current target blasting area, and the activity radius information of the charging robot 2.

[0123] For example, the input data is a blasthole point set P and a parking point candidate set T, each point is a two-dimensional coordinate. And the coverage radius R of the hole-finding robot. The parking point candidate set T includes multiple parking points {t1, t2..., t n}, n is the total number of parking spots.

[0124] (2) Calculation of coverage range, i.e., for each of the multiple candidate parking points, determining the Euclidean distance between each candidate parking point and the multiple blast holes; based on the Euclidean distance of each parking point and the activity radius information of the charging robot 2, determining the identification information of each blast hole covered by each candidate parking point.

[0125] Here, by calculating the Euclidean distance between each blast hole point and each parking point, the covering relationship of each parking point is established, that is, for each parking point, the blast hole set Ct covered by it is determined, for example, {P1, P2, P3}.

[0126] For example, for each candidate parking point, the system calculates the Euclidean distance between the parking point and all blastholes, where the Euclidean distance refers to the straight-line distance between two points. Based on the calculated Euclidean distance, if the distance between a parking point and a blasthole is less than or equal to the activity radius R of the charging robot 2, then it is considered that the parking point can cover the blasthole. A covering relationship set can be established, that is, the set of blastholes that each parking point can cover, and this set records the identification information of each blasthole covered by each candidate parking point.

[0127] (3) Optimal parking point selection, that is, determining the location information of the target parking point of the mixed explosive vehicle 1 based on the identification information of each blasthole covered by each candidate parking point.

[0128] Here, the parking point optimization problem is transformed into a set covering problem. From the set of blast holes covered by all parking points, the minimum number of parking points when covering all blast holes is found through iterative calculation.

[0129] (4) Coverage relationship output.

[0130] Output the optimal parking point set T and its corresponding blasthole coverage relationship {t j , C(t j )}, j represents the number of optimal parking points.

[0131] For example, suppose that after optimization, the selected optimal parking point set is T = {t1, t2}, and their covering relationship is:

[0132] (1) The set of blastholes covered by parking point t1 is C(t1) = {P1, P2, P3}

[0133] (2) The set of blastholes covered by parking point t2 is C(t2) = {P1, P2, P3}

[0134] Here, the explosive vehicle on-board terminal module also has the function of optimizing the walking route, parking position and stopping posture according to the blasting area range, hole position, etc. The explosive vehicle on-board terminal module is also used to optimize the target parking point and the parking posture of the mixed explosive vehicle based on the current target blasting area and the position information of the target blasting hole to be loaded.

[0135] In some embodiments, the explosives truck transport vehicle includes an explosives truck onboard terminal module for obtaining entry point position information of the mixed explosives truck entering the blasting area and exit point position information of the mixed explosives truck exiting the blasting area;

[0136] The control module 11 is also used to receive the entry point position information of the mixed explosive vehicle 1 entering the blasting area and the exit point position information of the mixed explosive vehicle 1 leaving the blasting area;

[0137] Constructing a first node set based on the location information of the target parking point, the location information of the entry point, and the location information of the exit point;

[0138] Based on the first node set, the Euclidean distance between each node is calculated to generate a first distance matrix;

[0139] Determine the driving route information of the mixed explosive vehicle 1 based on the first node set, the first distance matrix and the traveling salesman algorithm;

[0140] The vehicle-mounted terminal module is also used to optimize the driving route information based on the current target blasting area and the position information of the target blast hole to be charged.

[0141] It is understandable that in order to ensure the optimal driving route, the embodiment of the present application also needs to calculate the shortest path for the mixed explosives truck 1, that is, starting from the known entry point into the blasting area, passing each parking point once and only once, and leaving from the known exit point from the blasting area.

[0142] Here, the process of determining the travel route of the mixed explosive vehicle 1 specifically includes:

[0143] Step 1: Construct a graph (node ​​set and distance matrix), that is, obtain the entry point position information of the mixed explosives truck 1 entering the blasting area and the exit point position information of the mixed explosives truck 1 leaving the blasting area; construct a node set based on the location information of the target parking point, the entry point position information and the exit point position information; and based on the node set, calculate the Euclidean distance between each node to generate a distance matrix.

[0144] Here, the coordinates Lin and Lleave of the positions of the explosives mixed truck 1 entering and leaving the blasting area are obtained.

[0145] Here, the entry point Lin, the exit point Lli of the explosion zone and the optimal parking point set T are merged into a node set, and a distance matrix is ​​constructed to represent the Euclidean distance between nodes.

[0146] For example, assuming that the entry point is Lin, the exit point is Lout, and the optimal parking point set is T={t1, t2}, then the node set is:

[0147] {L 进 , t1, t2, L 离}

[0148] Then, the Euclidean distance between every two nodes is calculated and represented by a distance matrix, for example:

[0149] Assuming that the two-dimensional coordinates of node L are (x1, y1) and the two-dimensional coordinates of parking point t1 are (x2, y2), the elements in the distance matrix are:

[0150] d(L 进 , t1)

[0151] This element represents the Euclidean distance between node L and parking point t1.

[0152] Step 2: Shortest path optimization, based on the node set, distance matrix and traveling salesman algorithm, determine the driving route information of the mixed explosives truck 1.

[0153] Here, the shortest path optimization problem is transformed into a traveling salesman problem. Starting from the known entry point L, passing through all the parking points in the optimal parking point set, and arriving at the exit point L, the path is the shortest.

[0154] It can be understood that the Traveling Salesman Problem (TSP) is a problem in which the shortest path optimization can be transformed into the classic Traveling Salesman Problem (TSP). The goal of the Traveling Salesman Problem is to start from a given number of cities (nodes), pass through each city exactly once, and finally return to the starting city, with the shortest total journey.

[0155] In this embodiment of the present application, in this scenario, the goal of the mixed explosive vehicle 1 is to start from the entry point L and pass through all the parking points {t1, t2..., t n} Exactly once, finally arriving at the departure point L, and making the total distance of the driving path the shortest.

[0156] Here, a variety of traveling salesman algorithms can be used to solve the shortest path. Common methods include brute force method (applicable when there are fewer nodes) and approximate algorithm.

[0157] Step 3: Output the shortest driving path.

[0158] Output the node visit order of the shortest driving path.

[0159] Exemplarily, based on the calculated shortest path, the node access sequence that the mixed explosives truck 1 needs to pass through is output, that is, starting from the entry point L, passing through each parking point t1, t2 in sequence, and finally arriving at the exit point L.

[0160] For example, Figure 2 As shown, Figure 2 This is a diagram of the route planning optimization algorithm for the mixed explosive vehicle 1. The figure shows the position of the mixed explosive vehicle 1 entering and leaving the blasting area. Its position coordinates are Lin and Lli, as well as multiple circular areas, each of which represents a blasting area.

[0161] Here, multiple points (gray dots, which represent the positions of blastholes) and target parking points (black dots) are distributed in each blasting area. After the shortest driving path of the mixed explosive vehicle 1 is determined based on the coverage radius of the charging robot 2, the driving route of the mixed explosive vehicle 1 is indicated by a dotted arrow in the figure. The driving route starts from the entry point (entry point) L, moves from one blasting area to another, ensures that all blastholes that need to be charged are covered, and finally reaches the exit point (exit point) L.

[0162] In some embodiments, the charging robot 2 is further used to construct a second node set based on the position information of the target parking point and the position information of each blast hole corresponding to the target parking point;

[0163] Calculate the Euclidean distance between the target parking point and each of the blast holes to generate a second distance matrix;

[0164] Based on the second node set, the second distance matrix and the traveling salesman algorithm, a hole-finding route of the installation robot is generated.

[0165] Here, the embodiment of the present application aims to optimize the hole-finding path of the charging robot 2 so that it can efficiently cover all blast holes in the blasting area while ensuring the shortest path. The specific steps include:

[0166] Step 1: Build a graph (node ​​set and distance matrix).

[0167] Here, for each target parking point tj∈T, the target parking point and all blast holes covered by the target parking point are merged into a second node set.

[0168] Here, the Euclidean distance between each pair of nodes (target parking points and blast holes) in the node set is calculated, and a distance matrix is ​​constructed.

[0169] Step 2: Shortest path optimization.

[0170] Here, the shortest path optimization problem is again transformed into the traveling salesman problem. Starting from a known parking point, the path that passes through all the blast holes covered once and finally returns to the parking point is the shortest.

[0171] For example, for each target parking point t j , the traveling salesman problem (TSP) algorithm is used to find the shortest hole-finding path in the set of blastholes it covers. The requirement of the hole-finding path is to start from the parking point t j Start, pass through all covered blastholes exactly once, and finally return to the parking point t j , and make the total distance of the driving path the shortest.

[0172] Step 3: Output the shortest driving path.

[0173] Through the above shortest path optimization calculation, we can get the path from the parking point t j The shortest path from the starting point, passing through all the blast holes, and finally returning to the parking point. The node visit order of this path will be output.

[0174] For example, assuming that parking point t1 covers the blast holes {p1, p2, p3}, the shortest path calculated by the TSP algorithm is that the charging robot 2 starts from parking point t1, passes through blast holes p3, p1, p2 in sequence, and finally returns to parking point t1.

[0175] For example, Figure 3 As shown, Figure 3 This is a diagram of the hole-finding route optimization algorithm for the charging robot 2, which shows the path planning and coverage of the charging robot in the blasting operation. The figure shows the position of the mixed explosive vehicle 1 entering (driving in) and leaving (driving out) the blasting area, with coordinates Lin and Lout and multiple circular areas, each of which represents a blasting area.

[0176] Here, each blasting area is distributed with multiple points (gray dots, which represent the positions of blastholes) and target parking points (black dots). After the charging robot 2 determines the shortest driving path (hole-finding route) and the blastholes covered by the parking point, the driving route of the hole-finding robot is indicated by a solid arrow in the figure. The driving route starts from the parking point, passes through the blastholes in sequence, and finally returns to the parking point.

[0177] In this way, the embodiment of the present application transforms the hole-finding path optimization of the charging robot 2 into a typical traveling salesman problem (TSP). For each parking point, the set of blastholes it covers constitutes a node set of a graph, and the distance matrix represents the Euclidean distance between nodes. Through the TSP algorithm, the shortest path can be efficiently calculated, so that the charging robot 2 can visit all blastholes in the optimal order, thereby improving work efficiency and reducing unnecessary movement time and resource consumption.

[0178] In some embodiments, Figure 1 As shown, the mixed explosive vehicle 1 also includes:

[0179] The vertical spiral rotating mechanism 12 is connected to the material box 14 and one end of the connecting device 3 respectively, and is used for receiving the explosives in the material box 14 and mixing the explosives, and conveying the mixed explosives to the connecting device 3.

[0180] Here, the vertical spiral rotating mechanism 12 is a mechanical part in the explosive mixing vehicle 1, which is mainly used to receive the explosives in the material box 14 and mix the explosives to ensure the mixing uniformity and stable performance of the explosives.

[0181] The vertical spiral rotating mechanism 12 is usually composed of a vertical spiral device, such as Figure 1 As shown, the vertical spiral rotating mechanism 12 is located on the left side of the mixed explosive vehicle 1, and the mixed explosive vehicle 1 also includes a material box 14 for storing explosives, and the material box includes multiple. The vertical spiral rotating mechanism 12 can efficiently and stably transport the explosives to the connecting device 3 through its rotation function, ensuring the continuity of the explosive filling operation.

[0182] Specifically, the device transfers the explosive material in the material box 14 from one position to another through a rotating action, and mixes it using a spiral structure. The rotating spiral pushes the explosive to the connecting device 3 and ensures that the explosive is evenly distributed without caking or unevenness. Through the rotation of the spiral, the explosive can be continuously and smoothly transported to prevent the accumulation or blockage of materials during the transportation process.

[0183] In some embodiments, the charging robot 2 is also used to send the position information of each blast hole to the control module 11 after the blast hole search is completed;

[0184] The control module 11 is also used to determine and send the target quantity of explosives required for the blasthole to the mixed explosive vehicle 1 based on the position information of the blasthole;

[0185] The explosive vehicle-mounted terminal module is also used to control the delivery of the target amount of mixed explosive to the connecting device 3.

[0186] In some embodiments, Figure 1 As shown, the mixed explosive vehicle 1 also includes:

[0187] The positive pressure pneumatic conveying device 13 is connected to the connecting device 3 and is used to respond to the charging start instruction and switch the working state to the running state to guide the target amount of mixed explosives to be conveyed to the connecting device 3.

[0188] It is understandable that the core principle of the positive pressure wind conveying device 13 is to use the positive pressure airflow as a driving force to convey the mixed explosive to the charging robot 2 through the connecting device 3. It can be started when receiving the charging start instruction, and through a stable wind conveying mechanism, it ensures the quantitative delivery and efficient loading of explosives.

[0189] Exemplarily, the mixed explosive is transported to the charging robot 2 through the positive pressure wind system of the mixed explosive vehicle 1, and the explosive is quantitatively delivered into the blasthole X through the front end charging tube of the charging robot 2.

[0190] In some embodiments, the explosives mixed vehicle 1 further comprises:

[0191] The solenoid valve is used to respond to the charge start instruction, start the solenoid valve, and control the mixed explosive vehicle 1 to enter the explosive delivery state;

[0192] The flow meter is arranged between the vertical spiral rotating mechanism 12 and one end of the connecting device 3, and is used to respond to the instruction information sent by the on-board terminal module of the explosive vehicle. When the solenoid valve is started, it measures the mixed explosive based on the target quantity and outputs the target quantity of mixed explosive to the connecting device 3.

[0193] It is understandable that the on-board terminal of the explosive vehicle also has the function of quantitative control of the charge design of the blasthole. Specifically, the mixed explosive vehicle 1 is provided with a flow meter and a solenoid valve, and the solenoid valve is used to open or close the distribution of explosives, and the on-board terminal of the explosive vehicle obtains and controls the amount of explosives distributed through the flow meter, and distributes and delivers it to the charging robot 2 as needed.

[0194] For example, the mixed explosive vehicle 1 realizes precise charging through the cooperation of the electromagnetic valve and the flow meter. After receiving the charging start command, the electromagnetic valve controls the mixed explosive vehicle 1 to enter the conveying state, and the flow meter is responsible for accurately measuring the flow of the mixed explosive during the conveying process. Through this combination, the mixed explosive can be conveyed to the connecting device 3 according to the preset target amount, thereby ensuring that the amount of explosive meets the blasting design requirements, and completing the efficient transmission and precise control of the explosive through the vertical spiral rotating mechanism 12.

[0195] After the charging robot walks to the mouth of blasthole X according to the planned optimal hole-finding path and stops near it and completes the center positioning of the mouth of blasthole X, the charging tube at the front end of the charging robot is inserted into the mouth of blasthole X, and the mouth coordinates of blasthole X are transmitted to the on-board terminal of the explosive vehicle, and the information that the hole-finding and positioning are completed and the charging operation can be carried out is conveyed; after the explosive vehicle receives the mouth coordinate information of blasthole X, it compares it with the position information of each blasthole in the blasting design database, completes the matching of blasthole X to be loaded, obtains the specific charging design explosive amount of blasthole X, and then starts the charging action through the charging metering control function of the on-board terminal of the explosive vehicle, and the quantitative mixed explosive is transported to the charging robot by the positive pressure air through the explosive delivery pipeline through the metering device of the explosive vehicle, and the charging tube at the front end of the charging robot loads the mixed explosive into the X blasthole in a timely and complete manner to complete the charging process, and after confirming the completion of loading through the perception and recognition system, it notifies the explosive vehicle that the blasthole has been loaded.

[0196] In some embodiments, Figure 1 As shown, the charging robot 2 further includes a rotating device 21 for adjusting the posture of the charging robot 2 .

[0197] Here, “pose” refers to the position and attitude of an object in three-dimensional space. Specifically, it consists of the following two parts: (1) Position: The specific position of the charging robot in space, usually represented by three-dimensional coordinates (x, y, z). (2) Posture: The direction or angle of the charging robot, including its rotation state in space, usually described by Euler angles (pitch, yaw, roll) or quaternions.

[0198] Here, the charging robot 2 adjusts its own posture through the rotating device 21 to ensure that it can aim at the target (such as the target blast hole) during operation to achieve efficient and accurate charging operation. By adjusting the posture, the charging robot 2 can optimize the grasping and charging actions of the robot arm, avoid unnecessary movement or errors, and improve work efficiency and operation accuracy.

[0199] In some embodiments, Figure 1 As shown, the charging robot 2 also includes:

[0200] The rigid charge conduit 22 is connected to the other end of the connecting device 3 and is used to receive a target amount of mixed explosive delivered by the connecting device 3 .

[0201] Here, the rigid charge conduit 22 is connected to the other end of the connection device 3, and is mainly used to receive the explosives delivered by the connection device 3. These explosives are quantitatively controlled and ready to be delivered into the blasthole in a target amount of mixed explosives. The rigid conduit ensures that the explosives can be stably and safely delivered to the charge port, thereby reducing the risk of leakage or loss of control of the explosives during transportation.

[0202] In some embodiments, Figure 1 As shown, the charging robot 2 includes: a blasthole positioning structure 23, which is connected to the charging port and is used to locate the blasthole in response to a hole-finding start instruction.

[0203] Here, the blasthole positioning structure 23 is connected to the charging port, responds to the hole finding start instruction, and is used to locate the position of the blasthole. Before the charging operation, the positioning structure ensures that the charging robot 2 accurately identifies and aligns the position of the blasthole, so that the charging operation can be carried out accurately.

[0204] The charging robot 2 is also used to control the insertion of the rigid charging guide tube 22 into the blast hole after positioning is completed; illustratively, the position and direction of the blast hole often have certain changes, and the rotating device 21 can ensure that the explosives can be accurately loaded into the correct blast hole by adjusting the angle of the guide tube, thereby improving the accuracy and efficiency of charging.

[0205] In some embodiments, the medicine loading robot 2 further includes:

[0206] The negative pressure pneumatic conveying device is used to guide the target amount of mixed explosive to be transported from the other end of the connecting device 3 to the charging robot 2.

[0207] Here, the role of the negative pressure wind conveying device is to attract and convey the target amount of mixed explosives from the other end of the connecting device 3 to the inside of the charging robot 2 through negative pressure (i.e., airflow below atmospheric pressure). Through the negative pressure wind conveying device, it can be ensured that the explosives are delivered to the charging robot 2 in a quantitative and accurate manner to support the accuracy of the charging operation.

[0208] For example, the explosive delivery power can be realized in a variety of ways: for example, the air pressure mechanism installed on the top of the mixed explosive vehicle 1 can adopt a positive pressure air pressure delivery method; at the same time, the end of the charging robot 2 can be equipped with an exhaust mechanism to realize the explosive delivery by a negative pressure air suction delivery method. In addition, the positive pressure and negative pressure air combined delivery methods can also be used to further optimize the efficiency and stability of explosive delivery.

[0209] In some embodiments, Figure 1 As shown, the connecting device 3 comprises:

[0210] A multi-angle rotating structure 31, which is disposed on the top of the explosives mixed vehicle 1 and connected to the vertical spiral rotating mechanism 12, and is used to receive a target amount of explosives;

[0211] A rigid explosive delivery pipe 32, one end of which is connected to the multi-angle rotating structure 31;

[0212] A flexible explosive delivery pipe 33 , one end of which is connected to the other end of the rigid explosive delivery pipe 32 , and the other end of which is connected to the charging robot 2 .

[0213] Here, the structure is arranged on the top of the mixed explosive vehicle 1 and is connected to the vertical spiral rotating mechanism 12. Its function is to receive the explosives and be able to rotate so as to accurately deliver the target amount of explosives to the next link. The multi-angle rotating structure 31 can be a 360° rotating device, allowing the mixed explosive vehicle 1 to flexibly adjust its direction in all directions, or a 180° rotating device.

[0214] For example, Figure 1 As shown, the connecting device 3 includes a mixed explosive conveying device between the mixed explosive vehicle 1 and the charging robot 2, including a 360° autonomous rotating structure on the top of the mixed explosive vehicle 1, a rigid tubular explosive conveying structure, and a flexible tubular explosive conveying structure.

[0215] Here, one end of the rigid pipe is connected to the multi-angle rotating structure 31 for carrying and transporting explosives. The rigid pipe has good fixity and stability, and can provide necessary support during the transportation of explosives to prevent deformation during the transportation process.

[0216] Here, one end of the flexible pipe is connected to the rigid explosive delivery pipe 32, and the other end is connected to the charging robot 2. The flexible pipe has good bendability and can adapt to more complex environments and workspace changes, so that the explosives can be smoothly delivered to the charging robot 2.

[0217] In the embodiment of the present application, the explosive delivery pipeline between the explosive mixing vehicle 1 and the charging robot 2 adopts a combination of two different structures: a rigid pipeline and a flexible pipeline. This combined structure can provide stable delivery while also being flexible in different scenarios. The rigid pipeline is used to stably transport explosives, while the flexible pipeline can be bent and adjusted according to the needs of the working space.

[0218] In some embodiments, a bendable metal pipe may be used instead of a flexible pipe. Such a metal pipe has high strength and durability, and can be bent to a certain extent to adapt to complex space requirements in different working environments.

[0219] In some embodiments, Figure 1 As shown, the connecting device 3 also includes:

[0220] A first delivery pipe interface 34 is provided between the rigid explosive delivery pipe 32 and the flexible explosive delivery pipe 33;

[0221] The second delivery pipe interface 35 is provided between the flexible explosive delivery pipe 33 and the charging robot 2 .

[0222] It is understandable that if Figure 1As shown, the connecting device 3 also includes: a first delivery pipe interface 34, which is arranged between the rigid explosive delivery pipe 32 and the flexible explosive delivery pipe 33; the first delivery pipe interface 34 is a rigid-flexible delivery pipe interface, which is located at the end of the rigid explosive delivery pipe 32 and is used to connect the rigid delivery pipe and the flexible delivery pipe.

[0223] The function of the interface is to connect the rigid explosive delivery pipe 32 and the flexible explosive delivery pipe 33 to ensure smooth flow of explosives between these two types of pipes.

[0224] Here, if Figure 1 As shown, the second delivery pipe interface 35 is provided between the flexible explosive delivery pipe 33 and the charging robot 2, i.e., the connection structure between the mixed explosive delivery pipe and the charging robot 2, i.e., a flexible and detachable interface, so as to flexibly cope with different working environments. It not only provides a tight connection between the pipes, but also allows easy disassembly and replacement when necessary, thereby ensuring that the maintenance and cleaning of the equipment are easier.

[0225] The embodiment of the present application also provides an intelligent charging method based on the above intelligent charging system. The method is described in detail below. Figure 4 As shown, the method comprises the following steps:

[0226] Step 410: The control module determines the driving route information of the mixed explosive vehicle in the blasting area and the target parking point corresponding to the current target blasting area.

[0227] Step 420: Sending the driving route information, target parking point and travel instructions to the mixed explosives truck.

[0228] Step 430: After determining that the mixed explosive vehicle has arrived at the target parking point, the mixed explosive vehicle is controlled to stop and a hole-finding start instruction is sent.

[0229] Step 440: After the hole search is completed for each blast hole corresponding to the target blast area, a charge start instruction is sent, and the mixed explosive vehicle is controlled to transport the explosives until all the blast holes in the target blast area are fully charged.

[0230] In this way, the charging method provided in the embodiment of the present application is a new intelligent charging mode in which a mixed-loading explosive vehicle and a charging robot work together efficiently. This method does not require the mixed-loading explosive vehicle to frequently make round trips like the existing mixed-loading explosive vehicle, and does not require the mixed-loading explosive vehicle to load a mechanical long arm for a long time to find holes and position. It solves the problems of the original similar technology of the mixed-loading explosive vehicle mechanical long arm finding holes over long distances, inaccurate positioning of the center of the blast hole, and low efficiency of the charging operation. The charging robot's autonomous hole finding and positioning replaces the manually assisted hole finding and positioning work, reduces manual labor intensity, improves charging efficiency, improves the mechanization and automation level of the charging process, and promotes the construction of intelligent open-pit mines.

[0231] In addition, the charging method of the embodiment of the present application uses digital and information technology to systematically guide the mixed explosive vehicle and the charging robot to complete the charging task efficiently and accurately in a manner of division of labor and mutual cooperation, thereby improving the intelligence level of the blasting process charging process in the open-pit mining process and realizing a new intelligent and efficient collaborative operation mode of the open-pit charging process. It is applicable to all types of open-pit mines mined by blasting and breaking rocks, and is of great significance to achieving the goal of safe, efficient, green and intelligent mining of open-pit mines, and has a wide range of promotion and application value.

[0232] In some embodiments, the method further comprises:

[0233] After confirming that the charging of each blast hole covered by the last parking point is completed, a travel instruction is generated and sent to the mixed explosive vehicle.

[0234] It is understandable that when the charging robot performs the charging task of each blasthole, it will monitor the charging status through sensors (such as pressure sensors, flow meters) or built-in control logic. After the charging is completed, the charging robot will feedback the status of the current blasthole (such as "charged" or "charging abnormality") to the control module. If all covered blastholes are marked as "completed", the charging of each blasthole covered by the previous parking point is completed.

[0235] After it is determined that the charge of each blast hole covered by the previous parking point is completed, a travel instruction is generated and sent to the mixed explosive vehicle. The travel instruction is used to instruct the mixed explosive vehicle to drive in the blasting area based on the driving route information and stop at the target parking point corresponding to the current target blasting area.

[0236] In some embodiments, the method further comprises:

[0237] Obtaining the location information of multiple candidate parking points in the current target blasting area, the location information of multiple blasting holes in the current target blasting area, and the activity radius information of the charging robot;

[0238] For each of the plurality of candidate stopping points, determining a Euclidean distance between each candidate stopping point and the plurality of blast holes;

[0239] Based on the Euclidean distance of each parking point and the activity radius information of the charging robot, the identification information of each blast hole covered by each candidate parking point is determined;

[0240] Based on the identification information of each blasthole covered by each candidate parking point, the position information of the target parking point of the mixed explosive vehicle is determined.

[0241] The control scheme of the intelligent charging system of the embodiment of the present application is described in detail below in conjunction with an application example.

[0242] like Figure 5 As shown, Figure 5The flowchart is for the control of the explosives mixing vehicle (hereinafter referred to as the explosives vehicle) and the charging robot system, which includes an information acquisition and fusion module 501, an explosives vehicle walking path planning module 502, a charging robot hole finding path planning module 503, an explosives vehicle and charging robot interaction module 504, a blasthole matching module 505 and an explosives mixing and quantitative distribution module 506.

[0243] like Figure 5 As shown, the information acquisition and fusion module 501 is used to integrate the basic information of the blasting area to provide support for subsequent path planning and task allocation. Specifically, the blasting area size, blast hole coordinates and blasting design scheme (such as explosive type, charge, blast hole depth, etc.) are obtained, as well as the size of the explosive vehicle, charging robot and explosive delivery pipe. The information acquisition and fusion module 501 can be a terminal module on the explosive vehicle.

[0244] The explosive vehicle travel path planning module 502 is used to generate the explosive vehicle travel route information and the stop position information of each parking point. Specifically, the explosive vehicle travel route information and the stop position information of each parking point are obtained and generated based on the blasting area size range and the blast hole mouth coordinates. The explosive vehicle travel path planning module 502 can be a control module.

[0245] The charging robot hole-finding path planning module 503 is used to plan the optimal hole-finding path of the charging robot starting from the parking point, ensuring that all blast holes within the parking point range are covered by the shortest path. Specifically, according to the parking point and stop position information of the explosive vehicle, as well as the blasting area size range and blast hole coordinates, the parking point information of the explosive vehicle is determined to plan the hole-finding path of the charging robot. The charging robot hole-finding path planning module 503 is a module in the charging robot.

[0246] The explosive vehicle and charging robot interaction module 504 is used to realize information transmission and command interaction between the explosive vehicle and the charging robot, including: hole finding start command, charging start command hole finding, hole finding and charging start and end commands.

[0247] The blasthole matching module 505 matches the actual blasthole position information with the blasthole information in the blasting design to ensure the charging accuracy. It needs to obtain the blasting design and the blasthole position information that has been found and located. The blasthole matching module 505 can be a control module.

[0248] The explosive mixing and quantitative distribution module 506 is used to accurately mix and quantitatively distribute explosives according to the design requirements of each blast hole in the blasting design plan, and control the working status of valves, meters and conveying devices. The explosive mixing and quantitative distribution module 506 can be a terminal module on the explosive vehicle.

[0249] Thus, this application example proposes (1) a new method for loading mixed explosives in open-pit mines in which an explosives truck and a charging robot work together in an efficient and continuous manner. During the blasting and charging process in an open-pit mine, the explosives truck and the charging robot work together, each with their own division of labor and joint cooperation, to complete the charging work in the blasting area efficiently and accurately. The two devices and the devices have mutual interaction functions and can transmit and feedback operation information in real time. The explosives truck is mainly responsible for the precise transportation and quantitative measurement of mixed explosives. Its on-board terminal has the function of optimizing the walking route to achieve the optimal path driving and docking; the charging robot is mainly responsible for blast hole finding, hole mouth positioning, and blast hole charging, replacing the original manual charging or the original charging truck mechanical long arm blast hole finding and charging work. It has the functions of automatic hole finding, precise positioning and efficient charging, and can achieve the optimal planning of hole finding and charging path. It is flexible, efficient and accurate, and promotes the automation and intelligence of charging operations.

[0250] (2) The relevant devices such as the explosive vehicle terminal module, the charging robot module, and the explosive transport connection structure between the explosive vehicle and the charging robot were proposed, the functions of each module were explained, and the structural schematic diagram of each device was drawn. Figure 1 as well as Figure 5 shown.

[0251] The on-board terminal module of the explosives truck contains human-computer interaction functions, and has functions such as positioning and signal reception and transmission, path planning, and quantitative control of explosives; the charging robot module contains interactive functions, and has functions such as positioning and signal reception and transmission, automatic hole finding, and precise charging; the explosives conveying structure between the explosives truck and the charging robot includes a positive pressure wind power supply device on the top of the explosives truck, a 360° rotation device for the explosives conveying pipe, a rigid explosives conveying pipe, a flexible explosives conveying pipe, and related interfaces.

[0252] (3) Two optimization planning systems are proposed: one is the optimal path planning for explosives transportation by explosives trucks, including the travel route, parking position and stop posture planning; the other is the optimal path planning for hole-finding and charging by charging robots, including hole-finding route, hole-mouth positioning and charging posture planning. Through the calculation of relevant optimization algorithms, the optimal path planning of explosives trucks and charging robots is realized, achieving the goal of efficient collaborative operation.

[0253] According to the size range of the blasting area and the position of the blast hole, the explosive vehicle realizes the optimal walking route planning for explosive transportation, achieves optimal walking, fixed-point parking, and precise posture stopping, reduces the running distance and number of return times of the explosive vehicle within the blasting area, and improves the operation efficiency; according to the size range of the blasting area, the position of the blast hole, the parking point and the stopping posture information of the explosive vehicle, the charging robot realizes the optimal hole-finding route planning, precise positioning of the blast hole, and efficient and fast charging operation. Under the premise of two optimal path planning, the explosive vehicle and the charging robot work together to achieve intelligent and efficient charging operation results.

[0254] In this way, the problems of difficult hole finding, inaccurate positioning, poor charging effect and so on in the existing mixed explosive charging methods with similar technologies are solved, the hole finding efficiency, positioning accuracy and precise charging effect are improved, and the intelligent construction of the blasting technology charging process in open-pit mining is promoted.

[0255] Below, the method of the embodiment of the present application is described in detail in conjunction with another application example.

[0256] like Figure 6 As shown, in order to solve the above technical problems, this application example provides an open-pit mine mixed explosive intelligent collaborative efficient charging method, which includes the following steps:

[0257] Step 601: accurately transmit the information such as the blasting area range, the coordinates of the blasting hole mouth and the blasting hole charge design to the vehicle terminal of the explosive vehicle; accurately transmit the information such as the blasting area range, the coordinates of the blasting hole mouth and the driving and parking position of the explosive vehicle to the charging robot.

[0258] Step 602: The explosive vehicle optimizes the travel route, parking position and rest position according to the blasting area range, hole position, etc.

[0259] Here, on the premise of ensuring that the charging robot working in cooperation with the explosives truck can fully cover the hole-finding and charging work of all blast holes in the blasting area, the walking route is the shortest and the number of stops or return times is the least, thus realizing the optimal path planning for the walking and parking of the explosives truck.

[0260] Step 603: The explosive vehicle drives to the parking point 1-S according to the planned walking route and adjusts the stopping position, sends a command to the charging robot to start hole finding, and waits on the spot for the charging robot to complete the hole finding and positioning and then send a signal feedback that it can charge.

[0261] Here, after the explosive vehicle completes the optimal walking path planning within the blasting area according to the above step 602, it first drives to the first parking point 1-S of the optimized design and stops and adjusts the stopping position to ensure that the charging robot working with it can complete the hole finding, positioning and charging of all blast holes around point 1-S; then it sends a command to the charging robot to start hole finding and positioning, and waits on the spot for the charging robot to complete the hole finding and positioning and then send a signal feedback that it can charge.

[0262] Step 604: The charging robot plans the hole-finding path according to the blasting area range, the hole-mouth coordinates and the current parking position of the explosive vehicle, quickly completes the hole-finding and positioning of the blast hole 1-1, and transmits the hole-mouth coordinates of the blast hole 1-1 to the explosive vehicle and notifies the explosive vehicle that the charging operation can begin.

[0263] Here, the charging robot plans the optimal hole-finding path according to the blasting area range, the coordinates of the blast hole mouth, and the current location information of the explosive vehicle, and performs rapid hole-finding and precise positioning. That is, firstly, the optimal hole-finding path is planned according to the position and position information of the first parking point 1-S of the explosive vehicle, and then the first blast hole 1-1 is found based on the planned hole-finding route with point 1-S as the base point, and the center of the blast hole mouth is precisely positioned, and the front-end charging tube of the charging robot is inserted into the mouth of blast hole 1-1, and the mouth coordinate position of blast hole 1-1 is transmitted to the explosive vehicle (for the explosive vehicle to match subsequent blast holes and determine the corresponding blast hole charge design amount), and feedback is given that the explosive vehicle has completed the hole-finding and positioning of blast hole 1-1 and can start charging.

[0264] Step 605: After the explosive vehicle receives the position of blasthole 1-1 and the information on the chargeable charges, it obtains the charge design of the corresponding blasthole through blasthole matching, and delivers the explosive to the charging robot according to the design. The charging robot completes the charging work and notifies that the charging is completed, and then enters the hole-finding work with a blasthole.

[0265] After the explosive vehicle receives the position of the blasthole 1-1 and the information on the chargeable explosives transmitted by the charging robot, it first matches the blasthole according to the blasting design and obtains the charge design amount of explosives for the corresponding blasthole 1-1. It then starts the explosive distribution and delivery command through the on-board terminal module, distributes the required amount of explosives for the blasthole 1-1 to the charging robot through the explosive delivery pipeline, and completes the precise and efficient charging of the first blasthole 1-1 at the first parking point 1-S through the charging tube at the front end of the charging robot.

[0266] During the process of loading blasthole 1-1, the charging robot determines through the perception and recognition function that all the explosives in the explosive delivery tube have been loaded into the blasthole and the loading is completed, and then feedback is given to the explosive vehicle that the loading of hole 1-1 has been completed; at the same time, it automatically enters the hole finding and positioning of the next blasthole according to the hole finding route - that is, it autonomously performs the hole finding, positioning and charging work of the second blasthole 1-2 near the 1-S parking point. The specific steps are similar to the hole finding, positioning and charging work of the above-mentioned blasthole 1-1.

[0267] Step 606: The charging robot repeats steps 604-605 until it completes the hole finding and charging work of all blast holes at the first parking point 1-S of the explosive vehicle, and sends a signal to the explosive vehicle to notify it that the charging task at parking point 1-S has been completed and it can start and drive to the next parking point 2-S.

[0268] Referring to the above steps 604-605, the explosive vehicle and the charging robot work together to complete the charging work of the blast hole 1-2 at the parking point 1-s, and then, by analogy, complete the hole finding, positioning, and charging work of all blast holes near the first parking point 1-S.

[0269] After completing the charging work of the last blast hole near the first parking point 1-S, the charging robot sends a signal to the explosive vehicle that the charging work of the blast holes in the parking point 1-S area is completed, informing the explosive vehicle that it can start and drive to the next parking point 2-S.

[0270] Step 607: The explosive vehicle drives to the second parking point 2-S according to the planned route and adjusts the stopping position. Then the explosive vehicle and the charging robot work together to repeat the above steps 602-603-604-605 to complete the charging work of all blast holes at the second parking point 2-S.

[0271] The explosive vehicle follows the planned route and parking point design, autonomously walks to the second stop point 2-S in the blasting area and adjusts the stop position, then repeats the above steps 602-603-604-605 to complete the charging of all blast holes around the second stop point 2-S. Similarly, the explosive vehicle and the charging robot repeat the above steps 602-603-604-605 in an orderly manner, working together to complete the charging work of the entire blasting area.

[0272] Step 608: By analogy, the above steps 603-604-605-606-607 are repeated in order, and the explosive vehicle and the charging robot work together to complete the charging work in the entire blasting area; finally, the explosive vehicle and the robot drive out of the blasting area together.

[0273] After the last blast hole within the blasting area is loaded with explosives, the loading robot will feedback to the explosives truck that the loading work in the blasting area has been completed. After receiving the information, the explosives truck will work with the loading robot to drive out of the blasting area.

[0274] In addition, this application example provides the following alternatives:

[0275] (1) Structural device replacement solutions: First, the 360° rotatable device of the explosives conveying structure on the top of the explosives vehicle can be replaced by a 180° rotatable device; second, the explosives conveying pipeline between the explosives vehicle and the charging robot, which uses a combination of two different structures, rigid pipeline and flexible pipeline, can be replaced by a bendable metal pipe pipeline; third, the explosives conveying between the explosives vehicle and the charging robot can be transported by other devices or methods; fourth, the explosives conveying power uses a compressed air mechanism installed on the top of the explosives vehicle, using a positive pressure air pressure-type conveying method, and an exhaust mechanism can be installed on the charging robot end, using a negative pressure air extraction-type conveying method, or a positive pressure air and negative pressure air combined conveying method.

[0276] (2) Alternative control system solutions: First, the system optimization solution in which the explosive vehicle is responsible for planning the explosive transportation route and the charging robot is responsible for planning the hole-finding and charging route is replaced by a solution in which the explosive vehicle is responsible for planning both routes. The explosive vehicle not only directs itself to move and stop according to the planned route, but also plans the hole-finding route for the charging robot and directs the charging robot to find holes. Second, an alternative solution in which neither the explosive vehicle nor the charging robot has the function of planning routes. The route planning is completed by the edge of the open-pit mine, i.e., the mine-side system. The mine-side system directly directs the explosive vehicle and the charging robot to carry out the operations of moving, transporting explosives, and finding holes and charging.

[0277] (3) Alternative solutions for the collaborative operation mode of explosives trucks and charging robots: Currently, one explosives truck and one charging robot work together. Alternatively, one explosives truck can be equipped with two or more charging robots to work together.

[0278] Thus, this application is approved by Figure 1 Intelligent charging system and Figure 6 The smart charging scheme shown can achieve the following advantages:

[0279] (1) The charging method of this application example does not require the explosive vehicle to frequently move back and forth, nor does it require the explosive vehicle's mechanical long arm to search for holes and position over long distances.

[0280] (2) The charging method of this application example adds a charging robot that works in coordination with the explosive vehicle, replacing the existing mixed explosive vehicle's mechanical long arm for long-distance hole finding and charging operations.

[0281] (3) In the charging method of this application example, the explosive vehicle has a path planning function, which can realize optimal walking route planning, fixed-position parking and staying posture control, etc.; the charging robot has a path planning function, which can realize optimal hole-finding route planning, autonomous hole-finding, precise positioning and efficient charging, etc.

[0282] (4) In the charging method of this application example, the explosive vehicle and the charging robot have interactive functions such as signal transmission and reception. A mixed explosive delivery pipeline is designed between the two, and coordinated operations are achieved through supporting devices and systems to jointly complete the charging task.

[0283] In an exemplary embodiment, the present application also provides a computer storage medium, which can be a computer-readable storage medium, on which a computer program is stored, and the computer program can be executed by a processor to complete the steps of the method of the present application. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0284] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0285] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0286] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An intelligent charging system, characterized in that: include: A mixed explosive vehicle is used to respond to a travel instruction, travel within the blasting area based on the travel route information, and stop at a target parking point corresponding to the current target blasting area; and after parking, in response to a charge completion instruction, continuing to drive to the next target parking point; The mixed explosive vehicle includes a control module for determining the driving route information of the mixed explosive vehicle in the blasting area and the target parking point corresponding to the current target blasting area; Sending the driving route information, the target parking point and the travel instruction to the mixed explosives vehicle; After determining that the mixed explosive vehicle has arrived at the target parking point, the mixed explosive vehicle is controlled to stop and a hole-finding start instruction is sent; after the hole-finding of each blast hole corresponding to the target blasting area is completed, a charge-loading start instruction is sent and the mixed explosive vehicle is controlled to transport explosives until all blast holes in the target blasting area are fully loaded; The charging robot is used to determine the position information and hole-finding route of each blast hole covered by the target parking point after the mixed explosive vehicle drives to the target parking point; based on the hole-finding start instruction, the blast hole is positioned in sequence for each blast hole covered by the target parking point based on the hole-finding route; After each blast hole is positioned, in response to a charge start instruction, the explosives delivered by the mixed explosive vehicle are received and the explosives are loaded into the blast hole until the charge of each blast hole is completed; A connecting device is arranged between the mixed explosive vehicle and the charging robot, and is used for receiving the explosives transported by the mixed explosive vehicle and transporting the explosives to the charging robot.

2. The system according to claim 1, characterized in that The explosive vehicle transport vehicle includes an explosive vehicle onboard terminal module, which is used to obtain the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blast holes in the current target blasting area and the activity radius information of the charging robot; and obtain its own position information; The control module is also used to determine that the charging of each blasthole covered by the last target parking point is completed, and then generate and send the travel instruction to the mixed explosive vehicle; The control module is also used to receive the position information of multiple candidate parking points in the current target blasting area, the position information of multiple blasting holes in the current target blasting area, and the activity radius information of the charging robot; For each of the plurality of candidate stopping points, determining a Euclidean distance between each of the candidate stopping points and the plurality of blast holes; Determining identification information of each blast hole covered by each candidate parking point based on the Euclidean distance of each parking point and the activity radius information of the charging robot; Determine the location information of the target parking point of the mixed explosive vehicle based on the identification information of each blasthole covered by each candidate parking point; The explosive vehicle-mounted terminal module is also used to optimize the target parking point and the parking position of the mixed explosive vehicle based on the current target blasting area and the position information of the target blast hole to be loaded with explosives.

3. The system according to claim 1, characterized in that The explosives truck transport vehicle includes an explosives truck onboard terminal module, which is used to obtain the entry point position information of the mixed explosives truck entering the blasting area and the exit point position information of the mixed explosives truck leaving the blasting area; The control module is also used to receive the entry point position information of the mixed explosive vehicle entering the blasting area and the exit point position information of the mixed explosive vehicle leaving the blasting area; Constructing a first node set based on the location information of the target parking point, the location information of the entry point, and the location information of the exit point; And based on the first node set, calculating the Euclidean distance between each node to generate a first distance matrix; Determine the driving route information of the mixed explosive vehicle based on the first node set, the first distance matrix and the traveling salesman algorithm; The explosive vehicle-mounted terminal module is also used to optimize the driving route information based on the current target blasting area and the position information of the target blast hole to be loaded with explosives.

4. The system according to claim 1, characterized in that The charging robot is further used to construct a second node set based on the position information of the target parking point and the position information of each blast hole corresponding to the target parking point; Calculating the Euclidean distance between the target parking point and each of the blast holes to generate a second distance matrix; Based on the second node set, the second distance matrix and the traveling salesman algorithm, a hole-finding route for the installation robot is generated.

5. The system according to claim 2, characterized in that The mixed explosive vehicle also includes: A vertical spiral rotating mechanism is connected to the material box and one end of the connecting device respectively, and is used to receive the explosives in the material box and mix the explosives, and to transport the mixed explosives to the connecting device; The charging robot is also used to send the position information of each blast hole to the control module after the blast hole search is completed; The control module is also used to compare the position information of the blastholes with the position information of each blasthole in the blasting design database based on the position information of the blastholes, determine and send the target quantity of explosives required for the blastholes to the mixed explosives vehicle; The explosive vehicle-mounted terminal module is also used to control the delivery of the target amount of mixed explosive to the connecting device.

6. The system according to claim 5, characterized in that The mixed explosive vehicle also includes: A positive pressure pneumatic conveying device connected to the connecting device, for responding to the charge start instruction, switching the working state to the running state, so as to guide the target amount of mixed explosive to be conveyed to the connecting device; A solenoid valve, used to respond to the charge start instruction, start the solenoid valve, and control the mixed explosive vehicle to enter an explosive delivery state; The flow meter is arranged between the vertical spiral rotating mechanism and one end of the connecting device, and is used to respond to the instruction information sent by the on-board terminal module of the explosive vehicle. When the solenoid valve is started, it measures the mixed explosive based on the target quantity and outputs the target quantity of mixed explosive to the connecting device.

7. The system according to claim 5, characterized in that The charging robot also includes: A rotating device, used to adjust the posture of the charging robot; a rigid charge conduit connected to the other end of the connecting device and used to receive a target amount of mixed explosive delivered by the connecting device; A blasthole positioning structure is connected to the rigid charge conduit and is used to position the blasthole in response to the hole finding start instruction; the charge robot is also used to control the rigid charge conduit to be inserted into the blasthole after determining that the positioning is completed; The negative pressure pneumatic conveying device is used to guide the target amount of mixed explosive to be transported from the other end of the connecting device to the charging robot.

8. The system according to claim 5, characterized in that The connecting device comprises: A multi-angle rotating structure, which is arranged on the top of the mixed explosive vehicle and connected to the vertical spiral rotating mechanism, and is used to receive the target amount of explosives; A rigid explosive delivery pipe, one end of which is connected to the multi-angle rotating structure; A flexible explosive delivery pipe, one end of which is connected to the other end of the rigid explosive delivery pipe, and the other end of which is connected to the charging robot; A first delivery pipe interface, disposed between the rigid explosive delivery pipe and the flexible explosive delivery pipe; The second delivery pipe interface is arranged between the flexible explosive delivery pipe and the charging robot.

9. An intelligent charging method of an intelligent charging system according to any one of claims 1 to 8, characterized in that: Methods include: The control module determines the driving route information of the mixed explosive vehicle in the blasting area and the target parking point corresponding to the current target blasting area; Sending the driving route information, the target parking point and the travel instruction to the mixed explosives vehicle; After determining that the mixed explosive vehicle has arrived at the target parking point, controlling the mixed explosive vehicle to stop and sending a hole-finding start instruction; After the hole search for each blast hole corresponding to the target blasting area is completed, a charge start instruction is sent, and the mixed explosive vehicle is controlled to transport explosives until all the blast holes in the target blasting area are fully charged.

10. The method according to claim 9, characterized in that The method further comprises: When it is determined that the charging of each blasthole covered by the last parking point is completed, the travel instruction is generated and sent to the mixed explosive vehicle.

11. The method according to claim 9, characterized in that The method further comprises: Acquire the position information of a plurality of candidate parking points in the current target blasting area, the position information of a plurality of blasting holes in the current target blasting area, and the activity radius information of the charging robot; For each of the plurality of candidate stopping points, determining a Euclidean distance between each of the candidate stopping points and the plurality of blast holes; Determining identification information of each blast hole covered by each candidate parking point based on the Euclidean distance of each parking point and the activity radius information of the charging robot; Based on the identification information of each blast hole covered by each of the candidate parking points, the position information of the target parking point of the mixed explosive vehicle is determined.

12. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 9 to 11 are implemented.

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