Intelligent charging system, intelligent charging method and storage medium

Abstract

The present application discloses an intelligent charging system, intelligent charging method, and storage medium. The system includes: a mixed explosives vehicle, a charging robot, and a connecting device. The mixed explosives vehicle is configured to respond to a travel instruction, travel within a blasting area based on driving route information, and stop at a target parking point corresponding to the current target blasting area. The mixed explosives vehicle includes a control module configured to control the mixed explosives vehicle to stop and send a hole-finding start instruction after determining that the mixed explosives vehicle has arrived at the target parking point. The charging robot is configured to, based on the hole-finding start instruction, sequentially locate each blast hole covered by the target parking point based on the hole-finding route. After each blast hole is located, the robot receives explosives delivered by the mixed explosives vehicle in response to the charging start instruction and loads the explosives into the blast hole until each blast hole is fully charged. The connecting device is disposed between the mixed explosives vehicle and the charging 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 drilling and blasting process.

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

[0004] For example, an on-site explosives truck can directly load explosives into the blasthole after hole tracing and positioning. This saves significant time and money during the charging phase of blasting operations. Based on the cantilever structure, on-site explosives trucks can be divided into two types: side-spinning and elevated spiral-arm trucks.

[0005] However, although the loading mode of the above-mentioned explosive vehicle is relatively much better than the previous manual loading, 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 a side-rotating mixed explosives vehicle, due to the short side-rotating arm, the vehicle needs to frequently reciprocate on the work plate where the holes have been drilled during the hole-finding and charging process, 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 manipulator mixed explosives vehicle, its manipulator arm is long, which can reduce the frequency and distance of the vehicle's operation on the working platform. However, precisely because the manipulator arm is long, the vehicle often has deviations in hole alignment and cannot accurately align the hole in one go during autonomous hole finding, especially in 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 manipulator arm is not in place, manual cooperation is occasionally required to complete the secondary hole alignment, that is, manually align the elephant trunk-like charging tube at the front end of the manipulator arm with the borehole to complete the charging operation. The operation mode of this explosive vehicle is not coordinated and the charging efficiency is not high. Moreover, because the high-rise manipulator arm is too long, the charging control accuracy of the mixed explosive vehicle is relatively low, and the charging effect is poor.

[0008] Therefore, both of the above-mentioned 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 loading vehicle is configured to respond to a travel instruction, travel within a blasting area based on the travel route information, and stop at a target parking point corresponding to the current target blasting area; and after stopping, respond to a charge completion instruction to continue traveling 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 within the blasting area and the target parking point corresponding to the current target blasting area; and 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 hole-finding is completed for each blast hole corresponding to the target blasting area, 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 configured to determine, after the mixed explosive vehicle has traveled to the target parking point, the position information and hole-finding route of each blasthole covered by the target parking point; based on the hole-finding start instruction, sequentially locate each blasthole among the blastholes covered by the target parking point based on the hole-finding route; and after each blasthole is located, respond to the charging start instruction, receive the explosives delivered by the mixed explosive vehicle, and load the explosives into the blasthole until the charging of each blasthole is completed;

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

[0017] In some embodiments, the explosives transport vehicle includes an explosives transport vehicle-mounted terminal module for obtaining position information of a plurality of candidate parking spots in the current target blasting area, position information of a plurality of blast holes in the current target blasting area, and activity radius information of the charging robot; and obtaining its own position information;

[0018] The control module is further configured to determine that the charging of each blasthole covered by the previous target parking point is completed, and then generate and send the travel instruction to the mixed explosives vehicle;

[0019] The control module is further configured to receive position information of a plurality of candidate parking points in the current target blasting area, position information of a plurality of blast holes in the current target blasting area, and activity radius information of the charging robot;

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

[0021] Determining identification information of each blasthole 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] Determining 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 location information of the target blast hole to be loaded.

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

[0025] The control module is further configured 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] Determining the driving route information of the mixed explosives truck 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.

[0030] In some embodiments, the charging robot is further configured to construct a second node set based on the position information of the target parking point and the position information of each blasthole 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 of the installation robot is generated.

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

[0034] a vertical spiral rotating mechanism, connected to the plurality of material boxes and one end of the connecting device respectively, for receiving explosives in the plurality of material boxes and mixing the explosives, and delivering the mixed explosives to the connecting device;

[0035] The charging robot is further configured to send the position information of each blasthole to the control module after the blasthole search is completed;

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

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

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

[0039] a positive pressure pneumatic conveying device connected to the connecting device, and configured to switch the working state to the running state in response to the charge start instruction, so as to guide the target amount of mixed explosive to be conveyed to the connecting device;

[0040] a solenoid valve, configured to activate the solenoid valve in response to the charge start instruction, and control the mixed explosive vehicle to enter an explosive delivery state;

[0041] A 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, measure the mixed explosives based on the target quantity when the solenoid valve is started, and output the target quantity of mixed explosives to the connecting device.

[0042] In some embodiments, the drug 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 configured to receive a target amount of mixed explosive delivered by the connecting device;

[0045] a blasthole positioning structure connected to the rigid charge conduit and configured to locate the blasthole in response to the hole-finding start instruction; the charge robot is further configured to control the insertion of the rigid charge conduit into the blasthole after determining that positioning is complete;

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

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

[0048] A multi-angle rotating structure, which is arranged on the top of the mixed explosives 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 is provided 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, comprising:

[0054] The control module determines the driving route information of the mixed explosives vehicle within 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, the mixed explosive vehicle is controlled to stop and a hole-finding start instruction is sent;

[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 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] receiving position information of a plurality of candidate parking points in the current target blasting area, position information of a plurality of blast holes in the current target blasting area, and activity radius information of the charging robot;

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

[0063] Determining identification information of each blasthole 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 blasthole covered by each candidate parking point, 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. 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 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 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 explosives truck is controlled to transport explosives until all blast holes in the target blasting area are loaded with explosives; the charging robot is used to determine the position information and the drilling route of each blast hole covered by the target parking point after the mixed explosives truck drives to the target parking point; based on the drilling start instruction, each blast hole in each blast hole covered by the target parking point is positioned in turn based on the drilling route; and after each blast hole is positioned, the explosives transported by the mixed explosives truck are received in response to the charging start instruction, and the explosives are loaded into the blast hole until the loading of each blast hole is completed; a connecting device is arranged between the mixed explosives truck and the charging robot, and is used to receive the explosives transported by the mixed explosives 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. The system can realize the automation and intelligent operation of the charging process in the process of open-pit mining blasting, improve the efficiency of the collaborative operation between the various processes and equipment in the charging process, and achieve continuous, efficient and collaborative intelligent operation. Specifically, the explosive vehicle itself no longer needs to control the overhead 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 of the explosive vehicle and the charging robot, and collaborate with 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 an embodiment of the present application;

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

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

[0073] Figure 6 A flow chart of an intelligent, collaborative, and efficient method for charging mixed explosives in open-pit mines is provided as another application example of this application.

[0074] Description of Reference Numerals

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

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

[0077] 3. Connecting device; 31. Multi-angle rotation 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 will be described in further detail below with reference to 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 pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0080] In the related art, the automatic charging technology of mixed explosive vehicles includes the charging scheme of an elevated spiral mechanical long-arm mixed explosive vehicle. This scheme refers to an elevated spiral mechanical long-arm mixed explosive vehicle (including a mechanical long arm and an elephant trunk structure) that directly performs hole finding, positioning, and charging. However, there are the following major problems in the implementation process:

[0081] 1. The built-in long mechanical arm (including the trunk structure) has difficulty in automatically finding holes;

[0082] Second, the blast hole location (blast hole center positioning) after the mechanical long arm of the mixed explosives truck 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 loading vehicle is prone to deviation or misalignment when inserted into the blasthole according to the aforementioned blasthole positioning for charging, which often leads to the problem of failure to complete the charging in one go or the explosives spilling around the blasthole;

[0084] 4. The elevated spiral mechanical long-arm charging vehicle has a long distance for transporting explosives and the space at the front end of the 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 during the open-pit mining blasting process, improve the collaborative operation efficiency between the various processes and equipment in the charging process, and achieve continuous, efficient, collaborative and intelligent operation effects.

[0086] The embodiment of the present application 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 precise 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 explosives truck 1 includes a control module 11, which is used to coordinate the explosives truck and the charging robot 2 to operate efficiently. The module is mainly responsible for the interaction, perception, decision-making and execution control operations between the explosives truck and the charging robot 2, and coordinates the two to complete the charging process accurately and efficiently.

[0089] Here, the explosives mixing vehicle 1 is a mining blasting charging device that integrates explosives transportation, mixing, and loading. Specifically, the explosives mixing vehicle 1 is configured to respond to travel instructions, travel within the blasting area based on driving route information, and stop at the target parking point corresponding to the current target blasting area; and after stopping, respond to the charging end instruction to continue driving to the next target parking point.

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

[0091] Here, the target parking point refers to the rational division of the blasting area into N charging areas. Each charging area has only one optimal parking position, which is the location of the target parking point. The mixed explosives loading vehicle 1 will follow the determined driving route to the target parking point and park there to complete the subsequent charging task. This target parking point allows the charging robot 2 to complete the hole-finding, positioning, and charging tasks for all blastholes in the area.

[0092] For example, when the current target blasting area is located in the charge area a, the optimal parking point of the charge area a is the target parking point corresponding to the current target blasting area.

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

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

[0095] Here, the charging robot 2 replaces the mechanical long arm of the explosives 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 each blast hole 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 hole 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, and is used 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 achieve 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 route, parking location, and rest position of the explosives mixed vehicle 1 based on the blasting area and the location of the blasthole. This is executed by the explosives vehicle control module 11.

[0101] Based on the control module 11, the following goals 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 explosives truck 1 stops at each parking position (target parking point), the charging robot 2 uses the explosives 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 implement path planning and parking position planning for the mixed explosives loading vehicle 1. Specifically, the control module 11 can reasonably divide the blasting area into N charging areas, each of which has only one optimal parking position. After determining the optimal parking position (i.e., the target parking point), this optimal parking position can satisfy the charging robot 2 to complete the hole-finding, positioning, and charging tasks for all blastholes 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 loading explosives 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 based on the information such as the blasting area range, the position of the blast hole mouth and the docking position of the mixed explosive vehicle 1, which is executed by the charging robot 2.

[0105] Based on this charging robot 2, the following goals can be achieved: according to 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 will lead to the inability to complete hole-finding, positioning and charging.

[0106] When the charging robot 2 determines the hole-finding route, it needs to consider the following factors: 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: 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, instruction delivery 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 the following steps: first, after the mixed explosive vehicle 11 drives, parks, and determines its position according to the predetermined planned driving route, it instructs the charging robot 2 to start hole-finding and positioning operations; second, after the charging robot 2 automatically finds holes and accurately locates them according to the planned hole-finding route, it transmits the hole mouth position information to the on-board terminal of the mixed explosive vehicle 1 and notifies it that it can start loading operations; third, after the mixed explosive vehicle 1 completes the hole matching according to the received hole position information and obtains the designed charging amount of explosives, it notifies the charging robot 2 to start loading and quantitatively deliver the mixed explosives, and promptly notifies the charging robot 2 that the delivery is completed after the delivery is completed; fourth, after the charging robot 2 completes the hole loading work, it feedbacks to the mixed explosive vehicle 1 that the hole loading work is completed; fifth, after the charging robot 2 completes the loading work of all the holes around the target parking position of the mixed explosive vehicle 1, it notifies the mixed explosive vehicle 1 that the holes in the parking area have been loaded and the mixed explosive vehicle 1 can move to the next parking position.

[0109] In this way, the embodiment of the present application provides an intelligent charging system in which a mixed explosives vehicle and a charging robot work together, which includes a mixed explosives transport vehicle, a charging robot and a connecting device. It can realize the automation and intelligent operation of the charging process during 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 explosives vehicle 1 itself no longer needs to control the elevated spiral mechanical long arm to directly perform hole-finding, hole-aligning 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-aligning and efficient charging; the control module 11 is a module used to coordinate the efficient operation of the mixed explosives vehicle 1 and the charging robot 2, and is mainly responsible for the interaction, perception, decision-making and execution control operations of the mixed explosives vehicle 1 and the charging robot 2, and coordinates the two to complete the charging process accurately and efficiently.

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

[0112] In some embodiments, the explosives transport vehicle includes an explosives vehicle-mounted 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 explosives 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 configured to obtain position information of multiple candidate parking points in the current target blasting area, position information of multiple blast holes in the current target blasting area, and 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 blasthole 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 location information of the candidate parking points and blast holes in the blasting area are both two-dimensional coordinate information.

[0119] For example, based on the design parameters of the explosives truck 1, the charging robot 2 covers a radius of R, covering 360 degrees, with the explosives truck 1 as the center. A blasting plan for the blasting area is obtained. For example, in the blasting plan, there are N blasthole points in the open-pit mine blasting area, with known two-dimensional coordinates, and all possible parking points for the explosives truck 1 in the current target blasting area are M, with known two-dimensional coordinates.

[0120] Here, the target parking point of the embodiment of the present application is the optimal parking point of the mixed explosives 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 process of determining the optimal arrangement of parking spots for the mixed explosives truck 1, i.e., the target parking spot, 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) Coverage range calculation, that is, for each of the multiple candidate parking points, determine 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, determine the identification information of each blast hole covered by each candidate parking point.

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

[0126] For example, for each candidate parking point, the system calculates the Euclidean distance between that point and all blastholes. Euclidean distance is the straight-line distance between two points. Based on this calculated Euclidean distance, if the distance between a particular parking point and a blasthole is less than or equal to the active radius R of the charging robot 2, the parking point is considered to cover that blasthole. A covering relationship set can be established: the set of blastholes that each parking point can cover. 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 blastholes covered by all parking points, the minimum number of parking points that covers all blastholes 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 onboard 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 onboard 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 blast hole to be loaded.

[0135] In some embodiments, the explosives transport vehicle includes an explosives vehicle-mounted terminal module for obtaining entry point position information of the mixed explosives vehicle entering the blasting area and exit point position information of the mixed explosives vehicle 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 explosives truck 1 based on the first node set, the first distance matrix and the traveling salesman algorithm;

[0140] The vehicle-mounted terminal module is further configured 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 of 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 location information of the mixed explosives truck 1 entering the blasting area and the exit point location 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 location information and the exit point location 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 Lli of the positions of the explosives mixed vehicle 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 Lle, 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 each 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, the driving route information of the mixed explosives truck 1 is determined.

[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) can be transformed into the classic Traveling Salesman Problem (TSP) in this solution. The goal of the TSP is to start from a given number of cities (nodes), visit each city exactly once, and finally return to the starting city, while minimizing the total distance.

[0155] In this embodiment of the present application, in this scenario, the goal of the mixed explosives truck 1 is to start from the entry point L and pass through all the parking points {t1, t2..., t n} Exactly once, finally reaching 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 (applicable when there are fewer nodes) and approximate algorithms.

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

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

[0159] For example, based on the calculated shortest path, the node access sequence that the 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 explosives truck 1. The figure shows the position where the mixed explosives truck 1 enters and leaves 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, each blasting zone is distributed with multiple points (gray dots, representing blasthole locations) and target parking points (black dots). After determining the shortest travel path for the explosives loading vehicle 1 based on the coverage radius of the charging robot 2, the driving route of the explosives loading vehicle 1 is represented by a dotted arrow in the figure. This route starts from the entry point (entry point) L and moves from one blasting zone to another, ensuring that all blastholes requiring charging are covered, and finally reaches the exit point (exit point) L.

[0162] In some embodiments, the charging robot 2 is further configured to construct a second node set based on the position information of the target parking point and the position information of each blasthole 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 blastholes 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 blastholes 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 point and blast hole) 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 a traveling salesman problem. Starting from a known parking point, the path that passes through all the covered blasthole points once and finally returns to the parking point is the shortest.

[0171] For example, for each target parking point t j , in the set of blastholes covered by it, the Traveling Salesman Problem (TSP) algorithm is used to find the shortest hole-finding path. 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 calculation of the shortest path optimization, 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 blastholes {p1, p2, p3}, the shortest path calculated by the TSP algorithm is that the charging robot 2 starts from parking point t1, passes through blastholes 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, showing the path planning and coverage of the charging robot during blasting operations. The figure shows the positions of the mixed explosive vehicle 1 entering (driving into) and leaving (driving out of) the blasting area, with its coordinates Lin and Lli, as well as multiple circular areas, each of which represents a blasting area.

[0176] Here, each blasting area is distributed with multiple points (gray dots, representing blasthole locations) 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 points, the hole-finding robot's driving route is represented by a solid arrow in the figure. This route starts from the parking point, passes through the blastholes in sequence, and finally returns to the parking point.

[0177] Thus, 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. The TSP algorithm efficiently calculates the shortest path, allowing the charging robot 2 to visit all blastholes in the optimal order, thereby improving operational efficiency and reducing unnecessary travel time and resource consumption.

[0178] In some embodiments, as 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 to receive the explosives in the material box 14 and mix the explosives, and then transport the mixed explosives to the connecting device 3.

[0180] Here, the vertical spiral rotating mechanism 12 is a mechanical part of 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 explosives loading vehicle 1. The explosives loading vehicle 1 also includes a plurality of material boxes 14 for storing explosives. The vertical spiral rotating mechanism 12 uses its rotational function to efficiently and stably transport the explosives to the connecting device 3, ensuring the continuity of the explosives loading operation.

[0182] Specifically, the device uses a rotational motion to transfer explosive material from one location in the material box 14 to another, while simultaneously mixing it using the spiral structure. The rotating spiral pushes the explosive material toward the connecting device 3, ensuring uniform distribution without clumping or uneven distribution. The spiral's rotation ensures continuous and smooth delivery of explosive material, preventing accumulation or blockage during the conveying process.

[0183] In some embodiments, the charging robot 2 is further configured 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 amount of explosives required for the blasthole to the mixed explosives vehicle 1 based on the position information of the blasthole;

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

[0186] In some embodiments, as 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, switch the working state to the running state, and guide the target amount of mixed explosives to be transported to the connecting device 3.

[0188] It is understood that the core principle of the positive pressure wind conveying device 13 is to use positive pressure airflow as a driving force to convey the mixed explosives to the charging robot 2 through the connecting device 3. It can be activated when receiving the charging start command, and through a stable wind conveying mechanism, it ensures 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 mixed explosive 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, and when the solenoid valve is started, measure the mixed explosive based on the target quantity and output the target quantity of mixed explosive to the connecting device 3.

[0193] It is understood that the onboard terminal of the explosives truck also functions to quantitatively control the design of the blasthole charge. Specifically, the mixed explosives truck 1 is equipped with a flow meter and a solenoid valve, which activates or deactivates the explosives dispensing process. The onboard terminal of the explosives truck uses the flow meter to obtain and control the amount of explosives to be dispensed, and then delivers the amount of explosives to the charging robot 2 as needed.

[0194] For example, the mixed explosives vehicle 1 achieves precise charging through the collaborative operation of a solenoid valve and a flow meter. Upon receiving a charge start command, the solenoid valve controls the vehicle 1 to enter a delivery mode, while the flow meter accurately measures the flow rate of the mixed explosives during delivery. This combination ensures that the mixed explosives are delivered to the connecting device 3 according to the preset target quantity, ensuring that the explosive quantity meets the blasting design requirements. The vertical spiral rotating mechanism 12 also achieves efficient and precise control of the explosives.

[0195] After the charging robot follows the planned optimal hole-finding path and stops near the mouth of blasthole X and locates the center of the mouth of blasthole X, the charging robot inserts the charging tube at the front of the robot into the mouth of blasthole X. The robot also transmits the coordinates of the mouth of blasthole X to the on-board terminal of the explosive vehicle, notifying the vehicle that hole-finding and positioning are complete and charging can begin. After receiving the coordinates of the mouth of blasthole X, the explosive vehicle compares them with the position information of each blasthole in the blasting design database to match the blasthole to be loaded. The specific designed explosive charge for blasthole X is then determined. The charging process is then initiated through the charging metering control function of the on-board terminal of the explosive vehicle. The measured amount of mixed explosives is delivered to the charging robot via the metering device of the explosive vehicle and the explosive delivery pipeline by positive pressure air. The charging tube at the front of the charging robot promptly and completely loads the mixed explosives into blasthole X, completing the charging process. After confirming the completion of loading, the sensing and recognition system notifies the explosive vehicle that the blasthole has been loaded.

[0196] In some embodiments, as 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 using Euler angles (pitch, yaw, roll) or quaternions.

[0198] Here, charging robot 2 adjusts its position via rotating device 21, ensuring it is aligned with the target (e.g., the target blasthole) during operation, enabling efficient and accurate charging. By adjusting its position, charging robot 2 optimizes the gripping and charging movements of its robotic arm, avoiding unnecessary movement or errors, and improving work efficiency and operational accuracy.

[0199] In some embodiments, as 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, a rigid charge conduit 22 is connected to the other end of the connection device 3 and is primarily used to receive the explosives delivered by the connection device 3. This explosives are a controlled, targeted mix of explosives ready for delivery into the blasthole. The rigid conduit ensures stable and safe delivery of the explosives to the charge port, reducing the risk of leakage or loss of control during transportation.

[0202] In some embodiments, as Figure 1 As shown, the charging robot 2 includes: a blasthole positioning structure 23 connected to the charging port, which 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 and responds to the hole-finding start command to locate the position of the blasthole. Before the charging operation, the positioning structure ensures that the charging robot 2 accurately identifies and aligns with 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 determining the positioning is completed; for example, 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 charging robot 2 further includes:

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

[0207] Here, the negative pressure pneumatic conveying device functions to draw the target amount of mixed explosives from the other end of the connecting device 3 and transport them into the charging robot 2 through negative pressure (i.e., airflow below atmospheric pressure). The negative pressure pneumatic conveying device ensures that the explosives are delivered to the charging robot 2 in a quantitative and accurate manner, thereby supporting the accuracy of the charging operation.

[0208] For example, explosives delivery can be achieved through a variety of methods: for example, a compressed air mechanism mounted on top of the explosives mixing vehicle 1 can be used for positive pressure air delivery. Meanwhile, an exhaust mechanism can be installed on the end of the charging robot 2 to achieve negative pressure air delivery. Furthermore, a combination of positive and negative pressure air delivery can be used to further optimize the efficiency and stability of explosives delivery.

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

[0210] A multi-angle rotating structure 31 is provided on the top of the explosives mixing vehicle 1 and is connected to the vertical spiral rotating mechanism 12 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] The flexible explosive delivery pipe 33 has one end connected to the other end of the rigid explosive delivery pipe 32 , and the other end of the flexible explosive delivery pipe 33 is connected to the charging robot 2 .

[0213] Here, this structure is installed on top of the explosives mixing vehicle 1 and is connected to the vertical spiral rotation mechanism 12. Its function is to receive explosives and rotate them to accurately deliver the target amount of explosives to the next stage. The multi-angle rotation structure 31 can be a 360° rotation device, allowing the explosives mixing vehicle 1 to flexibly adjust its direction in various directions, or a 180° rotation 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 to carry and transport the explosives. The rigid pipe has good fixity and stability, can provide the necessary support during the explosives transportation process, and prevent deformation during transportation.

[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. Due to its good bendability, the flexible pipe can adapt to more complex environments and changes in the workspace, allowing the explosives to be smoothly delivered to the charging robot 2.

[0217] In this embodiment, the explosives delivery pipeline between the explosives mixing vehicle 1 and the charging robot 2 utilizes a combination of rigid and flexible pipes. This combined structure provides stable delivery while also accommodating flexibility in various scenarios. The rigid pipe ensures stable explosive transport, while the flexible pipe can bend and adjust to the needs of the workspace.

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

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

[0220] The 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, 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, as Figure 1 As shown, the second delivery pipe interface 35 is provided between the flexible explosive delivery pipe 33 and the charging robot 2. This serves as a flexible, removable interface between the mixed explosive delivery pipe and the charging robot 2, allowing for flexible operation in various operating environments. It not only provides a tight connection between the pipes but also allows for easy removal and replacement when needed, simplifying equipment maintenance and cleaning.

[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 includes the following steps:

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

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

[0228] Step 430: After determining that the mixed explosives truck has arrived at the target parking point, the mixed explosives truck 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 blasting area, a charge 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 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 explosives vehicle and a charging robot work together efficiently. This method does not require the mixed-loading explosives vehicle to frequently make back-and-forth movements like the existing mixed-loading explosives vehicle, and does not require the mixed-loading explosives vehicle loading mechanical long arm to search for holes and position for a long time. It solves the problems of the original similar technology of the mixed-loading explosives vehicle mechanical long arm having difficulty in long-distance hole search, inaccurate positioning of the blast hole center, and low charging operation efficiency. The charging robot's autonomous hole search and positioning replaces the manual assisted hole search 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] Furthermore, the charging method of the embodiment of the present application utilizes digital and information technology to systematically guide the explosives mixing vehicle and the charging robot to efficiently and accurately complete the charging task, with their respective division of labor and mutual collaboration. This improves the intelligence level of the blasting charging process in open-pit mining, and realizes a new model of intelligent and efficient collaborative operation of the open-pit charging process. This method is applicable to all types of open-pit mines that use blasting to break rock, is of great significance to achieving the goals of safe, efficient, green, and intelligent open-pit mining, and has broad application value.

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

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

[0234] It is understood that as the charging robot performs the charging task for each blasthole, it monitors the charging status through sensors (such as pressure sensors and flow meters) or built-in control logic. Once charging is complete, the charging robot will report the current blasthole status (such as "Charged" or "Charge Abnormal") to the control module. If all covered blastholes are marked as "Completed", charging is complete for each blasthole covered by the previous parking point.

[0235] After confirming that all blastholes covered by the previous parking point have been loaded, a travel instruction is generated and sent to the explosives truck. This instruction instructs the explosives truck to drive within 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 blast 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 blasthole 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] Below, the control scheme of the intelligent charging system of the embodiment of the present application is described in detail with reference to an application example.

[0242] like Figure 5 As shown, Figure 5This is a flow chart of 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 basic information about the blasting area to support subsequent path planning and task allocation. Specifically, it obtains the blasting area dimensions, blasthole coordinates, and blasting design (such as explosive type, charge, and blasthole depth), as well as the dimensions of the explosive vehicle, charging robot, and explosive delivery pipe. Information acquisition and fusion module 501 can be an onboard terminal module of the explosive vehicle.

[0244] The explosive vehicle route planning module 502 is used to generate the explosive vehicle's route information and the location information of each stop. Specifically, it obtains and generates the explosive vehicle's route information and the location information of each stop based on the blasting area size range and the blasthole mouth coordinates. The explosive vehicle route planning module 502 can be a control module.

[0245] The charging robot's hole-finding path planning module 503 is responsible for planning the charging robot's optimal hole-finding path from its parking point, ensuring that all blastholes within the parking point are covered by the shortest possible route. Specifically, the charging robot's hole-finding path is planned based on the explosive vehicle's parking point and rest position information, as well as the blasting zone size and blasthole coordinates. The charging robot's hole-finding path planning module 503 is a module within 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 location information with the blasthole information in the blasting design to ensure the accuracy of the charge. It requires the blasting design and the blasthole location information that has been found and located. The blasthole matching module 505 can be a control module.

[0248] The explosives mixing and rationing module 506 is used to accurately mix and ration explosives according to the design requirements of each blasthole in the blasting plan. It also controls the operating status of valves, meters, and conveying devices. The explosives mixing and rationing module 506 can be an onboard terminal module of an explosives truck.

[0249] Thus, this application example proposes (1) a new method for loading mixed explosives in open-pit mines with efficient and continuous collaborative operation of explosive vehicles and charging robots. During the blasting and charging process in open-pit mines, the explosive vehicles and charging robots work together, each with its 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 explosive vehicle 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 vehicle mechanical long arm blast hole finding and charging work. It has the functions of automatic hole finding, precise positioning and efficient charging, can achieve the optimal planning of hole finding and charging path, is flexible and efficient, 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 delivery connection structure between the explosive vehicle and the charging robot were proposed, the functions of each module were explained, and the structural diagrams of each device were drawn. Figure 1 as well as Figure 5 shown.

[0251] The on-board terminal module of the explosives vehicle contains human-computer interaction functions, and has functions such as positioning and signal reception and transmission, path planning, and explosive quantitative control; 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 vehicle and the charging robot includes a positive pressure wind power supply device on the top of the explosives vehicle, 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 transport by the explosives truck, including the travel route, parking location, and parking posture planning; the other is the optimal path planning for hole-finding and charging by the charging robot, including the hole-finding route, hole-mouth positioning, and charging posture planning. Through the calculation of relevant optimization algorithms, the optimal path planning of the explosives truck and charging robot is realized, achieving the goal of efficient collaborative operation.

[0253] Based on the size of the blasting area and the location of the blasthole mouth, the explosives truck implements optimal route planning for explosives transportation, achieving optimal travel, fixed-point stops, and precise positioning. This reduces the distance the explosives truck travels within the blasting area and the number of turns, thereby improving operational efficiency. Based on the size of the blasting area, the location of the blasthole mouth, and the explosives truck's stopping points and positioning, the charging robot implements optimal hole-finding route planning, precise positioning of the blasthole mouth, and efficient and rapid charging operations. Based on these two optimal route planning assumptions, the explosives truck and charging robot work collaboratively to achieve intelligent and efficient charging results.

[0254] In this way, the problems of difficulty in hole finding, inaccurate positioning, and poor charging effect in the existing mixed explosive charging methods 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 with reference to another application example.

[0256] like Figure 6 As shown, 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 information such as the blasting area range, blasthole mouth coordinates, and blasthole charge design to the vehicle-mounted terminal of the explosive vehicle; accurately transmit information such as the blasting area range, blasthole mouth coordinates, and the location where the explosive vehicle is parked to the charging robot.

[0258] Step 602: The explosive vehicle optimizes its travel route, parking position, and rest position based on the blasting area, hole position, etc.

[0259] Here, under the premise of ensuring that the charging robot working in cooperation with the explosives vehicle 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, that is, the optimal path planning for the walking and parking of the explosives vehicle is realized.

[0260] Step 603: The explosive vehicle drives to the parking point 1-S according to the planned route and adjusts the parking position, sends a command to the charging robot to start hole finding, and waits in place 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 optimized parking point 1-S and stops and adjusts the parking 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 hole finding and positioning and then send a signal feedback that it can load explosives.

[0262] Step 604: The charging robot plans a hole-finding path based on the blasting area, the hole-mouth coordinates, and the current parking position of the explosive vehicle, and quickly completes the hole-finding and positioning of the blast hole 1-1. At the same time, the hole-mouth coordinates of the blast hole 1-1 are transmitted to the explosive vehicle and the explosive vehicle is notified to start the charging operation.

[0263] Here, the charging robot plans the optimal hole-finding path based on the blasting area, the coordinates of the blasthole mouth, and the current location of the explosive vehicle, enabling rapid hole-finding and precise positioning. First, the optimal hole-finding path is planned based on the location and position information of the explosive vehicle's first parking spot, point 1-S. Then, based on the planned hole-finding route, the robot locates the first blasthole 1-1 with point 1-S as the base point. The center of the blasthole mouth is precisely located, and the charging robot inserts the charging tube at the front of the blasthole 1-1. The coordinates of the blasthole 1-1 mouth are simultaneously transmitted to the explosive vehicle (for subsequent blasthole matching and determining the corresponding blasthole charge design). The robot then provides feedback that the blasthole 1-1 location has been completed and that charging can begin.

[0264] Step 605: After receiving the location of blasthole 1-1 and the information on the chargeable charges, the explosive vehicle obtains the charge design of the corresponding blasthole through blasthole matching, and delivers the explosives 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 explosives 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 based on the blasthole position information to obtain the charge design amount of explosives for the corresponding blasthole 1-1, and then starts the explosives distribution and delivery command through the on-board terminal module, and distributes the required amount of explosives for the blasthole 1-1 to the charging robot through the explosives delivery pipeline. The charging robot 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.

[0266] During the charging process of 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 charging is completed, and then feedback is given to the explosive vehicle that the charging 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 carries out 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 for all blastholes at the first parking point 1-S of the explosive vehicle, and sends a signal to the explosive vehicle to inform 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 steps 604-605 above, the explosive vehicle and the charging robot work together to complete the charging of the blast hole 1-2 at the parking point 1-s, and then, by analogy, complete the hole finding, positioning, and charging of all blast holes near the first parking point 1-S.

[0269] After completing the charging work of the last blasthole near the first parking point 1-S, the charging robot sends a signal to the explosives truck that the blasthole charging work in the area of ​​the parking point 1-S is completed, informing the explosives truck 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 parking 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 blastholes at the second parking point 2-S.

[0271] Following the planned route and parking points, the explosives vehicle autonomously travels to the second stop, 2-S, in the blasting area and adjusts its position. It then repeats steps 602-603-604-605 to complete the charge loading process for all blastholes surrounding the second stop, 2-S. Similarly, the explosives vehicle and the charging robot repeat steps 602-603-604-605 in a coordinated manner, working together to complete the charge loading process for the entire blasting area.

[0272] Step 608: Similarly, repeat the above steps 603-604-605-606-607 in order, and the explosive vehicle and the charging robot work together to complete the charging work of 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 cooperate 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 scheme: 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 of 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 power for explosives conveying uses a compressed air mechanism installed on the top of the explosives vehicle, using a positive pressure air pressure-in conveying method, and an exhaust mechanism can be installed on the end of the charging robot, using a negative pressure air extraction-in conveying method, or a combined positive pressure air and negative pressure air conveying method.

[0276] (2) Alternative control system solutions: One is a 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. The solution 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. The other is an alternative solution in which neither the explosive vehicle nor the charging robot has the function of planning the route. The route planning is completed by the mine edge system on the edge of the open-pit mine, that is, the mine edge system. The mine edge 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 them over long distances.

[0280] (2) The charging method of this application example adds a charging robot that works in conjunction with the explosives vehicle, replacing the existing mixed explosives 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 stay 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 they achieve collaborative operation 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, specifically a computer-readable storage medium, storing a computer program. The computer program can be executed by a processor to perform 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 arbitrarily combined without conflict.

[0286] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by any person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An intelligent charging system, characterized in that: include: A mixed explosives vehicle is configured to respond to a travel instruction, travel within a blasting area based on travel route information, and stop at a target parking point corresponding to a current target blasting area; and after parking, continuing to drive to the next target parking point in response to a charge completion instruction; The mixed explosive vehicle includes a control module for determining the driving route information of the mixed explosive vehicle within 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 hole-finding is completed for each blast hole corresponding to the target blasting area, 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 configured to determine, after the mixed explosive vehicle has driven to the target parking point, the position information and hole-finding route of each blasthole covered by the target parking point; and based on the hole-finding start instruction, sequentially locate each blasthole among the blastholes covered by the target parking point based on the hole-finding route; After each blasthole 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 blasthole until the charge of each blasthole is completed; a connecting device, provided between the explosives mixing vehicle and the charging robot, for receiving the explosives delivered by the explosives mixing vehicle and delivering the explosives to the charging robot; The mixed explosives loading vehicle includes an on-board terminal module for obtaining position information of multiple candidate parking points in the current target blasting area, position information of multiple blast holes in the current target blasting area, and activity radius information of the charging robot; and obtaining its own position information; The control module is further configured to determine that the charging of each blasthole covered by the previous target parking point is completed, and then generate and send the travel instruction to the mixed explosives vehicle; The control module is further configured to receive position information of a plurality of candidate parking points in the current target blasting area, position information of a plurality of blast holes in the current target blasting area, and activity radius information of the charging robot; For each of the plurality of candidate stopping points, determining a Euclidean distance between the candidate stopping point and the plurality of blastholes; Determining identification information of each blasthole covered by each candidate parking point based on the Euclidean distance of each parking point and the activity radius information of the charging robot; Determining 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 explosives truck onboard terminal module is also used to optimize the target parking point and the parking position of the mixed explosives truck based on the current target blasting area and the position information of the target blast hole to be loaded.

2. The system according to claim 1, wherein: The mixed explosive vehicle includes an explosive vehicle-mounted terminal module for obtaining entry point information of the mixed explosive vehicle entering the blasting area and exit point information of the mixed explosive vehicle exiting the blasting area; The control module is further configured 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; 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; Determining the driving route information of the mixed explosives truck 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.

3. The system according to claim 1, wherein: The charging robot is further configured to construct a second node set based on the position information of the target parking point and the position information of each blasthole 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 of the installation robot is generated.

4. The system according to claim 1, wherein: The mixed explosives vehicle also includes: a vertical spiral rotating mechanism, connected to the material box and one end of the connecting device respectively, for receiving the explosives in the material box and mixing the explosives, and delivering the mixed explosives to the connecting device; The charging robot is further configured to send the position information of each blasthole to the control module after the blasthole search is completed; The control module is further configured to compare the position information of the blastholes with the position information of each blasthole in the blasting design database, determine and send the target quantity of explosives required for the blastholes to the mixed explosives vehicle; The explosives truck-mounted terminal module is also used to control the delivery of the target amount of mixed explosives to the connecting device.

5. The system according to claim 4, characterized in that The mixed explosives vehicle also includes: a positive pressure pneumatic conveying device connected to the connecting device, and configured to switch the working state to the running state in response to the charge start instruction, so as to guide the target amount of mixed explosive to be conveyed to the connecting device; a solenoid valve, configured to activate the solenoid valve in response to the charge start instruction, and control the mixed explosive vehicle to enter an explosive delivery state; A 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, measure the mixed explosives based on the target quantity when the solenoid valve is started, and output the target quantity of mixed explosives to the connecting device.

6. The system according to claim 4, characterized in that The charging robot further comprises: 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 configured to receive a target amount of mixed explosive delivered by the connecting device; a blasthole positioning structure connected to the rigid charge conduit and configured to locate the blasthole in response to the hole-finding start instruction; the charge robot is further configured to control the insertion of the rigid charge conduit into the blasthole after determining that positioning is complete; The negative pressure pneumatic conveying device is used to guide the target amount of mixed explosives to be transported from the other end of the connecting device to the charging robot.

7. The system according to claim 4, wherein: The connecting device comprises: A multi-angle rotating structure, which is arranged on the top of the mixed explosives 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 is provided 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.

8. An intelligent charging method for an intelligent charging system according to any one of claims 1 to 7, characterized in that: Methods include: The control module determines the driving route information of the mixed explosives vehicle within 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 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 blast holes in the target blasting area are fully charged.

9. The method according to claim 8, 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.

10. The method according to claim 8, characterized in that The method further comprises: Acquire position information of a plurality of candidate parking points in the current target blasting area, position information of a plurality of blast holes in the current target blasting area, and activity radius information of the charging robot; For each of the plurality of candidate stopping points, determining a Euclidean distance between the candidate stopping point and the plurality of blastholes; Determining identification information of each blasthole 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 blasthole covered by each candidate parking point, the position information of the target parking point of the mixed explosive vehicle is determined.

11. 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 8 to 10 are implemented.

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