Intelligent charging system, intelligent charging method and storage medium

Abstract

The invention discloses an intelligent charging system, an intelligent charging method and a storage medium. The system comprises an explosive bag transport truck and further comprises an intelligent flat transport vehicle, and the intelligent flat transport vehicle comprises a control module which is used for generating and sending a walking instruction and a first driving route to the intelligent flat transport vehicle; the intelligent charging robot is used for receiving the position information of the second parking point and the second driving route; driving along with the intelligent flat transport vehicle based on the second driving route, and parking at the second parking point; in response to the charging starting instruction, an explosive bag on the intelligent flat transport vehicle is grabbed, and the explosive bag is loaded to the target blast hole; or the intelligent flat transport vehicle is used for receiving and storing the explosive bags unloaded by the explosive bag transport truck; the intelligent flat plate transport vehicle runs along with the intelligent explosive loading robot based on the first running route; and in response to the charging starting instruction, the explosive bag on the intelligent flat transport vehicle is grabbed, and the explosive bag is loaded to the target blast hole.

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 rock-breaking method for open-pit mining is still blasting, and the mining process includes drilling, blasting, shoveling and transportation. Among them, rock drilling, shoveling and transportation have basically been mechanized or automated. For example, rock drilling has mature intelligent hole arrangement and self-drilling rotary drills, and rock transportation has been built into a demonstration mine with unmanned mining trucks. However, the degree of mechanization of the charging and blasting process is relatively low, and there is still a big gap from intelligence, especially the charging method using finished explosives such as explosive bags or explosive rolls. The charging operation is still mainly manual, and the labor intensity is high.

[0003] Generally speaking, there are two main types of explosives used for open-pit mine blasting. The first type is to use a mixed explosives truck to transport the materials for preparing explosives to the blasting site, mix and prepare explosives on site, and mix explosives according to the blasting design. Modern mixed explosives trucks are generally used for mechanized charging operations; the second type is to use finished explosives prepared in advance from the explosives production plant (workshop) to directly charge, such as finished explosive rolls or finished explosive bags. For the transportation of explosive bags, due to the large carrying capacity and heavy vehicle type of the explosive bag transport truck, after the explosive bag transport truck is fully loaded from the explosive workshop (or a certain explosive warehouse) and transported to the open-pit mine blasting area, it is not appropriate to drive the explosive bag transport truck directly into the blasting area. Therefore, the explosive bag transport truck is often parked in a safe fixed area outside or at the edge of the blasting area, and a large number of workers complete the unloading, handling, stacking and final blasthole charging of the explosive bags.

[0004] In this way, the second type of method will lead to the following problems: First, the workload of manual unloading and transportation of explosive bags is relatively large, the workers' physical strength is greatly consumed, the degree of mechanization is not high, and the operation efficiency is low; second, when manually carrying explosive bags and stacking explosive bags around the blasthole, the number of explosive bags stacked and the subsequent charging amount often do not match the actual needs of the blasthole (pure manual work under heavy physical consumption can easily lead to failure to strictly follow the blasting design to place explosive bags, and the accuracy of explosive bag handling, stacking, and filling in the experience-based operation mode, that is, the phenomenon of more or less explosive bags is difficult to avoid); third, manual work has great safety hazards; fourth, a large number of manual unloading, handling, stacking, and charging, and inadequate operation process management make it difficult to achieve the goal of continuous and coordinated efficient operations. Summary of the invention

[0005] 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 great safety hazards, low production efficiency and low automation level caused by manual unloading of explosive bags.

[0006] The technical solution of the embodiment of the present application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides an intelligent charging system, the system comprising: an explosive bag transport truck, which is used to drive into a blasting area, stop at a target parking point and unload the explosive bags; and drive away from the blasting area in response to a charging end instruction; the system further comprises:

[0008] An intelligent flatbed transport vehicle, configured to receive and store explosive bags unloaded from the explosive bag transport truck; and in response to a travel instruction, controlling the intelligent flatbed transport vehicle to travel based on a first travel route;

[0009] The intelligent flatbed transport vehicle includes a control module, which is used to generate and send the travel instruction and the first driving route to the intelligent flatbed transport vehicle, wherein the travel instruction is used to instruct the intelligent flatbed transport vehicle to travel in the blasting area based on the first driving route; determine the location information of the current first parking point and the target blast hole near the first parking point, and control the intelligent flatbed transport vehicle to park at the first parking point; determine the location information of the second parking point based on the location information of the first parking point; determine the second driving route based on the location information of the second parking point; send a charge start instruction; receive and respond to a charge end instruction, control the intelligent flatbed transport vehicle to continue to travel from the first parking point to the next first parking point; forward the charge end instruction to the explosive bag transport truck;

[0010] The intelligent charging robot is configured to receive the location information of the second parking point and the second driving route; follow the intelligent flatbed transport vehicle based on the second driving route and stop at the second parking point; respond to the charging start instruction, grab the explosive bag on the intelligent flatbed transport vehicle, and load the explosive bag into the target blast hole; and send the charging end instruction to the intelligent flatbed transport vehicle, and control the intelligent charging robot to continue driving to the next second parking point;

[0011] or,

[0012] An intelligent flatbed transport vehicle, configured to receive and store explosive bags unloaded from the explosive bag transport truck; and in response to a travel instruction, controlling the intelligent flatbed transport vehicle to travel based on a first travel route;

[0013] The intelligent flatbed transport vehicle includes a control module for receiving and sending the travel instruction and the first driving route to the intelligent flatbed transport vehicle; receiving and responding to the charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; forwarding the charge completion instruction to the explosive bag transport truck;

[0014] An intelligent medicine-loading robot, wherein the intelligent flatbed transport vehicle follows the intelligent medicine-loading robot based on the first driving route;

[0015] The intelligent charging robot is used to generate and send the first driving route and the walking instruction; travel based on the second driving route; determine the current second parking point and the target blast hole near the second parking point, and park at the second parking point;

[0016] determining the location information of the first parking point based on the location information of the second parking point;

[0017] Sending the location information of the first parking point to the intelligent flatbed transport vehicle;

[0018] In response to a charge start instruction, grab the medicine bag on the intelligent flatbed transport vehicle, and load the explosive bag into the target blast hole; send a charge end instruction to the intelligent flatbed transport vehicle.

[0019] In some embodiments, the control module is further used to determine a first driving route and generate a walking instruction based on the size range of the blasting area, the location information and quantity information of each blasting hole corresponding to the blasting area, the carrying capacity information of the intelligent flatbed transport vehicle, the current location information of the explosive bag transport vehicle, the path planning algorithm and the traveling salesman algorithm;

[0020] Obtaining preset position information of the target blasthole;

[0021] Determine the first parking point based on the preset position information, the structural parameters of the intelligent flatbed transport vehicle, the environmental data and at least one first constraint condition;

[0022] The control module is also used to obtain the preset position information of the target blasthole; determine the position information of the second parking point based on the position information of the first parking point, the preset position information, the structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one second constraint condition.

[0023] In some embodiments, the control module is further used to determine a first driving route and generate a walking instruction based on the size range of the blasting area, the location information and quantity information of each blasting hole corresponding to the blasting area, the carrying capacity information of the intelligent flatbed transport vehicle, the current location information of the explosive bag transport vehicle, the path planning algorithm and the traveling salesman algorithm;

[0024] Obtaining preset position information of the target blasthole;

[0025] Determine the first parking point based on the preset position information, the structural parameters of the intelligent flatbed transport vehicle, the environmental data and at least one first constraint condition;

[0026] The control module is also used to obtain the preset position information of the target blasthole; determine the position information of the second parking point based on the position information of the first parking point, the preset position information, the structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one second constraint condition.

[0027] In some embodiments, the explosive bag transport truck further comprises:

[0028] The vehicle terminal module is used to determine the target parking point based on the position information of the explosive bag transport truck, the position of the entry point and the position information of the exit point;

[0029] The driving operation room is used for the driver to operate;

[0030] A control command system, used for generating loading instruction information and unloading instruction information based on the operation instruction information of the driver;

[0031] The transport truck loading box is used to store the explosive bags and load a fixed amount of explosive bags in response to the loading instruction information;

[0032] A batch unloading device for bagged explosives, used for unloading the explosive bags to the intelligent flatbed transport vehicle in batches in response to the unloading instruction information;

[0033] The bagged explosive batch unloading device comprises:

[0034] A counter, used to measure the number of explosive bags unloaded each time and send a counting start signal or a counting end signal;

[0035] The solenoid valve is connected to the counter and is used to start the bagged explosive batch unloading device in response to the counting start signal or to close the bagged explosive batch unloading device in response to the counting end signal.

[0036] In some embodiments, the explosive bag transport truck further comprises:

[0037] The vehicle terminal module is used to determine the target parking point based on the position information of the explosive bag transport truck, the position of the entry point and the position information of the exit point;

[0038] The driving operation room is used for the driver to operate;

[0039] A control command system, used for generating loading instruction information and unloading instruction information based on the operation instruction information of the driver;

[0040] A transport truck loading box, used to load the explosive bag in response to the loading instruction information;

[0041] A batch unloading device for bagged explosives, used for unloading the explosive bags to the intelligent flatbed transport vehicle in batches in response to the unloading instruction information;

[0042] The bagged explosive batch unloading device comprises:

[0043] A counter, used to measure the number of explosive bags unloaded each time and send a counting start signal or a counting end signal;

[0044] The solenoid valve is connected to the counter and is used to start the bagged explosive batch unloading device in response to the counting start signal or to close the bagged explosive batch unloading device in response to the counting end signal.

[0045] In some embodiments, the control module is further used to adjust the posture of the intelligent flatbed transport vehicle at the first parking point; obtain the position information of the target blasthole; match the position information of the target blasthole based on the position information of each blasthole in the blasting design database, determine the target number of explosive bags required for the target blasthole, and generate quantitative distribution instruction information; and send a charging start signal to the intelligent charging robot; the intelligent charging robot is used to adjust its own posture at the second parking point; and in response to the charging start instruction, identify the type of explosive package and grab the target number of explosive bags;

[0046] The intelligent flatbed transporter also includes:

[0047] A flatbed truck main box body is used to receive the explosive bags unloaded from the explosive bag transport truck and deliver a target number of explosive bags in response to the quantitative distribution indication information;

[0048] The flatbed truck auxiliary box is used to receive a target number of explosive bags transported by the flatbed truck main box to the intelligent charging robot.

[0049] In some embodiments, the flatbed truck main box further includes: an explosive bag classification and quantitative distribution device, which is used to classify the explosive bags and quantitatively distribute the explosives based on the target quantity;

[0050] The explosive bag transmission structure at the bottom of the flatbed truck main box is arranged at the bottom of the flatbed truck main box and is used to transport the target number of explosive bags after classification and quantitative distribution;

[0051] An explosive bag conveying and sorting device is arranged between the explosive bag classification and quantitative distribution device and the auxiliary box of the flatbed truck, and is used to receive the explosive bags conveyed by the transmission structure at the bottom of the main box of the flatbed truck and convey them to the auxiliary box of the flatbed truck;

[0052] The auxiliary box of the flatbed truck includes: an auxiliary box explosive bag bearing plate, which is used to receive a target number of explosive bags conveyed by the explosive bag conveying and sorting device.

[0053] In some embodiments, the intelligent flatbed transporter further comprises:

[0054] A flatbed truck base, used to support the intelligent flatbed truck;

[0055] The flatbed vehicle traveling device includes wheels and a driving motor, and is used to drive the intelligent flatbed transport vehicle to travel along the first driving route in response to the travel instruction.

[0056] In some embodiments, the intelligent medicine loading robot further comprises:

[0057] The perception and decision module includes a sensor for real-time perception of environmental information during driving, and after parking at the second parking point, perception of the position information of the intelligent flatbed transport vehicle and the position information of the target blasthole; adjusting the second driving route based on the perceived environmental information, and adjusting the posture of the intelligent charging robot based on the position information of the intelligent flatbed transport vehicle and the position information of the target blasthole after parking at the second parking point;

[0058] An autonomous walking mechanism, used to drive the intelligent charging robot to autonomously travel in the blasting area based on the second driving route;

[0059] A robot rotation mechanism, used to adjust the posture of the intelligent charging robot during driving;

[0060] A robotic arm rotation mechanism controls the rotation angle of the robotic arm;

[0061] A robotic arm structure, including a retractable robotic arm structure and a bendable flexible robotic arm joint;

[0062] An explosive bag grabbing and charging mechanism, used to grab the explosive bag and move it to the target blasthole position in response to the charging start instruction, the explosive bag grabbing and charging mechanism comprising a clamp-type mechanical claw and a five-finger mechanical claw;

[0063] The positioning mechanism is used to locate its own position information.

[0064] In a second aspect, an embodiment of the present application provides an intelligent charging method of the intelligent charging system as described in the first aspect above, the method comprising:

[0065] The control module generates and sends the travel instruction and the first driving route to the intelligent flatbed transport vehicle, wherein the travel instruction is used to instruct the intelligent flatbed transport vehicle to travel in the explosion area based on the first driving route;

[0066] Determine the position information of the current first parking point and the target blasthole near the first parking point, and control the intelligent flatbed transport vehicle to park at the first parking point;

[0067] Based on the location information of the first parking point, determining the location information of the second parking point; based on the location information of the second parking point, determining a second driving route;

[0068] Receiving and responding to a charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point;

[0069] forwarding the charge completion instruction to the explosive bag transport truck;

[0070] or,

[0071] The control module receives and sends the travel instruction and the first travel route to the intelligent flatbed transport vehicle;

[0072] Receiving and responding to the charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point;

[0073] The charging completion instruction is forwarded to the explosive bag transport truck.

[0074] In some embodiments, the method further comprises:

[0075] Based on the size range of the blasting area, the location information and quantity information of each blast hole corresponding to the blasting area, the carrying capacity information of the intelligent flatbed transport vehicle, the current location information of the explosive bag transport vehicle, the path planning algorithm and the traveling salesman algorithm, a first driving route is determined and a walking instruction is generated.

[0076] In some embodiments, the method further comprises:

[0077] Obtaining preset position information of the target blasthole;

[0078] The first parking point is determined based on the preset position information, structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one first constraint condition.

[0079] In some embodiments, determining the location information of the second parking point based on the location information of the first parking point includes:

[0080] Obtaining preset position information of the target blasthole;

[0081] The position information of the second parking point is determined based on the position information of the first parking point, the preset position information, the structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one second constraint condition.

[0082] In a third aspect, an embodiment of the present application provides a computer storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the second aspect are implemented.

[0083] The technical solution provided by the embodiment of the present application is an intelligent charging system, including an explosive bag transport truck, which is used to drive into the explosion area, stop at a target parking point and unload the explosive bags; and drive away from the explosion area in response to the charging end instruction; the system also includes: an intelligent flatbed transport vehicle, which is used to receive and store the explosive bags unloaded by the explosive bag transport truck; and in response to the walking instruction, control the intelligent flatbed transport vehicle to travel based on a first driving route; the intelligent flatbed transport vehicle includes a control module, which is used to generate and send the walking instruction and the first driving route to the intelligent flatbed transport vehicle, and the walking instruction is used to instruct the intelligent flatbed transport vehicle to travel based on the first driving route in the explosion area; determine the current position of the first parking point the intelligent flatbed transport vehicle is configured to receive the position information of the second parking point and the target blast hole near the first parking point, and control the intelligent flatbed transport vehicle to stop at the first parking point; determine the position information of the second parking point based on the position information of the first parking point; determine the second driving route based on the position information of the second parking point; send a charging start instruction; receive and respond to the charging end instruction, control the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; forward the charging end instruction to the explosive bag transport truck; the intelligent charging robot is configured to receive the position information of the second parking point and the second driving route; follow the intelligent flatbed transport vehicle based on the second driving route and stop at the second parking point; respond to the charging start instruction The intelligent flatbed transport vehicle comprises a control module for receiving and sending a walking instruction and a first driving route to the intelligent flatbed transport vehicle; receiving and responding to a charging end instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; forwarding the charging end instruction to the intelligent flatbed transport vehicle; and controlling the intelligent charging robot to continue driving to the next second parking point. An end instruction is sent to the explosive bag transport truck; an intelligent charging robot, and an intelligent flatbed transport vehicle follows the intelligent charging robot based on the first driving route; the intelligent charging robot is used to generate and send a first driving route and a walking instruction; it drives based on the second driving route; it determines the current second parking point and the target blast hole near the second parking point, and stops at the second parking point; it determines the position information of the first parking point based on the position information of the second parking point; it sends the position information of the first parking point to the intelligent flatbed transport vehicle; in response to the charging start instruction, it grabs the medicine bag on the intelligent flatbed transport vehicle, and loads the explosive bag into the target blast hole; it sends a charging end instruction to the intelligent flatbed transport vehicle.

[0084] In this way, the embodiment of the present application provides an intelligent charging system in which three intelligent entities (intelligent equipment) including an explosive bag transport truck, an intelligent flatbed transport vehicle, and an intelligent charging robot work in continuous collaboration, replacing the existing manual charging method. Starting with an explosive bag transport truck, an intelligent flatbed transport vehicle is configured to transport explosive bags, thereby completing the transportation from the explosive bag transport truck to all blast holes in the blasting area; at the same time, an intelligent charging robot is configured to complete the precise and efficient charging work of all blast holes in the blasting area, thereby realizing the intelligence, collaboration, and efficiency of the open-pit mine charging process and reducing the safety hazards caused by manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 A schematic diagram of the structure of the intelligent charging system provided in the embodiment of the present application;

[0086] Figure 2 A schematic diagram of the structure of an explosive bag transport truck provided in an embodiment of the present application;

[0087] Figure 3 A schematic diagram of the structure of the intelligent flatbed transport vehicle provided in an embodiment of the present application;

[0088] Figure 4 A schematic diagram of the structure of the intelligent charging robot provided in the embodiment of the present application;

[0089] Figure 5 A schematic diagram of a flow chart of an intelligent charging method provided in an embodiment of the present application;

[0090] Figure 6 A schematic diagram of the walking route planning and docking posture optimization of the intelligent flatbed transport vehicle and the intelligent charging robot provided in the embodiments of the present application;

[0091] Figure 7 A control flow diagram of an intelligent charging system provided for an application example of this application;

[0092] Figure 8 A schematic flow chart of an open-pit mine bagged explosives intelligent collaborative and efficient charging method is provided as another application example of the present application.

[0093] Description of Reference Numerals

[0094] 1. Truck for transporting explosive bags; 11. On-board terminal module; 12. Driver’s cab; 13. Control and command system; 14. Transport truck loading box; 15. Batch unloading device for bagged explosives;

[0095] 2. Intelligent flatbed transport vehicle; 21. Control module; 22. Flatbed vehicle main box; 23. Flatbed vehicle auxiliary box; 221. Explosive bag classification and quantitative distribution device; 222. Explosive bag transmission structure at the bottom of the flatbed vehicle main box; 223. Explosive bag conveying and sorting device; 231. Explosive bag bearing plate of the auxiliary box; 24. Flatbed vehicle base; 25. Flatbed vehicle walking device;

[0096] 3. Intelligent charging robot; 31. Perception and decision-making module; 32. Autonomous walking mechanism; 33. Robot rotation mechanism; 34. Robot arm rotation mechanism; 35. Robot arm structure; 351. Retractable robot arm structure; 352. Bendable and flexible robot arm joints; 36. Explosive bag grabbing and charging mechanism; 361. Clamp-type mechanical claw; 362. Five-finger mechanical claw. DETAILED DESCRIPTION

[0097] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0098] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0099] In the related art, based on the blasting process of the open-pit mine explosive bag loading method, for the explosive bag loading transportation link, due to the large carrying capacity and heavy vehicle type of the explosive bag transport truck, after the explosive bag transport truck is fully loaded from the explosive workshop (or a certain explosive warehouse) and transported to the open-pit mine blasting area, it is not suitable to drive the explosive bag transport truck directly into the blasting area. Therefore, the explosive bag transport truck is often parked outside the blasting area or in a safe fixed area at the edge, which has the following technical problems:

[0100] First, manual operations pose a great safety hazard; second, manual handling, stacking, and charging operations are labor-intensive, with a low degree of mechanization and low production efficiency; third, manual handling, stacking, and charging operations under high labor intensity are prone to errors, and the quality of charging is difficult to uniformly and effectively control; fourth, manual unloading, handling, stacking, and charging operations have many processes and are discontinuous, making it difficult to achieve efficient collaborative operations. Fifth, the existing explosive bag charging operation model is far from the development goals of automation and intelligent construction of open-pit mining.

[0101] Based on this, the embodiment of the present application provides an intelligent charging system that can replace manual unloading, handling, stacking of explosive bags and manual charging, realize intelligent collaborative mechanized continuous operation, complete the charging work, and realize safe, efficient, continuous and collaborative intelligent operation of the charging process in the open-pit mining blasting process, reduce manpower and increase safety, efficiency and intelligence, and realize an intelligent collaborative charging mode with systematic decision-making and automated execution, so as to achieve continuous, efficient, collaborative and intelligent operation effects.

[0102] like Figure 1 As shown, the intelligent charging system includes: an explosive bag transport truck 1, an intelligent flatbed transport vehicle 2 and an intelligent charging robot 3.

[0103] Here, the explosive bag transport truck 1 is used to drive into the blasting area, stop at the target parking point and unload the explosive bags; and respond to the charge completion instruction to drive out of the blasting area. It can be understood that the explosive bag transport truck is a truck that directly loads the finished explosives prepared in advance by the explosive production plant (workshop), such as finished explosive rolls or finished explosive bags, and transports the batches of finished explosives to the blasting area.

[0104] Here, the intelligent flatbed transport vehicle 2 is used to receive and store the explosive bags unloaded from the explosive bag transport truck 1; and in response to the travel instruction, the intelligent flatbed transport vehicle 2 is controlled to travel based on the first travel route.

[0105] Here, the intelligent robot is used to respond to the charge start instruction, grab the medicine bag on the intelligent flatbed transport vehicle 2, and load the explosive bag into the target blast hole.

[0106] It should be noted that one explosive bag transport truck 1 can be equipped with multiple intelligent flatbed transport vehicles and multiple intelligent charging robots to work together, and one flatbed transport vehicle can also be equipped with multiple intelligent charging robots.

[0107] It should be noted that the intelligent flatbed transport vehicle 2 and the intelligent charging robot 3 of the embodiment of the present application include two cooperation modes. The first cooperation mode means that the intelligent flatbed transport vehicle 2 is responsible for planning the walking route and parking position of itself and the intelligent charging robot 3, and the intelligent charging robot 3 is mainly responsible for following the intelligent flatbed transport vehicle 2 to walk autonomously; the second cooperation mode means that the intelligent charging robot 3 replaces the intelligent flatbed transport vehicle 2 to drive first to find holes and locate, plan the walking route and determine the parking point, that is, the intelligent flatbed transport vehicle 2 follows the intelligent charging robot 3 to find holes and charge one by one.

[0108] Here, the first parking point is the parking point of the intelligent flatbed transport vehicle, the second parking point is the parking point of the intelligent charging robot, the first driving route is the driving route of the intelligent flatbed transport vehicle, and the second driving route is the driving route of the intelligent charging robot.

[0109] In the first collaborative mode, the intelligent flatbed transport vehicle 2 is responsible for planning the walking route and parking position of itself and the intelligent charging robot 3, and the intelligent charging robot 3 is mainly responsible for following the intelligent flatbed transport vehicle 2 to walk autonomously; in this first collaborative mode:

[0110] The intelligent flatbed transport vehicle 2 includes a control module 21, which is used to generate and send a travel instruction and a first driving route to the intelligent flatbed transport vehicle 2, the travel instruction is used to instruct the intelligent flatbed transport vehicle 2 to travel in the blasting area based on the first driving route; determine the position information of the current first parking point and the target blast hole near the first parking point, and control the intelligent flatbed transport vehicle 2 to stop at the first parking point; determine the position information of the second parking point based on the position information of the first parking point; determine the second driving route based on the position information of the second parking point; send a charging start instruction; receive and respond to a charging end instruction, and control the intelligent flatbed transport vehicle 2 to continue driving from the first parking point to the next first parking point.

[0111] The intelligent charging robot 3 is used to receive the position information of the second parking point and the second driving route; follow the intelligent flatbed transport vehicle 2 based on the second driving route and stop at the second parking point; respond to the charging start instruction, grab the medicine bag on the intelligent flatbed transport vehicle 2, and load the explosive bag into the target blast hole; and send the charging end instruction to the intelligent flatbed transport vehicle 2, and control the intelligent charging robot 3 to continue driving to the next second parking point.

[0112] It can be understood that for the first collaborative mode, the intelligent flatbed transport vehicle 2 is mainly responsible for planning its own and the intelligent charging robot 3's walking routes and parking positions, and autonomously transporting explosive bags; the intelligent charging robot 3 is mainly responsible for following the intelligent flatbed transport vehicle 2 to autonomously walk and automatically grab explosive bags for charging.

[0113] In this case, the intelligent flatbed transport vehicle 2 includes: (1) the functions of positioning and signal reception and transmission, positioning its own position information and signal reception and transmission; (2) the function of planning its own walking route and stop points; (3) the function of planning the walking route and stop of the intelligent charging robot 3, and guiding it to follow and stop; and the function of autonomous walking and transporting explosive bags.

[0114] The intelligent charging robot 3 includes: (1) the function of autonomously walking and docking following the intelligent flatbed transport vehicle 2; (2) the function of grabbing explosive bags for charging; and (3) the function of interacting with the intelligent flatbed transport vehicle 2 and coordinating to complete the charging work.

[0115] Exemplarily, the interaction and collaborative charging process between the intelligent flatbed transport vehicle 2 and the intelligent charging robot 3 is as follows:

[0116] The intelligent flatbed transport vehicle 2 walks to the first parking spot near the mouth of the blasthole X (target blasthole) according to the planned optimal walking path (first driving route), and stops, and sends a signal to the intelligent charging robot 3, instructing the intelligent charging robot 3 to follow the walking route (second driving route) planned by the intelligent flatbed transport vehicle 2 and autonomously walk to the mouth of the blasthole X; the intelligent charging robot 3 autonomously walks to the mouth of the blasthole X and stops, and after receiving the start charging instruction, the intelligent charging robot 3 grabs the explosives and performs charging operation on the mouth of the blasthole; after the intelligent charging robot 3 completes the charging of the blasthole X and determines that the charging is completed through intelligent identification, it sends a charging end instruction to the intelligent flatbed transport vehicle 2, and feedbacks that the charging of the blasthole X has been completed, so as to notify the intelligent flatbed transport vehicle 2 that it can walk to the next blasthole to be charged. The intelligent flatbed transport vehicle 2 receives and responds to the charging end instruction, and controls the intelligent flatbed transport vehicle 2 to continue driving from the first parking spot to the next first parking spot.

[0117] Thus, the embodiment of the present application proposes an intelligent charging system in which an explosive bag transport truck, an intelligent flatbed transport vehicle and an intelligent charging robot work together in efficient and continuous operation. During the blasting and charging process of an open-pit mine, the explosive bag transport truck, the intelligent flatbed transport vehicle and the intelligent charging robot each perform their respective duties and work together to efficiently and accurately complete the charging of the blast holes in the blasting area. The three devices have an interactive function and can transmit and feedback operation information in real time.

[0118] Here, the explosive bag transport truck 1 is mainly responsible for transporting the explosives needed for blasting to a fixed safe place near the blasting area, unloading the explosive bags and loading them on the intelligent flatbed transport vehicle 2; the intelligent flatbed transport vehicle 2 is mainly responsible for planning its own and the intelligent charging robot 3's walking route and parking position, and autonomously walking and transporting the explosive bags; the intelligent charging robot 3 is mainly responsible for following the intelligent flatbed transport vehicle 2 to autonomously walk, grab the explosive bags, and load the drugs. In addition, the two intelligent bodies (equipment) of the intelligent flatbed transport vehicle 2 and the intelligent charging robot 3 cooperate with each other and work efficiently. The control module 21 realizes the optimal walking route and parking position planning of the intelligent flatbed transport vehicle 2 and the intelligent charging robot 3; realizes the optimal path planning and location parking planning of the intelligent flatbed transport vehicle 2 and the intelligent charging robot 3, and achieves the goal of efficient collaborative operation. It solves many problems in the prior art, such as high labor intensity, low degree of mechanical automation, many safety hazards in production, and difficulty in unified control of charging effects. It has realized the mechanization, automation and intelligence of the charging process, reduced the number of personnel, enhanced safety, improved the efficiency of intelligent collaborative operations, reduced the safety hazards caused by manual operations, and promoted the intelligent development of open-pit mining blasting and charging operations.

[0119] In the second collaborative mode, the intelligent charging robot 3 replaces the intelligent flatbed transport vehicle 2 to drive first to find holes and locate, plan the walking route and determine the stop point, that is, the intelligent flatbed transport vehicle 2 follows the intelligent charging robot 3 to find holes and charge one by one. In this second collaborative mode:

[0120] The intelligent flatbed transport vehicle 2 is used to receive and store explosive bags unloaded from the explosive bag transport truck 1; and in response to the travel instruction, the intelligent flatbed transport vehicle 2 is controlled to travel based on the first travel route;

[0121] The intelligent flatbed transport vehicle 2 includes a control module 21, which is used to receive and send a travel instruction and a first travel route to the intelligent flatbed transport vehicle 2; receive and respond to a charge completion instruction, control the intelligent flatbed transport vehicle 2 to continue driving from the first parking point to the next first parking point; forward the charge completion instruction to the explosive bag transport truck 1;

[0122] The intelligent charging robot 3 and the intelligent flatbed transport vehicle 2 follow the intelligent charging robot 3 based on the first driving route;

[0123] The intelligent charging robot 3 is used to generate and send a first driving route and a walking instruction; travel based on the second driving route; determine the current second parking point and the target blast hole near the second parking point, and park at the second parking point;

[0124] determining the location information of the first parking point based on the location information of the second parking point;

[0125] Sending the location information of the first parking point to the intelligent flatbed transport vehicle 2;

[0126] In response to the charge start instruction, grab the medicine bag on the intelligent flatbed transport vehicle 2 and load the explosive bag into the target blast hole; send a charge end instruction to the intelligent flatbed transport vehicle 2.

[0127] In some embodiments, in the first collaborative mode, the control module 21 is further used to determine the first driving route and generate a walking instruction based on the size range of the blasting area, the location information and quantity information of each blasting hole corresponding to the blasting area, the carrying capacity information of the intelligent flatbed transport vehicle 2, the current location information of the explosive bag transport vehicle, the path planning algorithm and the traveling salesman algorithm;

[0128] Obtaining preset position information of target blasthole;

[0129] Determine a first parking point based on preset location information, structural parameters of the intelligent flatbed transport vehicle, environmental data, and at least one first constraint condition;

[0130] The control module 21 is also used to obtain the preset position information of the target blasthole; determine the position information of the second parking point based on the position information of the first parking point, the preset position information, the structural parameters of the intelligent flatbed transport vehicle, the environmental data and at least one second constraint condition.

[0131] In some embodiments, Figure 2 As shown, the explosive bag transport truck 1 also includes:

[0132] The vehicle terminal module 11 is used to determine the target parking point based on the position information of the explosive bag transport truck 1, the position of the entry point and the position information of the exit point;

[0133] A driving operation room 12, used for driver operation;

[0134] A control command system 13, used for generating loading instruction information and unloading instruction information based on the operation instruction information of the driver;

[0135] The transport truck loading box 14 is used to store explosive bags and load a fixed amount of explosive bags in response to the loading instruction information;

[0136] The bagged explosive batch unloading device 15 is used to respond to the unloading instruction information and unload the explosive bags in batches to the intelligent flatbed transport vehicle 2 in a quantitative manner;

[0137] The bagged explosive batch unloading device 15 comprises:

[0138] A counter, used to measure the number of explosive bags unloaded each time and send a counting start signal or a counting end signal;

[0139] The solenoid valve is connected to the counter and is used to start the bagged explosive batch unloading device 15 in response to a counting start signal or to close the bagged explosive batch unloading device 15 in response to a counting end signal.

[0140] In addition, the explosive bag transport truck 1 further comprises: a first positioning module, which is used to locate the position information of the explosive bag transport truck.

[0141] It is understandable that the explosive bag transport truck 1 is loaded with all the explosive bags required for blasting the blasting area. The intelligent flatbed transport vehicle 2 is responsible for loading the explosive bags from the explosive bag transport truck 1 in batches and transporting them to the vicinity of the blasthole. The intelligent charging robot 3 selects the optimal stop point according to the position of the blasthole and the intelligent flatbed transport vehicle 2, grabs the explosive bags from the intelligent flatbed transport vehicle 2 and loads them into the blasthole.

[0142] In some embodiments, the control module 21 is also used to adjust the posture of the intelligent flatbed transport vehicle 2 during driving; obtain the position information of the target blast hole; match the position information of the target blast hole based on the position information of each blast hole in the blasting design database, determine the target number of explosive bags required for the target blast hole, and send quantitative distribution indication information and charging start signal to the intelligent charging robot 3.

[0143] Exemplarily, the intelligent flatbed transport vehicle 2 walks to the vicinity of the orifice of the blasthole X according to the planned optimal walking path, stops and adjusts its posture, obtains the orifice coordinate information of the blasthole X, and then compares it with the position information of each blasthole in the blasting design database, completes the matching of the blasthole X to be charged, obtains the specific charge design explosive quantity of the blasthole X, determines the target number of explosive bags required for the blasthole X, so as to prepare for the subsequent intelligent charging robot 3 to grab the charge, and at the same time sends a signal to the intelligent charging robot 3, instructing the intelligent charging robot 3 to follow the intelligent flatbed transport vehicle 2 and autonomously walk to the vicinity of the orifice of the blasthole X according to the walking route planned by the intelligent flatbed transport vehicle 2; the intelligent charging robot 3 autonomously walks to the vicinity of the orifice of the blasthole X The intelligent charging robot 3 stops at a certain position, and adjusts its own posture according to the current intelligent flatbed transport vehicle 2 and the center position of the hole opening of the blasthole X, so that the posture of the intelligent charging robot 3 reaches the optimal posture for quantitatively grabbing and loading explosives, and at the same time transmits a charging start signal to the intelligent flatbed transport vehicle 2. After receiving the charging start instruction, the intelligent charging robot 3 identifies the type of explosive package, quantitatively grabs the target number of explosive bags, and performs charging operation on the hole opening of the blasthole; after the intelligent charging robot 3 completes the charging of the blasthole X and determines that the charging is completed through intelligent identification, it sends a signal to the intelligent flatbed transport vehicle 2 to feedback that the charging of the blasthole X has been completed, and notifies the intelligent flatbed transport vehicle 2 that it can move to the next blasthole to be charged.

[0144] In some embodiments, Figure 3 As shown, the intelligent flatbed transport vehicle 2 also includes:

[0145] The flatbed truck main box 22 is used to receive the explosive bags unloaded from the explosive bag transport truck 1 and deliver a target number of explosive bags in response to the quantitative distribution indication information;

[0146] The flatbed truck auxiliary box 23 is used to receive a target number of explosive bags transported by the flatbed truck main box 22 to the intelligent charging robot 3 .

[0147] It can be understood that the intelligent flatbed transport vehicle 2 includes a flatbed main box 22 and a flatbed auxiliary box 23. The flatbed main box 22 is used to receive the explosive bags unloaded from the explosive bag transport truck 1, and the flatbed auxiliary box 23 is used to receive the target number of explosive bags transported by the flatbed main box 22 to the intelligent loading robot 3.

[0148] It can be understood that the flatbed truck main box 22 stores all the explosive bags unloaded from the explosive bag transport truck 1. In order to facilitate the intelligent charging robot 3 to grab, the flatbed truck auxiliary box 23 is set. When the target number of explosives required for the target blast hole is determined, quantitative distribution indication information is generated. The flatbed truck main box 22 delivers the target number of explosive bags in response to the quantitative distribution indication information; the flatbed truck auxiliary box 23 is used to receive the target number of explosive bags delivered by the flatbed truck main box 22 to the intelligent charging robot 3.

[0149] In some embodiments, Figure 3 As shown, the flatbed truck main box 22 also includes: an explosive bag classification and quantitative distribution device 221, which is used to classify the explosive bags and quantitatively distribute the explosives based on the target quantity;

[0150] The explosive bag transmission structure 222 at the bottom of the flatbed truck main box is arranged at the bottom of the flatbed truck main box 22 and is used to transport the target number of explosive bags after classification and quantitative distribution;

[0151] The explosive bag conveying and sorting device 223 is arranged between the explosive bag classification and quantitative distribution device 221 and the auxiliary box body 23 of the flatbed truck, and is used to receive the explosive bags conveyed by the transmission structure at the bottom of the main box body 22 of the flatbed truck and convey them to the auxiliary box body 23 of the flatbed truck;

[0152] The auxiliary box body 23 of the flatbed truck includes: an auxiliary box body explosive bag bearing plate 231 for receiving a target number of explosive bags conveyed by the explosive bag conveying and sorting device 223 .

[0153] In some embodiments, Figure 3 As shown, the intelligent flatbed transporter also includes:

[0154] A flatbed truck base 24, used to support the intelligent flatbed truck 2;

[0155] The flatbed vehicle traveling device 25 includes wheels and a driving motor, and is used to drive the intelligent flatbed transport vehicle 2 to travel along the first driving route in response to a travel instruction.

[0156] In some embodiments, Figure 4 As shown, the intelligent charging robot 3 also includes:

[0157] The perception and decision module 31 includes a sensor for real-time perception of environmental information during driving, and for perceiving the position information of the intelligent flatbed transport vehicle 2 and the position information of the target blasthole after parking at the second parking spot; for adjusting the second driving route based on the perceived environmental information, and for adjusting the posture of the intelligent charging robot 3 based on the position information of the intelligent flatbed transport vehicle and the position information of the target blasthole after parking at the second parking spot;

[0158] The autonomous walking mechanism 32 is used to drive the intelligent charging robot 3 to autonomously travel in the blasting area based on the second driving route;

[0159] The robot rotation mechanism 33 is used to adjust the posture of the intelligent charging robot 3 during driving;

[0160] A mechanical arm rotation mechanism 34, which controls the rotation angle of the mechanical arm;

[0161] A mechanical arm structure 35, comprising a retractable mechanical arm structure 351 and a bendable flexible mechanical arm joint 352;

[0162] An explosive bag grabbing and charging mechanism 36 is used to grab the explosive bag and move it to the target blast hole position in response to the charging start instruction. The explosive bag grabbing and charging mechanism includes a clamp-type mechanical claw 361 and a five-finger mechanical claw 362;

[0163] The positioning mechanism is used to locate its own position information.

[0164] 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 5 As shown, the method comprises the following steps:

[0165] Step 510: The control module generates and sends a travel instruction and a first driving route to the intelligent flatbed transport vehicle, where the travel instruction is used to instruct the intelligent flatbed transport vehicle to travel in the explosion area based on the first driving route.

[0166] It is understandable that the intelligent flatbed transport vehicle can autonomously transport explosive bags based on walking instructions, and the walking instructions are used to instruct the intelligent flatbed transport vehicle to travel in the explosion area based on the first driving route.

[0167] It can be understood that the travel instruction and the first driving route are generated and sent by the control module of the intelligent flatbed transport vehicle, that is, the intelligent flatbed transport vehicle independently plans its own driving route and generates the travel instruction.

[0168] Step 520: Determine the location information of the current first parking point and the target blasthole near the first parking point, and control the intelligent flatbed transport vehicle to park at the first parking point.

[0169] Here, the intelligent flatbed transport vehicle can not only autonomously plan its driving route, but also determine its current best stop point, i.e., the first stop point, based on the control module and sense the target blast hole near the first stop point, which is the blast hole currently to be loaded with explosives.

[0170] Here, after determining the first stop point, the control module can also control the intelligent flatbed transport vehicle to stop at the first stop point to ensure that the subsequent intelligent charging robot can grab the explosive bags required for the target blast hole from the intelligent flatbed transport vehicle.

[0171] Step 530: Based on the location information of the first parking point, determine the location information of the second parking point; based on the location information of the second parking point, determine the second driving route.

[0172] Here, the intelligent flatbed transport vehicle can not only plan its own parking position and driving route, that is, the location information of the first parking point and the first driving route, but also has the function of planning the walking route and parking of the intelligent charging robot, and guiding it to follow the parking and posture adjustment; that is, planning the parking position of the intelligent charging robot (the location information of the second parking point) and the second driving route.

[0173] Step 540: Send a charge start instruction.

[0174] Here, the charging start instruction is used to instruct the intelligent charging robot to start charging, grab the explosive bag on the intelligent flatbed transport vehicle, and then load the explosive bag onto the target blast hole.

[0175] Step 550: receiving and responding to the charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point.

[0176] Step 560: Forward the charge completion instruction to the explosive bag transport truck.

[0177] It can be understood that the above description is about the first collaborative mode, that is, the intelligent flatbed truck autonomously plans its own and the intelligent charging robot's driving routes and stop points, the intelligent charging robot follows the intelligent flatbed truck, and the control module of the intelligent flatbed transport vehicle executes the intelligent charging method.

[0178] In addition, for the second collaborative mode, the smart charging method includes:

[0179] The control module receives and sends the travel instruction and the first travel route to the intelligent flatbed transport vehicle;

[0180] Receiving and responding to the charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point;

[0181] Forwards the end-of-charging instruction to the explosive bag transport truck.

[0182] It is understandable that, for the second collaborative mode, the intelligent charging robot is mainly responsible for planning, and the intelligent flatbed transport vehicle follows the intelligent charging robot. That is, the intelligent flatbed transport vehicle does not need to plan the route, and the control module only needs to receive the walking instruction and the first driving route sent by the intelligent charging robot and send them to the intelligent flatbed transport vehicle.

[0183] In addition, the control module can also receive and respond to the charging end instruction, control the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; and forward the charging end instruction to the explosive bag transport truck.

[0184] In some embodiments, the method further comprises:

[0185] Based on the size range of the blasting area, the position information and quantity information of each blast hole corresponding to the blasting area, and the path planning algorithm, a first driving route is determined and a walking instruction is generated.

[0186] Here, the intelligent flatbed transport vehicle has the function of planning the travel route, finding holes and adjusting the stop position according to the explosion area range, hole mouth coordinates, etc., so as to ensure that the transportation route is the best and shortest and the stop position is the best.

[0187] Intelligent flatbed transport vehicle The carrying capacity information of the intelligent flatbed transport vehicle determines that the first parking point can be the amount of powder rolls that the intelligent flatbed transport vehicle can carry for a maximum of M blast holes at one time.

[0188] Here, the path planning algorithm, such as the A (A-star) algorithm or the Dynamic (D) algorithm, the A algorithm is a heuristic search algorithm commonly used in graph search, and is particularly suitable for path planning problems. The D algorithm is a dynamic path planning algorithm, which is an extension of the A algorithm and is specifically used for path planning in dynamic environments. Unlike the A algorithm, the D algorithm can update the path planning results in real time. When the environment changes (for example, when encountering obstacles), the D algorithm can dynamically recalculate the path to adapt to the new environment. This makes the D algorithm very suitable for dynamically changing environments, such as autonomous driving, robot driving and other scenarios.

[0189] Here, in order to further optimize the driving route and make it the shortest, this optimization can be solved by the traveling salesman problem, that is, the path planning algorithm adopts the traveling salesman algorithm.

[0190] It can be understood that the intelligent flatbed transport vehicle can plan an optimal walking route and corresponding parking positions and staying positions based on the size range of the blasting area, the coordinates of the blast hole mouths, and the carrying capacity of the intelligent flatbed transport vehicle. That is, each parking position is near the mouth of a blast hole to be loaded. After walking the entire route, all blast holes in the blasting area can be covered, with the shortest walking distance and the least number of turns. The staying position is convenient for the coordinated intelligent charging robot to follow the walking, positioning and docking, and automatically grabbing explosive bags and efficiently loading.

[0191] In some embodiments, based on the size range of the blasting area, the location information and quantity information of each blast hole corresponding to the blasting area, and the path planning algorithm, determining the first driving route and generating the walking instruction include:

[0192] Based on the size range of the blasting area, the location information and quantity information of each blasting hole corresponding to the blasting area, the carrying capacity information of the intelligent flatbed transport vehicle, the current location information of the explosive bag transport vehicle, the path planning algorithm and the traveling salesman algorithm, the first driving route is determined and the walking instruction is generated.

[0193] For example, the intelligent flatbed transport vehicle can autonomously plan the explosive bag transport route, that is, based on the size range of the blasting area, the location information and quantity information of each blasting hole corresponding to the blasting area, and the path planning algorithm, determine the first driving route and generate a walking instruction, specifically including:

[0194] First, the optimal charging area is divided according to the number and location information of the blasting area.

[0195] Based on the number and location information of the blast holes and the size range of the blast area, the blast area is divided into multiple charging areas. Assuming that the intelligent flatbed transport vehicle can carry a maximum of M blast holes at a time, and there are N blast holes in the entire blast area, the number of times k that the intelligent flatbed transport vehicle needs to transfer explosive bags from the explosive bag transport truck can be calculated as:

[0196]

[0197] Input data, the two-dimensional coordinates of all blastholes are P i ={(x1,y1),(x2,y2)...,(x i ,y i )}, where P i represents the two-dimensional coordinates of the blasthole, x i and i are the horizontal and vertical coordinates of each blast hole respectively.

[0198] Using the K-means spatial clustering algorithm, K cluster centers are initialized, and the blastholes are divided into K groups according to the principle of the closest distance. The number of blastholes in each group is less than or equal to M. The cluster center is adjusted to the centroid of the blastholes in the group, and repeated iterations are performed to divide the optimal charging area.

[0199] Output data: clustering results of blastholes, that is, the blastholes contained in each of the K groups.

[0200] Second, optimize the path and solve the shortest path problem.

[0201] Here, the path for charging all the blastholes in an area can be made shortest according to the grouping of the blastholes.

[0202] For each charging area, the smart flatbed transporter needs to start from the explosive bag transport truck, and return to the explosive bag transport truck after completing the charging task of all the blastholes in the area. The smart flatbed transporter starts from the explosive bag transport truck, passes through the blastholes in the area once, and then returns to the explosive truck, which has the shortest total path.

[0203] Specifically, the input data of this step are the location of the truck transporting the explosive bags and the location points of the blast holes in the area.

[0204] Driving path planning: Use a path planning algorithm (such as A (A-star) algorithm or Dynamic (D)) algorithm) to plan the best stop position from the current position to the next blasthole, with the shortest driving path and ensuring that it is within the drivable area. During the driving process, the environment is sensed through sensors (lidar or camera) and the driving route is dynamically adjusted.

[0205] Furthermore, based on the path planning, the traveling salesman problem (TSP) algorithm is further used for the shortest path optimization. That is, this optimization can be solved as a traveling salesman problem. Specifically, a node set of the location of the explosive bag transport truck and the location of the blast hole in the area is constructed, and a distance matrix is ​​established to calculate the shortest path from the flatbed transport truck starting from the explosive bag transport truck node, gradually visiting each blast hole node, and finally returning to the explosive bag transport truck node.

[0206] Here, the output data is the order of the blasthole nodes of the intelligent flatbed transport vehicle for charging in the area. According to the order of the blasthole nodes of the intelligent flatbed transport vehicle for charging in the area, a first driving route is determined, and the first driving route is optimal.

[0207] In some embodiments, it can be understood that due to the piles of rock powder generated after drilling around the blasthole, the outlet of the explosive bag of the intelligent flatbed transporter should be moderately distant from the current blasthole position to meet the needs of explosive bag delivery and robot grasping. At the same time, the relative angle between the outlet direction of the explosive bag and the blasthole is reasonable to reduce the need for lateral rotation of the robot.

[0208] In some embodiments, the method further comprises:

[0209] Obtaining preset position information of target blasthole;

[0210] A first parking point is determined based on preset position information, structural parameters of the intelligent flatbed transport vehicle, environmental data, and at least one first constraint condition.

[0211] Here, the preset position information of each target blasthole is obtained, including the two-dimensional coordinates (eg, x, y coordinates) of the blasthole. This information can be obtained through the blasting design database and provide basic data for the stop point selection.

[0212] Here, calculating the best stop point of the intelligent flatbed transport vehicle, i.e., the first stop point, needs to consider at least one first constraint condition, including: distance constraint condition (the minimum allowable distance between the first stop point and the target blast hole must be greater than the minimum allowable distance from the blast hole, and less than the working range of the intelligent charging robot, to ensure that the stop position of the intelligent flatbed transport vehicle is not too close to the blast hole and does not affect the transfer of the explosive bag), angle constraint condition (the angle between the outlet direction of the explosive bag of the intelligent flatbed transport vehicle and the direction of the line connecting the blast hole is the smallest), terrain constraint condition (the stop point is located in the drivable area, avoiding areas with uneven ground or many obstacles).

[0213] Exemplarily, the location information of the first stop point is determined through the blast hole coordinates, the structural parameters of the intelligent flatbed transport vehicle, the environmental data (grid map of the drivable area), and the comprehensive distance constraints, angle constraints, and terrain constraints, which is the optimal stop position for the intelligent flatbed transport vehicle, thereby ensuring that the position can facilitate the intelligent charging robot to perform charging operations and meet various safety and operational requirements.

[0214] In some embodiments, determining the location information of the second parking point based on the location information of the first parking point includes:

[0215] Obtaining preset position information of target blasthole;

[0216] Based on the position information of the first parking point, the preset position information, the structural parameters of the intelligent flatbed transport vehicle, the environmental data and at least one second constraint condition, the position information of the second parking point is determined.

[0217] Here, the second parking point refers to the specific location where the intelligent charging robot stops, which is usually located near the target blast hole and coordinated with the first parking point (the parking point of the intelligent flatbed transport vehicle).

[0218] Specifically, based on the preset position information of the blast hole and the stop position of the intelligent flatbed transport vehicle, namely the first stop point, the best stop point, namely the second stop point, is selected. The stop point is moderately far from the blast hole to ensure that the robotic arm can be easily extended, and should be close to the intelligent flatbed transport vehicle to reduce the moving distance of the robotic arm when grabbing the explosive bag.

[0219] Here, at least one second constraint condition includes: distance constraint (greater than the minimum allowable distance from the blast hole, and less than the maximum working distance of the robotic arm relative to the intelligent flatbed transport vehicle), angle constraint (the extension direction of the robotic arm is consistent with the direction of the flatbed vehicle's medicine roll outlet, reducing unnecessary rotation movements), and terrain constraint (the stop point is located within the drivable area) to calculate the optimal stop point coordinates.

[0220] Exemplarily, the process of determining the optimal docking position of the intelligent charging robot includes:

[0221] Input data: blast hole coordinates P(x p ,y p ), where x p and p They are the horizontal and vertical coordinates of the blasthole, the structural parameters of the intelligent flatbed transport vehicle, the structural parameters of the intelligent charging robot, and the environmental data (grid map of the drivable area).

[0222] Determination of parking position: For the optimal parking position of the target blasthole point of the intelligent charging robot, the coordinates of the optimal parking point are calculated through distance constraints (greater than the minimum allowable distance from the blasthole and less than the maximum working distance of the robotic arm relative to the intelligent flatbed transport vehicle), angle constraints (the extension direction of the robotic arm is consistent with the direction of the flatbed vehicle's drug roll outlet to reduce unnecessary rotation movements), and terrain constraints (the parking point is located within the drivable area).

[0223] In this way, the optimal position of the second parking point is determined based on the position of the first parking point, the preset position information of the target blast hole, the structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one second constraint condition, so that the intelligent charging robot can accurately and effectively grab the explosive bags and charge them.

[0224] In some embodiments, based on the location information of the second parking lot, determining the second driving route includes:

[0225] Based on the location information of the second parking point and the path planning algorithm, a second driving route is determined.

[0226] Here, according to the calculated position information of the second parking point of the intelligent charging robot, a path planning algorithm (such as A or D) is used to plan the optimal parking point position of the next blast hole from the current position of the intelligent charging robot, with the shortest driving path and ensuring that it is within the drivable area. At the same time, during the driving process, the environment is sensed through sensors (lidar or camera) and the driving route is dynamically adjusted.

[0227] In addition, every time the intelligent charging robot arrives at a new stop, it senses the position of the intelligent flatbed transport vehicle and the blast hole, calibrates its own position, and ensures the stability of the charging work.

[0228] For example, in combination Figure 5 , the collaborative process of the explosive bag transport truck, the intelligent flatbed transport vehicle and the intelligent charging robot in the first collaborative mode is explained:

[0229] Figure 5 The left side shows the overall layout of the explosion area. Figure 5 In the figure, dots represent blast holes in the blast area, indicating the distribution of blast holes in the area. The spacing between blast holes may affect the path planning of the transport vehicle and the charging robot. The explosive vehicle stop point (i.e., the target parking point of the aforementioned explosive bag transport vehicle) is the starting point for the intelligent flatbed transport vehicle to load the explosive bags. From this position, the intelligent flatbed transport vehicle transports the explosive bags to the various charging areas in the blast area.

[0230] The dashed arrows represent the optimal driving path of the intelligent flatbed transporter in the blasting area. The design goal of the optimal path is to cover all blastholes while reducing the driving distance and the number of turns. A path planning algorithm (such as the A algorithm or the TSP algorithm) is used to determine the path.

[0231] Charging area division: The blastholes are divided into multiple charging areas. After the flatbed transporter completes the charging task in an area, it will return to the explosives truck stop to replenish the explosive bags. Clustered flatbed truck charging area: The area covered by each transport of explosive bags is marked. This division is based on the load capacity of the transporter and the distribution of blastholes.

[0232] Figure 6 The right side magnifies the operational details of charging a single blast hole in the blasting area, which mainly shows the collaborative work of the flatbed transport vehicle and the charging robot.

[0233] Here, the intelligent flatbed transporter drives along the optimal driving path and stops at the best parking position near the blast hole (i.e., the aforementioned first parking point). The selection of the parking point needs to take into account factors such as distance, terrain, and the direction of the explosive bag outlet to ensure the efficiency of subsequent charging operations.

[0234] The intelligent charging robot works in conjunction with the intelligent flatbed transporter, and its docking point also needs to be optimized. The optimal docking position of the intelligent charging robot is determined based on the location of the blasthole and the parking point of the flatbed transporter, ensuring that the robotic arm can effectively grab the explosive bag and accurately load the explosives. The charging robot adjusts its position in real time through the perception decision-making system to ensure the accuracy of the charging work.

[0235] In the figure, the dotted arrows show the movement path of the intelligent charging robot between the blastholes. The intelligent charging robot moves to each target blasthole position along the shortest path in a charging area to perform the charging task. The robotic arm extends above the blasthole mouth, grabs the explosive bag through the clamp-type mechanical claw or the five-finger mechanical claw and completes the charging. The flexibility of the robotic arm and the charging mechanism allows it to adapt to different blasthole positions and angles.

[0236] In addition, terrain features (such as drill rock dust piles) and drivable areas are marked in the map. Stops and routes need to be planned to avoid obstacles and uneven areas.

[0237] The control scheme of the intelligent charging system of the embodiment of the present application is described in detail below in conjunction with an application example.

[0238] like Figure 7 As shown, Figure 7 This is a flow chart of the control of the explosive vehicle and the intelligent charging robot system. The system control module can be used to execute the above-mentioned charging method. The figure shows a complete intelligent blasting operation process, including: data input and fusion (information acquisition and fusion module 701), which provides basic data for blasting operations; path planning and task allocation (module 702, module 703, module 704), to ensure the efficient coordinated operation of the flatbed vehicle and the intelligent charging robot; task execution and feedback (module 705, module 706), to achieve closed-loop control of borehole matching, quantitative distribution of explosive bags and charging tasks.

[0239] 1. Information acquisition and fusion module 701

[0240] Input: intelligent flatbed transport vehicle, intelligent charging robot, mechanical arm size; blasting area size, blast hole location, blasting design plan. The information acquisition and fusion module 701 can be a control module.

[0241] Function: Integrate the size range of the blasting area, blasthole location, design plan, and related parameters of the intelligent flatbed transporter and intelligent charging robot to form a comprehensive data foundation to provide support for subsequent modules.

[0242] 2. Intelligent flatbed transport vehicle path planning module 702

[0243] Input: blasting area size range, blast hole mouth coordinates.

[0244] Function: Based on the scope of the blasting area and the location information of the blastholes, plan the optimal driving route (the first driving route) of the intelligent flatbed transporter to ensure that all blastholes are covered and the driving path is optimized (such as the shortest driving distance and the least number of turns).

[0245] Output: Generate the path planning plan for the intelligent flatbed transport vehicle, i.e. the first driving route.

[0246] The intelligent flatbed transport vehicle path planning module 702 may be a control module.

[0247] 3. Intelligent charging robot positioning and charging module 703

[0248] Input: blasting area size range, blast hole mouth coordinates, and intelligent flatbed transporter parking location information.

[0249] Function: The intelligent charging robot stops at the best parking point (the second parking point) and completes the charging task according to the design plan.

[0250] Output: Charge mission execution plan.

[0251] 4. Flatbed vehicle and intelligent charging robot interaction module 704

[0252] Input: Charge end command or charge start command.

[0253] Function: The intelligent flatbed transport vehicle and the intelligent charging robot realize data and task interaction at the stop point. For example, the flatbed transport vehicle transports explosive bags, and the intelligent charging robot grabs and completes the charging.

[0254] Output: Charging task completion signal.

[0255] 5.Bore matching module 705

[0256] Input: blasting design plan and the location information of the blastholes that have been found and located (target blastholes).

[0257] Function: Match each blast hole in the blasting design with the blast holes detected in the actual environment to ensure the accurate execution of the design.

[0258] Output: The location information of the blastholes that have been found and located.

[0259] 6. Explosive bag quantitative distribution module 706

[0260] Input: Blasting design plan.

[0261] Function: According to the charging requirements of each blasthole, the number of explosive bags is accurately measured and output to ensure that the charging amount of each blasthole meets the design requirements.

[0262] Output: Quantification results of explosive bags.

[0263] Below, the method of the embodiment of the present application is described in detail in conjunction with another application example.

[0264] In view of the problems of the above-mentioned related technologies, the embodiments of the present application propose a new method for charging bagged explosives in open-pit mines in which an explosive bag transport truck, an intelligent flatbed transport vehicle and an intelligent charging robot efficiently and continuously work together. Specifically:

[0265] (1) During the blasting and charging process of open-pit mines, the explosive bag transport truck, the intelligent flatbed transport vehicle and the intelligent charging robot each divide their work and work together to efficiently and accurately complete the charging of the blast holes in the blasting area. The three devices have mutual interaction functions and can transmit and feedback operation information in real time. The explosive bag transport truck is mainly responsible for transporting the explosives required for blasting to a fixed safe location near the blasting area, unloading the explosive bags in batches and loading them on the intelligent flatbed transport vehicle; the intelligent flatbed transport vehicle is mainly responsible for planning its own and the intelligent charging robot's walking route and parking posture, and autonomously walking and transporting explosive bags; the intelligent charging robot is mainly responsible for following the intelligent flatbed transport vehicle to autonomously walk, accurately locate the blast hole orifice, automatically identify and grab the explosive bags, and automatically load the holes; the connection device and system are responsible for coordinating the efficient operation of the two intelligent bodies (equipment) of the intelligent flatbed transport vehicle and the intelligent charging robot, specifically coordinating the intelligent perception, intelligent decision-making and intelligent execution of the intelligent flatbed transport vehicle and the intelligent charging robot, and coordinating the two to safely, accurately and efficiently complete the charging work in the blasting area.

[0266] (2) The on-board terminal module of the explosive bag transport truck, the intelligent flatbed transport vehicle module, the intelligent charging robot module and other related devices are proposed, the functions of each module are explained, and the structural schematic diagram of each equipment (device) is drawn, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 shown.

[0267] The on-board terminal module of the explosive bag transport truck contains interactive functions, and has the functions of positioning and signal receiving and sending, and explosive bag metering and quantitative control; the intelligent flatbed transport vehicle module contains interactive functions, and has the functions of positioning and signal receiving and sending, and can perform control functions such as path planning, fixed-point docking and posture adjustment; the intelligent charging robot module contains interactive functions, and has the functions of positioning and signal receiving and sending, and can receive command signals and autonomously follow and walk, find holes, dock at fixed points and adjust postures, automatically identify and quantitatively grab explosive bags, and control the precise charging of holes.

[0268] (3) Two optimization plans are proposed: one is the optimal walking route and parking posture planning of the intelligent flatbed transport vehicle and the intelligent charging robot, including walking route, fixed-point parking and posture adjustment; the other is the intelligent charging robot's autonomous following walking, hole-finding positioning, posture adjustment, quantitative grabbing of explosive bags and precise hole charging planning. Through the calculation of relevant optimization algorithms, the optimal path planning and posture parking planning of the intelligent flatbed transport vehicle and the intelligent charging robot are realized, achieving the goal of efficient collaborative operation.

[0269] like Figure 8 As shown, in order to solve the above technical problems, this application example provides an open-pit mine mixed explosive intelligent collaborative efficient charging method, which includes the following steps:

[0270] Step 801: Accurately transmit information such as the blasting area range, blast hole coordinates, blast hole charge design, etc. to the on-board terminal of the explosive bag transport truck, the intelligent flatbed transport vehicle, and the intelligent charging robot.

[0271] Step 802: After the explosive bag transport truck stops at a fixed position near the entrance of the blasting area, it unloads the explosive bags in a quantitative manner and fills the intelligent flatbed transport vehicle.

[0272] After the explosive bag transport truck arrives at a fixed position near the entrance of the blasting area and stops, it interacts with the smart flatbed transport vehicle to complete the start and stop of explosive bag unloading tasks and fill the smart flatbed transport vehicle.

[0273] Step 803: The intelligent flatbed transport vehicle plans its own and the intelligent charging robot's walking route, parking position and parking posture according to the blasting area range, blast hole mouth position, etc.

[0274] The intelligent flatbed transport vehicle plans its own and the intelligent charging robot's walking route, parking position and parking posture according to the scope of the blasting area and the location of the blast hole mouth. On the premise of ensuring collaborative operation with the intelligent charging robot and full coverage of the hole-finding and charging work of all blast holes in the blasting area, the walking route is the shortest and the number of return times is the least, thus achieving intelligent collaboration and high efficiency.

[0275] Step 804: the intelligent flatbed transport vehicle moves to the first blasthole X at a position 1-S, stops and adjusts its position, completes the matching of blasthole X, obtains the charge design of blasthole X, and quantitatively transports the explosive bag from its main box to its auxiliary box, and notifies the intelligent charge robot to start charging.

[0276] After the intelligent flatbed transport vehicle completes the optimal walking route planning within the blasting area according to the above steps, it first walks to the parking point 1-S near the first blasthole X of the optimized design, stops and adjusts its posture to ensure that the intelligent charging robot working with it can complete the charging work of the blasthole X near point 1-S, and at the same time obtains the orifice coordinate information of the blasthole X, compares it with the position information of each blasthole in the blasting design database, completes the matching of the blasthole X to be loaded, obtains the specific charging design amount of the blasthole X, and quantitatively separates and transports the quantitative explosive bags from the main box of the intelligent flatbed transport vehicle to the auxiliary box of the intelligent flatbed transport vehicle in batches, so that the subsequent intelligent charging robot can grab and charge, and at the same time sends a signal to the intelligent charging robot, commanding the intelligent charging robot to follow the intelligent flatbed transport vehicle and autonomously walk to the vicinity of the orifice of the blasthole X according to the planned walking route.

[0277] Step 805: The intelligent charging robot autonomously follows and walks to the vicinity of the opening of blasthole X and stops, and adjusts its posture according to the current position of the intelligent flatbed transport vehicle and the opening of blasthole X, quantitatively grabs explosive bags and charges at the opening of blasthole X, and after completion, notifies the flatbed transport vehicle to move to the next blasthole.

[0278] It is understandable that after receiving the command signal, the intelligent charging robot autonomously follows and walks to the vicinity of the mouth of blasthole X and stops, and adjusts its own posture according to the current intelligent flatbed transport vehicle and the center position of the mouth of blasthole X, so that the posture of the intelligent charging robot reaches the optimal posture for quantitatively grabbing the explosive bags and loading explosives on the auxiliary box of the intelligent flatbed transport vehicle, and at the same time conveys the signal to the intelligent flatbed transport vehicle that it is in place and can start loading.

[0279] After receiving the command to start charging, the intelligent charging robot, through the cooperation of the rotatable mechanical arm and the mechanical claw, quantitatively grabs the explosive bags and performs charging operations on the opening of the center blast hole X.

[0280] After the intelligent charging robot completes charging of blasthole X and determines that charging is complete through intelligent identification, it feeds back to the intelligent flatbed transport vehicle that charging of blasthole X has been completed, and notifies the intelligent flatbed transport vehicle that it can move to the next blasthole to be charged.

[0281] Step 806: The intelligent transport flatbed drives to the Nth blast hole NS point in the blasting area, stops and adjusts its position, and repeats the above steps 803-804 to complete the Nth blast hole until all the explosive bags on the intelligent flatbed transport vehicle are loaded.

[0282] Here, the intelligent transport flatbed truck drives to the vicinity of the Nth blast hole NS in the blasting area according to the planned walking route and stops at the NS point to adjust its position, that is, repeating the above steps 803-804 to complete the charging of the Nth blast hole until all the explosive bags on the intelligent flatbed truck are loaded.

[0283] Step 807: The intelligent transport flatbed truck automatically starts and drives to the stop point for the explosive bag transport truck outside the blasting area to load the second truckload of explosive bags.

[0284] Step 808: The intelligent transport flatbed truck cooperates with the intelligent charging robot to repeat the above steps 803-804-805-806 until all the blast holes in the blasting area are loaded; finally, the intelligent transport flatbed truck and the intelligent charging robot drive out of the blasting area together.

[0285] Here, the intelligent transport flatbed truck drives along the planned route to the vicinity of the N+1th blast hole N+1-S in the blasting area and stops at the N+1-S point to adjust the posture, and then repeats the above steps 803-804-805-806 again until all the blast holes in the blasting area are loaded. After the blasting area is loaded, the intelligent transport flatbed truck and the intelligent charging robot drive out of the blasting area.

[0286] Thus, the embodiment of the present application provides an open-pit mine blasting bagged explosive intelligent collaborative charging method, device and system, that is, based on the case where explosives are transported by explosive bag transport trucks, starting with the explosive bag transport trucks, an intelligent flatbed transport vehicle is configured to automatically transport explosive bags in batches and quantitatively, completing the most economical and fastest transportation from the explosive bag transport trucks to all blast holes in the blasting area; an intelligent charging robot is configured to complete the precise and efficient charging work of all blast holes in the blasting area. That is, with the help of modern technologies such as computers, the Internet of Things, the Internet, and artificial intelligence, a new intelligent and efficient charging mode is formed in which three intelligent bodies (intelligent equipment) of explosive bag transport trucks, intelligent flatbed transport vehicles, and intelligent charging robots continuously work in collaboration.

[0287] As a result, (1) a new charging mode is formed, which promotes the intelligent construction of open-pit mines. (2) The proposed truck for transporting explosive bags can replace manual unloading with automatic unloading, and the unloading process can be accurately unloaded in batches and quantitatively through computer metering control. (3) The proposed intelligent flatbed transport vehicle module can realize the optimal current path planning and efficiently complete the transportation and distribution of explosive bags. (4) The proposed intelligent charging robot replaces manual charging operations, reduces manpower, increases efficiency, and improves safety. The intelligent charging robot has the functions of intelligent perception and recognition, precise grasping, and precise hole charging. (5) The proposed device and system can realize intelligent collaborative and efficient charging operations.

[0288] In an exemplary embodiment, the present application also provides a computer storage medium, which can be a computer-readable storage medium, on which a computer program is stored, and the computer program can be executed by a processor to complete the steps of the method of the present application. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0289] 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.

[0290] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0291] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An intelligent charging system, characterized in that: The system includes: an explosive bag transport truck, which is used to drive into the blasting area, stop at a target parking point and unload the explosive bags; and drive away from the blasting area in response to a charge loading end instruction; the system also includes: An intelligent flatbed transport vehicle, configured to receive and store explosive bags unloaded from the explosive bag transport truck; and in response to a travel instruction, controlling the intelligent flatbed transport vehicle to travel based on a first travel route; The intelligent flatbed transport vehicle includes a control module, which is used to generate and send the travel instruction and the first driving route to the intelligent flatbed transport vehicle, wherein the travel instruction is used to instruct the intelligent flatbed transport vehicle to travel in the blasting area based on the first driving route; determine the location information of the current first parking point and the target blast hole near the first parking point, and control the intelligent flatbed transport vehicle to park at the first parking point; determine the location information of the second parking point based on the location information of the first parking point; determine the second driving route based on the location information of the second parking point; send a charge start instruction; receive and respond to a charge end instruction, control the intelligent flatbed transport vehicle to continue to travel from the first parking point to the next first parking point; forward the charge end instruction to the explosive bag transport truck; The intelligent charging robot is configured to receive the location information of the second parking point and the second driving route; follow the intelligent flatbed transport vehicle based on the second driving route and park at the second parking point; respond to the charging start instruction, grab the explosive bag on the intelligent flatbed transport vehicle, and load the explosive bag into the target blast hole; and send the charging end instruction to the intelligent flatbed transport vehicle, and control the intelligent charging robot to continue driving to the next second parking point; or, An intelligent flatbed transport vehicle, configured to receive and store explosive bags unloaded from the explosive bag transport truck; and in response to a travel instruction, controlling the intelligent flatbed transport vehicle to travel based on a first travel route; The intelligent flatbed transport vehicle includes a control module for receiving and sending the travel instruction and the first driving route to the intelligent flatbed transport vehicle; receiving and responding to the charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; forwarding the charge completion instruction to the explosive bag transport truck; An intelligent medicine-loading robot, wherein the intelligent flatbed transport vehicle follows the intelligent medicine-loading robot based on the first driving route; The intelligent charging robot is used to generate and send the first driving route and the walking instruction; travel based on the second driving route; determine the current second parking point and the target blast hole near the second parking point, and park at the second parking point; determining the location information of the first parking point based on the location information of the second parking point; Sending the location information of the first parking point to the intelligent flatbed transport vehicle; In response to a charge start instruction, grab the medicine bag on the intelligent flatbed transport vehicle, and load the explosive bag into the target blast hole; send a charge end instruction to the intelligent flatbed transport vehicle.

2. The system according to claim 1, characterized in that The control module is also used to determine a first driving route and generate a walking instruction based on the size range of the blasting area, the location information and quantity information of each blasting hole corresponding to the blasting area, the carrying capacity information of the intelligent flatbed transport vehicle, the current location information of the explosive bag transport vehicle, the path planning algorithm and the traveling salesman algorithm; Acquiring preset position information of the target blasthole; Determine the first parking point based on the preset position information, the structural parameters of the intelligent flatbed transport vehicle, the environmental data and at least one first constraint condition; The control module is also used to obtain the preset position information of the target blasthole; The position information of the second parking point is determined based on the position information of the first parking point, the preset position information, the structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one second constraint condition.

3. The system according to claim 1, characterized in that The explosive bag transport truck also includes: The vehicle terminal module is used to determine the target parking point based on the position information of the explosive bag transport truck, the position of the entry point and the position information of the exit point; The driving operation room is used for the driver to operate; A control command system, used for generating loading instruction information and unloading instruction information based on the operation instruction information of the driver; The transport truck loading box is used to store the explosive bags and load a fixed amount of explosive bags in response to the loading instruction information; A batch unloading device for bagged explosives, used for unloading explosive bags to the intelligent flatbed transport vehicle in batches in response to the unloading instruction information; The bagged explosive batch unloading device comprises: A counter, used to measure the number of explosive bags unloaded each time and send a counting start signal or a counting end signal; The solenoid valve is connected to the counter and is used to start the bagged explosive batch unloading device in response to the counting start signal or to close the bagged explosive batch unloading device in response to the counting end signal.

4. The system according to claim 1, characterized in that The control module is also used to adjust the position of the intelligent flatbed transport vehicle at the first parking point; obtain the position information of the target blasthole; match the position information of the target blasthole based on the position information of each blasthole in the blasting design database, determine the target number of explosive bags required for the target blasthole, and generate quantitative allocation indication information; and sending a charging start signal to the intelligent charging robot; the intelligent charging robot is used to adjust its own posture at the second parking point; and in response to the charge start instruction, identifying the type of explosive packages and grabbing the target number of explosive bags; The intelligent flatbed transporter also includes: A flatbed truck main box body is used to receive the explosive bags unloaded from the explosive bag transport truck and deliver a target number of explosive bags in response to the quantitative distribution indication information; The flatbed truck auxiliary box is used to receive a target number of explosive bags transported by the flatbed truck main box to the intelligent charging robot.

5. The system according to claim 4, characterized in that The flatbed truck main box also includes: an explosive bag classification and quantitative distribution device, which is used to classify the explosive bags and quantitatively distribute the explosives based on the target quantity; The explosive bag transmission structure at the bottom of the flatbed truck main box is arranged at the bottom of the flatbed truck main box and is used to transport the target number of explosive bags after classification and quantitative distribution; An explosive bag conveying and sorting device is arranged between the explosive bag classification and quantitative distribution device and the auxiliary box of the flatbed truck, and is used to receive the explosive bags conveyed by the transmission structure at the bottom of the main box of the flatbed truck and convey them to the auxiliary box of the flatbed truck; The auxiliary box of the flatbed truck includes: an auxiliary box explosive bag bearing plate, which is used to receive a target number of explosive bags conveyed by the explosive bag conveying and sorting device.

6. The system according to claim 4, characterized in that The intelligent flatbed transporter also includes: A flatbed truck base, used to support the intelligent flatbed truck; The flatbed vehicle traveling device includes wheels and a driving motor, and is used to drive the intelligent flatbed transport vehicle to travel along the first driving route in response to the traveling instruction.

7. The system according to claim 2, characterized in that The intelligent charging robot also includes: A perception and decision module, including sensors, for real-time perception of environmental information during driving, and for sensing position information of the intelligent flatbed transport vehicle and position information of the target blasthole after parking at the second parking point; adjusting the second driving route based on the perceived environmental information, and adjusting the position and posture of the intelligent charging robot based on the position information of the intelligent flatbed transport vehicle after parking at the second parking point and the position information of the target blasthole; An autonomous walking mechanism, used to drive the intelligent charging robot to autonomously travel in the blasting area based on the second driving route; A robot rotation mechanism, used to adjust the posture of the intelligent charging robot during driving; A robot arm rotation mechanism controls the rotation angle of the robot arm; A robotic arm structure, including a retractable robotic arm structure and a bendable flexible robotic arm joint; An explosive bag grabbing and charging mechanism, used to grab the explosive bag and move it to the target blasthole position in response to the charging start instruction, the explosive bag grabbing and charging mechanism comprising a clamp-type mechanical claw and a five-finger mechanical claw; The positioning mechanism is used to locate its own position information.

8. An intelligent charging method of an intelligent charging system according to any one of claims 1 to 7, characterized in that: Methods include: The control module generates and sends the travel instruction and the first driving route to the intelligent flatbed transport vehicle, wherein the travel instruction is used to instruct the intelligent flatbed transport vehicle to travel in the explosion area based on the first driving route; Determine the position information of the current first parking point and the target blasthole near the first parking point, and control the intelligent flatbed transport vehicle to park at the first parking point; Based on the location information of the first parking point, determining the location information of the second parking point; based on the location information of the second parking point, determining a second driving route; Send charge start command; Receiving and responding to a charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; forwarding the charge completion instruction to the explosive bag transport truck; or, The control module receives and sends the travel instruction and the first travel route to the intelligent flatbed transport vehicle; Receiving and responding to the charge completion instruction, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; The charging completion instruction is forwarded to the explosive bag transport truck.

9. The charging method according to claim 8, characterized in that: The method further comprises: Based on the size range of the blasting area, the location information and quantity information of each blast hole corresponding to the blasting area, the carrying capacity information of the intelligent flatbed transport vehicle, the current location information of the explosive bag transport vehicle, the path planning algorithm and the traveling salesman algorithm, a first driving route is determined and a walking instruction is generated.

10. The method according to claim 8, characterized in that The method further comprises: Acquiring preset position information of the target blasthole; The first parking point is determined based on the preset position information, structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one first constraint condition.

11. The method according to claim 9, characterized in that The determining the position information of the second parking point based on the position information of the first parking point includes: Acquiring preset position information of the target blasthole; The position information of the second parking point is determined based on the position information of the first parking point, the preset position information, the structural parameters of the intelligent flatbed transport vehicle, environmental data and at least one second constraint condition.

12. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 8 to 11 are implemented.

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