Intelligent drug loading system, intelligent drug loading method and storage medium

Abstract

The application 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, a control module of the intelligent flat transport vehicle being used to generate and send walking instructions and a first driving route to the intelligent flat transport vehicle; an intelligent charging robot being used to receive position information and a second driving route of a second parking point; following the intelligent flat transport vehicle based on the second driving route and parking at the second parking point; in response to a charging start instruction, grabbing explosive bags on the intelligent flat transport vehicle and loading the explosive bags to target blast holes; or, the intelligent flat transport vehicle being used to receive and store explosive bags unloaded by the explosive bag transport truck; the intelligent charging robot, the intelligent flat transport vehicle following the intelligent charging robot based on the first driving route; in response to a charging start instruction, grabbing explosive bags on the intelligent flat transport vehicle and loading the explosive bags to target blast holes.

Description

Technical Field

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

[0002] Currently, blasting remains the primary method of rock breaking in open-pit mining. The mining process includes drilling, blasting, loading, and transportation. Drilling and loading / transportation are largely mechanized or automated; for example, intelligent drilling rigs with autonomous drilling capabilities are available, and unmanned mining trucks have been developed as a demonstration project for ore transportation. However, the mechanization level of the blasting process is relatively low, and there is still a significant gap to be bridged before it becomes fully automated. This is especially true for loading pre-made explosives such as explosive bags or cartridges, which remains primarily manual and involves high labor intensity.

[0003] Generally, there are two main types of explosives used for open-pit mine blasting. The first type involves transporting the individual materials for explosive preparation to the blasting site using a mixed explosives truck, where the explosives are mixed and prepared on-site according to the blasting design. This is typically done using modern mixed explosives trucks for mechanized loading. The second type involves directly loading pre-prepared explosives from the explosives manufacturing plant (workshop), such as pre-prepared explosive rolls or pre-prepared explosive bags. Regarding the transportation of explosive bags, due to the large carrying capacity and heavy weight of the trucks, it is not advisable to drive them directly into the blasting area after they are fully loaded from the explosives workshop (or explosives depot). Therefore, the trucks are often parked outside or at a safe, fixed area on the edge of the blasting area, where a large number of workers unload, move, stack, and finally load the explosives into the blast holes.

[0004] Thus, the second method leads to the following problems: First, the workload of manually unloading and transporting explosive bags is relatively large, resulting in high physical exertion for workers, low mechanization, and low work efficiency; second, the number of explosive bags stacked manually and the subsequent charge amount often do not match the actual needs of the blast hole (purely manual operation under heavy physical exertion easily leads to the inability to strictly follow the blasting design when placing explosive bags, and the inaccuracy in the handling, stacking, and filling of explosive bags due to experience-based operation, i.e., the phenomenon of more or less explosive bags is difficult to avoid); third, there are greater safety hazards in manual operation; fourth, with a large amount of manual unloading, transporting, stacking, and loading, the work process management is inadequate, making it difficult to achieve the goal of continuous and efficient collaborative operation. Summary of the Invention

[0005] In view of this, embodiments of this application provide an intelligent loading system, an intelligent loading method, and a storage medium, aiming to solve the technical problems of high safety hazards, low production efficiency, and low automation level caused by manual unloading of explosive bags.

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

[0007] In a first aspect, embodiments of this application provide an intelligent explosive loading system, the system comprising: an explosive bag transport truck for entering a blasting zone, stopping at a target parking point and unloading explosive bags; and, in response to a loading completion command, leaving the blasting zone; the system further comprising:

[0008] The intelligent flatbed transport vehicle is used to receive and store the explosive bags unloaded from the explosive bag transport truck; and to control the intelligent flatbed transport vehicle to travel based on a first driving route in response to a walking command.

[0009] The intelligent flatbed transport vehicle includes a control module for generating and sending the travel command and the first travel route to the intelligent flatbed transport vehicle. The travel command instructs the intelligent flatbed transport vehicle to travel in the blasting zone based on the first travel route; determines the location information of the current first parking point and the target blast holes near the first parking point, and controls the intelligent flatbed transport vehicle to stop at the first parking point; determines the location information of the second parking point based on the location information of the first parking point; determines the second travel route based on the location information of the second parking point; sends a charging start command; receives and responds to a charging end command, controls the intelligent flatbed transport vehicle to continue traveling from the first parking point to the next first parking point; and forwards the charging end command to the explosive bag transport truck.

[0010] The intelligent loading robot is used 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; in response to the loading start command, grab the explosive bag on the intelligent flatbed transport vehicle and load the explosive bag into the target blast hole; and send the loading end command to the intelligent flatbed transport vehicle and control the intelligent loading robot to continue driving to the next second parking point.

[0011] or,

[0012] The intelligent flatbed transport vehicle is used to receive and store the explosive bags unloaded from the explosive bag transport truck; and to control the intelligent flatbed transport vehicle to travel based on a first driving route in response to a walking command.

[0013] The intelligent flatbed transport vehicle includes a control module for receiving and sending the travel command and the first travel route to the intelligent flatbed transport vehicle; receiving and responding to the charge-ending command to control the intelligent flatbed transport vehicle to continue traveling from the first parking point to the next first parking point; and forwarding the charge-ending command to the explosive bag transport truck.

[0014] The intelligent drug loading robot is followed by the intelligent flatbed transport vehicle based on the first driving route.

[0015] The intelligent loading robot is used to generate and send the first driving route and the walking command; drive based on the second driving route; determine the current second stopping point and the target blast hole near the second stopping point, and stop at the second stopping point;

[0016] The location information of the first parking point is determined based on the location information of the second parking point;

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

[0018] In response to the charge initiation command, the device grabs the explosive bag from the intelligent flatbed transport vehicle and loads the explosive bag into the target blast hole; it then sends a charge completion command to the intelligent flatbed transport vehicle.

[0019] In some embodiments, the control module is further configured to determine a first driving route and generate a driving instruction based on the size range of the blasting zone, the location and number information of each blast hole corresponding to the blasting zone, 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] Obtain the preset position information of the target borehole;

[0021] Based on the preset location information, the structural parameters of the intelligent flatbed transport vehicle, environmental data, and at least one first constraint condition, the first parking point is determined.

[0022] The control module is also used to acquire the preset position information of the target borehole; and to 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.

[0023] In some embodiments, the control module is further configured to determine a first driving route and generate a driving instruction based on the size range of the blasting zone, the location and number information of each blast hole corresponding to the blasting zone, 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] Obtain the preset position information of the target borehole;

[0025] Based on the preset location information, the structural parameters of the intelligent flatbed transport vehicle, environmental data, and at least one first constraint condition, the first parking point is determined.

[0026] The control module is also used to acquire the preset position information of the target borehole; and to 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.

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

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

[0029] The driver's cab is used for driver operation.

[0030] The control and command system is used to generate loading and unloading instructions based on the driver's operation instructions.

[0031] The transport truck is equipped with a container for storing the explosive bags and, in response to the loading instruction information, loads a specified number of explosive bags.

[0032] A batch unloading device for bagged explosives is used to unload the bags of explosives into the intelligent flatbed transport vehicle in batches in response to the unloading instruction information.

[0033] The batch unloading device for bagged explosives includes:

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

[0035] A solenoid valve, connected to the counter, is used to start the batch unloading device for bagged explosives in response to the count start signal or to shut down the batch unloading device for bagged explosives in response to the count end signal.

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

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

[0038] The driver's cab is used for driver operation.

[0039] The control and command system is used to generate loading and unloading instructions based on the driver's operation instructions.

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

[0041] A batch unloading device for bagged explosives is used to unload the bags of explosives into the intelligent flatbed transport vehicle in batches in response to the unloading instruction information.

[0042] The batch unloading device for bagged explosives includes:

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

[0044] A solenoid valve, connected to the counter, is used to start the batch unloading device for bagged explosives in response to the count start signal or to shut down the batch unloading device for bagged explosives in response to the count end signal.

[0045] In some embodiments, the control module is further configured to: adjust the posture of the intelligent flatbed transport vehicle at the first parking point; acquire 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 generate quantitative allocation instruction information; and send a charging start signal to the intelligent charging robot; the intelligent charging robot is configured to: adjust its own posture at the second parking point; and, in response to the charging start command, identify the type of explosive package and grab the target number of explosive bags;

[0046] The intelligent flatbed transport vehicle also includes:

[0047] The main body of the flatbed truck is used to receive the explosive bags unloaded from the explosive bag transport truck and, in response to the quantitative distribution instruction information, to transport the target number of explosive bags.

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

[0049] In some embodiments, the main body of the flatbed truck further includes: an explosive bag sorting and quantitative dispensing device, used to sort the explosive bags and quantitatively dispense explosives based on the target quantity;

[0050] The explosive bag conveying structure at the bottom of the main body of the flatbed truck is used to transport the target number of explosive bags after they have been sorted and quantitatively dispensed.

[0051] An explosive bag conveying and sorting device is installed between the explosive bag sorting and quantitative dispensing device and the flatbed trailer auxiliary box, for receiving the explosive bags conveyed by the bottom transmission structure of the flatbed trailer main box and conveying them to the flatbed trailer auxiliary box.

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

[0053] In some embodiments, the intelligent flatbed transport vehicle further includes:

[0054] Flatbed base, used to support the intelligent flatbed transport vehicle;

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

[0056] In some embodiments, the intelligent drug-loading robot further includes;

[0057] The perception and decision-making module includes sensors for real-time perception of environmental information during driving, and for perceiving the position information of the intelligent flatbed transport vehicle and the position information of the target blast hole after stopping at the second parking point; adjusting the second driving route based on the perceived environmental information, and adjusting the pose of the intelligent loading robot based on the position information of the intelligent flatbed transport vehicle and the position information of the target blast hole after stopping at the second parking point;

[0058] An autonomous walking mechanism is used to drive the intelligent explosive loading robot to move autonomously within the blast zone based on the second driving route;

[0059] A robot rotation mechanism is used to adjust the posture of the intelligent drug-loading robot during travel;

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

[0061] Robotic arm structures, including telescopic robotic arm structures and flexible robotic arm joints;

[0062] An explosive bag gripping and loading mechanism is used to grip an explosive bag and move it to the target blast hole position in response to the loading start command. The explosive bag gripping and loading mechanism includes a clamp-type mechanical claw and a five-fingered mechanical claw.

[0063] A positioning device used to determine its own location information.

[0064] Secondly, embodiments of this application provide an intelligent charging method for the intelligent charging system as described in the first aspect above, the method comprising:

[0065] The control module generates and sends the walking instruction and the first driving route to the intelligent flatbed transport vehicle. The walking instruction is used to instruct the intelligent flatbed transport vehicle to travel in the blast zone based on the first driving route.

[0066] Determine the location information of the current first parking point and the target blast holes near the first parking point, and control the intelligent flatbed transport vehicle to stop at the first parking point;

[0067] Based on the location information of the first parking spot, determine the location information of the second parking spot; based on the location information of the second parking spot, determine the second driving route;

[0068] Receive and respond to the charge completion command, and control the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point;

[0069] Forward the loading completion command to the explosive bag transport truck;

[0070] or,

[0071] The control module receives and sends the walking command and the first driving route to the intelligent flatbed transport vehicle;

[0072] Receive and respond to the loading end command, and control the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point;

[0073] The loading completion command is forwarded to the explosive bag transport truck.

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

[0075] Based on the size range of the blast zone, the location and number of blast holes corresponding to the blast zone, the carrying capacity of the intelligent flatbed transport vehicle, the current location of the explosive bag transport vehicle, the path planning algorithm, and the traveling salesman algorithm, a first driving route is determined and a driving instruction is generated.

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

[0077] Obtain the preset position information of the target borehole;

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

[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] Obtain the preset position information of the target borehole;

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

[0082] Thirdly, embodiments of this application provide a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the second aspect.

[0083] The technical solution provided in this application embodiment is an intelligent explosive loading system, including an explosive bag transport truck for entering the blasting zone, stopping at a target parking point and unloading explosive bags; and leaving the blasting zone in response to an explosive loading completion command; the system further includes: an intelligent flatbed transport vehicle for receiving and storing the explosive bags unloaded from the explosive bag transport truck; and controlling the intelligent flatbed transport vehicle to travel based on a first travel route in response to a travel command; the intelligent flatbed transport vehicle includes a control module for generating and sending a travel command and a first travel route to the intelligent flatbed transport vehicle, the travel command being used to instruct the intelligent flatbed transport vehicle to travel in the blasting zone based on the first travel route; and determining the current location of the first parking point. The system locates the target blast holes near the first parking point and controls the intelligent flatbed transport vehicle to stop at the first parking point; based on the location information of the first parking point, it determines the location information of the second parking point; based on the location information of the second parking point, it determines the second driving route; it sends a charging start command; it receives and responds to a charging end command, controlling the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point; it forwards the charging end command to the explosive bag transport truck; the intelligent charging robot receives the location information of the second parking point and the second driving route; it follows the intelligent flatbed transport vehicle based on the second driving route and stops at the second parking point; it responds to the charging start command... The system executes the following commands: 1) Grab the explosive bags from the intelligent flatbed transport vehicle and load them into the target blast hole; 2) Send a loading completion command to the intelligent flatbed transport vehicle and control the intelligent loading robot to continue driving to the next second stopping point; 3) Alternatively, the intelligent flatbed transport vehicle receives and stores the explosive bags unloaded from the explosive bag transport truck; and 4) In response to a walking command, controls the intelligent flatbed transport vehicle to travel along a first driving route; the intelligent flatbed transport vehicle includes a control module for receiving and sending walking commands and the first driving route to the intelligent flatbed transport vehicle; receiving and responding to a loading completion command, controlling the intelligent flatbed transport vehicle to continue driving from the first stopping point to the next first stopping point; and forwarding the explosive loading. The command to end is sent to the explosive bag transport truck; the intelligent loading robot and the intelligent flatbed transport vehicle follow the intelligent loading robot based on the first driving route; the intelligent loading robot generates and sends the first driving route and driving commands; it drives based on the second driving route; it determines the current second stopping point and the target blast hole near the second stopping point, and stops at the second stopping point; it determines the location information of the first stopping point based on the location information of the second stopping point; it sends the location information of the first stopping point to the intelligent flatbed transport vehicle; in response to the loading start command, it grabs the explosive bag on the intelligent flatbed transport vehicle and loads the explosive bag into the target blast hole; it sends the loading end command to the intelligent flatbed transport vehicle.

[0084] Thus, this application provides an intelligent loading system that enables continuous collaborative operation of three intelligent entities (intelligent devices): an explosive bag transport truck, an intelligent flatbed transport vehicle, and an intelligent loading robot. This system replaces the existing manual loading method. Starting with the explosive bag transport truck, an intelligent flatbed transport vehicle is configured to transport the explosive bags, completing the transportation from the explosive bag transport truck to all blast holes in the blasting area. At the same time, an intelligent loading robot is configured to complete the precise and efficient loading work for all blast holes in the blasting area. This achieves intelligent, collaborative, and efficient loading processes in open-pit mines, reducing the safety hazards caused by manual operations. Attached Figure Description

[0085] Figure 1 This is a schematic diagram of the intelligent loading system provided in the embodiments of this application;

[0086] Figure 2 This is a schematic diagram of the structure of the explosive bag transport truck provided in the embodiments of this application;

[0087] Figure 3 This is a schematic diagram of the structure of the intelligent flatbed transport vehicle provided in the embodiments of this application;

[0088] Figure 4 This is a schematic diagram of the structure of the intelligent drug delivery robot provided in the embodiments of this application;

[0089] Figure 5 A flowchart illustrating the intelligent loading method provided in this application embodiment;

[0090] Figure 6 A schematic diagram illustrating the walking route planning and stopping posture optimization of the intelligent flatbed transport vehicle and intelligent drug loading robot provided in the embodiments of this application;

[0091] Figure 7 A schematic diagram of the control flow of an intelligent drug delivery system provided as an application example of this application;

[0092] Figure 8 This is a flowchart illustrating an intelligent, collaborative, and efficient method for loading bagged explosives in open-pit mines, providing another application example of this application.

[0093] Explanation of reference numerals in the attached figures

[0094] 1. Truck transporting bags of explosives; 11. Onboard terminal module; 12. Driver's cab; 13. Control and command system; 14. Truck loading box; 15. Batch unloading device for bagged explosives;

[0095] 2. Intelligent flatbed transport vehicle; 21. Control module; 22. Main body of the flatbed vehicle; 23. Auxiliary body of the flatbed vehicle; 221. Explosive bag sorting and quantitative dispensing device; 222. Explosive bag conveying structure at the bottom of the main body of the flatbed vehicle; 223. Explosive bag conveying and sorting device; 231. Explosive bag bearing plate of the auxiliary body; 24. Flatbed vehicle base; 25. Flatbed vehicle traveling device;

[0096] 3. Intelligent loading robot; 31. Perception and decision-making module; 32. Autonomous walking mechanism; 33. Robot rotation mechanism; 34. Robotic arm rotation mechanism; 35. Robotic arm structure; 351. Telescopic robotic arm structure; 352. Flexible robotic arm joint; 36. Explosive bag grasping and loading mechanism; 361. Clamp-type robotic claw; 362. Five-fingered robotic claw. Detailed Implementation

[0097] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0098] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0099] In related technologies, blasting processes based on bagged explosives in open-pit mines present challenges in the transportation of these bagged explosives. Due to the large carrying capacity and heavy weight of the trucks used for transporting the bagged explosives, it is not advisable to drive them directly into the blasting area after they are fully loaded from the explosives workshop (or a specific explosives depot). Therefore, the trucks are typically parked outside the blasting area or in a safe, fixed area at its edge. This presents the following technical problems:

[0100] First, manual operations pose significant safety hazards. Second, manual handling and stacking of explosive bags and loading operations are labor-intensive, have low mechanization levels, and low production efficiency. Third, manual handling, stacking, and loading operations under high labor intensity are prone to errors, and the quality of loading is difficult to control consistently and effectively. Fourth, manual unloading, handling, stacking, and loading operations involve numerous and discontinuous steps, making efficient collaborative work difficult. Fifth, the existing explosive bag loading operation mode is far from meeting the development goals of automation and intelligentization in open-pit mining.

[0101] Based on this, the embodiments of this application provide an intelligent charging system that can replace manual unloading, handling, and stacking of explosive bags and manual charging, realizing intelligent collaborative mechanized continuous operation, completing the charging work, realizing safe, efficient, continuous and collaborative intelligent operation of the charging process in the open-pit mining blasting process, reducing manpower and increasing safety, achieving a systematic decision-making and automated execution intelligent collaborative charging mode, and achieving the effect of continuous, efficient and collaborative intelligent operation.

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

[0103] Here, the explosive bag transport truck 1 is used to enter the blasting area, stop at the target parking point and unload the explosive bags; and leave the blasting area in response to the loading completion command. It can be understood that the explosive bag transport truck is a truck that directly loads pre-prepared finished explosives, such as finished explosive rolls or finished explosive bags, from the explosives manufacturing plant (workshop) and transports the batch 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 a travel command, to control the intelligent flatbed transport vehicle 2 to travel based on a first travel route.

[0105] Here, the intelligent robot is used to respond to the charge-loading start command, grab the explosive 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 loading robots to work together, and one flatbed transport vehicle can also be equipped with multiple intelligent loading robots.

[0107] It should be noted that the intelligent flatbed transport vehicle 2 and the intelligent loading robot 3 in this application embodiment include two collaborative modes. The first collaborative mode refers to the intelligent flatbed transport vehicle 2 being responsible for planning its own and the intelligent loading robot 3's walking routes and stopping positions, while the intelligent loading robot 3 is mainly responsible for autonomously following the intelligent flatbed transport vehicle 2. The second collaborative mode refers to the intelligent loading robot 3 taking the lead in driving, finding holes, locating, planning the walking route, and determining the stopping points, on behalf of the intelligent flatbed transport vehicle 2. That is, the intelligent flatbed transport vehicle 2 follows the intelligent loading robot 3 to find holes and load the drugs one by one.

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

[0109] In the first collaborative mode, the intelligent flatbed transport vehicle 2 is responsible for planning its own and the intelligent loading robot 3's walking routes and stopping positions, while the intelligent loading robot 3 is mainly responsible for autonomously following the intelligent flatbed transport vehicle 2; in this first collaborative mode:

[0110] The intelligent flatbed transport vehicle 2 includes a control module 21, which generates and sends a travel command and a first travel route to the intelligent flatbed transport vehicle 2. The travel command instructs the intelligent flatbed transport vehicle 2 to travel in the blasting zone based on the first travel route; determines the location information of the current first parking point and the target blast holes near the first parking point, and controls the intelligent flatbed transport vehicle 2 to stop at the first parking point; determines the location information of the second parking point based on the location information of the first parking point; determines the second travel route based on the location information of the second parking point; sends a charge start command; and receives and responds to a charge end command, controlling the intelligent flatbed transport vehicle 2 to continue traveling from the first parking point to the next first parking point.

[0111] The intelligent loading robot 3 is used to receive the location 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; in response to the loading start command, grab the explosive bag on the intelligent flatbed transport vehicle 2 and load the explosive bag into the target blast hole; and send the loading end command to the intelligent flatbed transport vehicle 2 and control the intelligent loading robot 3 to continue driving to the next second parking point.

[0112] Understandably, in the first collaborative mode, the intelligent flatbed transport vehicle 2 is mainly responsible for planning its own and the intelligent loading robot 3's walking routes and stopping positions, and autonomously walking to transport explosive bags; the intelligent loading robot 3 is mainly responsible for following the intelligent flatbed transport vehicle 2 autonomously, automatically grabbing explosive bags and loading them with explosives.

[0113] In this case, the intelligent flatbed transport vehicle 2 includes: (1) positioning and signal transmission functions, positioning its own location information and receiving and sending signals; (2) planning its own walking route and stopping point functions; (3) planning the walking route and stopping of the intelligent loading robot 3, and guiding it to follow and stop; and (4) autonomous walking and transporting explosive bags.

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

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

[0116] The intelligent flatbed transport vehicle 2 travels along the planned optimal path (first travel route) to the first parking point near the opening of borehole X (target borehole), and sends a signal to the intelligent charging robot 3, instructing the intelligent charging robot 3 to autonomously follow the planned path (second travel route) of the intelligent flatbed transport vehicle 2 to the vicinity of the borehole X opening. The intelligent charging robot 3 autonomously travels to the vicinity of the borehole X opening and stops. Upon receiving the charge-starting command, the intelligent charging robot 3 grabs the explosive and performs the charge-starting operation at the borehole opening. After completing the charge-starting operation at borehole X and confirming the completion of the charge-starting operation through intelligent recognition, the intelligent charging robot 3 sends a charge-starting completion command to the intelligent flatbed transport vehicle 2, indicating that the charge-starting operation at borehole X is complete and that the intelligent flatbed transport vehicle 2 can proceed to the next borehole to be charged. The intelligent flatbed transport vehicle 2 receives and responds to the charge-starting completion command, controlling itself to continue traveling from the first parking point to the next first parking point.

[0117] Thus, this application proposes an intelligent charging system that enables efficient and continuous collaborative operation of explosive bag transport trucks, intelligent flatbed transport vehicles, and intelligent charging robots. During open-pit mine blasting, the explosive bag transport trucks, intelligent flatbed transport vehicles, and intelligent charging robots each perform their respective tasks and collaborate to efficiently and accurately complete the charging of explosives into the blast holes. The three devices have interactive functions, allowing for real-time transmission and feedback of operational information.

[0118] Here, the explosive bag transport truck 1 is mainly responsible for transporting the explosives needed for blasting to a fixed safe location near the blasting area, unloading the explosive bags, and loading them onto the intelligent flatbed transport vehicle 2. The intelligent flatbed transport vehicle 2 is mainly responsible for planning its own and the intelligent loading robot 3's walking routes and stopping positions, autonomously transporting the explosive bags. The intelligent loading robot 3 is mainly responsible for following the intelligent flatbed transport vehicle 2 autonomously, grabbing the explosive bags, and loading the explosives. In addition, the two intelligent entities (devices), the intelligent flatbed transport vehicle 2 and the intelligent loading robot 3, cooperate with each other for efficient operation. The control module 21 realizes the optimal walking route and stopping position planning for the intelligent flatbed transport vehicle 2 and the intelligent loading robot 3; it realizes the optimal path planning and stopping position planning for the intelligent flatbed transport vehicle 2 and the intelligent loading robot 3, achieving the goal of efficient collaborative operation. This solves many problems in the existing technology, such as high labor intensity, low degree of mechanical automation, many safety hazards, and difficulty in uniformly controlling the loading effect. It has realized the mechanization, automation and intelligence of the charging process, reduced personnel, enhanced safety, improved the efficiency of intelligent collaborative operation, reduced the safety hazards caused by manual operation, and promoted the intelligent development of blasting charging operations in open-pit mines.

[0119] In the second collaborative mode, the intelligent loading robot 3 replaces the intelligent flatbed transport vehicle 2 in prioritizing the hole-finding and positioning route planning and determining the stopping point. That is, the intelligent flatbed transport vehicle 2 follows the intelligent loading robot 3 to find holes and load explosives 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 to control the intelligent flatbed transport vehicle 2 to travel based on a first travel route in response to a travel command.

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

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

[0123] The intelligent loading robot 3 is used to generate and send a first driving route and walking instructions; drive based on the second driving route; determine the current second stopping point and the target blast hole near the second stopping point, and stop at the second stopping point;

[0124] The location information of the first parking point is determined based on the location information of the second parking point;

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

[0126] In response to the charge start command, the device grabs the explosive bag from the intelligent flatbed transport vehicle 2 and loads the explosive bag into the target blast hole; it then sends the charge end command to the intelligent flatbed transport vehicle 2.

[0127] In some embodiments, in the first cooperative mode, the control module 21 is further configured to determine the first driving route and generate a driving instruction based on the size range of the blast zone, the location and quantity information of each blast hole corresponding to the blast zone, 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] Obtain the preset position information of the target blast hole;

[0129] Based on preset location information, intelligent flatbed transport vehicle structural parameters, environmental data, and at least one first constraint, determine the first parking point;

[0130] The control module 21 is also used to acquire the preset position information of the target blast hole; and to 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.

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

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

[0133] Driver's cab 12, for driver operation;

[0134] The control and command system 13 is used to generate loading and unloading instructions based on the driver's operation instructions.

[0135] The transport truck is equipped with a container 14 for storing bags of explosives and, in response to loading instructions, loads a specified quantity of bags of explosives.

[0136] The bagged explosive batch unloading device 15 is used to unload the explosive bags into the intelligent flatbed transport vehicle 2 in batches in response to the unloading instruction information.

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

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

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

[0140] In addition, the explosive bag transport truck 1 also includes: a first positioning module for locating the position information of the explosive bag transport vehicle.

[0141] Understandably, the explosive bag transport truck 1 carries all the explosive bags needed for the blasting zone. 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 blast hole. The intelligent loading robot 3 selects the optimal stopping point based on the location of the blast hole and the intelligent flatbed transport vehicle 2, and grabs the explosive bags from the intelligent flatbed transport vehicle 2 to load them into the blast hole.

[0142] In some embodiments, the control module 21 is also used to adjust the position 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 allocation instruction information and loading start signal to the intelligent loading robot 3.

[0143] For example, the intelligent flatbed transport vehicle 2 travels along the planned optimal path to the vicinity of the borehole X, stops, and adjusts its posture. After obtaining the coordinate information of the borehole X, it compares it with the location information of each borehole in the blasting design database to complete the matching of the borehole X to be loaded with explosives, obtain the specific explosive charge design quantity for borehole X, and determine the target number of explosive bags required for borehole X, so that the intelligent loading robot 3 can grab the explosives later. At the same time, it sends a signal to the intelligent loading robot 3, instructing the intelligent loading robot 3 to follow the planned path of the intelligent flatbed transport vehicle 2 and autonomously walk to the vicinity of the borehole X. The intelligent loading robot 3 autonomously walks to the vicinity of the borehole X. The robot 3 approaches the borehole and adjusts its posture according to the current center position of the intelligent flatbed transport vehicle 2 and the borehole X, so that the posture of the intelligent charging robot 3 can quantitatively grasp and load explosives. At the same time, it transmits a signal to the intelligent flatbed transport vehicle 2 that it can start loading. After receiving the command to start loading, it identifies the type of explosive bag, quantitatively grasps the target number of explosive bags, and loads them into the borehole. After the intelligent charging robot 3 completes the loading of borehole X and confirms that the loading is complete through intelligent recognition, it sends a signal to the intelligent flatbed transport vehicle 2 to show that the loading of borehole X is complete and notifies the intelligent flatbed transport vehicle 2 that it can move to the next borehole to be loaded.

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

[0145] The main body 22 of the flatbed truck is used to receive the explosive bags unloaded from the explosive bag transport truck 1 and to transport the target number of explosive bags in response to the quantitative distribution instruction information.

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

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

[0148] Understandably, the main compartment 22 of the flatbed truck stores all the explosive bags unloaded from the explosive bag transport truck 1. To facilitate the intelligent loading robot 3 in grabbing them, an auxiliary compartment 23 of the flatbed truck is set up. When the target quantity of explosives required for the target blast hole is determined, quantitative allocation instruction information is generated. In response to the quantitative allocation instruction information, the main compartment 22 of the flatbed truck delivers the target quantity of explosive bags. The auxiliary compartment 23 of the flatbed truck is used to receive the target quantity of explosive bags delivered by the main compartment 22 of the flatbed truck to the intelligent loading robot 3.

[0149] In some embodiments, such as Figure 3 As shown, the main body 22 of the flatbed truck also includes: an explosive bag sorting and quantitative dispensing device 221, which is used to sort the explosive bags and quantitatively dispense explosives based on the target quantity;

[0150] The explosive bag conveying structure 222 at the bottom of the main body of the flatbed truck is set at the bottom of the main body 22 of the flatbed truck and is used to convey the target number of explosive bags after sorting and quantitative distribution.

[0151] The explosive bag conveying and sorting device 223 is located between the explosive bag sorting and quantitative dispensing device 221 and the flatbed trailer auxiliary box 23. It is used to receive the explosive bags conveyed by the bottom conveying structure of the flatbed trailer main box 22 and convey them to the flatbed trailer auxiliary box 23.

[0152] The flatbed trailer auxiliary box 23 includes: an auxiliary box explosive bag support plate 231, used to receive the target number of explosive bags conveyed by the explosive bag conveying and sorting device 223.

[0153] In some embodiments, such as Figure 3 As shown, the intelligent flatbed transport vehicle also includes:

[0154] Flatbed base 24, used to support intelligent flatbed transport vehicle 2;

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

[0156] In some embodiments, such as Figure 4 As shown, the intelligent drug-loading robot 3 also includes:

[0157] The perception and decision-making module 31 includes sensors 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 blast hole after stopping at the second parking point; for adjusting the second driving route based on the perceived environmental information, and for adjusting the pose of the intelligent loading robot 3 based on the position information of the intelligent flatbed transport vehicle and the position information of the target blast hole after stopping at the second parking point.

[0158] The autonomous walking mechanism 32 is used to drive the intelligent explosive loading robot 3 to move autonomously within the blast zone based on the second driving route;

[0159] The robot rotation mechanism 33 is used to adjust the posture of the intelligent drug delivery robot 3 during travel;

[0160] The robotic arm rotation mechanism 34 controls the rotation angle of the robotic arm;

[0161] The robotic arm structure 35 includes a telescopic robotic arm structure 351 and a flexible robotic arm joint 352.

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

[0163] A positioning device used to determine its own location information.

[0164] This application also provides an intelligent charging method based on the above-described intelligent charging system. The method is described in detail below. Figure 5 As shown, the method includes the following steps:

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

[0166] Understandably, the intelligent flatbed transport vehicle can autonomously transport explosive bags based on walking instructions, which are used to instruct the intelligent flatbed transport vehicle to travel along a first driving route in the blast zone.

[0167] It is understandable that the walking instructions 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 autonomously plans its own driving route and generates walking instructions.

[0168] Step 520: Determine the location information of the current first parking point and the target blast holes near the first parking point, and control the intelligent flatbed transport vehicle to stop 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 stopping point, namely the first stopping point, based on the control module, and sense the target blast hole near the first stopping point. This target blast hole is the blast hole that is currently waiting to be loaded with explosives.

[0170] Here, after determining the first stopping point, the control module can also control the intelligent flatbed transport vehicle to stop at the first stopping point to ensure that the subsequent intelligent loading 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 drug loading robot, and guiding it to follow the parking and adjust its posture; that is, planning the parking position (location information of the second parking point) and the second driving route of the intelligent drug loading robot.

[0173] Step 540: Send the charge initiation command.

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

[0175] Step 550: Receive and respond to the charge completion command, and control 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 is understandable that the above describes the first collaborative mode, which is that the intelligent flatbed vehicle autonomously plans its own and the intelligent loading robot's driving routes and stopping points, and the intelligent loading robot follows the intelligent flatbed vehicle while the intelligent flatbed vehicle's control module executes the intelligent loading method.

[0178] Furthermore, for the second collaborative mode, the smart loading method includes:

[0179] The control module receives and sends the walking command and the first driving route to the intelligent flatbed transport vehicle;

[0180] Receive and respond to the charge completion command, and control the intelligent flatbed transport vehicle to continue driving from the first parking point to the next first parking point;

[0181] Forward the completion order for loading explosives to the explosive bag transport truck.

[0182] Understandably, in the second collaborative mode, the intelligent loading robot is primarily responsible for route planning, with the intelligent flatbed transport vehicle following it. That is, the intelligent flatbed transport vehicle does not need to plan its own route; the control module only needs to receive the walking instructions and initial route from the intelligent loading robot and then transmit them to the intelligent flatbed transport vehicle.

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

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

[0185] Based on the size range of the blast zone, the location and quantity information of each blast hole corresponding to the blast zone, and the path planning algorithm, the first driving route is determined and the driving command is generated.

[0186] Here, the intelligent flatbed transport vehicle has the function of planning the travel route, finding holes and adjusting the stopping position according to the range of the blasting area and the coordinates of the hole, so as to ensure that the transport path is optimal and shortest and the stopping position is optimal.

[0187] The intelligent flatbed transport vehicle's carrying capacity information determines that the first parking point can accommodate a maximum of M gun barrels' worth of explosive cartridges at a time.

[0188] Here, path planning algorithms, such as the A-Star algorithm or the Dynamic (D) algorithm, are used. The A-Star algorithm is a heuristic search algorithm commonly used in graph search, particularly suitable for path planning problems. The D algorithm is a dynamic path planning algorithm, an extension of the A-Star algorithm, specifically designed for path planning in dynamic environments. Unlike the A-Star algorithm, the D algorithm can update the path planning results in real time. When the environment changes (e.g., 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 and robot driving scenarios.

[0189] Here, in order to further optimize the driving route and make it the shortest path, this optimization can be solved using the Traveling Salesman Problem, that is, the path planning algorithm adopts the Traveling Salesman Problem.

[0190] Understandably, the intelligent flatbed transport vehicle can plan an optimal route and corresponding parking and stopping positions based on the size range of the blast zone, the coordinates of the blast holes, and the carrying capacity of the vehicle. Each parking position corresponds to the vicinity of a blast hole to be loaded. After traveling the entire route, it can cover all blast holes in the blast zone with the shortest travel distance and the fewest turnarounds. The stopping position facilitates the intelligent loading robot to follow, locate, stop, and automatically grab explosive bags for efficient loading.

[0191] In some embodiments, based on the size range of the blast zone, the location and number of boreholes corresponding to the blast zone, and a path planning algorithm, a first travel route is determined and a travel command is generated, including:

[0192] Based on the size range of the blast zone, the location and number of blast holes corresponding to the blast zone, the carrying capacity of the intelligent flatbed transport vehicle, the current location of the explosive bag transport vehicle, the path planning algorithm, and the traveling salesman algorithm, the first driving route is determined and the driving instructions are generated.

[0193] For example, the intelligent flatbed transport vehicle can autonomously plan the transport route for explosive bags. Specifically, based on the size range of the blast zone, the location and number of blast holes corresponding to the blast zone, and a path planning algorithm, it determines a first driving route and generates a driving command, including:

[0194] First, the optimal charging area is determined based on the number and location of the blast holes in the blast zone.

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

[0196]

[0197] Input data, the two-dimensional coordinates of all boreholes are P i ={(x1,y1),(x2,y2)...,(x i ,y i )}, where P i The two-dimensional coordinates of the borehole, x i and y i These are the x-coordinate and y-coordinate of each borehole, respectively.

[0198] Using the K-means spatial clustering algorithm, K cluster centers are initialized, and the boreholes are assigned to K groups according to the principle of proximity. The number of boreholes in each group is less than or equal to M. The cluster centers are adjusted to the centroids of the boreholes within the group. This process is repeated iteratively to divide the optimal charge area.

[0199] Output data: Clustering results of the boreholes, i.e., the boreholes contained in each of the K groups.

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

[0201] Here, based on the grouping of the boreholes, the shortest path can be found for all boreholes within a certain area to complete the charging.

[0202] For each loading area, the intelligent flatbed transport vehicle needs to depart from the explosive bag transport truck, complete the loading of explosives into all the blast holes within that area, and then return to the explosive bag transport truck. However, the intelligent flatbed transport vehicle departs from the explosive bag transport truck, completes loading of explosives into all the blast holes within the area once, and then returns to the explosive truck, resulting in the shortest total path.

[0203] Specifically, the input data for this step includes the location of the truck transporting the explosive bags and the location of the blast holes within the area.

[0204] Path planning: Using path planning algorithms (such as A-star or Dynamic(D) algorithms), the optimal stopping point from the current position to the next borehole is planned, minimizing the travel path and ensuring it remains within the drivable area. During travel, the environment is perceived through sensors (LiDAR or cameras), and the travel route is dynamically adjusted.

[0205] Furthermore, based on path planning, the Traveling Salesman Problem (TSP) algorithm is used for shortest path optimization. Specifically, this optimization can be treated as a Traveling Salesman Problem solution. It involves constructing a set of nodes representing the locations of the explosive bag transport truck and the locations of the blast holes within the area, establishing a distance matrix, calculating the shortest path from the flatbed truck node (starting from the explosive bag transport truck node), progressively visiting each blast hole node, and finally returning to the explosive bag transport truck node.

[0206] Here, the output data is the sequence of borehole nodes where the intelligent flatbed transport vehicle loads explosives within this area. Based on the sequence of borehole nodes where the intelligent flatbed transport vehicle loads explosives within this area, a first driving route is determined, and this first driving route is optimal.

[0207] In some embodiments, it is understood that, due to the rock powder pile generated after drilling around the blast hole, the distance between the outlet of the explosive bag of the intelligent flatbed transport vehicle and the current blast hole position should be moderate to meet the needs of explosive bag delivery and robot grasping. At the same time, the angle between the outlet direction of the explosive bag and the blast hole should be reasonable to reduce the need for lateral rotation of the robot.

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

[0209] Obtain the preset position information of the target blast hole;

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

[0211] Here, the preset position information for each target blast hole is obtained, including the two-dimensional coordinates of the blast hole (e.g., x and y coordinates). This information can be obtained from a blasting design database and provides basic data for docking point selection.

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

[0213] For example, the location information of the first stopping point is determined by the coordinates of the blast hole, the structural parameters of the intelligent flatbed transport vehicle, environmental data (raster map of the drivable area), and comprehensive distance constraints, angle constraints, and terrain constraints. This determines the optimal stopping position for the intelligent flatbed transport vehicle, thereby ensuring that the location facilitates the intelligent loading robot to perform loading operations and meets 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] Obtain the preset position information of the target blast hole;

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

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

[0218] Specifically, based on the preset location information of the blast hole and the parking point of the intelligent flatbed transport vehicle (i.e., the first parking point), the optimal parking point (i.e., the second parking point) is selected. This parking point is moderately distanced from the blast hole to ensure that the robotic arm can easily extend, 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 includes: distance constraint (greater than the minimum allowable distance to the borehole, 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 exit direction of the flatbed transport vehicle to reduce unnecessary rotational movements), and terrain constraint (the docking point is located within the drivable area) to calculate the coordinates of the optimal docking point.

[0220] For example, the process of determining the optimal docking position of the intelligent drug-loading robot includes:

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

[0222] Determining the parking location: The optimal parking location for the intelligent charging robot at the target blast hole is calculated using distance constraints (greater than the minimum allowable distance from the blast hole, but 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 exit direction of the explosive cartridge on the flatbed to reduce unnecessary rotational movements), and terrain constraints (the parking point is located within the drivable area).

[0223] Thus, based on the location of the first parking point, the preset location information of the target blast hole, the structural parameters of the intelligent flatbed transport vehicle, environmental data, and at least one second constraint, the optimal location of the second parking point is determined so that the intelligent loading robot can accurately and effectively grab the explosive bag and load it with explosives.

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

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

[0226] Here, based on the calculated location information of the second parking point of the intelligent loading robot, a path planning algorithm (such as A or D) is used to plan the optimal parking point from the current position to the next blast hole, minimizing the travel path and ensuring it remains within the drivable area. Simultaneously, during travel, sensors (LiDAR or cameras) are used to perceive the environment and dynamically adjust the travel route.

[0227] In addition, each time the intelligent loading robot arrives at a new stopping point, it senses the position of the intelligent flatbed transport vehicle and the location of the blast hole, and calibrates its own position to ensure the stability of the loading operation.

[0228] For example, combined Figure 5 The collaborative process of the explosive bag transport truck, the intelligent flatbed transport vehicle, and the intelligent loading robot in the first collaborative mode is described below:

[0229] Figure 5 The left side shows the overall layout of the explosion zone. Figure 5 In the diagram, dots represent blast holes within the blast zone, indicating their distribution within the area. The spacing between blast holes can affect the path planning of the transport vehicle and the loading robot. The explosives truck's stopping point (i.e., the target stopping point for the aforementioned explosives bag transport vehicle) is the starting point for the intelligent flatbed transport vehicle to load explosives bags. From this location, the new flatbed transport vehicle transports the explosives bags to various loading areas within the blast zone.

[0230] The dashed arrows represent the optimal travel path of the intelligent flatbed transport vehicle within the blast zone. The goal of the optimal path design is to cover all blast holes while minimizing travel distance and the number of turnarounds. Path planning algorithms (such as the A algorithm or the TSP algorithm) are used to determine this path.

[0231] Loading area division: The boreholes are divided into multiple loading areas. After completing the loading task in one area, the flatbed transport vehicle returns to the explosives truck's docking point to replenish the explosive bags. Clustered flatbed transport vehicle loading area for one trip: The area covered by each transport of explosive bags is marked. This division is based on the transport vehicle's load capacity and the distribution of boreholes.

[0232] Figure 6 The right side enlarges the operational details of loading explosives into a single blast hole within the blast zone, mainly showcasing the collaborative work between the flatbed transport vehicle and the explosive loading robot.

[0233] Here, the intelligent flatbed transport vehicle travels 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 exit to ensure the efficiency of subsequent loading operations.

[0234] The intelligent loading robot works in collaboration with the intelligent flatbed transport vehicle, and its docking point also needs optimization. The optimal docking position for the intelligent loading robot is determined based on the location of the blast hole and the parking point of the flatbed vehicle, ensuring that the robotic arm can effectively grasp the explosive bag and accurately load the explosives. The loading robot adjusts its position in real time through a perception and decision-making system to ensure the accuracy of the loading operation.

[0235] In the diagram, the dashed arrows show the movement path of the intelligent explosive loading robot between boreholes. Within a loading area, the robot moves along the shortest path to each target borehole location to perform the loading task. The robotic arm extends above the borehole opening, grasping the explosive bag using a gripper-type mechanical claw or a five-fingered mechanical claw and completing the loading. The flexibility of the robotic arm and loading mechanism allows it to adapt to different borehole positions and angles.

[0236] In addition, the map marks terrain features (such as borehole rock dust piles) and drivable areas. Stop point and route planning should avoid obstacles and uneven areas.

[0237] The control scheme of the intelligent drug loading system of this application embodiment will be described in detail below with reference to an application example.

[0238] like Figure 7 As shown, Figure 7 This is a flowchart of the control system for the explosives truck and the intelligent charging robot. The system control module can be used to execute the above-mentioned charging method. The diagram 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 (modules 702, 703, and 704), which ensures the efficient and coordinated operation of the flatbed truck and the intelligent charging robot; and task execution and feedback (modules 705 and 706), which realizes closed-loop control of borehole matching, quantitative distribution of explosive bags, and charging tasks.

[0239] 1. Information Acquisition and Fusion Module 701

[0240] Inputs: dimensions of intelligent flatbed transport vehicle, intelligent loading robot, and robotic arm; dimensions of blasting zone, location of blast holes, and blasting design scheme. The information acquisition and fusion module 701 can be a control module.

[0241] Function: Integrates the size range of the blasting area, the location of the blast holes, the design scheme, and the relevant parameters of the intelligent flatbed transport vehicle and the intelligent charging robot to form a comprehensive data foundation to support subsequent modules.

[0242] 2. Intelligent Flatbed Transport Vehicle Route Planning Module 702

[0243] Input: blast zone size range, borehole coordinates.

[0244] Function: Based on the range of the blasting area and the location information of the blast holes, plan the optimal driving route (first driving route) of the intelligent flatbed transport vehicle to ensure coverage of all blast holes and optimize the driving path (such as the shortest driving distance and the fewest turnarounds).

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

[0246] The intelligent flatbed transport vehicle route planning module 702 can be a control module.

[0247] 3. Intelligent Drug Loading Robot Positioning and Loading Module 703

[0248] Input: blast zone size range, borehole coordinates, and docking location information of the intelligent flatbed transport vehicle.

[0249] Function: The intelligent drug loading robot stops at the optimal stopping point (second stopping point) and completes the drug loading task according to the design plan.

[0250] Output: Execution plan for the loading task.

[0251] 4. 704 Interaction Module between Flatbed Truck and Intelligent Drug Loading Robot

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

[0253] Function: The intelligent flatbed transport vehicle and the intelligent loading robot interact with each other at the docking point. For example, the flatbed vehicle transports explosive bags, and the intelligent loading robot grabs them and completes the loading.

[0254] Output: Loading task completed signal.

[0255] 5. 705 borehole matching module

[0256] Input: blasting design scheme and the location information of the identified and located (target blast holes).

[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: Location information of the found and located boreholes.

[0259] 6. Explosive bag quantitative dispensing module 706

[0260] Input: blasting design scheme.

[0261] Function: Accurately measures and outputs the number of explosive bags according to the explosive loading requirements of each blast hole, ensuring that the explosive loading of each blast hole meets the design requirements.

[0262] Output: Quantitative distribution results of explosive bags.

[0263] The method of this application embodiment will now be described in detail with reference to another application example.

[0264] To address the problems of the aforementioned related technologies, this application proposes a novel method for loading bagged explosives in open-pit mines through efficient and continuous collaborative operation of explosive bag transport trucks, intelligent flatbed transport vehicles, and intelligent loading robots. Specifically:

[0265] (1) During the blasting and charging process in open-pit mines, the explosive bag transport truck, the intelligent flatbed transport vehicle, and the intelligent charging robot each have their own tasks and cooperate to efficiently and accurately complete the charging work of the blast holes in the blasting area. The three devices have mutual interaction functions and can transmit and provide feedback on the 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 onto the intelligent flatbed transport vehicle; the intelligent flatbed transport vehicle is mainly responsible for planning its own and the intelligent charging robot's walking routes and stopping positions, and autonomously walking and transporting the explosive bags; the intelligent charging robot is mainly responsible for following the intelligent flatbed transport vehicle autonomously, accurately locating the blast hole opening, automatically identifying and grabbing the explosive bags, and automatically charging the holes; the connecting device and system are responsible for coordinating the efficient operation of the two intelligent entities (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 paper proposes a vehicle-mounted terminal module for transporting explosive bags, an intelligent flatbed transport vehicle module, an intelligent loading robot module, and related devices and mechanisms. The functions of each module are explained, and schematic diagrams of each device are provided. Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown.

[0267] The onboard terminal module of the explosive bag transport truck includes interactive functions, and has the functions of positioning and signal transmission and reception, and explosive bag metering and quantitative control. The intelligent flatbed transport vehicle module includes interactive functions, and has the functions of positioning and signal transmission and reception, and can perform control functions such as path planning, fixed-point stopping and posture adjustment. The intelligent loading robot module includes interactive functions, and has the functions of positioning and signal transmission and reception, and can receive command signals and follow autonomously, locate holes, stop at fixed points and adjust posture, automatically identify and quantitatively grasp explosive bags and accurately control the loading of explosives into holes.

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

[0269] like Figure 8 As shown, to solve the above technical problems, this application example provides a smart, collaborative, and efficient charging method for mixed explosives in open-pit mines. This method includes the following steps:

[0270] Step 801: Accurately transmit information such as the blast zone range, borehole coordinates, and borehole charge design to the onboard terminal of the explosive bag transport truck, the intelligent flatbed transport vehicle, and the intelligent charge-loading robot.

[0271] Step 802: After the explosive bag transport truck stops at a fixed position near the entrance of the blasting zone, the explosive bags are unloaded in a fixed quantity and loaded onto the intelligent flatbed transport vehicle.

[0272] After the explosive bag transport truck arrives at a fixed location near the entrance of the blasting zone, it interacts with the intelligent flatbed transport vehicle to complete the task of starting and stopping the loading and unloading of the explosive bags, and then fills the intelligent 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 docking posture based on the blast zone range, the location of the blast hole opening, etc.

[0274] The intelligent flatbed transport vehicle plans its own and the intelligent charging robot's walking route, parking position, and docking posture based on the blasting area and the location of the blast holes. Under 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 turns is the fewest, thus achieving intelligent collaborative efficiency.

[0275] Step 804: The intelligent flatbed transport vehicle moves to a position 1-S near the first blast hole X, stops and adjusts its posture, completes the matching of blast hole X to obtain the explosive loading design of blast hole X, and quantitatively transports the explosive bag from its main box to its auxiliary box, while notifying the intelligent loading robot to start loading explosives.

[0276] After the intelligent flatbed transport vehicle completes the optimal travel route planning within the blasting area according to the above steps, it first travels to the parking point 1-S near the first optimized blast hole X, stops and adjusts its posture to ensure that the intelligent charging robot working in conjunction with it can complete the charging work of blast hole X near point 1-S. At the same time, it obtains the blast hole X's orifice coordinate information, compares it with the blast hole position information in the blasting design database, completes the matching of the blast hole X to be charged, obtains the specific explosive charge design amount for blast hole X, and quantitatively separates and transports the quantitative explosive bags from the main body of the intelligent flatbed transport vehicle to the auxiliary body of the intelligent flatbed transport vehicle in batches, so that the intelligent charging robot can grab and charge the explosives later. At the same time, it sends a signal to the intelligent charging robot, instructing the intelligent charging robot to follow the intelligent flatbed transport vehicle to the vicinity of the blast hole X orifice according to the planned travel route.

[0277] Step 805: The intelligent charging robot autonomously follows and walks to the vicinity of the X-hole of the blast hole and stops. It adjusts its posture according to the current position of the intelligent flatbed transport vehicle and the X-hole of the blast hole, quantitatively grabs the explosive bag and loads it into the X-hole of the blast hole. After completion, it notifies the flatbed transport vehicle to move to the next blast hole.

[0278] Understandably, after receiving the instruction signal, the intelligent charging robot autonomously follows and walks to the vicinity of the borehole X and stops. It then adjusts its own posture according to the current center position of the intelligent flatbed transport vehicle and the borehole X, so that the intelligent charging robot can achieve the optimal posture for quantitatively grasping the explosive bags on the auxiliary box of the intelligent flatbed transport vehicle and filling the explosives. At the same time, it conveys a signal to the intelligent flatbed transport vehicle that it is in position and can start charging.

[0279] Upon receiving the command to begin loading explosives, the intelligent loading robot uses a combination of a rotating robotic arm and a robotic claw to quantitatively grasp the explosive bag and load it into the borehole X of the blast hole.

[0280] After the intelligent charging robot completes the charging of the blast hole X and confirms the completion of the charging through intelligent recognition, it sends a message to the intelligent flatbed transport vehicle that the charging of the blast hole X has been completed and notifies the intelligent flatbed transport vehicle that it can move to the next blast hole to be charged.

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

[0282] Here, the intelligent transport flatbed vehicle travels according to the planned route to the vicinity of the Nth blast hole NS in the blasting area and stops at the NS point to adjust its position. That is, it repeats the above steps 803-804 to complete the loading of the Nth blast hole until all the explosive bags on the intelligent flatbed transport vehicle are loaded.

[0283] Step 807: The intelligent transport flatbed truck starts automatically and travels to the parking point of the explosive bag transport truck outside the blast zone to load the second truckload of explosive bags.

[0284] Step 808: The intelligent transport flatbed truck and the intelligent charging robot work together to repeat steps 803-804-805-806 above until all the blast holes in the blasting area are filled; 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 travels along the planned route to the vicinity of the N+1th blast hole (N+1-S) in the blast zone and stops at point N+1-S to adjust its position. Then, steps 803-804-805-806 are repeated until all blast holes in the blast zone are loaded. After the explosive charge is loaded into the blast zone, the intelligent transport flatbed truck and the intelligent explosive loading robot leave the blast zone.

[0286] Thus, this application provides an intelligent collaborative loading method, apparatus, and system for bagged explosives in open-pit mine blasting. Specifically, based on the scenario of explosive bags being transported by trucks, an intelligent flatbed transport vehicle is configured, starting with the trucks, to automatically transport the explosive bags in batches and quantities, achieving the most economical and fastest transportation from the trucks to all blast holes in the blasting area. An intelligent loading robot is also configured to perform precise and efficient loading of explosives into all blast holes in the blasting area. This utilizes modern technologies such as computers, the Internet of Things, the Internet, and artificial intelligence to form a new intelligent and efficient loading model where three intelligent entities (intelligent devices)—the explosive bag transport trucks, the intelligent flatbed transport vehicle, and the intelligent loading robot—operate continuously and collaboratively.

[0287] Thus (1) a new loading mode was formed, promoting the intelligent construction of open-pit mines. (2) The proposed explosive bag transport truck automatically unloads explosive bags instead of manually unloading them, and the unloading process can be precisely controlled by computer measurement to unload in batches and quantities. (3) The proposed intelligent flatbed transport vehicle module can realize optimal path planning and efficiently complete the transportation and distribution of explosive bags. (4) The proposed intelligent loading robot replaces manual loading operations, reducing manpower, increasing efficiency, and improving safety. The intelligent loading robot has the functions of intelligent perception and recognition, precise grasping, and precise hole loading. (5) The proposed device and system can realize intelligent collaborative and efficient loading operations.

[0288] In an exemplary embodiment, this application also provides a computer storage medium, specifically a computer-readable storage medium storing a computer program thereon. This computer program can be executed by a processor to complete the steps of the method described in this application embodiment. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0289] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0290] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0291] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An intelligent loading system, characterized in that, The system comprises: an explosive bag transport truck for driving into a blasting area, parking at a target parking point and unloading explosive bags; and driving away from the blasting area in response to a charging end instruction; the system further comprises: an intelligent flatbed transport vehicle for receiving and storing the explosive bags unloaded by the explosive bag transport truck; and controlling the intelligent flatbed transport vehicle to drive based on a first driving route in response to a walking instruction; the intelligent flatbed transport vehicle comprises a control module for generating and sending the walking instruction and the first driving route to the intelligent flatbed transport vehicle, the walking instruction being used to instruct the intelligent flatbed transport vehicle to drive based on the first driving route in the blasting area; determining the location information of the current first parking point and a target blast hole near the first parking point, and controlling the intelligent flatbed transport vehicle to park at the first parking point; determining the location information of the second parking point based on the location information of the first parking point; determining the second driving route based on the location information of the second parking; sending a charging start instruction; 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 explosive bag transport truck; an intelligent charging robot for receiving the location information of the second parking point and the second driving route; following the intelligent flatbed transport vehicle based on the second driving route, and parking at the second parking point; grabbing the explosive bag on the intelligent flatbed transport vehicle in response to the charging start instruction, and loading the explosive bag into the target blast hole; and sending 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; or, an intelligent flatbed transport vehicle for receiving and storing the explosive bags unloaded by the explosive bag transport truck; and controlling the intelligent flatbed transport vehicle to drive based on a first driving route in response to a walking instruction; the intelligent flatbed transport vehicle comprises a control module for receiving and sending the walking instruction and the first driving route to the intelligent flatbed transport vehicle; receiving and responding to the 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 explosive bag transport truck; an intelligent charging robot, the intelligent flatbed transport vehicle following the intelligent charging 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; drive based on a second driving route; determine the current second parking point and a target blast hole near the second parking point, and park at the second parking point; determine the location information of the first parking point based on the location information of the second parking point; send the location information of the first parking point to the intelligent flatbed transport vehicle; grab the explosive bag on the intelligent flatbed transport vehicle in response to a charging start instruction, and load the explosive bag into the target blast hole; send a charging end instruction to the intelligent flatbed transport vehicle.

2. The system of claim 1, wherein, The control module is further configured to determine a first driving route and generate a walking instruction based on a size range of the blast area, position information and quantity information of each blast hole corresponding to the blast area, carrying capacity information of the intelligent flatbed transport vehicle, current position information of the explosive bag transport vehicle, a path planning algorithm, and a traveling salesman algorithm; acquire preset position information of the target blast hole; determine the first parking point based on the preset position information, intelligent flatbed transport vehicle structure parameters, environmental data, and at least one first constraint condition; The control module is further configured to acquire preset position information of the target blast hole; determine position information of the second parking point based on position information of the first parking point, the preset position information, intelligent flatbed transport vehicle structure parameters, environmental data, and at least one second constraint condition.

3. The system of claim 1, wherein, The explosive bag transport truck further comprises: a vehicle terminal module configured to determine the target parking point based on position information of the explosive bag transport truck, a position of an entry point, and position information of an exit point; a driving operation room for driver operation; a control command system configured to generate loading instruction information and unloading instruction information based on operation instruction information of the driver; a transport truck loading box body configured to store the explosive bags and load a quantified number of explosive bags in response to the loading instruction information; a batched explosive bag unloading device configured to unload a quantified number of explosive bags in batches to the intelligent flatbed transport vehicle in response to the unloading instruction information; The batched explosive bag unloading device comprises: a counter configured to measure a number of explosive bags unloaded each time and send a counting start signal or a counting end signal; a solenoid valve connected to the counter and configured to start the batched explosive bag unloading device in response to the counting start signal or close the batched explosive bag unloading device in response to the counting end signal.

4. The system of claim 1, wherein, The control module is further configured to adjust a pose of the intelligent flatbed transport vehicle at the first parking point, acquire position information of the target blast hole, match the position information of the target blast hole with position information of each blast hole in a blasting design database, determine a target number of explosive bags required by the target blast hole, and generate quantified allocation instruction information; send a charging start signal to the intelligent charging robot; the intelligent charging robot is configured to adjust a pose of itself at the second parking point; and in response to the charging start instruction, identify a category of explosive bags and grasp the target number of explosive bags; The intelligent flatbed transport vehicle further comprises: a flatbed vehicle main box body configured to receive the explosive bags unloaded by the explosive bag transport truck and transport the target number of explosive bags in response to the quantified allocation instruction information; a flatbed vehicle auxiliary box body configured to receive the target number of explosive bags transported by the flatbed vehicle main box body to the intelligent charging robot.

5. The system of claim 4, wherein, The flatbed vehicle main box body further comprises: an explosive bag classification and quantified allocation device configured to classify the explosive bags and allocate a quantified number of explosive bags based on the target number; a flatbed vehicle main box body bottom explosive bag transmission structure arranged at a bottom of the flatbed vehicle main box body and configured to transport the target number of explosive bags classified and allocated quantitatively. The explosive bag conveying and sorting device is arranged between the explosive bag sorting and quantitative distribution device and the auxiliary box body of the flat car, and is used for receiving the explosive bags conveyed by the bottom transmission structure of the main box body of the flat car and conveying the explosive bags to the auxiliary box body of the flat car. The auxiliary box body of the flat car comprises an auxiliary box body explosive bag bearing plate used for receiving a target number of explosive bags conveyed by the explosive bag conveying and sorting device.

6. The system of claim 4, wherein, The intelligent flat transport vehicle further comprises: A flat car base for supporting the intelligent flat transport vehicle; A flat car walking device comprising wheels and a driving motor, and used for driving the intelligent flat transport vehicle to travel along the first travel route in response to the walking instruction.

7. The system of claim 2, wherein, The intelligent charging robot further comprises: A perception and decision module comprising a sensor, and used for perceiving environmental information in real time during travel, and perceiving position information of the intelligent flat transport vehicle and position information of the target blast hole after parking at the second parking point; Adjusting the second travel route based on the perceived environmental information, and adjusting the pose of the intelligent charging robot based on the position information of the intelligent flat transport vehicle after parking at the second parking point and the position information of the target blast hole; An autonomous walking mechanism used for driving the intelligent charging robot to autonomously travel in the blast area based on the second travel route; A robot rotating mechanism used for adjusting the pose of the intelligent charging robot during travel; A mechanical arm rotating mechanism used for controlling the rotation angle of the mechanical arm; A mechanical arm structure comprising a telescopic mechanical arm structure and a bendable flexible mechanical arm joint; An explosive bag grabbing and charging mechanism used for grabbing an explosive bag and moving it to a target blast hole position in response to the charging start instruction, the explosive bag grabbing and charging mechanism comprising a clamp type mechanical paw and a five-fingered mechanical paw; A positioning mechanism used for positioning its own position information.

8. A method of smart charging of the smart charging system according to any one of claims 1-7, characterized in that, The method comprises: The control module generates and sends the walking instruction and the first travel route to the intelligent flat transport vehicle, the walking instruction being used for instructing the intelligent flat transport vehicle to travel in the blast area based on the first travel route; Determining the position information of the current first parking point and a target blast hole near the first parking point, and controlling the intelligent flat transport vehicle to park at the first parking point; Determining the position information of the second parking point based on the position information of the first parking point, and determining the second travel route based on the position information of the second parking point; Sending a charging start instruction; Receiving and responding to a charging end instruction, and controlling the intelligent flat transport vehicle to continue traveling from the first parking point to the next first parking point; Forwarding the charging end instruction to the explosive bag transport truck; Alternatively, The control module receives and sends the walking instruction and the first travel route to the intelligent flat transport vehicle; Receiving and responding to the charging end instruction, and controlling the intelligent flat transport vehicle to continue traveling from the first parking point to the next first parking point; Forwarding the charging end instruction to the explosive bag transport truck.

9. The method of charging according to claim 8, wherein, The method further comprises: Determine a first driving route and generate a walking instruction based on the size range of the blasting area, position information and quantity information of each blast hole corresponding to the blasting area, carrying capacity information of the intelligent flatbed transport vehicle, current position information of the explosive bag transport vehicle, a path planning algorithm and a traveling salesman algorithm.

10. The method of claim 8, wherein, The method further comprises: Obtaining preset position information of the target blast hole; Determine the first parking point based on the preset position information, intelligent flatbed transport vehicle structure parameters, environmental data and at least one first constraint condition.

11. The method of claim 9, wherein, The determination of the position information of the second parking point based on the position information of the first parking point comprises: Obtaining preset position information of the target blast hole; Determine the position information of the second parking point based on the position information of the first parking point, the preset position information, intelligent flatbed transport vehicle structure parameters, environmental data and at least one second constraint condition.

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

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