Strip mine wireless detonating bomb throwing system and method and control module

Abstract

The invention relates to the technical field of mine blasting operation, in particular to a strip mine wireless detonating bomb throwing system and method and a control module. The system comprises an unmanned aerial vehicle cabin arranged in the front end of a vehicle body and used for storing an unmanned aerial vehicle; the detonating bomb cabin is arranged in the rear end of the vehicle body and used for storing detonating bombs; the off-site server is used for planning a collaborative operation path according to the environment data acquired by the unmanned aerial vehicle; the control module is arranged in the vehicle body and is used for controlling the vehicle body to run and the putting action of the vehicle-mounted mechanical arm according to the collaborative operation path; the camera module is arranged on a shell at the front end of the vehicle body and used for collecting image data so that the control module can achieve blast hole positioning according to the image data; the vehicle-mounted mechanical arm is arranged on the vehicle body shell and used for grabbing the detonating bomb from the detonating bomb cabin and throwing the detonating bomb into the corresponding blast hole; and the power module is arranged in the vehicle body and used for providing power for the device. According to the method, the safety and the operation efficiency of strip mine blasting operation can be improved.

Description

Technical Field

[0001] This application relates to the field of mining blasting operation technology, and in particular to a wireless detonation bomb delivery system, method and control module for open-pit mines. Background Technology

[0002] As open-pit mining moves towards automation and precision, the safety and efficiency of blasting operations have become core requirements. The placement of detonating explosives, a crucial step in blasting, directly impacts blasting effectiveness and construction safety. Currently, open-pit mine detonating explosives placement largely relies on a combination of manual labor and equipment. Workers are directly involved in the handling and placement of explosives into blast holes. While some scenarios utilize intelligent mixed-loading equipment, manual intervention is still essential for accurate placement. The core problem with existing technologies is the high degree of human involvement. The complex and risky environment of open-pit mines not only exposes workers to blasting hazards and harsh conditions but also increases the risk of human error affecting placement accuracy. Summary of the Invention

[0003] To address the problems of the dangers of manual blasting operations and the low accuracy of detonation bomb placement in existing technologies, this application provides a wireless detonation bomb placement system, method, and control module for open-pit mines.

[0004] Firstly, this application provides a wireless detonation bomb delivery system for open-pit mines, employing the following technical solution: A wireless detonator delivery system for open-pit mines includes: an open-pit wireless detonator delivery device and an off-site server; the device includes a vehicle body, an unmanned aerial vehicle (UAV) compartment, a detonator compartment, a control module, a camera module, a vehicle-mounted robotic arm, and a power module; The drone cabin is located inside the front of the vehicle body and is used to store the drone. The drone is used to collect environmental data of the work area and send the environmental data to the off-site server. The detonation chamber is located inside the rear end of the vehicle body and is used to store detonation bombs; The off-site server is used to plan a collaborative operation path based on the environmental data and send the collaborative operation path to the control module. The control module is located inside the vehicle body and is used to control the movement of the vehicle body and the deployment action of the on-board robotic arm according to the collaborative operation path. The camera module is mounted on the front shell of the vehicle body and is used to collect image data in real time during driving, so that the control module can locate the gun hole based on the image data. The vehicle-mounted robotic arm is mounted on the vehicle body shell and is used to grab detonating shells from the detonating shell compartment and drop them into the corresponding gun hole under the control of the control module. The power module is located inside the vehicle body and is used to provide power to the entire device.

[0005] By adopting the above technical solution, a complete system is formed by using drones, various functional compartments, control, camera, robotic arm and power modules mounted on the vehicle body, combined with an off-site server. The drones collect environmental data, the server plans the collaborative path, and the control module controls the vehicle body to move and the robotic arm to drop bombs according to the path, so as to realize the automated operation of detonating bombs, reduce human intervention and improve the safety and efficiency of open-pit mine blasting operations.

[0006] In a preferred embodiment, the present application may be further configured such that: the drone is equipped with a high-definition camera and an infrared thermal imager for collecting environmental data of the work area, the environmental data including visible light image data and thermal imaging data; The off-site server is used to fuse the visible light image data and the thermal imaging data to generate a three-dimensional point cloud map of the working area. It uses a built-in deep learning model to perform semantic segmentation on the three-dimensional point cloud map to identify the drivable area, obstacle area and gun hole position. Based on the semantic segmentation results, a cost map is generated. Then, a path search algorithm is used to plan a global driving path from the cost map and generate the corresponding robotic arm bomb throwing path in combination with the gun hole position. The global travel path and the robotic arm bomb-throwing path constitute the collaborative operation path.

[0007] By adopting the above technical solution, the UAV uses a high-definition camera and an infrared thermal imager to collect visible light and thermal imaging data. The server fuses the data to generate a three-dimensional point cloud map. Through deep learning semantic segmentation, the drivable area, obstacles and gun holes are identified. Then, a cost map is generated to plan the global driving path and the robotic arm's bomb-dropping path, so as to achieve accurate perception of the working area environment and scientific planning of the path, ensuring driving safety and bomb-dropping targeting.

[0008] In a preferred embodiment, the control module may be further configured to include a BeiDou positioning unit, a dynamic obstacle avoidance unit, a borehole positioning unit, and a cooperative control unit. The Beidou positioning unit is used to obtain the geographical coordinates of the vehicle body in real time; The dynamic obstacle avoidance unit is used to identify sudden obstacles based on the image data, generate local detour instructions based on the geographical coordinates, and correct the global driving path based on the local detour instructions. The borehole positioning unit is used to identify borehole coordinates and borehole outline based on the image data; The collaborative control unit is used to dynamically correct the munition throwing path of the robotic arm based on the borehole coordinates and borehole profile.

[0009] By adopting the above technical solution, the Beidou positioning unit of the control module obtains the vehicle body coordinates in real time, the dynamic obstacle avoidance unit identifies sudden obstacles based on images and corrects the global path, the gun hole positioning unit identifies the gun hole coordinates and outline, and the collaborative control unit corrects the robotic arm's bomb-throwing path accordingly, thereby achieving precise vehicle body positioning, dynamic obstacle avoidance, accurate gun hole positioning, and adaptive adjustment of the bomb-throwing path, improving the safety of operations and the accuracy of bomb-throwing.

[0010] In a preferred embodiment, this application may be further configured such that: the detonating bomb compartment is provided with a multi-layer buffer storage structure, the structure including multiple storage positions, each storage position being covered with an elastic buffer pad, and adjacent layers being connected by a damping shock absorber; The door of the detonating bomb compartment is an electromagnetically locked door, which is communicatively connected to the control module and unlocks only when the control module sends an unlocking command; The detonator compartment also integrates a temperature and humidity monitoring unit and an explosion-proof ventilation unit; the temperature and humidity monitoring unit is used to monitor the environmental parameters inside the compartment in real time and send the environmental parameters inside the compartment to the control module; the explosion-proof ventilation unit is used to activate when the control module determines that the environmental parameters inside the compartment exceed the limit, and to perform forced ventilation until the environmental parameters inside the compartment return to the normal range.

[0011] By adopting the above technical solutions, the detonation chamber adopts a multi-layer buffer storage structure and an electromagnetic lock-controlled door, integrating temperature and humidity monitoring and explosion-proof ventilation units. It can not only avoid collision damage during the transportation of detonation bombs through the buffer structure, but also prevent accidental opening through electromagnetic lock control. It can also monitor and adjust the temperature and humidity inside the chamber in real time, ensuring the safety and stability of the storage environment during the storage and transportation of detonation bombs.

[0012] In a preferred embodiment, the present application may be further configured such that the vehicle-mounted robotic arm includes a multi-degree-of-freedom joint module, a dual-mode end effector, and an end-effector posture correction unit; The multi-degree-of-freedom joint module is used to provide degrees of freedom of movement; The dual-mode end effector integrates an inflatable airbag gripper and a ring-shaped retractable gripper with a pressure sensor. The control module is configured to: when the detonating projectile is cylindrical, select the inflatable airbag gripper for adaptive envelope gripping; when the detonating projectile has an irregular shape, switch to the ring-shaped retractable gripper for gripping, and adjust the clamping force in real time based on the feedback data from the pressure sensor. The end effector posture correction unit integrates a laser displacement sensor to monitor the relative posture deviation between the end effector of the robotic arm and the borehole in real time, and sends the relative posture deviation to the control module so that the control module can generate posture compensation commands based on the relative posture deviation and drive the multi-degree-of-freedom joint module to make adjustments.

[0013] By adopting the above technical solution, the vehicle-mounted robotic arm achieves flexible movement through a multi-degree-of-freedom joint module. The dual-mode end effector adaptively selects the gripper and adjusts the clamping force according to the shape of the detonating bomb. The end position correction unit monitors and corrects deviations, thereby achieving stable gripping and precise delivery of detonating bombs of different shapes and improving the adaptability of detonating bomb gripping and the accuracy of delivery.

[0014] In a preferred embodiment, this application may be further configured such that: a plurality of blade telescopic walking wheels are installed at the bottom of the vehicle body, and each blade telescopic walking wheel is equipped with an independent suspension system; The control module is also used to identify the road surface type and undulation height ahead of the vehicle based on the image data, and dynamically adjust the extension length of the plurality of blade telescopic walking wheels based on the road surface type and the undulation height.

[0015] By adopting the above technical solution, the vehicle body is equipped with a blade telescopic walking wheel with independent suspension. The control module recognizes the road surface type and undulation height by image recognition and dynamically adjusts the wheel extension length, which enhances the vehicle body's passability and driving stability on complex and undulating roads in open mines, and ensures the normal operation of the device in harsh working environments.

[0016] In a preferred embodiment, the power module may be further configured to include an axial flux motor, a power battery pack, and an energy management unit. The power battery pack is used to provide electrical energy for the entire device; The axial flux motor is used to convert the electrical energy of the power battery pack into mechanical energy to drive the vehicle body and the on-board robotic arm to operate. The energy management unit is communicatively connected to the control module and is used to monitor the power consumption status of each power module in real time, and to allocate and schedule the output of the power battery pack.

[0017] By adopting the above technical solution, the power module is powered by a power battery pack, the axial flux motor converts electrical energy into mechanical energy to drive the vehicle body and robotic arm, and the energy management unit monitors power consumption and allocates and schedules electrical energy to achieve efficient use and rational distribution of energy, ensure stable power supply to each module, and improve the system's endurance and energy efficiency.

[0018] Secondly, this application provides a method for wirelessly detonating bombs in open-pit mines, employing the following technical solution: A method for delivering wireless detonating bombs in open-pit mines, applied to an open-pit mine wireless detonating bomb delivery system, is executed by a control module, and the method includes: The system receives a collaborative operation path planned by an off-site server based on environmental data of the work area collected by the drone, and controls the vehicle's movement according to the collaborative operation path. During the vehicle's movement, it receives image data collected in real time by the camera module and locates the gun holes based on the image data; According to the cooperative operation path, detonating shells are retrieved from the detonation shell compartment and dropped into the corresponding gun hole.

[0019] Thirdly, this application provides a control module, which adopts the following technical solution: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: execute the open-pit mine wireless detonation bomb delivery method as described in the second aspect.

[0020] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the open-pit mine wireless detonation bomb delivery method as described in the second aspect.

[0021] Fifthly, this application provides a computer program product, which adopts the following technical solution: A computer program product includes a computer program that, when executed by a processor, implements the open-pit mine wireless detonation bomb delivery method as described in the second aspect.

[0022] In summary, this application includes the following beneficial technical effects: This application utilizes a vehicle-mounted drone, various functional compartments, control, camera, robotic arm, and power module, combined with an off-site server, to form a complete system. The drone collects environmental data, the server plans collaborative paths, and the control module controls the vehicle's movement and the robotic arm's bomb-dropping according to the path, thereby automating the bomb-dropping operation, reducing manual intervention, and improving the safety and efficiency of open-pit mine blasting operations. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of an open-pit mine wireless detonation bomb delivery system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a wireless detonation bomb launching device for open-pit mines provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a method for launching wireless detonating bombs in an open-pit mine, as provided in an embodiment of this application. Figure 4 This is a schematic diagram of the structure of a control module provided in an embodiment of this application. Detailed Implementation

[0024] The following is in conjunction with the appendix Figure 1 To be continued Figure 4 This application will be described in further detail.

[0025] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0028] It should be noted that, in the optional embodiments of this application, the data related to object information, when applied to specific products or technologies, requires the permission or consent of the object. Furthermore, the collection, use, and processing of this data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if the embodiments of this application involve data related to an object, it must be obtained with the object's authorization and consent, the authorization and consent of relevant departments, and in accordance with the relevant laws, regulations, and standards of the country and region. If the embodiments involve personal information, the acquisition of all personal information requires the individual's consent. If sensitive information is involved, the separate consent of the information subject is required. The embodiments also need to be implemented with the object's authorization and consent.

[0029] See Figure 1 The diagram illustrates a schematic representation of an open-pit mine wireless detonation bomb delivery system according to an embodiment of this application. The system includes an open-pit mine wireless detonation bomb delivery device and an off-site server. See also... Figure 2The diagram illustrates the structure of a wireless detonator for open-pit mines according to an embodiment of this application. The device includes a vehicle body 1, an unmanned aerial vehicle (UAV) compartment 2, a detonator compartment 3, and a control module (located inside the vehicle body 1). Figure 2 (Not shown), camera module 4, vehicle-mounted robotic arm 5 and power module 6, and the bottom of the vehicle body 1 is also equipped with blade telescopic walking wheels 7, whose blade extension length can be freely adjusted.

[0030] Specifically, the drone cabin, located inside the front of the vehicle, houses the drones. The drones collect environmental data from the work area and transmit this data to an off-site server. The drones are equipped with high-definition cameras and infrared thermal imagers. The high-definition cameras collect visible light image data of the work area, while the infrared thermal imagers collect thermal image data. The visible light image data and the thermal image data together constitute the environmental data for the work area.

[0031] The detonator compartment is located inside the rear of the vehicle and is used to store detonators. The detonators contain explosives and detonators. Multiple blast holes are pre-dug in the working area. After the detonator is placed into the corresponding blast hole, it can receive a wireless signal and detonate.

[0032] An off-site server plans collaborative operation paths based on environmental data and sends these paths to the control module. The collaborative operation paths control the vehicle's movement and the robotic arm's deployment. The control module, located inside the vehicle, controls the vehicle's movement and the onboard robotic arm's deployment actions based on the collaborative operation paths.

[0033] The control module supports the new generation Raspberry Pi 5 main controller and upgraded ROS robot control board version V3.0. This module features a Jetson series main controller, visual recognition and target tracking, AI deep learning framework, intelligent serial bus servo motor, radar scanning dynamic obstacle avoidance, and visual homing autonomous driving functions. It is equipped with algorithms for path tracking, obstacle avoidance, and robotic arm kinematics solving. The camera module, located on the front shell of the vehicle, is used to acquire image data in real time during operation, enabling the control module to locate the gun holes based on the image data.

[0034] The vehicle-mounted robotic arm, mounted on the vehicle's outer shell, is used to grasp detonated shells from the detonation chamber and drop them into the corresponding gun port under the control of the control module. It integrates a laser displacement sensor to monitor the robotic arm's posture deviation. The power module, located inside the vehicle body, provides power to the entire device.

[0035] The vehicle body is equipped with multiple telescopic walking wheels, each with its own independent suspension system. Figure 2Taking six wheels as an example, the design of six-blade telescopic walking wheels can increase the load-bearing capacity of the locomotive, increase the friction between the tires and the ground, better adapt to the complex terrain of the mine, and ensure stability and passability during travel.

[0036] This embodiment utilizes a drone mounted on the vehicle body, various functional compartments, control, camera, robotic arm and power module, combined with an off-site server to form a complete system. The drone collects environmental data, the server plans the collaborative path, and the control module controls the vehicle body to move and the robotic arm to drop bombs according to the path, realizing the automated operation of detonating bombs, reducing human intervention and improving the safety and efficiency of open-pit mine blasting operations.

[0037] In one possible implementation of this application, the drone is equipped with a high-definition camera and an infrared thermal imager to collect environmental data of the work area. The environmental data includes visible light image data and thermal imaging data. An off-site server is used to fuse visible light image data and thermal imaging data to generate a 3D point cloud map of the work area. The built-in deep learning model performs semantic segmentation on the 3D point cloud map to identify drivable areas, obstacle areas, and gun hole locations. Based on the semantic segmentation results, a cost map is generated. Then, a path search algorithm is used to plan a global driving path from the cost map and generate the corresponding robotic arm bomb-throwing path in combination with the gun hole locations. The global travel path and the robotic arm's bomb-dropping path constitute the collaborative operation path.

[0038] In this embodiment, the drone cabin door automatically unlocks and opens after receiving the operation start command from the control module. The drone takes off autonomously according to the preset program. The onboard high-definition camera captures the operation area in real time, collects visible light image data, and captures visible information such as terrain texture, borehole appearance, and obstacles. At the same time, the infrared thermal imager works to collect thermal imaging data and capture the thermal radiation differences of different objects. Both types of data are transmitted to the off-site server via wireless communication.

[0039] After receiving visible light image data and thermal imaging data, the off-site server initiates a data fusion algorithm, such as a feature point matching-based fusion algorithm, to register and fuse the two types of data. Based on the texture information of the visible light image and combined with the features of the thermal imaging data, a 3D point cloud map of the work area is generated through 3D reconstruction technology. This map includes the 3D coordinates of each point in space, accurately reproducing the terrain undulations of the work area. The off-site server then calls its built-in deep learning model to perform semantic segmentation on the generated 3D point cloud map. Specifically, the model learns the point cloud features of different targets in the training samples, automatically identifies and classifies the pixels in the 3D point cloud map, and finally outputs three semantic regions: drivable areas, obstacle areas, and borehole distribution. Drivable areas represent terrain areas without obstacles suitable for vehicle movement; obstacle areas represent areas that affect movement, such as rocks and mining equipment; and borehole distribution includes the 3D spatial coordinates of the center point of each borehole and the borehole outline.

[0040] The maximum effective extension length of the vehicle-mounted robotic arm is pre-entered into the control module. Based on this, a bomb-dropping reachable distance threshold is set. The bomb-dropping reachable distance threshold = maximum effective extension length - reserved safe operating space distance. That is, the robotic arm can complete the bomb-dropping operation only when the straight-line distance between the vehicle body and the blast hole does not exceed the bomb-dropping reachable distance threshold. The bomb-dropping reachable distance threshold serves as the core constraint condition for path planning. For example, if the maximum effective extension length is 3m and the reserved safe operating space distance can be 0.2m, then the bomb-dropping reachable distance threshold is 2.8m. For each blast hole, a circular bomb-dropping reachable area is generated with the blast hole coordinates as the center and the bomb-dropping reachable distance threshold as the radius. The blast hole outline area is then removed from the bomb-dropping reachable area to obtain the drivable area around each blast hole.

[0041] According to preset rules, drivable areas are assigned low costs, while obstacle areas are assigned extremely high costs. After cost quantification, a cost map is generated. The off-site server receives the 3D coordinates of all boreholes from the semantic segmentation output. It then sorts the boreholes using a greedy algorithm, starting from the nearest borehole at its center and moving to the farthest borehole, to generate a borehole operation sequence. The off-site server calls a path search algorithm (such as the A* algorithm) to plan a global driving path from the cost map, extending through all drivable areas of the boreholes in the borehole order. The algorithm automatically avoids areas exceeding the bombing distance and with high costs. Based on the planned global driving path and borehole coordinates, the off-site server determines the point closest to each borehole from the global driving path as the bombing node. During the vehicle's movement, it pauses at the bombing node, completes the bombing, and continues driving. Based on the coordinates of the corresponding bomb-dropping node and the borehole, the kinematic model of the robotic arm is invoked. The trajectory constraint is the distance from the bomb-picking point in the detonation chamber to the drop point directly above the borehole. Combined with the range of motion of the robotic arm joints, the angles of each joint are automatically solved through the inverse kinematics algorithm to plan the bomb-dropping path of the robotic arm.

[0042] After receiving the global driving path marked with a pause marker, the control module drives the vehicle to travel along the path. During travel, it compares the current vehicle coordinates with the coordinates of the bomb-dropping nodes in real time. When the vehicle detects that it has reached a bomb-dropping node, it automatically triggers a pause command, stopping the vehicle's movement. The robotic arm then completes the bomb retrieval and deployment. After the bomb is deployed, the pause command is lifted, and the vehicle continues to travel along the global driving path until it reaches the next bomb-dropping node or the endpoint.

[0043] In this embodiment, the UAV uses a high-definition camera and an infrared thermal imager to collect visible light and thermal imaging data. The server fuses the data to generate a three-dimensional point cloud map. Through deep learning semantic segmentation, the drivable area, obstacles, and gun holes are identified. Then, a cost map is generated to plan the global driving path and the robotic arm's bomb-dropping path, so as to achieve accurate perception of the working area environment and scientific path planning, ensuring driving safety and bomb-dropping targeting.

[0044] One possible implementation of this application embodiment is that the control module includes a Beidou positioning unit, a dynamic obstacle avoidance unit, a borehole positioning unit, and a cooperative control unit; The Beidou positioning unit is used to obtain the vehicle's geographical coordinates in real time. The dynamic obstacle avoidance unit is used to identify sudden obstacles based on image data, generate local detour instructions based on geographical coordinates, and correct the global driving path based on the local detour instructions. A borehole positioning unit is used to identify borehole coordinates and borehole outlines based on image data; The collaborative control unit is used to dynamically correct the munition-throwing path of the robotic arm based on the borehole coordinates and borehole profile.

[0045] The dynamic obstacle avoidance unit continuously receives image data from the camera module, runs a lightweight deep learning object detection model, and identifies sudden obstacles, such as falling rocks, wild animals, stray vehicles, or people. Combining the vehicle's precise pose provided by the BeiDou positioning unit with the camera module's intrinsic and extrinsic parameters, it calculates the location and extent of the identified sudden obstacles in the world coordinate system using geometric relationships. A cost map is retrieved from an off-site server, marking the grid containing the sudden obstacle as impassable. Local path planning algorithms, such as the dynamic window method, are used to plan a local trajectory, which is then converted into a local detour command, driving the vehicle to execute it.

[0046] When the collaborative control module determines that the vehicle body has traveled to the vicinity of the target gun hole according to the global driving path, it sends a trigger signal to the gun hole positioning unit. The gun hole positioning unit controls the camera module to aim at the target gun hole and take a picture. Based on the gun hole outline provided in the global driving path, a region of interest (ROI) is defined in the image. The ROI can be obtained by enlarging the gun hole outline according to a specific ratio to reduce the processing range. The image segmentation model is used to process the ROI, dividing the pixel-level outline of the gun hole. The precisely determined outline center is used as the corrected pixel coordinates of the gun hole in the image. Combining the geographical location coordinates of the vehicle body determined by the current Beidou positioning unit, the camera parameters of the camera module, and the pixel coordinates of the gun hole in the image, the precise coordinates of the gun hole center in the world coordinate system are calculated through coordinate transformation.

[0047] The collaborative control unit uses a hand-eye calibration matrix to transform the coordinates of the gun bore in the world coordinate system to the coordinate system of the robotic arm base. The transformed coordinates are then used as the new target point and input into the robotic arm's inverse kinematics solver. The solver corrects the robotic arm's munition-throwing path. The corrected munition-throwing path is then sent to the robotic arm, and simultaneously, an unlocking command is sent to the detonation chamber.

[0048] In this embodiment, the Beidou positioning unit of the control module acquires the vehicle body coordinates in real time, the dynamic obstacle avoidance unit identifies sudden obstacles based on images and corrects the global path, the borehole positioning unit identifies the borehole coordinates and outline, and the collaborative control unit corrects the robotic arm's bomb-throwing path accordingly, thereby achieving precise vehicle body positioning, dynamic obstacle avoidance, accurate borehole positioning, and adaptive adjustment of the bomb-throwing path, improving the safety of operations and the accuracy of bomb-throwing.

[0049] In one possible implementation of this application, the detonation chamber is provided with a multi-layer buffer storage structure, the structure includes multiple storage positions, each storage position is covered with an elastic buffer pad, and adjacent layers are connected by a damping shock absorber. The detonator compartment door is an electromagnetically locked door, which is connected to the control module and unlocks only when the control module sends an unlocking command. The detonator compartment also integrates a temperature and humidity monitoring unit and an explosion-proof ventilation unit. The temperature and humidity monitoring unit is used to monitor the environmental parameters inside the compartment in real time and send the environmental parameters inside the compartment to the control module. The explosion-proof ventilation unit is used to activate when the control module determines that the environmental parameters inside the compartment exceed the limits, and to carry out forced ventilation until the environmental parameters inside the compartment return to the normal range.

[0050] In this embodiment, the elastic buffer pad can be high-density foam rubber or silicone, directly wrapping or supporting the detonating bomb to absorb high-frequency, low-amplitude vibrations. Damping shock absorbers are connected between each storage compartment, effectively dissipating the low-frequency, high-amplitude impact energy transmitted to the compartment structure caused by road bumps.

[0051] Once the vehicle has moved to and come to a stable stop near the target emplacement, the coordination control unit confirms readiness for bomb disposal. The control unit sends an unlock command, indicating that the system has accurately located the target and the robotic arm is about to perform the grasping task. Upon receiving the command, the electromagnetic lock is energized and unlocked. Subsequently, a small drive motor actuates, smoothly opening the hatch. The onboard robotic arm moves to the predefined grasping position and retrieves a detonating bomb from the designated storage location in the multi-layered storage architecture. Throughout the grasping process, elastic cushioning ensures that the detonating bomb will not be displaced or damaged due to rigid impact at the moment of grasping. After the robotic arm has grasped the detonating bomb and completely exited the compartment, it sends a grasping completion signal to the control module. The control module then sends closing and locking commands to the hatch. The hatch closes, the electromagnetic lock automatically locks after power is de-energized, and the compartment re-enters a sealed and safe state.

[0052] The temperature and humidity monitoring unit integrates a circuit board with a digital temperature and humidity sensor. It collects the temperature and relative humidity inside the cabin at a fixed frequency (e.g., once every 5 seconds) as environmental parameters and transmits the data to the control module in real time via communication protocols such as I2C or RS485. The control module has preset safety thresholds. It compares the received real-time data with these thresholds. If either the temperature or humidity exceeds the corresponding threshold, the control module immediately sends a start command to the explosion-proof ventilation unit. The explosion-proof ventilation unit activates, and its internal explosion-proof fan begins operating, drawing in dry, cool air from outside and expelling hot, humid air from inside, creating forced convection. The control module continuously monitors the environmental data until both temperature and humidity return to safe levels before sending a command to shut down the ventilation unit. This process forms a closed-loop control system, ensuring a consistently suitable environment inside the cabin.

[0053] In this embodiment, the detonation chamber adopts a multi-layer buffer storage structure and an electromagnetic lock-controlled door. It integrates temperature and humidity monitoring and explosion-proof ventilation units. The buffer structure can prevent collision damage during the transport of detonation bombs, and the electromagnetic lock can prevent accidental opening. It can also monitor and adjust the temperature and humidity inside the chamber in real time to ensure the safety and stability of the storage environment during the storage and transportation of detonation bombs.

[0054] One possible implementation of this application embodiment is that the vehicle-mounted robotic arm includes a multi-degree-of-freedom joint module, a dual-mode end effector, and an end-effector posture correction unit; Multi-degree-of-freedom joint modules are used to provide degrees of freedom of movement; The dual-mode end effector integrates an inflatable airbag gripper and a ring-shaped retractable gripper with a pressure sensor. The control module is configured to: when the detonator is cylindrical, select the inflatable airbag gripper for adaptive envelope gripping; when the detonator is irregularly shaped, switch to the ring-shaped retractable gripper for gripping, and adjust the clamping force in real time based on the feedback data from the pressure sensor. The end-effector pose correction unit integrates a laser displacement sensor to monitor the relative pose deviation between the end of the robotic arm and the borehole in real time, and sends the relative pose deviation to the control module so that the control module can generate pose compensation commands based on the relative pose deviation and drive the multi-degree-of-freedom joint module to make adjustments.

[0055] For inflatable airbag grippers, the robotic arm moves directly above the detonator, allowing the uninflated airbag gripper to grasp it. The control module activates a miniature air pump, filling the airbag with gas at a constant pressure. The airbag expands uniformly under pressure, adaptively enveloping the entire cylindrical surface. This gripping method offers a large contact area and low pressure, effectively preventing surface scratches and providing slight tolerance for size variations. After successful gripping, the air pump stops and maintains the air pressure. For ring-shaped retractable grippers, after the robotic arm is positioned, the control module drives a servo motor within the gripper, causing the finger-like or claw-like clamps to close. During the closing process, pressure sensors monitor the pressure value at each clamp's contact point with the detonator in real time and feed it back to the control module. A PID force controller operates within the control module. This controller compares the real-time values ​​from the pressure sensors with a preset safe clamping force threshold range. If the pressure is too low, the motor is instructed to continue closing; if the pressure is too high, the motor is instructed to slightly loosen. Through real-time feedback adjustment, the clamping force is ultimately stabilized within a safe range, achieving a compliant grip.

[0056] After the robotic arm grasps the detonating shell, it moves to a preparatory position above the target borehole, typically 20-50 cm from the borehole opening. The end effector's pose correction unit is activated, and its integrated laser displacement sensor emits a laser beam towards the edge of the borehole. By measuring the time or phase difference of the laser reflection, the distance from the sensor to multiple points on the borehole edge is determined at high frequency. The control module receives this distance data and, through geometric trigonometric calculations, calculates the six-degree-of-freedom relative pose deviation between the robotic arm's end effector coordinate system and the borehole coordinate system. The control module inputs the calculated pose deviation into a servo controller. This controller uses a PID control algorithm to calculate the amount of joint motion that needs to be compensated based on the magnitude and direction of the deviation—that is, how much angle each joint needs to rotate to eliminate the deviation. The controller generates pose compensation commands and drives the multi-degree-of-freedom joint module to perform a small, smooth adjustment movement. This is a closed-loop control process that repeats until the pose deviation is less than the system's set tolerance, for example, position error <2 mm and angle error <1°. Once the system determines that the pose has been calibrated, the co-control unit immediately issues a delivery command, the end effector releases, and the detonating projectile is precisely delivered into the center of the borehole.

[0057] After all the detonating ammunition for the blast holes has been delivered, the control module controls the detonating ammunition compartment to close, and at the same time drives the vehicle body to smoothly leave the blasting area according to the evacuation path planned by the off-site server, thus completing this detonating ammunition delivery operation.

[0058] In this embodiment, the vehicle-mounted robotic arm achieves flexible movement through a multi-degree-of-freedom joint module. The dual-mode end effector adaptively selects the gripper and adjusts the clamping force according to the shape of the detonating bomb. The end-position correction unit monitors and corrects deviations, thereby achieving stable gripping and precise delivery of detonating bombs of different shapes and improving the adaptability of detonating bomb gripping and the accuracy of delivery.

[0059] In one possible implementation of this application embodiment, multiple blade telescopic walking wheels are installed at the bottom of the vehicle body, and each blade telescopic walking wheel is equipped with an independent suspension system. The control module is also used to identify the road surface type and undulation height ahead based on image data, and dynamically adjust the extension length of multiple blade telescopic walking wheels based on the road surface type and undulation height.

[0060] The camera module at the front of the vehicle (usually a stereo binocular camera) continuously captures high-definition video streams of the road ahead during driving. The control module runs a deep learning image segmentation model to perform pixel-level classification on each frame of the image, identifying the road surface type, such as: compacted road surface, loose sand, gravel beach, waterlogged area, etc. Simultaneously, using a stereo vision algorithm, based on the parallax of the left and right images, it calculates a 3D point cloud of the terrain ahead, thereby obtaining the road surface's undulation height, slope, and the size and location of obstacles (such as ditches and rocks). The system combines the identification results with the vehicle's current speed and position to predict the terrain type and undulation conditions of the specific path area it will traverse in the next few seconds, obtaining pre-aiming information.

[0061] The control module formulates adjustment strategies based on pre-aiming information. Core strategies include: For flat, hard surfaces, it switches to high-speed mode, instructing all blades to fully retract, forming a small-diameter wheel to reduce rolling resistance and improve speed and stability. For soft, sandy surfaces, it switches to buoyancy mode, instructing some blades to extend (the extension length can be preset to a fixed value), increasing the wheel's contact area, reducing ground pressure, and preventing the vehicle from sinking. For rough, gravel surfaces, it switches to grip mode, instructing the blades to fully extend. The blades are no longer smooth wheels but become multiple independent feet, gripping the irregular ground surface. Simultaneously, the independent suspension system passively absorbs impacts from each blade, providing excellent cushioning.

[0062] The control module sends control commands via CAN bus or Ethernet to the electro-hydraulic servo valves or electric actuators built into each telescopic walking wheel. The actuators drive the blades to precisely extend or retract along the guide rails on the wheel hub to reach the specified length. The independent suspension system passively adapts to minor undulations that the anti-collision system fails to detect, ensuring the tires remain in contact with the ground and cushioning impacts through the travel of its own springs and shock absorbers. Simultaneously, the vehicle's IMU monitors the pitch and roll angles in real time. If the vehicle's attitude exceeds its stability range due to road surface influences, such as excessive tilting, the control module actively adjusts the blade length of the corresponding wheel: the blade of the wheel on the tilted side lengthens, raising the wheel, while the blade of the wheel on the other side shortens, lowering the wheel, to stabilize the vehicle and prevent rollover.

[0063] In this embodiment, the vehicle body is equipped with a blade-type telescopic walking wheel at the bottom and an independent suspension. The control module identifies the road surface type and undulation height based on images and dynamically adjusts the wheel extension length to enhance the vehicle body's passability and driving stability on complex and undulating roads in open-pit mines, ensuring the normal operation of the device in harsh working environments.

[0064] One possible implementation of this application embodiment is that the power module includes an axial flux motor, a power battery pack, and an energy management unit; The power battery pack is used to provide electrical energy to the entire device; Axial flux motor is used to convert electrical energy from the power battery pack into mechanical energy to drive the vehicle body and enable the on-board robotic arm to operate. The energy management unit communicates with the control module to monitor the power consumption status of each power module in real time and to allocate and schedule the output of the power battery pack.

[0065] The electric motor is an axial flux motor, which is lightweight and compact, and can output high power and torque at low speeds to meet the locomotive's power requirements under complex operating conditions. The energy management unit (EMU) collects real-time data on total voltage, total current, current state of charge (SOC), battery health (SOH), and individual cell voltage and temperature through the battery management system. The EMU executes on / off and distribution commands through internal solid-state power switches or smart fuse arrays. These switches can quickly and silently control the circuits leading to each module. Continuous power regulation for motors is achieved by adjusting the current limit of the motor driver.

[0066] The energy management unit communicates with the control module, sending key information such as battery SOC, total system power consumption, and current energy mode to the control module in real time via the CAN bus. The control module automatically enters different operating modes based on the task status and battery SOC: SOC > 30%, while the vehicle is in motion and not performing any bomb-dropping actions, normal cruise mode is activated, prioritizing power supply to the axial flux motor and control module, while other modules operate at normal power consumption. When the vehicle is stationary and the robotic arm is preparing for or performing a grabbing or dropping action, a critical operation mode is activated, temporarily increasing the current output limit to the robotic arm joint motors to ensure rapid and powerful action completion, while appropriately reducing the standby power consumption of the drive motors. When the SOC drops to 20%-30%, a low-battery energy-saving mode is activated, sending a low-battery alarm to the control module, limiting the vehicle's maximum speed, and reducing the average power consumption of the drive motors; if the vehicle is in motion, it is recommended that the control module plan the shortest path back; the performance of non-critical computing tasks can be temporarily reduced (e.g., reducing the image processing frame rate). The control module detects abnormal power consumption in a module (e.g., short circuit), excessively high battery temperature, or severe overload. In safety protection mode, the power supply to non-essential modules (such as ventilation units and some sensors) is immediately cut off to ensure core control, communication and basic driving functions, and the highest level fault alarm is issued.

[0067] In this embodiment, the vehicle body is equipped with a blade-type telescopic walking wheel at the bottom and an independent suspension. The control module identifies the road surface type and undulation height based on images and dynamically adjusts the wheel extension length to enhance the vehicle body's passability and driving stability on complex and undulating roads in open-pit mines, ensuring the normal operation of the device in harsh working environments.

[0068] This application provides a method for wirelessly detonating bombs in open-pit mines, such as... Figure 3 As shown, the method provided in this embodiment is executed by a control module. The control module interacts with an off-site server, which can be a server or a terminal device. The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, laptop, desktop computer, etc., but is not limited to these. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, which is not limited in this embodiment.

[0069] A method for delivering a wireless detonating bomb in an open-pit mine, comprising steps S301-S303, wherein: S301: Receives the collaborative operation path planned by the off-site server based on the environmental data of the work area collected by the drone, and controls the vehicle's movement according to the collaborative operation path.

[0070] S302: During vehicle movement, the system receives real-time image data collected by the camera module and uses the image data to locate the gun holes.

[0071] S303. Grab the detonating bomb from the detonating bomb compartment according to the collaborative operation path and drop it into the corresponding gun hole.

[0072] This application provides a control module, such as... Figure 4 As shown, Figure 4 The control module 400 shown includes a processor 401 and a memory 403. The processor 401 and the memory 403 are connected, for example, via a bus 402. Optionally, the control module 400 may also include a transceiver 404. It should be noted that in practical applications, the transceiver 404 is not limited to one type, and the structure of this control module 400 does not constitute a limitation on the embodiments of this application.

[0073] Processor 401 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 401 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0074] Bus 402 may include a pathway for transmitting information between the aforementioned components. Bus 402 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 402 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0075] The memory 403 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0076] The memory 403 is used to store the application code that executes the scheme of this application, and its execution is controlled by the processor 401. The processor 401 is used to execute the application code stored in the memory 403 to implement the content shown in the aforementioned embodiment of the open-pit mine wireless detonation bomb delivery method.

[0077] Figure 4 The control module shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0078] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the content shown in the aforementioned embodiment of the open-pit mine wireless detonation bomb delivery method.

[0079] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0080] This application provides a computer program product, including a computer program that, when executed by a processor, implements the content shown in the aforementioned embodiment of the open-pit mine wireless detonation bomb delivery method.

[0081] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A wireless detonation bomb delivery system for open-pit mines, characterized in that, The device includes an open-pit mine wireless detonator and an off-site server; the device includes a vehicle body, an unmanned aerial vehicle (UAV) compartment, a detonator compartment, a control module, a camera module, a vehicle-mounted robotic arm, and a power module. The drone cabin is located inside the front of the vehicle body and is used to store the drone. The drone is used to collect environmental data of the work area and send the environmental data to the off-site server. The detonation chamber is located inside the rear end of the vehicle body and is used to store detonation bombs; The off-site server is used to plan a collaborative operation path based on the environmental data and send the collaborative operation path to the control module. The control module is located inside the vehicle body and is used to control the movement of the vehicle body and the deployment action of the on-board robotic arm according to the collaborative operation path. The camera module is mounted on the front shell of the vehicle body and is used to collect image data in real time during driving, so that the control module can locate the gun hole based on the image data. The vehicle-mounted robotic arm is mounted on the vehicle body shell and is used to grab detonating shells from the detonating shell compartment and drop them into the corresponding gun hole under the control of the control module. The power module is located inside the vehicle body and is used to provide power to the entire device.

2. The open-pit mine wireless detonation bomb delivery system according to claim 1, characterized in that, The drone is equipped with a high-definition camera and an infrared thermal imager to collect environmental data of the work area. The environmental data includes visible light image data and thermal imaging data. The off-site server is used to fuse the visible light image data and the thermal imaging data to generate a three-dimensional point cloud map of the working area. It uses a built-in deep learning model to perform semantic segmentation on the three-dimensional point cloud map to identify the drivable area, obstacle area and gun hole position. Based on the semantic segmentation results, a cost map is generated. Then, a path search algorithm is used to plan a global driving path from the cost map and generate the corresponding robotic arm bomb throwing path in combination with the gun hole position. The global travel path and the robotic arm bomb-throwing path constitute the collaborative operation path.

3. The open-pit mine wireless detonation bomb delivery system according to claim 2, characterized in that, The control module includes a Beidou positioning unit, a dynamic obstacle avoidance unit, a borehole positioning unit, and a collaborative control unit. The Beidou positioning unit is used to obtain the geographical coordinates of the vehicle body in real time; The dynamic obstacle avoidance unit is used to identify sudden obstacles based on the image data, generate local detour instructions based on the geographical coordinates, and correct the global driving path based on the local detour instructions. The borehole positioning unit is used to identify borehole coordinates and borehole outline based on the image data; The collaborative control unit is used to dynamically correct the munition throwing path of the robotic arm based on the borehole coordinates and borehole profile.

4. The open-pit mine wireless detonation bomb delivery system according to claim 1, characterized in that, The detonation chamber is equipped with a multi-layer buffer storage structure, which includes multiple storage positions. Each storage position is covered with an elastic buffer pad, and adjacent layers are connected by damping shock absorbers. The door of the detonating bomb compartment is an electromagnetically locked door, which is communicatively connected to the control module and unlocks only when the control module sends an unlocking command; The detonator compartment also integrates a temperature and humidity monitoring unit and an explosion-proof ventilation unit; the temperature and humidity monitoring unit is used to monitor the environmental parameters inside the compartment in real time and send the environmental parameters inside the compartment to the control module; the explosion-proof ventilation unit is used to activate when the control module determines that the environmental parameters inside the compartment exceed the limit, and to perform forced ventilation until the environmental parameters inside the compartment return to the normal range.

5. The open-pit mine wireless detonation bomb delivery system according to claim 1, characterized in that, The vehicle-mounted robotic arm includes a multi-degree-of-freedom joint module, a dual-mode end effector, and an end-effector posture correction unit. The multi-degree-of-freedom joint module is used to provide degrees of freedom of movement; The dual-mode end effector integrates an inflatable airbag gripper and a ring-shaped retractable gripper with a pressure sensor. The control module is configured to: when the detonating projectile is cylindrical, select the inflatable airbag gripper for adaptive envelope gripping; when the detonating projectile has an irregular shape, switch to the ring-shaped retractable gripper for gripping, and adjust the clamping force in real time based on the feedback data from the pressure sensor. The end effector posture correction unit integrates a laser displacement sensor to monitor the relative posture deviation between the end effector of the robotic arm and the borehole in real time, and sends the relative posture deviation to the control module so that the control module can generate posture compensation commands based on the relative posture deviation and drive the multi-degree-of-freedom joint module to make adjustments.

6. The open-pit mine wireless detonation bomb delivery system according to claim 1, characterized in that, The vehicle body is equipped with multiple blade telescopic walking wheels at the bottom, and each blade telescopic walking wheel is equipped with an independent suspension system. The control module is also used to identify the road surface type and undulation height ahead of the vehicle based on the image data, and dynamically adjust the extension length of the plurality of blade telescopic walking wheels based on the road surface type and the undulation height.

7. The open-pit mine wireless detonation bomb delivery system according to claim 1, characterized in that, The power module includes an axial flux motor, a power battery pack, and an energy management unit. The power battery pack is used to provide electrical energy for the entire device; The axial flux motor is used to convert the electrical energy of the power battery pack into mechanical energy to drive the vehicle body and the on-board robotic arm to operate. The energy management unit is communicatively connected to the control module and is used to monitor the power consumption status of each power module in real time, and to allocate and schedule the output of the power battery pack.

8. A method for wirelessly detonating explosives in an open-pit mine, characterized in that, A wireless detonation bomb delivery system applied in open-pit mines, executed by a control module, includes the following method: The system receives a collaborative operation path planned by an off-site server based on environmental data of the work area collected by the drone, and controls the vehicle's movement according to the collaborative operation path. During the vehicle's movement, it receives image data collected in real time by the camera module and locates the gun holes based on the image data; According to the cooperative operation path, detonating shells are retrieved from the detonation shell compartment and dropped into the corresponding gun hole.

9. A control module, characterized in that, include: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: perform the open-pit mine wireless detonation bomb delivery method of claim 8.

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