Intelligent drug loading system and control method thereof

Abstract

The application discloses an intelligent charging system and a control method thereof, and the system comprises an arch trolley, a multi-modal sensing device, a pneumatic charging device, a pushing device, a hole state detection device and a control device. By establishing a unified coordinate system of the trolley body, the pose relationship between the opening arm and the charging arm is dynamically calibrated by using a laser tracker, and the reference transmission error is eliminated. Visible light cameras, laser profile scanners and millimeter wave radars are used for fusion sensing to stably identify the blast hole in a harsh environment. Based on the rock drilling stress data, the blast hole angle is compensated, and a high-precision attitude alignment is realized in combination with a model predictive controller. Before pushing, the hole state detection device scans and constructs a three-dimensional model of the blast hole, and a pushing strategy is pre-planned. During the pushing process, the pushing force is monitored in real time and compared with the detection model, and intelligent fault tolerance and closed-loop verification are performed. The application changes the charging alignment from open-loop control to closed-loop intelligent decision-making, and significantly improves the reliability, environmental adaptability and automation degree of tunnel charging.

Description

Technical Field

[0001] This invention relates to the field of tunnel blasting construction technology, specifically to an intelligent charging system and its control method. Background Technology

[0002] In tunnel blasting operations, the charging process directly impacts blasting effectiveness and construction safety. In recent years, the technology of using three-arm drilling rigs to generate borehole data combined with visual guidance for automated charging has been gradually applied. However, in existing technologies, the borehole arm and the charging arm are independent mechanical systems, each with its own joint zero position, transmission backlash, and load-bearing deformation. The borehole coordinates are recorded in the borehole arm coordinate system. When the rig moves or its posture changes, directly using this coordinate system to guide the charging arm will result in significant reference transmission errors. Over-reliance on visual correction leads to a high risk of system failure. Furthermore, the borehole opening is often covered or obstructed by rock dust or water mist, and the tunnel is subject to uneven lighting and strong vibrations. A single passive visible light vision solution has a high recognition failure rate and is prone to interrupting the automated process. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this application provides: The advantage of this application is that it provides an intelligent charging system, comprising: Arch frame trolley; A pneumatic drug delivery device is installed on the arch frame trolley and includes a drug delivery pipe, a pneumatic ball valve and a compressed air interface. The pneumatic ball valve is installed at the starting end of the drug delivery pipe and is used to receive a single drug roll and to transport the drug roll at high speed along the drug delivery pipe to a designated position by compressed air. The propellant pushing device includes a flexible pusher, a drive module, and a push sensing module. The flexible pusher can push the propellant roll at a designated position into the depth of the borehole under the drive of the drive module. The push sensing module is used to collect propulsion force data and / or displacement data in real time during the pushing process. A multimodal sensing device, located at the front end of the propellant delivery device, includes a visible light camera, a laser profile scanner, and / or a millimeter-wave radar, for acquiring multimodal sensing data of the borehole opening; The borehole state detection device is located at the front end of the propellant pushing device and is used to extend into the borehole before pushing the propellant cartridge to collect images, distance and / or contact state information of the borehole wall. The control device is electrically connected to the pneumatic drug delivery device, the drug pushing device, the multimodal sensing device, and the orifice state detection device, respectively, and is used to control the pneumatic drug delivery device and the drug pushing device to work according to the signals from the visual positioning device and the orifice state detection device.

[0004] Furthermore, it also includes a drug supply device, which comprises: The storage bin has two storage chambers, each of which has a discharge port at the bottom; A feed hopper is located below the storage hopper and has a discharge port; The material distribution shaft is located in the guide hopper at the material discharge port and is driven to rotate by the first stepper motor; A shift fork shaft is located at the discharge port and is driven to rotate by a second stepper motor so that the medicine roll can be transported to both sides of the shift fork shaft.

[0005] Furthermore, the pneumatic drug delivery device also includes a cylinder, and a material discharge groove is provided below the shift fork shaft to connect with the drug delivery tube. A push rod is provided at the output end of the cylinder, and the push rod can extend into the material discharge groove.

[0006] Furthermore, it also includes a buffer device, the buffer device comprising: A first buffer tube is horizontally connected to the end of the drug delivery tube, and one end of the flexible pusher can extend into the first buffer tube. A limiting component is connected to the first buffer tube, and a limiting groove is formed on it along the vertical direction; A buffer roller is provided with connecting shafts at both ends, and the connecting shafts are movably disposed within the limiting groove; In the initial state, at least a portion of the bottom end of the buffer roller is inside the first buffer tube.

[0007] Furthermore, the push sensing module includes: A pull-wire sensor, connected to the other end of the flexible pusher, is used to control the extension length of the flexible pusher; A force sensor is installed at the input end of the flexible pusher to collect propulsion force data during the push process.

[0008] Furthermore, it also includes: The trolley robotic arm is movably mounted on the arch frame trolley; The loading robotic arm has multiple degrees of freedom of motion and is connected to the free end of the trolley robotic arm for gripping the drug-pushing device.

[0009] Furthermore, the in-hole state detection device includes: A probe rod is retractably mounted at the front end of the buffer device; At least one of the following sensors is mounted on the front end of the probe: Miniature image sensor for acquiring visual images of the inner wall of a borehole; Distance sensors are used to measure the distance to the wall of a hole or blockage. An array of tactile sensors is used to sense the distribution of contact force with obstacles inside the hole.

[0010] As another aspect of this application, a control method for the aforementioned intelligent charging system is also provided, comprising the following steps: S1. Establish a global positioning base station and a unified coordinate system for the vehicle body, calibrate the pose relationship between the drilling arm and the charging arm, receive the borehole coordinate data provided by the rock drilling rig and convert it to the unified coordinate system, control the robotic arm to move to the vicinity of the borehole; then collect the multimodal information of the borehole opening through the multimodal sensing device, perform precise positioning, and obtain the precise coordinates of the borehole center and the borehole outline. S2, after alignment and before pushing the propellant cartridge, the control device extends into the borehole to scan, collect images, distance and / or contact data, construct a three-dimensional model of the borehole, and identify whether there are any blockages and their types and locations; the control device pre-plans the pushing strategy based on the detection results, including preset pushing speed curve, thrust limit and abnormal handling methods. S3, a single medicine roll is transported to the push position by the medicine supply device and cylinder, and then the medicine roll is blown at high speed along the medicine delivery pipe to the designated position by the pneumatic medicine delivery device; S4, the control device starts the propellant pushing device, drives the flexible pushing component to push the propellant roll into the borehole according to the initial parameters planned in step S2, and at the same time the pushing sensing module collects the propulsion force data and displacement data in real time. S5, the control device processes the propulsion force data and displacement data, and compares and verifies them with the detection model in step S2; if the actual resistance characteristics are basically consistent with the detection expectations, the push continues according to the planned strategy; if an unexpected resistance change occurs, a dynamic adjustment or fault-tolerant strategy is executed. S6, when the displacement data reaches the preset loading depth, it is determined that the cartridge has been delivered to the designated position, and the control device controls the flexible pusher to retract, completing the loading cycle of a single cartridge.

[0011] Furthermore, the precise positioning in step S1 specifically includes: A wide-angle industrial camera is used to capture a global image of the tunnel face, and an image recognition algorithm is used to identify the approximate location of all the blast holes. The robotic arm is controlled to move, so that the multimodal sensing device is aligned with each borehole in sequence. In parallel, a laser contour scanner is activated to acquire the three-dimensional point cloud contour of the borehole, millimeter-wave radar penetrates dust to detect the physical edge, and a visible light camera collects texture information. Through data fusion, the true position and boundary of the borehole can be stably identified under extreme working conditions.

[0012] Furthermore, the control device performs dynamic bending compensation on the borehole angle based on the drill rod force data to obtain the corrected borehole axis vector; and when planning the pushing strategy, it uses a model prediction controller to compensate for alignment deviations in advance based on the dynamic state of the charge arm.

[0013] Furthermore, between steps S1 and S2, the following steps are also included: a micro-force / displacement composite sensor is installed at the front end of the drug delivery device to monitor the contact force and position fine-tuning amount in real time when the drug delivery tube is initially inserted, and to determine whether it is truly aligned; if a deviation is detected, the control device adjusts the posture of the robotic arm slightly according to the force feedback data and tries again until alignment is confirmed.

[0014] Furthermore, the fault tolerance strategy in step S5 includes: If the propulsion force data exceeds the first threshold but not the second threshold and the displacement is still increasing, it is determined to be a slight blockage, and the reverse propulsion is executed or the auxiliary slag removal action is started; If the propulsion force data exceeds the second threshold and the displacement increment approaches zero, it is determined that the hole is completely blocked, and the push is immediately stopped, the flexible pusher is retracted, and the abnormal hole is marked. Furthermore, based on feedback from the end-effector micro-force / displacement composite sensor, a closed-loop fault-tolerant operation is performed to fine-tune the attitude and retry when an angular deviation is detected.

[0015] The beneficial effects of this invention are as follows: By using a global positioning base station and dynamic calibration, the reference transmission error of the multi-arm system is fundamentally eliminated, and the reliability of coarse positioning is greatly improved; Multimodal fusion perception (laser contour + millimeter-wave radar + visible light) enables the system to stably identify boreholes even under extreme working conditions such as rock powder coverage, uneven lighting, and slight obstruction, significantly enhancing environmental adaptability; The "detect first, push later" operation paradigm transforms borehole blockage identification from "indirect inference after occurrence" to "direct perception and proactive planning before operation," and integrates real-time monitoring of pushing force and closed-loop fault tolerance, greatly improving operational safety and success rate. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one embodiment of the intelligent drug delivery system of this application; Figure 2 for Figure 1 Schematic diagram of a local structure in the middle; Figure 3 for Figure 2 Schematic diagram of the Chinese medicine supply device; Figure 4 for Figure 3 Schematic diagram of the central storage silo and the feed silo; Figure 5 for Figure 4 Another perspective structural diagram; Figure 6 This is a sectional view of the storage silo and the feed silo structure; Figure 7 This is a schematic diagram of the material distribution shaft structure; Figure 8 This is a schematic diagram of the shift fork shaft structure; Figure 9 for Figure 2 Schematic diagram of a local structure in the middle; Figure 10 for Figure 2 Schematic diagram of the intermediate buffer device and the drug delivery device. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0020] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0021] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments. Example 1

[0023] See Figures 1-10 This embodiment provides an intelligent loading system, including an arched trolley 10, which serves as a carrying platform and can travel along the tunnel. The arched trolley 10 is equipped with a drug supply device 20, a pneumatic drug delivery device 30, a buffer device 40, and a drug pushing device 50.

[0024] The explosive supply device 20 includes a support frame that serves as the installation base. On the upper part of the support frame, two independent storage bins are arranged side by side, namely the first storage bin 21 and the second storage bin 22. The first storage bin 21 is used to store explosive cartridges, and the second storage bin 22 is used to store spacer media. The spacer media can be pre-formed clay pillars, clay pillars, plastic spacers, or other objects used to separate explosive cartridges in the blast hole. Its external dimensions are similar to those of the explosive cartridges to facilitate passage through the discharge port and discharge port.

[0025] Each of the two storage hoppers has a discharge port 221 at its bottom. To allow the material to fall automatically under gravity, the bottom wall of each storage hopper is designed as a sloped surface towards the discharge port. Below the two discharge ports, a shared guide hopper 23 is provided, which is integrally formed with the two storage hoppers. Inside the guide hopper 23, there are two material distribution shafts 24, located directly below the two discharge ports. One end of the material distribution shafts 24 is connected to the output shaft of the first stepper motor 25 located outside the guide hopper.

[0026] More specifically, on the circumferential surface of the dispensing shaft 24, there are multiple arc-shaped material grooves 241 evenly distributed in the circumferential direction. The curvature of the arc-shaped material grooves 241 is adapted to the outer cylindrical surface of the medicine roll, and each material groove can just accommodate one medicine roll or one spacer medium.

[0027] A discharge port 231 is provided below the feed hopper 23. A shift fork shaft 26 is provided at the position of the discharge port 231. The shift fork shaft 26 is driven by a second stepper motor 27. Two shift plates 261 are fixedly provided on the shift fork shaft 26. The two shift plates 261 form a preset included angle (e.g., 90 degrees). A guide plate 28 is provided on both sides of the shift fork shaft 26. The guide plate 28 extends along the axis of the shift fork shaft and tilts downward.

[0028] The special shape of the feed hopper 23 helps the material to transition smoothly. Its upper side wall is an arc-shaped feed guide side wall 232, which connects to the upper drop port 221, and its lower side wall is a flat feed guide side wall 233, which connects to the lower discharge port 231. This design allows the material to fall smoothly from the feed distribution shaft to the area of ​​the shift fork shaft along the arc-shaped wall. Then, the shift fork shaft will push the medicine roll or medium to the designated side according to the control signal.

[0029] To ensure that only a single material is processed at a time, the dimensions of the feed inlet and outlet are set to allow only one cartridge or spacer medium to pass through. Furthermore, a photoelectric sensor (not shown in the figure) is installed at outlet 231 to detect whether a single piece of material passes through the outlet each time, and feeds the signal back to the control device. If material is detected passing normally, the control system continues to the next step; if no material is detected (e.g., jammed or empty), the system issues an alarm or repeats the current feeding action.

[0030] The pneumatic drug delivery device 30 includes a cylinder 31, with a push rod 32 at the output end of the cylinder 31. A material discharge chute 33 is located below one of the guide plates 28 in the drug delivery device 20. The push rod 32 can extend from one end into the material discharge chute 33, and the other end of the material discharge chute is connected to a drug delivery pipe 35 via a pneumatic ball valve 34. In other words, the push rod can push the drug roll or medium in the material discharge chute into the drug delivery pipe. A compressed air interface 351 is provided on the side wall of the starting end of the drug delivery pipe 35. The compressed air interface is connected to an external compressed air source (such as an air compressor) through a pipeline. When the drug roll is sent to the discharge chute by the drug supply device, the cylinder is activated to push the drug roll through the pneumatic ball valve 34 into the inside of the drug delivery pipe. Subsequently, the pneumatic ball valve closes, and compressed air enters from the interface, pushing the drug roll to move forward at high speed in the drug delivery pipe.

[0031] A buffer device 40 is disposed at the end of the drug delivery tube 35 and includes a first buffer tube 41, a limiting member 42, and a buffer roller 43. The first buffer tube 41 is horizontally connected to the end of the drug delivery tube 35. The limiting member 42 is fixedly connected to the end of the first buffer tube 41. A limiting groove 421 is formed on the limiting member 42 in the vertical direction. Connecting shafts 431 are provided at both ends of the central axis of the buffer roller 43. The connecting shafts 431 are movably engaged in the limiting groove 421, so that the buffer roller 43 can slide up and down in the limiting groove. In the initial state, the buffer roller 43 falls under its own weight, and at least a part of its bottom extends into the internal space of the first buffer tube 41.

[0032] When the high-speed drug cartridge enters the first buffer tube 41 from the end of the delivery tube 35, it will hit the bottom of the buffer roller 43. The impact force of the drug cartridge will push the buffer roller 43 upward, and at the same time, the gravity of the buffer roller 43 will act on the drug cartridge, thereby absorbing and consuming the kinetic energy of the drug cartridge, causing its speed to decrease rapidly and stop smoothly in the first buffer tube 41.

[0033] The drug delivery device 50 includes a flexible pusher, a drive module, and a push sensing module. The flexible pusher is a flexible shaft 51, which is a flexible spiral tube that can be bent but can transmit thrust. The drive module includes a drive motor 52 and friction rollers 53. There can be two drive motors 52, and friction rollers 53 are provided on their output shafts. The flexible shaft 51 is clamped between the friction rollers 53. The rotation of the friction rollers drives the flexible shaft to move forward or backward. The front end of the flexible shaft 51 can extend into the first buffer tube 41.

[0034] Specifically, a flexible shaft tube 54 is sleeved on the outside of the flexible shaft 51, that is, the flexible shaft 51 moves inside the flexible shaft tube 54. The length of the flexible shaft tube is basically the same as the length of the drug delivery tube, and the two ends of the flexible shaft tube and the drug delivery tube are also installed and fixed using the same fixing structure.

[0035] Once the buffered propellant cartridge has come to a stop in the first buffer tube 41, the drive motor 52 starts and drives the flexible shaft 51 forward through the friction roller 53. The front end of the flexible shaft enters the first buffer tube and pushes the propellant cartridge forward, eventually pushing the propellant cartridge smoothly and accurately to the designated depth of the borehole. After reaching the set depth, the motor reverses and retracts the flexible shaft.

[0036] The push sensing module includes a pull wire sensor 55 and a force sensor (not shown in the figure). The pull wire end of the pull wire sensor 55 is connected to the initial end of the flexible shaft to monitor the extension length of the flexible shaft in real time. The force sensor can be connected in series to the input end of the flexible shaft to collect the propulsion force data during the push process.

[0037] The arch frame trolley 10 has multiple trolley robotic arms 11. The trolley robotic arms 11 are movably mounted on the trolley via slide rails. They are adjustable in angle and extension length to provide coarse positioning. The front end of the trolley robotic arm 11 is provided with a loading robotic arm 12. The loading robotic arm 12 has multiple degrees of freedom of motion, such as a six-axis robotic arm. Its output end holds a buffer device 40 and a pushing device 50.

[0038] The loading robotic arm 12 is also equipped with a multimodal sensing device, which includes a high frame rate stabilized industrial camera, a laser profile scanner, and a short-range millimeter-wave radar. The three sensors are aligned with the direction of the blast hole and transmit the collected data to the control device.

[0039] In this embodiment, an in-hole state detection device (not shown in the figure) is also provided at the front end of the buffer device. The device includes a lightweight probe that can be independently extended and retracted (driven by a miniature electric cylinder). The front end of the probe is equipped with a miniature image sensor, a distance sensor, and a tactile sensor array. The probe can move independently of the drug delivery tube and the flexible shaft.

[0040] The intelligent drug delivery system of this application also includes a control device, which can be an industrial-grade embedded computer running a real-time operating system, connecting various drivers and sensors via an EtherCAT bus, and incorporating image recognition, point cloud processing, model predictive control, and intelligent decision-making algorithms.

[0041] In addition, the intelligent loading system of this application also includes a global positioning base station, which uses a high-precision laser tracker and is fixedly installed on the rigid base of the arched trolley. The base station can emit a laser beam and track the target ball installed at the end of the perforating arm and the end of the loading arm, and calculate the three-dimensional coordinates of the center point of the two robotic arm end tools in the base station coordinate system in real time. The control device uses the base station to establish a unified coordinate system for the vehicle body, in which all spatial points are expressed. Example 2

[0042] This embodiment provides a control method for the above-mentioned intelligent loading system, and the specific steps are as follows: Step S1: Establishing a unified benchmark and multimodal fine localization The control device first receives the borehole coordinates of each blast hole provided by the rock drilling rig (originally recorded in the coordinate system at the end of the drilling arm). Simultaneously, the global positioning base station measures the positions of the target balls at the ends of the drilling arm and the charging arm in real time. The control device calculates a fixed transformation matrix between the two robotic arm bases, uses this matrix to transform the borehole coordinates of each blast hole to the unified coordinate system of the vehicle body, and periodically (every 10 seconds) automatically executes a dynamic calibration algorithm to compensate for vehicle body structural deformation and joint backlash.

[0043] The control unit drives the trolley robotic arm and the propellant loading robotic arm to move the multimodal sensing device to the vicinity of the target borehole. First, a wide-angle camera is activated to acquire a global image of the working face, identifying the approximate areas of all boreholes. Then, the robotic arm is controlled to align a close-up camera with a single borehole, and simultaneously, a laser contour scanner and millimeter-wave radar are activated. A visible light camera provides texture images to confirm the presence of any obvious foreign objects at the borehole opening. The three data streams are fused through filters to output the final precise positioning coordinates.

[0044] In addition, if there are multiple robotic arms on the trolley, the control device obtains the current pose information of all robotic arms on the arch frame trolley, calculates the relative position between each robotic arm using a unified coordinate system, divides the working area of ​​each robotic arm according to the distribution of blast holes on the working face, and specifies the working order and priority of each robotic arm. The control device monitors the minimum distance between any two robotic arms in real time. When the distance is lower than the first safety threshold, an early warning is issued. When the distance is lower than the second safety threshold, the movement of the robotic arm with lower priority is suspended until the danger is eliminated.

[0045] Step S2: Pre-detection of the state inside the borehole and planning of the push strategy After precise positioning, the control device drives the probe rod of the borehole state detection device to extend from the front end of the buffer device and slowly enter the borehole. At the same time, it collects image, distance and contact force data. The miniature image sensor takes an image frame every time it advances a certain distance (e.g., 10mm) to detect whether there are any blockages (such as rocks, gravel, mud). The distance sensor continuously measures the distance between the front end of the probe rod and the borehole wall (or blockage) to generate a distance curve along the borehole depth. The tactile sensor array outputs pressure distribution when the probe rod contacts the borehole wall to determine the degree of unevenness of the borehole wall and the type of debris.

[0046] Once the probe reaches the preset maximum depth or encounters a hard blockage that prevents it from advancing, it begins to retract. All data is uploaded to the control device, and the system constructs a three-dimensional model of the borehole in real time. The model highlights the location, size, and type of the blockage point (complete blockage, partial diameter reduction, local collapse, etc.).

[0047] The control device plans the push strategy based on the model: If there is no blockage, set the pushing speed curve: initial 0.2m / s, constant speed 0.4m / s, and decelerate to 0.05m / s 0.1m before reaching the end point; If there is a slight reduction in diameter (minimum diameter reduced by <15%), the planned pushing speed will be reduced to 0.1m / s, and a 5cm retraction and re-pushing operation will be allowed 0.2m before and after the reduced diameter section; If a hole is completely blocked (blockage diameter > 30mm and length > 20cm), mark the hole as an abnormal hole, skip loading the explosive and report it; if it is a moderate blockage (can be pushed open by the explosive cartridge or crushed by slow pushing), set the upper limit of the thrust and automatically execute the "reverse-impact" (reverse 10cm, then advance rapidly at 0.5m / s) obstacle breaking strategy 0.2m before reaching the blockage point.

[0048] In addition, the control device will also dynamically bend the hole angle based on the drill rod force data (axial thrust and torque) recorded during rock drilling, and output the corrected borehole axis vector through a pre-trained backpropagation neural network.

[0049] Step S3: Drug roll delivery The operation of the drug supply device is as follows: First, the stepper motor drives the distributing shaft to rotate, causing a drug roll to fall from the storage bin into the guide bin; second, the stepper motor drives the shift fork shaft to move the drug roll to the dropping chute, and the cylinder pushes the push rod to push the drug roll into the dropping chute inlet that is connected to the drug delivery pipe. The pneumatic drug delivery device operates as follows: The control device opens the pneumatic ball valve, and compressed air enters through the compressed air interface, propelling the drug roll at high speed along the delivery pipe. The drug roll reaches the buffer device at the end of the delivery pipe, impacts the buffer roller, decelerates, and stops inside the first buffer tube, awaiting the push of the flexible shaft. The buffer roller moves upward within the limit groove to absorb the impact and then resets.

[0050] Step S4: Drug roll push and real-time sensing The control device starts the drive module, the flexible shaft extends, and pushes the propellant cartridge into the borehole at the initial speed planned in step S2. During the push process, the pull-wire sensor of the push sensing module records displacement data at a sampling rate, and the force sensor records the propulsion force simultaneously. The data is transmitted to the control device in real time.

[0051] Step S5: Comparison of propulsion force and detection model, and dynamic fault tolerance The control device performs a low-pass filter on the real-time propulsion data and compares it point by point with the "depth-expected resistance" curve constructed in step S2. If the deviation between the actual resistance and the expected resistance is less than ±15%, it is considered normal, and the push continues according to the planned strategy. If an unexpected sudden change in resistance occurs, the system will implement a fault-tolerance strategy according to the following rules: Mild blockage: The propulsion force exceeds the expected resistance limit by 30% but does not exceed the first threshold (80N), and the displacement is still increasing (velocity > 0.01m / s). If determined to be mild blockage (e.g., localized rock debris accumulation), the system automatically executes: retract 15cm, then advance again at a speed of 0.1m / s; if this is ineffective after 3 attempts, an auxiliary debris-clearing action is invoked: rapid back-and-forth shaking of the pusher (±5cm, frequency 2Hz). Moderate resistance anomaly accompanied by angular deviation: When the end-effector micro-force / displacement composite sensor (installed at the very front of the delivery tube) detects a lateral force exceeding 5N, it indicates an angular deviation between the delivery tube and the borehole axis. The system immediately stops pushing, calculates the direction of the deviation based on the lateral force vector, and realigns the delivery tube by fine-tuning the end-effector attitude (±2° steps) of the delivery robot arm 12 before attempting to push again. Complete blockage: The pushing force exceeds the second threshold (120N), and the displacement increment is less than 1mm within 0.2 seconds. This is determined to be a complete blockage or cartridge jamming. The system immediately stops pushing, quickly retracts the flexible pusher to the zero position, marks the hole as an "abnormal hole," records the blockage location and resistance characteristics, skips the hole, and uploads the information to the tunnel construction management system.

[0052] Step S6: Loading completion determination and rollback When the displacement data fed back by the wire sensor reaches the preset charging depth, it is determined that the propellant cartridge has been delivered to the designated position. The control device controls the drive module to reverse, retracting the flexible shaft to the initial position, completing the charging cycle for a single propellant cartridge. The system then automatically moves to the next borehole and repeats the above steps.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent loading system, characterized in that, include: Arch frame trolley; A pneumatic drug delivery device is installed on the arch frame trolley and includes a drug delivery pipe, a pneumatic ball valve and a compressed air interface. The pneumatic ball valve is installed at the starting end of the drug delivery pipe and is used to receive a single drug roll and to transport the drug roll at high speed along the drug delivery pipe to a designated position by compressed air. The propellant pushing device includes a flexible pusher, a drive module, and a push sensing module. The flexible pusher can push the propellant roll at a designated position into the depth of the borehole under the drive of the drive module. The push sensing module is used to collect propulsion force data and / or displacement data in real time during the pushing process. A multimodal sensing device, located at the front end of the propellant delivery device, includes a visible light camera, a laser profile scanner, and a millimeter-wave radar, used to collect multimodal sensing data of the borehole opening; A drug supply device, comprising: a storage bin having two storage chambers, each storage chamber having a discharge port at its bottom; a guide bin disposed below the storage bin and having a discharge port; a distributing shaft disposed within the guide bin at the discharge port and driven to rotate by a first stepper motor; and a shift fork shaft disposed at the discharge port and driven to rotate by a second stepper motor, so as to transport the drug roll to both sides of the shift fork shaft. A buffer device, comprising: a first buffer tube, horizontally connected to the end of the drug delivery tube, one end of the flexible pusher extending into the first buffer tube; a limiting member, connected to the first buffer tube, having a limiting groove formed on it in a vertical direction; and a buffer roller, with connecting shafts at both ends, the connecting shafts being movably disposed within the limiting groove; wherein, in the initial state, at least a portion of the bottom end of the buffer roller is located within the first buffer tube. An in-hole condition detection device, disposed at the front end of the propellant pushing device, is used to extend into the borehole before pushing the propellant cartridge to collect images, distance, and / or contact status information of the borehole wall. The in-hole condition detection device includes: a probe rod, retractably disposed at the front end of the propellant pushing device; and at least one of the following sensors installed at the front end of the probe rod: a miniature image sensor for acquiring visual images of the borehole wall; a distance sensor for measuring the distance to the borehole wall or obstruction; and a tactile sensor array for sensing the contact force distribution with obstacles inside the borehole. The control device is electrically connected to the pneumatic drug delivery device, the drug pushing device, the multimodal sensing device, and the orifice state detection device, respectively, and is used to control the pneumatic drug delivery device and the drug pushing device to work according to the signals from the multimodal sensing device and the orifice state detection device.

2. The intelligent loading system according to claim 1, characterized in that: The pneumatic drug delivery device also includes a cylinder, and a material discharge groove is provided below the shift fork shaft to connect with the drug delivery tube. A push rod is provided at the output end of the cylinder, and the push rod can extend into the material discharge groove.

3. The intelligent loading system according to claim 1, characterized in that, The push sensing module includes: A pull-wire sensor, connected to the other end of the flexible pusher, is used to control the extension length of the flexible pusher; A force sensor is installed at the input end of the flexible pusher to collect propulsion force data during the push process.

4. The intelligent loading system according to claim 1, characterized in that: Also includes The trolley robotic arm is movably mounted on the arch frame trolley. The loading robotic arm has multiple degrees of freedom of motion and is connected to the free end of the trolley robotic arm for gripping the drug-pushing device.

5. A control method for an intelligent loading system according to any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Establish a global positioning base station and a unified coordinate system for the vehicle body, calibrate the pose relationship between the drilling arm and the charging arm, receive the borehole coordinate data provided by the rock drilling rig and convert it to the unified coordinate system, control the robotic arm to move to the vicinity of the borehole; then collect the multimodal information of the borehole opening through the multimodal sensing device, perform precise positioning, and obtain the precise coordinates of the borehole center and the borehole outline. S2, after alignment and before pushing the propellant cartridge, the control device extends into the borehole to scan, collect images, distance and / or contact data, construct a three-dimensional model of the borehole, and identify whether there are any blockages and their types and locations; the control device pre-plans the pushing strategy based on the detection results, including preset pushing speed curve, thrust limit and abnormal handling methods. S3, a single medicine roll is transported to the push position by the medicine supply device and cylinder, and then the medicine roll is blown at high speed along the medicine delivery pipe to the designated position by the pneumatic medicine delivery device; S4, the control device starts the propellant pushing device, drives the flexible pushing component to push the propellant roll into the borehole according to the initial parameters planned in step S2, and at the same time the pushing sensing module collects the propulsion force data and displacement data in real time. S5, the control device processes the propulsion force data and displacement data, and compares and verifies them with the detection model in step S2; if the actual resistance characteristics are basically consistent with the detection expectations, the push continues according to the planned strategy; if an unexpected resistance change occurs, a dynamic adjustment or fault-tolerant strategy is executed. S6, when the displacement data reaches the preset loading depth, it is determined that the cartridge has been delivered to the designated position, and the control device controls the flexible pusher to retract, completing the loading cycle of a single cartridge.

6. The control method according to claim 5, characterized in that, The precise positioning in step S1 specifically includes: A wide-angle industrial camera is used to capture a global image of the tunnel face, and an image recognition algorithm is used to identify the approximate location of all the blast holes. The robotic arm is controlled to move, so that the multimodal sensing device is aligned with each borehole in sequence. In parallel, a laser contour scanner is activated to acquire the three-dimensional point cloud contour of the borehole, millimeter-wave radar penetrates dust to detect the physical edge, and a visible light camera collects texture information. Through data fusion, the true position and boundary of the borehole can be stably identified under extreme working conditions.

7. The control method according to claim 5, characterized in that: In step S2, the control device performs dynamic bending compensation on the borehole angle based on the drill rod force data to obtain the corrected borehole axis vector; and when planning the pushing strategy, the model prediction controller is used to compensate for the alignment deviation in advance based on the dynamic state of the charge arm.

8. The control method according to claim 5, characterized in that: Between steps S1 and S2, the following is also included: a micro-force / displacement composite sensor is set at the front end of the drug pushing device to monitor the contact force and position fine-tuning amount in real time when the drug tube is initially inserted to determine whether it is truly aligned; if a deviation is detected, the control device adjusts the posture of the robotic arm slightly according to the force feedback data and tries again until alignment is confirmed.

9. The control method according to claim 8, characterized in that, The fault tolerance strategy in step S5 includes: If the propulsion force data exceeds the first threshold but not the second threshold and the displacement is still increasing, it is determined to be a slight blockage, and the reverse propulsion is executed or the auxiliary slag removal action is started; If the propulsion force data exceeds the second threshold and the displacement increment approaches zero, it is determined that the hole is completely blocked, and the push is immediately stopped, the flexible pusher is retracted, and the abnormal hole is marked. Furthermore, based on feedback from the end-effector micro-force / displacement composite sensor, a closed-loop fault-tolerant operation is performed to fine-tune the attitude and retry when an angular deviation is detected.

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