Automatic stemming device for blasting operation and automatic stemming method for blasting operation using same

Abstract

The present invention relates to an automatic stemming device for a blasting operation and an automatic stemming method for a blasting operation using same. The present invention can accurately map the topography of a blasting site and the positions of blasting holes through autonomous driving of a moving vehicle capable of injecting stemming material, and then automatically stem each of the blasting holes. Therefore, the present invention can shorten operation time, reduce manpower input to reduce operator fatigue, ensure safety during operation, and improve the quality of blasting work. Further, the present invention enables precise stemming of blasting holes compared to manual operations, and thus can reduce the amount of stemming material used and increase the predictability of a result of blasting, thereby maximizing the efficiency of a blasting operation and reducing stemming costs.

Description

Automatic blasting device and automatic blasting method using the same

[0001] The present invention relates to an automatic sealing device for blasting work and an automatic sealing method for blasting work using the same. The invention relates to an automatic sealing device for blasting work and an automatic sealing method for blasting work using the same, which can accurately map the terrain of a blasting site and the location of blasting holes using a mobile vehicle equipped with a sealing material injection unit and then automatically seal each blasting hole.

[0002] Generally, in construction fields such as rock blasting, abandoned building blasting, and open-air blasting, blasting systems that use explosives to cause explosion and collapse are used.

[0003] Specifically, the area or target to be blasted is divided into multiple sections, and multiple blasting holes are drilled into each section, each containing explosives. Each of the drilled holes is loaded with explosives and connected to a blasting device. By detonating the detonators located in the blasting holes, the explosives are detonated, resulting in the blasting and collapse of the target.

[0004] In particular, in the case of an open-pit blasting system that uses explosives to blast buried areas to mine metals or minerals, a blasting hole is first created at the blasting site using a drilling device to load explosives, and then explosives and a detonator are installed in the blasting hole, and the remainder of the blasting hole is filled with a sealant.

[0005] That is, during blasting work, the sealant is installed inside the blast hole and the detonator is installed, and then the remaining part of the blast hole is filled with a sealant. Sand, clay, and mortar are used as sealants.

[0006] In addition, sealing is an important process that focuses the explosive power during blasting on the target area by filling the top of the blast hole with a sealing material, thereby increasing efficiency and reducing flying rocks, and is essential for optimizing the energy distribution of the explosion and ensuring the safety of the surrounding environment and personnel.

[0007] However, in the conventional method, workers manually fill the blast hole with paint materials such as sand, clay, and mortar.

[0008] Therefore, conventional blasting methods rely entirely on human labor, which is inefficient and inconsistent, resulting in lower blasting efficiency.

[0009] In addition, conventional lighting systems had the problem of exposing workers to the risk of accidents during work, leading to frequent occurrence of safety accidents during work.

[0010] The purpose of the present invention is to provide an automatic sealing device for blasting work, which can accurately map the terrain of a blasting site and the location of blasting holes using a mobile vehicle equipped with a sealing material injection unit, and then automatically seal each blasting hole, and an automatic sealing method for blasting work using the same.

[0011] In order to achieve the above object, one embodiment of an automatic sealing device for blasting work according to the present invention is characterized by including a mobile vehicle unit, a blasting hole confirmation unit provided in the mobile vehicle unit to confirm the position of a blasting hole drilled at a blasting work site, a sealing material storage unit provided in the mobile vehicle unit to store sealing material to be filled in the blasting hole, a sealing material injection unit for injecting the sealing material stored in the sealing material storage unit into the blasting hole, and an autonomous driving control unit for autonomously driving the mobile vehicle unit to confirm the position of the blasting hole with the blasting hole confirmation unit and to inject sealing material into the corresponding blasting hole with the sealing material injection unit.

[0012] In the present invention, the blast hole confirmation unit may be a camera unit that photographs the ground at the blasting site.

[0013] In the present invention, the autonomous driving control unit may include a distance measuring sensor mounted on the vehicle body of the moving vehicle unit and capable of measuring a distance to an external object, and a mapping unit that receives measurement information from the distance measuring sensor and maps a moving area of ​​the moving vehicle unit.

[0014] In the present invention, the autonomous driving control unit may further include a 3D modeling recognition unit that 3D models the shape of a blast hole using an image captured by the camera unit and recognizes the shape, diameter, depth, and direction of the blast hole.

[0015] In the present invention, the camera unit may be a stereo camera including at least two cameras symmetrically positioned on both sides of the color injection unit.

[0016] In the present invention, the distance measuring sensor is a lidar sensor, and the autonomous driving control unit uses the lidar sensor and the MMS sensor unit to autonomously drive around a blasting site, and the mapping unit utilizes SLAM (Simultaneous Localization And Map-Building, Simultaneous Localization and Mapping) technology to map the entire area of ​​the blasting site, and can confirm the respective locations of a plurality of blast holes drilled in the blasting site to generate a blasting site map and a blast hole map.

[0017] In the present invention, the autonomous driving control unit can check the volume of the empty space within the blast hole based on the shape, diameter, and depth information of the blast hole, and inject the sealant into the blast hole in an amount appropriate for the volume through the sealant injection unit.

[0018] In the present invention, the mobile vehicle unit can sequentially fire multiple blast holes while autonomously moving along the shortest movement path automatically calculated by the autonomous driving control unit.

[0019] One embodiment of an automatic blasting device according to the present invention may further include a rotary valve plate portion in which the blasting agent injection portion is provided to protrude downward and rotate to block the discharge port of the blasting agent storage portion, and a valve rotation portion that opens and closes the discharge port of the blasting agent storage portion by rotating the rotary valve plate portion.

[0020] In the present invention, the camera part is mounted on the rotary valve plate part, and is mounted so that it can be positioned at the same position as the colorant injection part when rotated by the valve rotation part, so that the colorant injection part and the camera part can be positioned on the vertical upper side of the blast hole by being rotated by the valve rotation part while the moving vehicle is stopped.

[0021] In the present invention, the rotary valve plate portion may further include a compaction unit for compacting the filled material injected into the blast hole, including a pressure member that is positioned protrudingly on the lower side and moves up and down.

[0022] In the present invention, the pre-coloring compaction unit is mounted so that it can be positioned at the same position as the pre-coloring material injection unit when rotated by the valve rotation unit, and the pre-coloring material injection unit, the camera unit, and the pre-coloring compaction unit can be positioned on the vertical upper side of the blast hole by being rotated by the valve rotation unit while the moving vehicle is stopped.

[0023] In the present invention, the compaction unit for the sealing process may include a first compaction unit having a first pressure member having a first diameter and a second compaction unit having a second pressure member having a second diameter different from the first diameter.

[0024]

[0025] One embodiment of an automatic sealing method for blasting work according to the present invention comprises a sealing material storage unit for storing sealing material and a sealing material injection unit for injecting the sealing material in the sealing material storage unit into a blast hole, and a method for sealing a blast hole using a mobile vehicle unit capable of autonomously driving a blasting site with an autonomous driving control unit, the method comprising: a blasting site mapping step in which the mobile vehicle unit autonomously drives while mapping a blasting site and confirming the locations of a plurality of blast holes to generate a blasting site map and a blast hole map; a work path generation step in which the blasting order and the shortest movement path for sealing a plurality of blast holes are calculated based on the blasting site map and the blast hole map generated in the blasting site mapping step; and an automatic sealing step in which the mobile vehicle unit is moved along the work path generated after the work path generation step and the plurality of blast holes are sequentially sealed.

[0026] In the present invention, the blasting site mapping step uses a lidar sensor and a sensor unit for MMS to autonomously move a moving vehicle unit around the blasting site, and maps the entire area of ​​the blasting site using SLAM (Simultaneous Localization And Map-Building, Simultaneous Localization and Mapping) technology, and can confirm the respective locations of multiple blast holes drilled in the blasting site using a stereo camera unit.

[0027] In the present invention, the blasting site mapping step may include a blasting hole confirmation process in which a blasting hole is photographed using a stereo camera equipped on a mobile vehicle, and the shape, size, and direction of the blasting hole are analyzed and confirmed using computer machine vision technology and 3D modeling using the photographed image.

[0028] In the present invention, the blasting site mapping step measures the volume of an empty space in a blasting hole based on information about the shape, diameter, and depth of the blasting hole, and information on the amount of sealant to be injected into the empty space of each blasting hole is stored in the blasting hole map, and the automatic sealing step confirms the amount of injection information of each blasting hole stored in the blasting hole map, and can inject sealant into the blasting hole through the sealant injection unit at an amount corresponding to the amount of injection information.

[0029] The present invention can automatically fill each blast hole after accurately mapping the terrain of a blasting site and the location of blast holes through autonomous driving of a mobile vehicle capable of injecting a sealant, thereby shortening work time, reducing manpower input, and reducing worker fatigue, while also ensuring safety during work and improving the quality of blasting work.

[0030] The present invention enables precise sealing of blast holes compared to manual work, thereby reducing the amount of sealant used and increasing the predictability of blasting results, thereby maximizing the efficiency of blasting work and reducing sealing costs.

[0031] Figure 1 is a schematic diagram showing one embodiment of an automatic blasting device according to the present invention.

[0032] Figure 2 is a drawing illustrating another embodiment of an automatic blasting device according to the present invention.

[0033] Figure 3 is a bottom view showing an embodiment of a rotary valve plate part in another embodiment of an automatic blasting device according to the present invention.

[0034] Figure 4 is a flow chart illustrating one embodiment of an automatic blasting method according to the present invention.

[0035] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical concept of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed content is thorough and complete and to sufficiently convey the spirit of the present invention to those skilled in the art.

[0036] In this specification, when a component is referred to as being on another component, it means that it can be formed directly on the other component, or a third component can be interposed between them. Furthermore, in the drawings, the shapes and thicknesses of regions are exaggerated for the purpose of effectively explaining the technical content.

[0037] Additionally, although terms such as first, second, and third have been used to describe various components in various embodiments of this specification, these components should not be limited by these terms. These terms are only used to distinguish one component from another. Thus, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiments. Additionally, the term "and / or" has been used herein to mean including at least one of the components listed before and after.

[0038] In the specification, singular expressions include plural expressions unless the context clearly indicates otherwise. In addition, terms such as "comprise" or "have" are intended to specify the presence of a feature, number, step, component, or combination thereof described in the specification, and should not be construed as excluding the possibility of the presence or addition of one or more other features, numbers, steps, components, or combinations thereof. In addition, in the present specification, "connection" is used to mean both indirectly connecting a plurality of components and directly connecting them.

[0039] In addition, when describing the present invention below, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

[0040] FIG. 1 is a schematic diagram illustrating one embodiment of an automatic blasting device according to the present invention, and one embodiment of an automatic blasting device according to the present invention will be described in detail below with reference to FIG. 1.

[0041] One embodiment of an automatic blasting device according to the present invention includes a mobile vehicle section (100).

[0042] The moving vehicle (100) may be a known internal combustion engine vehicle or an electric vehicle using an electric motor, and may be implemented in various ways as a known vehicle that can move by driving on the ground while the driving wheels rotate, including a plurality of driving wheels, so a more detailed description is omitted.

[0043] The mobile vehicle section (100) is equipped with a blast hole confirmation section (200) that confirms the location of the blast hole drilled at the blasting work site.

[0044] The blast hole confirmation unit (200) is, for example, a camera unit (210) that photographs the ground at the blasting site, and may also be a scanning unit that scans the ground to confirm the location of the blast hole.

[0045] The camera unit (210) is mounted on the lower surface of the mobile vehicle unit (100) and takes pictures of the ground of the blasting site while the mobile vehicle unit (100) is driving to confirm the location of the blasting hole and store the location of the blasting hole in the autonomous driving control unit (500).

[0046]

[0047] The mobile vehicle (100) includes an engine unit such as an internal combustion engine vehicle or an electric motor, and a plurality of driving wheels that rotate using the driving force generated from the engine unit, and drives on the ground of a blasting site, but is capable of autonomous driving by an autonomous driving control unit (500), as an example.

[0048] The autonomous driving control unit (500) is mounted on the vehicle body of the moving vehicle unit (100) and includes a distance measuring sensor capable of measuring the distance to an external object and a mapping unit that receives measurement information from the distance measuring sensor and maps the movement area of ​​the moving vehicle unit (100).

[0049] In addition, the autonomous driving control unit (500) further includes a 3D modeling recognition unit that 3D models the shape of the blast hole using an image captured by the camera unit (210), which is the blast hole confirmation unit (200), and recognizes the diameter, depth, and direction, i.e., angle, of the blast hole.

[0050] The blast hole confirmation unit (200) further includes a blast hole depth detection unit that detects the depth of the blast hole, so that the depth of the blast hole can be measured more precisely.

[0051] The 3D modeling recognition unit precisely analyzes and confirms the shape, size, and direction of the blast hole by utilizing known computer machine vision technology and 3D modeling.

[0052] The blast hole depth detection unit is, for example, a laser distance sensor that detects the depth within the blast hole by irradiating a laser into the blast hole, and can also be implemented in various ways by being modified into a known distance sensor capable of detecting distance.

[0053] Explosives and a detonator are inserted and positioned inside the blast hole, and the blast hole confirmation unit (200) can confirm the volume of the remaining empty space where the explosives and detonator are inserted using a 3D modeling recognition unit.

[0054] That is, the blast hole confirmation unit (200) converts the image of the blast hole captured by the camera unit (210) into a 3D model, and then confirms the shape of the blast hole, the diameter of the blast hole, the depth of the empty space in the blast hole, and the angle of the blast hole using computer machine vision technology to confirm the volume of the empty space in the blast hole.

[0055]

[0056] Meanwhile, the distance measuring unit (510) includes, for example, a light detection and ranging (LiDAR) sensor (511) that irradiates light around the periphery of the mobile vehicle unit (100) at the blasting site and calculates distance detection information by the reflected light.

[0057] The lidar sensor (511) is a sensor that obtains external terrain information of a moving vehicle unit (100) using a laser. By outputting a laser and receiving a laser reflected from an object, it can obtain information such as the distance, location direction, and material from the object that reflected the laser, and can obtain terrain information about the blasting site.

[0058] The lidar sensor (511) can extract vertical landmarks installed in the blast hole and provide positioning.

[0059] In addition, the autonomous driving control unit (500) is mounted on the vehicle body of the moving vehicle unit (100) and further includes a position detection unit that detects the position of the moving vehicle unit (100) using GNSS.

[0060] The location detection unit is, for example, a GPS antenna that detects a location by communicating with a satellite in GNSS, and can be implemented in various ways by being modified into a known antenna that detects a location using GNSS.

[0061] The communication system of the position detection unit includes a module that receives GNSS position signals from multiple GNSS (Global Navigation Satellite System) satellites and receives current position information data of a mobile terminal, and a module that receives position correction data of a mobile terminal repeatedly generated by multiple reference stations for each of the GPS satellites in the form of an RTCM (Radio Technical Commission for Maritime Services) stream through NTRIP (Network Transport of RTCM via Internet Protocol).

[0062] At this time, the GNSS (Global Navigation Satellite System) is a satellite surveying system that can receive signals broadcast from all satellites, including GPS (USA) + GLONASS (Russia) + BDS (China) + Galileo (Europe), and is capable of high-precision positioning even in harsh environments. It is a well-known system that can precisely detect location, so a more detailed explanation is omitted.

[0063] In addition, the position detection unit precisely tracks the location of the moving vehicle unit using a real-time kinematic (RTK) based satellite navigation system (GNSS, Global Navigation Satellite System).

[0064] Real-Time Kinematic (RTK) based Global Navigation Satellite System (GNSS) is a well-known position tracking system, so a detailed description is omitted.

[0065] The mapping unit uses a location detection unit to check the location of a mobile vehicle unit (100) that autonomously navigates the blasting site in real time, and creates a full map of the blasting site using the terrain information of the blasting site detected by a lidar sensor (511).

[0066] The autonomous driving control unit (500) further includes a sensor unit (520) for MMS to enable mapping using a known MMS (Mobile Mapping System) in the mapping unit. The sensor unit (520) for MMS is known in the MMS (Mobile Mapping System), and a more detailed description thereof will be omitted.

[0067] The autonomous driving control unit (500) autonomously drives around the blasting site using a lidar sensor (511) and a sensor unit for MMS (520), and maps the entire area of ​​the blasting site using SLAM (Simultaneous Localization And Map-Building, Simultaneous Localization and Mapping) technology as a mapping unit, and checks the respective locations of multiple blast holes drilled in the blasting site to create a blasting site map and a blast hole map.

[0068] In addition, the moving vehicle section (100) is equipped with a sealant storage section (300) for storing sealant for sealing the blast hole, and a sealant injection section (400) for discharging the sealant in the sealant storage section (300) into the interior of the blast hole.

[0069] During blasting, the filler is used to fill the remaining portion of the blast hole after installing the explosives and detonator in the blast hole. Commonly known filler materials such as sand, clay, and mortar are used.

[0070] The colorant storage unit (300) is formed in the form of a storage hopper for storing colorant, and a colorant injection unit (400) for discharging colorant is installed at the discharge port at the bottom.

[0071] The colorant injection unit (400) has a discharge pipe shape for discharging the colorant, and includes an injection amount control valve unit that opens and closes the discharge port of the colorant storage unit (300), and controls the opening and closing of the discharge port with the injection amount control valve unit to control the injection amount of the colorant injected into the blast hole.

[0072] As an example, the camera unit (210) is a stereo camera including at least two camera units (210) symmetrically positioned on both sides of the colorant injection unit (400), and by photographing the vertical downward direction of the colorant injection unit (400), the position of the blast hole into which the colorant is injected can be confirmed, and multiple images required for 3D modeling can be secured.

[0073] The 3D modeling recognition unit precisely analyzes the shape, size, and orientation of blast holes using computer machine vision technology and 3D modeling, using images captured by a stereo camera. The system analyzes the geometric characteristics of each blast hole in real time, and the shape data for each blast hole is processed by a deep learning algorithm to determine the optimal, or shortest, method for the blasting process. This maximizes efficiency and accuracy during blasting and minimizes errors that may occur during the process.

[0074] The autonomous driving control unit (500) is a composite sensing system combining a lidar sensor (511) and a stereo camera, designed to collect optimized data not only for 3D mapping but also under various lighting and climate conditions. The composite sensing system adapts to dynamic environmental changes at blasting sites and processes high-precision data in real time, supporting rapid decision-making during blasting operations.

[0075] The autonomous driving control unit (500) utilizes advanced pattern recognition algorithms, along with vertical elements, to identify the location of blast holes. Based on artificial intelligence, this algorithm can precisely identify the location of blast holes using minimal visual information from the surrounding environment. Edge computing technology enables the creation of precise blast hole maps using minimal digital data resources. This technology utilizes highly developed image analysis techniques and machine learning models to maintain accuracy across a wide range of surface textures and colors.

[0076] In addition, the autonomous driving control unit (500) precisely measures the volume of the empty space within the blast hole based on the shape, diameter, and depth information of the blast hole, and injects a colorant into the blast hole in an amount appropriate for the volume through the colorant injection unit (400).

[0077] That is, the automatic sealing device for blasting work according to the present invention maps the entire blasting site while the mobile vehicle unit (100) autonomously drives around the blasting site through the autonomous driving control unit (500), and checks the locations and obstacles of each of the plurality of blasting holes drilled in the blasting site to create a location map of the blasting holes, and then determines the order and strategy of the sealing work through a user interface. In this process, the priority of the work and the optimal charge path are automatically calculated using an advanced algorithm.

[0078] And, the mobile vehicle unit (100) moves autonomously along an optimal movement path automatically calculated by the autonomous driving control unit (500) and sequentially fills multiple blast holes. At this time, based on the shape, diameter, and depth information of the blast hole, an amount of sealant appropriate for the volume of the empty space within the blast hole is accurately injected into the blast hole to complete the filling operation.

[0079] Meanwhile, FIG. 2 is a drawing illustrating another embodiment of an automatic blasting device according to the present invention, and FIG. 3 is a bottom view illustrating one embodiment of a rotary valve plate part (600) in another embodiment of an automatic blasting device according to the present invention.

[0080] Referring to FIGS. 2 and 3, another embodiment of an automatic blasting device according to the present invention further includes a rotary valve plate (600) that protrudes downward and rotates to block the discharge port of the blasting material storage unit (300) and a valve rotation unit (700) that opens and closes the discharge port of the blasting material storage unit (300) by rotating the rotary valve plate (600).

[0081] The rotary valve plate (600) closes the discharge port of the sealant storage unit (300) to limit discharge of the sealant in the sealant storage unit (300), and when the sealant injection unit (400) is positioned on the vertical upper side of the blast hole, it is rotated by the valve rotation unit (700) to align the sealant injection unit (400) with the discharge port of the sealant storage unit (300) to inject the sealant in the blast hole, and after the sealant is injected in a preset amount, it is rotated again by the valve rotation unit (700) to block the discharge port.

[0082] In addition, a camera unit (210) is mounted on the rotary valve plate (600), and is mounted so that it can be positioned at the same position as the colorant injection unit (400) when rotated by the valve rotation unit (700), so that the colorant injection unit (400) and the camera unit (210) can be positioned on the vertical upper side of the blast hole by being rotated by the valve rotation unit (700).

[0083] The camera unit (210) is positioned to correspond to the discharge port of the colorant storage unit (300) when the mobile vehicle unit (100) moves autonomously, that is, on the vertical lower side of the discharge port.

[0084] Accordingly, when the mobile vehicle part (100) moves autonomously while the discharge port is blocked by the rotary valve plate part (600), the camera part is positioned vertically above the blast hole and the blast hole is confirmed, the rotary valve plate part (600) rotates to position the sealant injection part (400) vertically above the blast hole to inject the sealant into the blast hole and seal the blast hole.

[0085] In another embodiment of the automatic sealing device for blasting work according to the present invention, the position of the blasting hole is accurately confirmed by the camera unit (210) at the vertical upper side of the blasting hole, the moving vehicle unit (100) is stopped, and while the moving vehicle unit (100) is stopped, the sealing material injection unit (400) is positioned directly at the vertical upper side of the blasting hole by the rotation of the rotary valve plate unit (600), so that the sealing material can be stably injected into the blasting hole.

[0086] In addition, another embodiment of the automatic sealing device for blasting according to the present invention further includes a sealing compaction unit (800) that is positioned protrudingly on the lower side of the rotary valve plate unit (600) and includes a pressure member that moves up and down to press and compact the sealing material injected into the blasting hole.

[0087] The compaction unit (800) for the entire color is, for example, a hydraulic cylinder, and may also be a linear actuator of the ball screw type that moves the pressure member in a straight line. In addition, it may be implemented in various modifications using a known compaction pressure device, and a more detailed description thereof will be omitted.

[0088] The compaction unit (800) for the color transfer is mounted so that it can be positioned at the same position as the color transfer material injection unit (400) when rotated by the valve rotation unit (700), so that the color transfer material injection unit (400), the camera unit (210), and the color transfer material compaction unit (800) can be positioned on the vertical upper side of the blast hole by being rotated by the valve rotation unit (700).

[0089] The pressure unit (800) for the entire color is, for example, a hydraulic cylinder, and may also be a linear actuator of the ball screw type that moves the pressure unit in a straight line.

[0090] The sealing tamping unit (800) pressurizes the injected sealing material after it has been injected into the blasting hole, so that the blasting hole can be completely filled with the sealing material.

[0091] When the injection of the sealant into the blast hole is completed by the sealant injection unit (400), the rotary valve plate unit (600) is rotated by the valve rotation unit (700), and the sealant compaction unit (800) is positioned on the vertical upper side of the blast hole.

[0092] The sealant tamping unit (800) is positioned on the vertical upper side of the blast hole and tamps the sealant injected into the blast hole so that the sealant inside the blast hole can be quickly filled into the blast hole.

[0093] In addition, the rotary valve plate rotates again after the operation of the color mixing unit (800) is completed to position the camera unit (210) corresponding to the discharge port.

[0094] The mobile vehicle unit (100) can sequentially move through a plurality of blast holes while the camera unit (210) is positioned corresponding to the discharge port, and after confirming the blast hole, stop, and sequentially perform the work of injecting the sealant into the blast hole and the work of compacting the injected sealant while in the stopped state.

[0095] Accordingly, another embodiment of an automatic sealing device for blasting work according to the present invention accurately confirms the position of the blasting hole with a camera unit (210) at the vertical upper side of the blasting hole, stops the moving vehicle unit (100), and while the moving vehicle unit (100) is stopped, the sealing material injection unit (400) is positioned directly at the vertical upper side of the blasting hole by the rotation of the rotary valve plate unit (600), stably injects the sealing material into the blasting hole, and then immediately compacts the sealing material with a sealing compaction unit (800), thereby greatly shortening the speed of the sealing work and improving stability and accuracy.

[0096] The compaction unit (800) for sealing can efficiently compact sealing materials injected into blast holes of different diameters by including a first compaction unit (810) for sealing having a first pressure hole of a first diameter and a second compaction unit (820) for sealing having a second pressure hole (821) having a second diameter different from the first diameter.

[0097] The first compaction unit (810) and the second compaction unit (820) are selectively positioned vertically upwards of the blast hole according to the diameter of the blast hole, so that the blast hole of the corresponding diameter can be stably compacted.

[0098] That is, another embodiment of the automatic blasting device according to the present invention includes a plurality of blasting compaction parts (810, 820) having pressure balls of different diameters, and the plurality of blasting compaction parts (810, 820) can be selectively used according to the diameter of the blasting hole, so that blasting holes of various diameters can be stably compacted, thereby greatly increasing work efficiency.

[0099]

[0100] Meanwhile, FIG. 4 is a flow chart illustrating one embodiment of an automatic blasting method according to the present invention, and one embodiment of an automatic blasting method according to the present invention will be described in detail below with reference to FIG. 1 and FIG. 4.

[0101] One embodiment of an automatic sealing method for blasting work according to the present invention is a method of sealing a blast hole using one embodiment of an automatic sealing device for blasting work according to the present invention, comprising a sealing material storage unit (300) in which sealing material is stored, and a sealing material injection unit (400) for injecting the sealing material in the sealing material storage unit (300) into a blast hole, and using a mobile vehicle unit (100) that can autonomously move around a blasting site with an autonomous control unit (500).

[0102] One embodiment of an automatic sealing method for blasting work according to the present invention includes a blasting site mapping step (S100) in which a mobile vehicle unit (100) autonomously drives to map a blasting site and identify the locations of a plurality of blast holes to create a blasting site map and a blast hole map, a work path generation step (S200) in which a sealing order and a shortest movement path for sealing a plurality of blast holes are calculated using the blasting site map and blast hole map created in the blasting site mapping step (S100), and an automatic sealing step (S300) in which a mobile vehicle unit (100) is moved along a work path created after the work path generation step (S200) and a sealant is sequentially and automatically injected into a plurality of blast holes.

[0103] The blast site mapping step (S100) precisely tracks the location of the mobile vehicle unit (100) using a real-time kinematic (RTK) based satellite navigation system (GNSS, Global Navigation Satellite System).

[0104] In addition, the blast site mapping step (S100) includes a blast hole confirmation process in which the blast hole is photographed with a stereo camera equipped on the mobile vehicle (100) and the shape, size, and direction of the blast hole are analyzed and confirmed using computer machine vision technology and 3D modeling using the photographed image.

[0105] In addition, the blast hole confirmation process analyzes the geometric characteristics of each blast hole in real time, and the geometric data of each blast hole is processed by a deep learning algorithm to determine the optimal working method during the coloring process, thereby maximizing efficiency and accuracy during coloring and minimizing errors that may occur during the work.

[0106] The blasting site mapping step (S100) uses a lidar sensor (511) and a sensor unit (520) for MMS to autonomously move the moving vehicle unit (100) around the blasting site, and maps the entire blasting site using SLAM (Simultaneous Localization And Map-Building, Simultaneous Localization and Mapping) technology, and confirms the respective locations of multiple blast holes drilled in the blasting site using a stereo camera.

[0107] The blasting site mapping step (S100) is designed to collect optimized data not only in 3D mapping but also in various lighting and climate conditions by using a complex sensing system that combines a lidar sensor (511) and a stereo camera mounted on a mobile vehicle (100). The complex sensing system adapts to dynamic environmental changes at the blasting site and processes high-precision data in real time to support rapid decision-making in blasting work.

[0108] The blast site mapping step (S100) utilizes an advanced pattern recognition algorithm along with vertical elements to recognize the location of the blast hole with the autonomous driving control unit (500). The advanced pattern recognition algorithm is based on artificial intelligence and can precisely identify the location of the blast hole with only minimal visual information of the surrounding environment. Edge computing technology enables precise creation of a blast hole map with minimal digital data resources.

[0109] The blasting site mapping step (S100) precisely measures the volume of the empty space within the blasting hole based on the shape, diameter, and depth information of the blasting hole, and stores the volume information for the empty space of each blasting hole, i.e., the amount of sealant injected, within the blasting hole map.

[0110] The automatic sealing step (S300) checks the injection amount information of each blast hole stored in the blast hole map, and injects sealing material into the blast hole through the sealing material injection unit (400) in an injection amount corresponding to the injection amount information.

[0111] Accordingly, the automatic sealing stage (S300) can automatically inject sealant into multiple blast holes at a preset injection amount, thereby completing the sealing work for multiple blast holes as quickly and promptly as possible.

[0112]

[0113] The present invention can accurately map the terrain of a blasting site and the location of blasting holes using a mobile vehicle equipped with a colorant injection unit (400) and then automatically color each blasting hole, thereby shortening the work time, reducing the input of manpower, and thus reducing worker fatigue, while ensuring safety during work and improving the quality of blasting work.

[0114] The present invention enables precise sealing of blast holes compared to manual work, thereby reducing the amount of sealant used and increasing the predictability of blasting results, thereby maximizing the efficiency of blasting work and reducing sealing costs.

[0115] The functional operations described in this specification and the embodiments of the present subject matter can be implemented in digital electronic circuits, computer software, firmware or hardware, or in a combination of one or more of these, including the structures disclosed in this specification and their structural equivalents.

[0116] Embodiments of the subject matter described herein may be implemented as one or more modules of a computer program product, i.e., one or more computer program instructions encoded on a tangible program medium for execution by or to control the operation of a data processing device. The tangible program medium may be a radio signal or a computer-readable medium. A radio signal is an artificially generated signal, such as a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode information for transmission to a suitable receiver device for execution by a computer. The computer-readable medium may be a machine-readable storage device, a machine-readable storage substrate, a memory device, a combination of materials that affect a machine-readable radio signal, or a combination of one or more of these.

[0117] The description herein presents the best mode of the present invention, and provides examples to illustrate the invention and enable those skilled in the art to make and use the invention. The specification, as written, is not intended to limit the invention to the specific terms presented.

[0118] Accordingly, while the present invention has been described in detail with reference to the examples described above, those skilled in the art will appreciate that modifications, variations, and variations can be made to the examples without departing from the scope of the present invention. In short, it should be noted that in order to achieve the intended effects of the present invention, not all functional blocks depicted in the drawings must be separately included or all orders depicted in the drawings must be followed in the exact order shown, and that even if not, the technical scope of the present invention as set forth in the claims may be included.

Claims

1. Mobile vehicle department; A blast hole confirmation unit provided in the above-mentioned mobile vehicle section and used to confirm the location of a blast hole drilled at a blasting work site; A sealant storage unit provided in the above-mentioned moving vehicle section and storing sealant to be filled in the blast hole; A colorant injection unit for injecting colorant stored in the colorant storage unit into a blast hole; and An automatic blasting device characterized by including an autonomous driving control unit that autonomously drives the above-mentioned moving vehicle unit to check the location of a blasting hole with the blasting hole confirmation unit and injects a blasting agent into the corresponding blasting hole with the blasting agent injection unit.

2. In claim 1, An automatic blasting device characterized in that the above blasting hole confirmation unit is a camera unit that photographs the ground at the blasting site.

3. In claim 2, The above autonomous driving control unit, A distance measuring sensor mounted on the vehicle body of the above-mentioned moving vehicle and capable of measuring the distance to an external object; and An automatic blasting device characterized by including a mapping unit that receives measurement information from the above distance measuring sensor and maps the movement area of ​​a moving vehicle unit.

4. In claim 3, An automatic blasting device characterized in that the autonomous driving control unit further includes a 3D modeling recognition unit that models the shape of a blasting hole in 3D using an image captured by the camera unit and recognizes the shape, diameter, depth, and direction of the blasting hole.

5. In claim 4, An automatic blasting device characterized in that the camera unit is a stereo camera including at least two cameras symmetrically positioned on both sides of the blasting material injection unit.

6. In claim 4, The above distance measuring sensor is a lidar sensor, An automatic blasting device characterized in that the autonomous driving control unit autonomously drives around a blasting site using the lidar sensor and the MMS sensor unit, and maps the entire area of ​​the blasting site using SLAM (Simultaneous Localization And Map-Building, Simultaneous Localization and Mapping) technology with the mapping unit, and generates a blasting site map and a blasting hole map by confirming the respective locations of a plurality of blasting holes drilled at the blasting site.

7. In claim 4, An automatic sealing device for blasting work, characterized in that the autonomous driving control unit checks the volume of the empty space in the blasting hole based on the shape, diameter, and depth information of the blasting hole, and injects sealing material into the blasting hole in an amount appropriate for the volume through the sealing material injection unit.

8. In claim 6, An automatic blasting device characterized in that the above-mentioned mobile vehicle section sequentially blasts multiple blast holes while autonomously moving along the shortest movement path automatically calculated by the autonomous driving control section.

9. In claim 2, A rotary valve plate portion protruding downward from the above-mentioned pre-coloring material injection portion and rotating to block the discharge port of the pre-coloring material storage portion; and An automatic blasting device characterized by further including a valve rotation part that opens and closes the discharge port of the blasting material storage part by rotating the above-mentioned rotary valve plate part.

10. In claim 9, An automatic blasting device characterized in that the camera part is mounted on the above rotary valve plate part, and is mounted so that it can be positioned at the same position as the sealant injection part when rotated by the valve rotation part, and the sealant injection part and the camera part are each rotated by the valve rotation part while the moving vehicle is stopped and can be positioned on the vertical upper side of the blasting hole.

11. In claim 10, An automatic blasting device characterized in that it further includes a tamping unit for pressing and tamping the blasting material injected into the blasting hole, including a pressure member that is positioned protrudingly on the lower side of the above-mentioned rotary valve plate and moves up and down.

12. In claim 11, The above-mentioned color-changing part is mounted so that it can be positioned at the same position as the color-changing material injection part when rotated by the above-mentioned valve rotation part, An automatic blasting device characterized in that the above-mentioned blasting material injection unit, the camera unit, and the blasting compaction unit are each capable of being rotated by the valve rotation unit while the moving vehicle is stopped and positioned on the vertical upper side of the blasting hole.

13. In claim 12, The above-mentioned color-coding part is, A first sealing member having a first pressure hole of a first diameter; and An automatic blasting device characterized by including a second blasting compaction unit having a second pressure member having a second diameter different from the first diameter.

14. A method for sealing a blast hole using a mobile vehicle that is equipped with a sealing material storage unit where sealing material is stored and a sealing material injection unit that injects the sealing material in the sealing material storage unit into a blast hole, and that can autonomously move around the blasting site using an autonomous driving control unit. A blasting site mapping step in which the above-mentioned mobile vehicle autonomously drives to map the blasting site and confirm the locations of multiple blasting holes to create a blasting site map and a blasting hole map; A work path generation step for calculating the blasting hole filling order and the shortest movement path for filling multiple blasting holes using the blasting site map and the blasting hole map generated in the blasting site mapping step; and An automatic blasting method for blasting work, characterized in that it includes an automatic blasting step for sequentially blasting a plurality of blast holes while moving the mobile vehicle unit along the generated work path after the above work path generation step.

15. In claim 14, The above blasting site mapping step is an automatic blasting method characterized in that the entire blasting site area is mapped using SLAM (Simultaneous Localization And Map-Building, Simultaneous Localization and Mapping) technology while the moving vehicle autonomously moves around the blasting site using a lidar sensor and a sensor unit for MMS, and the location of each of the multiple blasting holes drilled in the blasting site is confirmed using a stereo camera unit.

16. In claim 15, The above blasting site mapping step is characterized by including a blasting hole confirmation process in which the blasting hole is photographed with a stereo camera equipped on a mobile vehicle, and the shape, size, and direction of the blasting hole are analyzed and confirmed using computer machine vision technology and 3D modeling based on the photographed image.

17. In claim 16, The above blasting site mapping step measures the volume of the empty space within the blasting hole based on the shape, diameter and depth information of the blasting hole, and information on the amount of sealant injected into the empty space of each blasting hole is stored within the blasting hole map. An automatic sealing method for blasting work, characterized in that the automatic sealing step checks the injection amount information of each blasting hole stored in the blasting hole map, and injects the sealing material into the blasting hole through the sealing material injection unit at an injection amount corresponding to the injection amount information.

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