CN106382869B - The control method of on-site mixed explosive Work robot - Google Patents
The control method of on-site mixed explosive Work robot Download PDFInfo
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- CN106382869B CN106382869B CN201610880654.7A CN201610880654A CN106382869B CN 106382869 B CN106382869 B CN 106382869B CN 201610880654 A CN201610880654 A CN 201610880654A CN 106382869 B CN106382869 B CN 106382869B
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- blasthole
- powder charge
- robot
- control method
- site mixed
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
- F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D3/00—Particular applications of blasting techniques
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
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Abstract
The present invention relates to the control method of on-site mixed explosive Work robot, and it comprises the following steps：(1) powder charge instruction, is received；(2), autonomous navigation system planning travel route, after the completion of travel route planning, powder charge robot leaves for explosion place, after reaching explosion place, into step (3)；(3), position；(4), measure；(5), powder charge；(6), judge whether to complete whole powder charges, if completing to enter step (7), otherwise enter step (3)；(7), detergent line；(8), equipment playbacks；(9), powder charge is terminated after return to origin.The control method of on-site mixed explosive Work robot disclosed by the invention has the advantages that：Underground site mixed explosive filling is carried out using powder charge robot, powder charge scene can reduce the people of charging personnel 10~20, reduce production cost, improve the security of bursting work.
Description
Technical field
The invention belongs to mechanized equipment field, and in particular to the control method of on-site mixed explosive Work robot.
Background technology
At present, during domestic and international project explosion, mainly use and finished explosive products are manually packed into blasthole, or use powder charge
Device, the in bulk or on-site mixed explosive of explosive loading truck filling load the mode that the explosive such as blasthole, detonator will be manually and are placed into big gun
Hole, then blasthole is clogged through manual type, finally carry out blasting network connection by explosion personnel, check, then detonate, complete whole
Bursting work.Using such operating type, during dynamite charge, explosive filling and filling is carried out, demolition site
Not only personnel amount is numerous, and labor strength is big, and security is poor.Now, both at home and abroad also no method can realize it is fried
The unmanned filling operation of medicine.
The content of the invention
Goal of the invention：In order to solve the above problems, the invention discloses the controlling party of on-site mixed explosive Work robot
Method.This powder charge robot can be by the walking chassis with independent navigation, autokinetic movement to the powder charge place specified, by certainly
It is dynamic to seek hole system and measuring system blasthole is positioned and measured, by charge system and send guard system that dynamite charge is entered into big gun
Hole.The Unmanned operation of dynamite charge operation can be so realized, reduces demolition site operating personnel, improves explosion production safety
Property.
Technical scheme：The control method of on-site mixed explosive Work robot, comprises the following steps：
(1) powder charge instruction, is received；
(2), autonomous navigation system planning travel route, after the completion of travel route planning, powder charge robot leaves for quick-fried
Broken place, after reaching explosion place, into step (3)；
(3), position；
(4), measure；
(41) setting blast hole parameter, is read in；
(42) blast hole depth, is measured；
(43), judge whether blast hole depth is consistent with design size, if inconsistent, upload metrical information, control centre
Return to step (41) after amendment design information；Conversely, into step (44)；
(44) blasthole form, is measured；
(45), judge whether blasthole form and design size are consistent, if inconsistent, upload metrical information, control centre
Return to step (41) after amendment design information；Conversely, measurement terminates；
(5), powder charge；
(6), judge whether to complete whole powder charges, if completing to enter step (7), otherwise enter step (3)；
(7), detergent line；
(8), equipment playbacks；
(9), powder charge is terminated after return to origin.
Further, autonomous navigation system is made up of location aware system and vehicle-mounted self-control system, controlled loading of explosive machine
Device people independently arrives at according to the situation on periphery, wherein：
Location aware system includes ultrasonic sensor, laser sensor, radar sensor, video sensor, image and known
Not Ka and data transmission radio station,
Ultrasonic sensor, laser sensor, radar sensor are connected by data wire with data transfer radio station, and video passes
Sensor is connected by data wire with image recognition card, and image recognition card is connected by data wire with data transfer radio station；
Vehicle-mounted self-control system is automated driving system, the information passed back according to location aware system, adjusts robot
It is constantly close to demolition site.
Further, step (3) comprises the following steps：
(31) powder charge robot coordinate position, is measured by line laser measuring instrument or GPS；
(32), the powder charge robot coordinate position of measurement and borehole coordinate position are converted, judge loading machinery arm
Whether blasthole can be covered, if can not, step (31) close to blasthole and is entered according to coordinate information controlled loading of explosive robot；If
Can, into step (33)；
(33), when blasthole is appeared in shooting head region, led to close to blasthole according to drill hole information controlled loading of explosive mechanical arm
Camera vision is crossed to be accurately positioned；
(34), carry out coordinate modification, correct borehole coordinate and robot coordinate, controlled loading of explosive mechanical arm by pipe-conveying device with
Blasthole is coaxial, when pipe-conveying device and blasthole coaxially after enter step (35)；
(35), by grug transportation tube close to blasthole；
(36), judge whether the distance between grug transportation tube and blasthole reach setting value, if being not reaching to, return to step
(35), if reaching, positioning terminates.
Further, step (5) comprises the following steps：
(51), starting send guard system that grug transportation tube is sent into blasthole；
(52), after grug transportation tube reaches bottom hole, first time powder charge is judged whether, if so, then starting powder charge after start-up study
System；Conversely, then start charge system at once；
(53) guard system, is sent to be exited from blasthole grug transportation tube according to powder charge speed, after exiting, powder charge terminates.
Further, charge system includes dynamical system, control system, pumping system, metering system, purging system and fried
Medicine raw material storage bin.
Further, guard system is sent to be made up of mechanical arm and pipe conveyor, mechanical arm is arranged in walking chassis, pipe conveyor peace
Mounted in the end of mechanical arm.
Beneficial effect：The control method of on-site mixed explosive Work robot disclosed by the invention has below beneficial to effect
Fruit：
Underground site mixed explosive filling is carried out using powder charge robot, powder charge scene can reduce charging personnel 10
~20 people, reduce production cost, improve the security of bursting work.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of on-site mixed explosive Work robot disclosed by the invention；
Fig. 2 is positioning flow figure；
Fig. 3 is measurement procedure figure；
Fig. 4 is powder charge flow chart.
Embodiment：
The embodiment of the present invention is described in detail below.
As shown in figures 1-4, the control method of on-site mixed explosive Work robot, comprises the following steps：
(1) powder charge instruction, is received；
(2), autonomous navigation system planning travel route, after the completion of travel route planning, powder charge robot leaves for quick-fried
Broken place, after reaching explosion place, into step (3)；
(3), position；
(4), measure；
(41) setting blast hole parameter, is read in；
(42) blast hole depth, is measured；
(43), judge whether blast hole depth is consistent with design size, if inconsistent, upload metrical information, control centre
Return to step (41) after amendment design information；Conversely, into step (44)；
(44) blasthole form, is measured；
(45), judge whether blasthole form and design size are consistent, if inconsistent, upload metrical information, control centre
Return to step (41) after amendment design information；Conversely, measurement terminates；
(5), powder charge；
(6), judge whether to complete whole powder charges, if completing to enter step (7), otherwise enter step (3)；
(7), detergent line；
(8), equipment playbacks；
(9), powder charge is terminated after return to origin.
Further, autonomous navigation system is made up of location aware system and vehicle-mounted self-control system, controlled loading of explosive machine
Device people independently arrives at according to the situation on periphery, wherein：
Location aware system includes ultrasonic sensor, laser sensor, radar sensor, video sensor, image and known
Not Ka and data transmission radio station,
Ultrasonic sensor, laser sensor, radar sensor are connected by data wire with data transfer radio station, and video passes
Sensor is connected by data wire with image recognition card, and image recognition card is connected by data wire with data transfer radio station；
Vehicle-mounted self-control system is automated driving system, the information passed back according to location aware system, adjusts robot
It is constantly close to demolition site.
Further, step (3) comprises the following steps：
(31) powder charge robot coordinate position, is measured by line laser measuring instrument or GPS；
(32), the powder charge robot coordinate position of measurement and borehole coordinate position are converted, judge loading machinery arm
Whether blasthole can be covered, if can not, step (31) close to blasthole and is entered according to coordinate information controlled loading of explosive robot；If
Can, into step (33)；
(33), when blasthole is appeared in shooting head region, led to close to blasthole according to drill hole information controlled loading of explosive mechanical arm
Camera vision is crossed to be accurately positioned；
(34), carry out coordinate modification, correct borehole coordinate and robot coordinate, controlled loading of explosive mechanical arm by pipe-conveying device with
Blasthole is coaxial, when pipe-conveying device and blasthole coaxially after enter step (35)；
(35), by grug transportation tube close to blasthole；
(36), judge whether the distance between grug transportation tube and blasthole reach setting value, if being not reaching to, return to step
(35), if reaching, positioning terminates.
Further, step (5) comprises the following steps：
(51), starting send guard system that grug transportation tube is sent into blasthole；
(52), after grug transportation tube reaches bottom hole, first time powder charge is judged whether, if so, then starting powder charge after start-up study
System；Conversely, then start charge system at once；
(53) guard system, is sent to be exited from blasthole grug transportation tube according to powder charge speed, after exiting, powder charge terminates.
Further, charge system includes dynamical system, control system, pumping system, metering system, purging system and fried
Medicine raw material storage bin.
Further, guard system is sent to be made up of mechanical arm and pipe conveyor, mechanical arm is arranged in walking chassis, pipe conveyor peace
Mounted in the end of mechanical arm.
In addition, for ease of understanding, powder charge robot is briefly described, it is specific as follows：
Powder charge robot, including walking chassis, autonomous navigation system, charge system, send guard system, automatic seeking hole system and
Measuring system,
The effect that walking chassis is adopted is carrying and moves powder charge robot；
Autonomous navigation system is made up of location aware system and vehicle-mounted self-control system, and controlled loading of explosive robot is according to week
The situation on side independently arrives at, and wherein location aware system is by ultrasound, laser radar, visual pattern identification, data transfer
Radio station composition；
Charge system is stored by dynamical system, control system, pumping system, metering system, purging system and explosive raw material
Case forms, and after powder charge robot reaches powder charge place, charge system starts, and mixed explosive is prepared in situ, the explosive prepared
Blasthole is transported to by grug transportation tube；
Guard system is sent to be made up of mechanical arm and pipe conveyor, mechanical arm is arranged in walking chassis, and pipe conveyor is arranged on machinery
The end of arm, grug transportation tube are connected to pipe conveyor by charge system by mechanical arm, realize that grug transportation tube is sent into and moved back by pipe conveyor
Go out blasthole；
Automatic seeking hole system is made up of vision positioning sensory perceptual system and analysis and Control system, and vision positioning sensory perceptual system is by height
Clear camera, visual information feedback control system composition, vision positioning sensory perceptual system catch environmental information by high-definition camera,
By visual information feedback control system automatic searching to the position to be loaded blasthole, and send coordinate to analysis and Control system
System, analysis and Control system send coordinates of targets to pipe-conveying device by computing, and pipe-conveying device is according to coordinate information control machinery
Arm makes grug transportation tube coaxial with blasthole；
Measuring system measures the depth and blasthole deformation of blasthole by laser measuring apparatus, when pipe-conveying device is by grug transportation tube
After being directed at blasthole, the laser measuring apparatus on pipe-conveying device, which is moved in front of grug transportation tube, carries out blast hole depth and deformation
Measurement, and send metrical information to charge system.
Embodiments of the present invention are elaborated above.But the present invention is not limited to above-mentioned embodiment,
In art those of ordinary skill's possessed knowledge, it can also be done on the premise of present inventive concept is not departed from
Go out various change.
Claims (4)
1. the control method of on-site mixed explosive Work robot, it is characterised in that comprise the following steps：
(1) powder charge instruction, is received；
(2), autonomous navigation system planning travel route, after the completion of travel route planning, powder charge robot is with leaving for explosion
Point, after reaching explosion place, into step (3)；
(3), position；
(4), measure；
(41) setting blast hole parameter, is read in；
(42) blast hole depth, is measured；
(43), judge whether blast hole depth is consistent with design size, if inconsistent, upload metrical information, control centre's amendment
Return to step (41) after design information；Conversely, into step (44)；
(44) blasthole form, is measured；
(45), judge whether blasthole form and design size are consistent, if inconsistent, upload metrical information, control centre's amendment
Return to step (41) after design information；Conversely, measurement terminates；
(5), powder charge；
(6), judge whether to complete whole powder charges, if completing to enter step (7), otherwise enter step (3)；
(7), detergent line；
(8), equipment playbacks；
(9), powder charge is terminated after return to origin.
2. the control method of on-site mixed explosive Work robot according to claim 1, it is characterised in that step (3)
Comprise the following steps：
(31) powder charge robot coordinate position, is measured by line laser measuring instrument or GPS；
(32), the powder charge robot coordinate position of measurement and borehole coordinate position are converted, whether judge loading machinery arm
Blasthole can be covered, if can not, step (31) close to blasthole and is entered according to coordinate information controlled loading of explosive robot；If can, enter
Enter step (33)；
(33), according to drill hole information controlled loading of explosive mechanical arm close to blasthole, when blasthole is appeared in shooting head region, by taking the photograph
As head vision is accurately positioned；
(34) coordinate modification, is carried out, corrects borehole coordinate and robot coordinate, controlled loading of explosive mechanical arm is by pipe-conveying device and blasthole
Coaxially, when pipe-conveying device and blasthole coaxially after enter step (35)；
(35), by grug transportation tube close to blasthole；
(36), judge whether the distance between grug transportation tube and blasthole reach setting value, if being not reaching to, return to step (35), if
Reach, positioning terminates.
3. the control method of on-site mixed explosive Work robot according to claim 1, it is characterised in that step (5)
Comprise the following steps：
(51), starting send guard system that grug transportation tube is sent into blasthole；
(52), after grug transportation tube reaches bottom hole, first time powder charge is judged whether, if so, then starting charge system after start-up study；
Conversely, then start charge system at once；
(53) guard system, is sent to be exited from blasthole grug transportation tube according to powder charge speed, after exiting, powder charge terminates.
4. the control method of on-site mixed explosive Work robot according to claim 3, it is characterised in that send guard system
It is made up of mechanical arm and pipe conveyor, mechanical arm is arranged in walking chassis, and pipe conveyor is arranged on the end of mechanical arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610880654.7A CN106382869B (en) | 2015-10-26 | 2015-10-26 | The control method of on-site mixed explosive Work robot |
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|---|---|---|---|
| CN201510702768.8A CN105300206B (en) | 2015-10-26 | 2015-10-26 | A kind of control method of on-site mixed explosive Work robot |
| CN201610880654.7A CN106382869B (en) | 2015-10-26 | 2015-10-26 | The control method of on-site mixed explosive Work robot |
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| CN201510702768.8A Division CN105300206B (en) | 2015-10-26 | 2015-10-26 | A kind of control method of on-site mixed explosive Work robot |
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| CN106382869B true CN106382869B (en) | 2018-01-23 |
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| CN201510702768.8A Active CN105300206B (en) | 2015-10-26 | 2015-10-26 | A kind of control method of on-site mixed explosive Work robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR102016024215B1 (en) * | 2016-10-17 | 2019-10-08 | Vale S.A. | VEHICLE FOR DEPOSITING EXPLOSIVES IN DISASSEMBLING HOLES AND METHOD OF USE |
| CN110057259B (en) * | 2019-05-15 | 2022-02-11 | 福建省新华都工程有限责任公司 | Intelligent working system of medicine loading vehicle |
| CN110849225A (en) * | 2019-11-27 | 2020-02-28 | 神华准格尔能源有限责任公司 | Intelligent explosive filling method, device, storage medium and system |
| EP3885694B1 (en) * | 2020-03-24 | 2022-11-09 | Indurad GmbH | Method and device for controlled filling and inspection of blast holes |
| CN112157662B (en) * | 2020-09-04 | 2023-07-07 | 江汉大学 | Blasting robot |
| AU2021377194A1 (en) | 2020-11-10 | 2023-07-06 | Dyno Nobel Asia Pacific Pty Limited | Systems and methods for determining water depth and explosive depth in blastholes |
| CN113674208B (en) * | 2021-07-22 | 2024-02-09 | 中南大学 | Automatic hole searching method, device and medium for underground blasting holes |
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| CN102180752A (en) * | 2011-03-29 | 2011-09-14 | 大连海事大学 | Control system of field explosive mixed loading truck |
| CN103606171A (en) * | 2013-12-05 | 2014-02-26 | 西安科技大学 | Method for carrying out automatic powder charging by rapidly positioning blast hole under shaft |
| CN103983149A (en) * | 2014-05-16 | 2014-08-13 | 中国能源建设集团有限公司工程研究院 | Method, device and system for automatically finding blasthole during charging of blasthole |
| CN204630495U (en) * | 2015-03-30 | 2015-09-09 | 深圳市金奥博科技有限公司 | Underground on-site mixed explosives truck |
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| JPH01121700A (en) * | 1987-11-06 | 1989-05-15 | Mitsui Constr Co Ltd | Automatic loader for molded explosives cylinder |
| FI113803B (en) * | 2001-11-12 | 2004-06-15 | Sandvik Tamrock Oy | Arrangement for inserting charges into the drill hole |
| CN204555854U (en) * | 2015-03-30 | 2015-08-12 | 深圳市金奥博科技有限公司 | Underground charging vehicle looks for holes mechanism automatically |
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2015
- 2015-10-26 CN CN201610880654.7A patent/CN106382869B/en active Active
- 2015-10-26 CN CN201510702768.8A patent/CN105300206B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180752A (en) * | 2011-03-29 | 2011-09-14 | 大连海事大学 | Control system of field explosive mixed loading truck |
| CN103606171A (en) * | 2013-12-05 | 2014-02-26 | 西安科技大学 | Method for carrying out automatic powder charging by rapidly positioning blast hole under shaft |
| CN103983149A (en) * | 2014-05-16 | 2014-08-13 | 中国能源建设集团有限公司工程研究院 | Method, device and system for automatically finding blasthole during charging of blasthole |
| CN204630495U (en) * | 2015-03-30 | 2015-09-09 | 深圳市金奥博科技有限公司 | Underground on-site mixed explosives truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106382869A (en) | 2017-02-08 |
| CN105300206A (en) | 2016-02-03 |
| CN105300206B (en) | 2017-03-29 |
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Effective date of registration: 20210125 Address after: 100089 3rd floor, building 67, West courtyard, No.10 Landao Gou, Haidian District, Beijing Patentee after: NORCIN TECH OF CHINA NORTH INDUSTRIES Group Corp. Patentee after: XI'AN University OF SCIENCE AND TECHNOLOGY Address before: 100048 20th floor, China Weapons building, 69 Zizhuyuan Road, Haidian District, Beijing Patentee before: NORTH BLASTING TECHNOLOGY Co.,Ltd. Patentee before: XI'AN University OF SCIENCE AND TECHNOLOGY |