CN115342697B - Method and system for charging explosive loading vehicle - Google Patents
Method and system for charging explosive loading vehicle Download PDFInfo
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- CN115342697B CN115342697B CN202210971540.9A CN202210971540A CN115342697B CN 115342697 B CN115342697 B CN 115342697B CN 202210971540 A CN202210971540 A CN 202210971540A CN 115342697 B CN115342697 B CN 115342697B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The application provides a method for charging an explosive charging vehicle and a charging system, wherein the method is applied to a control device of the charging system and comprises the following steps: acquiring distance information detected by a plurality of laser sensors in the process that a pipe conveying mechanism of the explosive charging vehicle conveys a medicine conveying pipe to the bottom of a blast hole; the laser sensor is arranged around the guide tube of the tube feeding mechanism, the laser emitted by the laser sensor forms a tube-shaped beam, and the annular radius and the laser emission angle formed by the laser sensor are adjustable; judging whether the medicine conveying pipe is stuck or not based on the distance information; if the medicine delivery pipe is blocked, controlling the pipe conveying mechanism to stop pipe conveying operation, and controlling the pipe conveying mechanism to continuously execute pipe conveying operation after controlling the pipe conveying mechanism to execute at least one pipe punching and withdrawing operation; when the medicine conveying pipe reaches the bottom of the blast hole, the conveying pump of the explosive loading truck is controlled to carry out loading operation. The application can reduce the damage of the medicine conveying pipe, reduce the cost loss and improve the medicine filling efficiency.
Description
Technical Field
The application relates to the technical field of mine blasting, in particular to a method and a system for charging an explosive charging vehicle.
Background
Mine blasting is used as a high-risk industry, and safety is important. At present, in blasting procedures such as underground mines and tunnel exploitation, a mechanical charging mode is generally adopted, an operator is required to remotely control a mechanical arm of a charging vehicle to align with a blast hole in the process, then a pipe conveying mechanism is started to insert a medicine conveying pipe into the blast hole, and the conveying condition is required to be carefully observed in the process of inserting the medicine conveying pipe into the blast hole due to large resistance of the medicine conveying pipe in the conveying process, if the condition that the medicine conveying pipe is blocked, folded and the like is found, the machine is required to be stopped in time. However, due to poor underground light environment, personnel operation level is affected, and in the actual process, the drug delivery tube is often damaged due to untimely or incorrect observation and judgment, so that the drug delivery tube needs to be frequently replaced, thereby causing cost loss and seriously affecting the charging efficiency.
Disclosure of Invention
Therefore, the application aims to provide a method and a system for charging an explosive charging vehicle, which can reduce the breakage of a medicine conveying pipe, reduce the cost loss and improve the charging efficiency.
In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a method for charging an explosive charging vehicle, where the method is applied to a control device of a charging system, and includes: acquiring distance information detected by a plurality of laser sensors in the process that a pipe conveying mechanism of the explosive charging vehicle conveys a medicine conveying pipe to the bottom of a blast hole; the laser sensor is arranged around the guide tube of the tube feeding mechanism, the laser emitted by the laser sensor forms a tube-shaped beam, and the annular radius and the laser emission angle formed by the laser sensor are adjustable; judging whether the medicine conveying pipe is stuck or not based on the distance information; if the medicine delivery pipe is blocked, controlling the pipe conveying mechanism to stop pipe conveying operation, and controlling the pipe conveying mechanism to continuously execute pipe conveying operation after controlling the pipe conveying mechanism to execute at least one pipe punching and withdrawing operation; when the medicine conveying pipe reaches the bottom of the blast hole, the conveying pump of the explosive loading truck is controlled to carry out loading operation.
In one embodiment, before acquiring the distance information detected by the plurality of laser sensors, the method further comprises: controlling a multi-axis mechanical arm of the explosive charging vehicle to enable a guide tube of a tube conveying mechanism to be aligned with a blast hole, and controlling the distance between the guide tube and the blast hole to be a first preset distance; and acquiring a second preset distance detected by the laser sensor.
In one embodiment, determining whether a tube clip is present on the drug delivery tube based on the distance information comprises: comparing the distance information with a second preset distance; if the distance information detected by at least one laser sensor is smaller than the second preset distance, the occurrence of the clamping tube of the medicine conveying tube is determined.
In one embodiment, after controlling the pipe feeding mechanism to continue to perform pipe feeding operations, the method further comprises: judging whether the medicine conveying pipe is provided with a clamping pipe or not; if yes, controlling the pipe feeding mechanism to repeatedly execute the pipe punching and withdrawing operation; if not, controlling the pipe feeding mechanism to execute pipe feeding operation.
In one embodiment, the method further comprises: and acquiring the length of the medicine conveying pipe conveyed by the pipe conveying mechanism in real time.
In one embodiment, the card punching and tube withdrawing operation comprises: determining the length of the withdrawal tube based on the length of the delivered drug delivery tube and a preset ratio; wherein, the preset proportion is the percentage of the length of the withdrawal tube to the length of the conveyed medicine delivery tube, and is in direct proportion to the times of the tube withdrawal operation of the punching card; and controlling the pipe feeding mechanism to carry out pipe withdrawal according to the pipe withdrawal length.
In one embodiment, the method further comprises: if the medicine conveying pipe is blocked after the preset times of blocking and pipe withdrawing operation is executed, alarm information is sent, and the pipe conveying operation is carried out through manual intervention.
In one embodiment, when the drug delivery tube reaches the bottom of the blast hole, the drug delivery operation is carried out by controlling the delivery pump of the explosive charging vehicle, and the method comprises the following steps: comparing the length of the conveyed medicine conveying pipe with the depth of a pre-acquired blast hole, and judging that the medicine conveying pipe reaches the bottom of the blast hole; if the medicine conveying pipe reaches the bottom of the blast hole, controlling the pipe conveying mechanism to execute the pipe punching, clamping and withdrawing operation and then stopping pipe conveying; and controlling the conveying pump of the explosive loading vehicle and the loading pipe withdrawal operation to be started simultaneously so as to finish the loading operation.
In a second aspect, embodiments of the present application provide a charge system comprising: explosive charge car and controlling means, explosive charge car includes: the device comprises a multi-shaft mechanical arm, a pipe conveying mechanism, a laser sensor, a guide pipe, a medicine conveying pipe and a conveying pump; the laser sensor is arranged around the guide tube of the tube feeding mechanism, the laser emitted by the laser sensor forms a tube-shaped beam, and the annular radius and the laser emission angle formed by the laser sensor are adjustable; the control device controls the explosive charging vehicle to charge by adopting the method provided by any one of the first aspect.
In a third aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any of the first aspects provided above.
The embodiment of the application has the following beneficial effects:
the method and the system for charging the explosive loading vehicle are applied to a control device of the loading system, and firstly, distance information detected by a plurality of laser sensors (arranged around a guide tube of a tube feeding mechanism, laser emitted by the laser sensors forms a tubular beam, and the size of an annular radius formed by the laser sensors and the laser emission angle are adjustable) is obtained in the process that a tube feeding mechanism of the explosive loading vehicle conveys a medicine conveying tube to the bottom of a blast hole; then, judging whether the medicine conveying pipe is stuck or not based on the distance information; if the medicine delivery pipe is blocked, controlling the pipe conveying mechanism to stop pipe conveying operation, and controlling the pipe conveying mechanism to continuously execute pipe conveying operation after controlling the pipe conveying mechanism to execute at least one pipe punching and withdrawing operation; finally, when the medicine conveying pipe reaches the bottom of the blast hole, controlling the conveying pump of the explosive loading truck to carry out loading operation. According to the method, when the large-resistance clamping pipe is bent in the conveying process of the medicine conveying pipe, the judgment can be automatically carried out, the conveying is stopped in time, the pipe conveying mechanism is controlled to automatically withdraw the pipe and then continue conveying, and finally, the explosive is filled into the blast hole through the medicine conveying pipe after the medicine conveying pipe reaches the bottom of the blast hole, so that the breakage of the medicine conveying pipe can be reduced, the cost loss is reduced, and meanwhile, the charging efficiency is improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a charging system according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for loading an explosive charge vehicle according to an embodiment of the present application;
FIG. 3 is a schematic view of a drug delivery tube according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control device according to an embodiment of the present application.
Icon:
10-an explosive loading vehicle; 101-a multi-axis mechanical arm; 102-a pipe feeding mechanism; 103-a laser sensor; 104-a guide tube; 105-drug delivery tube.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
At present, in blasting procedures such as underground mines and tunnel exploitation, a mechanical charging mode is generally adopted, an operator is required to remotely control a mechanical arm of a charging vehicle to align with a blast hole in the process, then a pipe conveying mechanism is started to insert a medicine conveying pipe into the blast hole, and the conveying condition is required to be carefully observed in the process of inserting the medicine conveying pipe into the blast hole due to large resistance received by the medicine conveying pipe in the conveying process, if the condition that the medicine conveying pipe is blocked, folded and the like is found, the machine is required to be stopped in time. However, due to poor underground light environment, personnel operation level is affected, and in the actual process, the drug delivery tube is often damaged due to untimely or incorrect observation and judgment, so that the drug delivery tube needs to be frequently replaced, thereby causing cost loss and seriously affecting the charging efficiency. In addition, in the process of pushing the detonating bomb to the bottom of the blast hole by using the explosive conveying pipe, the detonating bomb has potential safety hazards of being crushed and explosion.
Based on the method and the system for charging the explosive loading vehicle, provided by the embodiment of the application, the damage of the explosive conveying pipe can be reduced, the cost loss is reduced, and the charging efficiency is improved.
For the sake of understanding the present embodiment, first, a detailed description of a charging system disclosed in the present embodiment is described, referring to a schematic structure of a charging system shown in fig. 1, which illustrates that the charging system mainly includes: an explosive charge vehicle 10 and a control device (not shown), the explosive charge vehicle 10 comprising: a multi-axis mechanical arm 101, a tube feeding mechanism 102, a laser sensor 103, a guide tube 104, a drug delivery tube 105, and a delivery pump (not shown); the laser sensor 103 is disposed around the guide tube 104 of the tube feeding mechanism 102, and the laser emitted by the laser sensor forms a barrel-shaped beam, and the annular radius and the laser emission angle formed by the laser sensor are adjustable.
Specifically, the control device may be an electronic device such as a computer or an upper computer, and may be disposed on the explosive charging vehicle 10, or may be disposed in a monitoring room on site, and communicate with the explosive charging vehicle to also realize data transmission and control.
According to the explosive charging system provided by the embodiment of the application, when the large-resistance clamping pipe is bent in the conveying process of the explosive conveying pipe, the judgment can be automatically carried out, the conveying is stopped in time, the pipe conveying mechanism is controlled to automatically withdraw the pipe and then continue conveying, and finally, the explosive is filled into the blast hole through the explosive conveying pipe after the explosive conveying pipe reaches the bottom of the blast hole, so that the damage of the explosive conveying pipe can be reduced, the cost loss is reduced, and the explosive charging efficiency is improved.
Referring to the flow chart of a method for charging an explosive charging vehicle shown in fig. 2, the method can be applied to a control device of a charging system, and mainly comprises the following steps S201 to S204:
step S201: and in the process that the pipe conveying mechanism of the explosive charging vehicle conveys the explosive conveying pipe to the bottom of the blast hole, acquiring distance information detected by a plurality of laser sensors.
The laser sensor is arranged around the guide tube of the tube feeding mechanism, the laser emitted by the laser sensor forms a tube-shaped beam, and the annular radius and the laser emission angle formed by the laser sensor are adjustable. In practical application, to complete the charging work, the pipe feeding mechanism of the explosive charging vehicle is required to insert the explosive conveying pipe and the detonating bomb into the bottom of the blast hole, then the explosive charging vehicle pumps out the explosive to be filled into the blast hole through the explosive conveying pipe, the explosive is charged while being withdrawn, and finally the explosive filling of the whole blast hole is completed. According to the embodiment of the application, the laser sensor is arranged around the guide pipe of the pipe conveying mechanism, the laser sensor can be a laser ranging sensor, the obstacle around the guide pipe can be monitored in real time, and the control device can acquire the distance information between the pipe conveying mechanism and the obstacle detected by the laser sensor in real time.
Step S202: judging whether the medicine conveying pipe is stuck or not based on the distance information.
As shown in fig. 1, in the case that the drug delivery tube does not encounter a large resistance tube, the tube feeding mechanism normally delivers the drug delivery tube, the distance information detected by the laser sensor is the distance between the tube feeding mechanism and the rock wall, and the distance should be fixed on the premise that the position of the tube feeding mechanism is fixed. As shown in fig. 3, when the drug delivery tube is inserted into the bottom of the blast hole, if larger resistance is caused by deformation of the blast hole, uneven pits on the inner wall of the blast hole and the like, the condition of clamping the tube can occur, so that the drug delivery tube at the orifice has a bending trend, at the moment, the laser sensor can immediately detect shielding of the drug delivery tube caused by bending, and therefore, the distance information detected by the laser sensor can also be changed; meanwhile, as the laser sensor is arranged around the guide tube, no matter which direction the medicine delivery tube is bent, the laser sensor in the direction can detect the shielding of the medicine delivery tube caused by bending. Therefore, in the embodiment of the application, whether the medicine delivery tube is stuck can be judged according to the change condition of the distance information detected by the laser sensor.
Step S203: if the medicine delivery pipe is blocked, the pipe feeding mechanism is controlled to stop pipe feeding operation, and after the pipe feeding mechanism is controlled to execute at least one pipe punching and withdrawing operation, the pipe feeding mechanism is controlled to continue to execute pipe feeding operation.
In one embodiment, when the laser sensor detects the phenomenon of bending (clamping) of the drug delivery tube, the control device can immediately control the tube feeding mechanism to stop the tube feeding operation, then control the tube feeding mechanism to perform the clamping and tube withdrawing operation, and then continue the tube feeding operation. If the medicine delivery pipe still clamps after one-time clamp-flushing and pipe-withdrawing operation, the control device repeats the process, performs the second-time clamp-flushing and pipe-withdrawing operation, and then continues the pipe-delivering operation until the medicine delivery pipe is not clamped any more. Specifically, the control device can set the repeated advancing and retreating times according to the condition of the blast hole, and the repeated advancing and retreating times are generally not more than 5 times.
Step S204: when the medicine conveying pipe reaches the bottom of the blast hole, the conveying pump of the explosive loading truck is controlled to carry out loading operation.
In one embodiment, after the medicine conveying pipe reaches the bottom of the blast hole, the control device can control the medicine conveying pipe to stop conveying the pipe after the medicine conveying pipe is retreated, and the pipe conveying flow is finished; then, the control device controls the conveying pump to charge, and simultaneously starts the tube withdrawal, and the tube withdrawal is performed while the charging is performed, so that the charging work of the whole blast hole is completed.
According to the method for charging the explosive charging vehicle, provided by the embodiment of the application, when the large-resistance clamping pipe is bent in the conveying process of the explosive conveying pipe, the judgment can be automatically carried out, the conveying is stopped in time, the pipe conveying mechanism is controlled to automatically withdraw the pipe and then continue to convey, and finally, the explosive is charged into the blast hole through the explosive conveying pipe after the explosive conveying pipe reaches the bottom of the blast hole, so that the damage of the explosive conveying pipe can be reduced, the cost loss is reduced, and the charging efficiency is improved.
Before the tube conveying mechanism conveys the medicine conveying tube, in order to improve the medicine loading efficiency, the embodiment of the application also needs to align the tube conveying mechanism with the blast hole, and the method can be realized by the following steps:
firstly, controlling a multi-axis mechanical arm of an explosive charging vehicle to enable a guide tube of a tube feeding mechanism to be aligned with a blast hole, and controlling the distance between the guide tube and the blast hole to be a first preset distance.
In a specific application, an image recognition device can be arranged on the explosive charging vehicle and used for acquiring image information and distance information of a blast hole, the acquired image information and distance information are sent to a control device, the control device can generate control information of a multi-axis mechanical arm based on the image information and the distance information, the multi-axis mechanical arm is controlled to enable a guide tube of a tube feeding mechanism to be aligned with the blast hole, the tail end of the guide tube is controlled to be at a certain distance (namely, a first preset distance can be 10-50 cm) from the blast hole, then a detonation shell is inserted into a head of the explosive conveying tube, and the tube feeding mechanism is started to insert the explosive conveying tube and the detonation shell into the blast hole.
Then, a second preset distance detected by the laser sensor is acquired.
After the position of the tube conveying mechanism is determined, a second preset distance between the tube conveying mechanism and the rock wall of the blast hole can be detected through a laser sensor and used for judging whether the drug delivery tube is clamped or not subsequently.
In some embodiments, the step S202 may be specifically implemented by the following steps:
step a 1), comparing the distance information with a second preset distance.
Step a 2), if the distance information detected by at least one laser sensor is smaller than a second preset distance, determining that the medicine delivery tube is stuck.
Specifically, the distance information acquired by each laser sensor in real time is compared with the first acquired second preset distance, and if at least one laser sensor detects that the distance information is smaller than the second preset distance, the situation that the laser sensors are blocked by bending of the medicine delivery tube is indicated, and the medicine delivery tube is blocked is indicated.
It can be understood that the drug delivery pipe can be slightly bent in the normal drug delivery pipe delivery process, but the bending degree is too small, so that the laser sensor is not blocked; when the drug delivery pipe encounters larger resistance, the drug delivery pipe cannot continue to be conveyed to the bottom of the blast hole, if the drug delivery pipe is conveyed continuously, the bending degree of the drug delivery pipe at the orifice is larger and larger, and when the bending degree exceeds a set monitoring threshold (namely the drug delivery pipe shields the laser sensor, the laser sensor can detect the distance of the drug delivery pipe), the drug delivery pipe can be considered to be blocked. The monitoring threshold value can be adjusted by installing the radius of the annular laser sensor, the laser emission angle and the distance between the tail end of the guide tube and the orifice of the blast hole. Based on the above, in the embodiment of the application, when the distance information detected by the laser sensor is smaller than the second preset distance, the curvature of the medicine delivery tube can be deduced according to the distance information, the radius of the laser sensor, the distance between the tail end of the guide tube and the orifice of the blast hole, and the like, and whether the medicine delivery tube is clamped or not can be judged according to the curvature.
In addition, when the radius of the annular laser sensor is too small, or the laser emission angle (the angle between the laser direction and the central axis of the annular laser sensor) is too small, the tubular light beam formed by the laser sensor emission can be blocked when the bending degree of the medicine delivery tube is small, and the tube blocking can not occur at the moment, so that misjudgment is caused; when the radius of the annular laser sensor is overlarge, or the laser emission angle is overlarge, the bending degree during the drug delivery tube clamping can still not cause shielding to the tube-shaped light beam formed by the laser sensor emission, so that the tube clamping phenomenon can not be detected. Therefore, the radius and the laser emission angle of the annular laser sensor can be adjusted, so that the monitoring threshold of the bending degree of the drug delivery tube clamp can be changed according to the radius and the laser emission angle of different annular laser sensors, and the adjustment can be specifically carried out according to actual conditions (such as the diameter of a blast hole and the like).
In some embodiments, after controlling the pipe feeding mechanism to continue to perform the pipe feeding operation, the method further comprises: judging whether the medicine conveying pipe is provided with a clamping pipe or not; if yes, controlling the pipe feeding mechanism to repeatedly execute the pipe punching and withdrawing operation; if not, controlling the pipe feeding mechanism to execute pipe feeding operation.
Specifically, the pipe feeding mechanism is controlled to perform pipe punching, clamping and pipe withdrawing operations, and then pipe feeding operations are continued. If the medicine delivery tube still has a tube clamped after one-time tube punching and withdrawing operation, the control device repeats the process, performs the second tube punching and withdrawing operation, and then continues the tube feeding operation, and if the tube still has a tube clamped, the control device repeats the process.
In some embodiments, the control device can acquire the length of the drug delivery tube conveyed by the tube conveying mechanism in real time, and the tube punching and withdrawing operation can be realized by the following steps:
step b1, determining the withdrawal length based on the length of the conveyed medicine conveying pipe and a preset proportion; the preset proportion is the percentage of the length of the withdrawal tube to the length of the conveyed medicine delivery tube, and is in direct proportion to the number of times of the tube withdrawal operation of the punching card.
And b2, controlling the pipe feeding mechanism to carry out pipe withdrawal according to the pipe withdrawal length.
In a specific application, the control device can withdraw the tube according to a preset ratio k (k is preferably 0.01-0.05, for example k is 0.02, the length of the delivered tube is 10 m when the tube is clamped, and the length of the withdrawn tube is controlled by the system to be 10 x k=0.2 m) according to the length of the delivered tube; then continuing to send the pipe, if the pipe is clamped, the control device controls the flow to be repeated, and the length proportion of the 2 nd pipe withdrawal is 2k, namely 0.4 meter of pipe withdrawal; and then continuing to send the pipe, if the pipe is still clamped, the control device continues to repeat the flow, the length proportion of the 3 rd pipe withdrawal is 3k, namely 0.6 meter of the pipe withdrawal, and the control system can set the repeated pipe withdrawal times according to the condition of the blast hole, and the number of times is generally not more than 5.
In some embodiments, the step S204 may be specifically implemented by the following steps:
and c1, comparing the length of the conveyed medicine conveying pipe with the depth of the pre-acquired blast hole, and judging that the medicine conveying pipe reaches the bottom of the blast hole.
Specifically, when the medicine conveying pipe and the detonation bomb reach the bottom clamping pipe of the blast hole, the control device can accurately judge that the medicine conveying pipe reaches the bottom of the blast hole by comparing the known depth of the blast hole with the length of the conveyed medicine conveying pipe.
And c2, if the medicine conveying pipe reaches the bottom of the blast hole, controlling the pipe conveying mechanism to execute the pipe punching and withdrawing operation and stopping pipe conveying.
The control device can control the pipe conveying mechanism to perform pipe punching, clamping and pipe withdrawing operations according to a preset proportion, then stop pipe conveying operations, and the pipe conveying flow is finished.
And c3, controlling a conveying pump of the explosive loading vehicle and the operation of loading and unloading the explosive to be started simultaneously so as to finish the loading operation.
Specifically, the medicine conveying pipe reaches the bottom of the hole, after the pipe conveying flow is finished, the control device can control the medicine loading and pipe unloading operation of the conveying pump to be started simultaneously, and the medicine loading operation is finished at the same time when the pipe is unloaded in a cooperative mode, and finally the medicine loading operation of the whole blast hole is finished.
Further, the method further comprises the steps of: if the medicine conveying pipe is blocked after the preset times of blocking and pipe withdrawing operation is executed, alarm information is sent, and the pipe conveying operation is carried out through manual intervention.
It can be understood that under most conditions, after repeated operations of returning the medicine delivery tube for several times, the medicine delivery tube can be flushed through the resistance position to continue delivering the medicine delivery tube, and the whole process does not need manual intervention, so that the medicine delivery tube can be effectively prevented from being broken and damaged, and the medicine loading efficiency is improved. However, if the drug delivery tube reaches the repeated tube feeding and withdrawing cycle times set by the system, and still when the resistance position is not punched and the tube is blocked, the system can stop the machine to give an alarm and remind, and whether the blast hole is damaged or not needs to be checked manually, so that the tube feeding can not be performed, or the system can be started again manually to perform automatic tube feeding attempt or the tube feeding is controlled manually.
The method provided by the embodiment of the application can automatically judge the clamping pipe when the clamping pipe with larger resistance is encountered in the conveying process of the medicine conveying pipe, and the medicine conveying pipe can be conveyed continuously after stopping conveying the automatic pipe withdrawal, so that the medicine conveying pipe can be conveyed continuously after being flushed through the resistance position.
The charging system provided by the embodiment of the application has the same technical characteristics as the method for charging the explosive charging vehicle provided by the embodiment, so that the same technical problems can be solved, the same technical effects are achieved, and the method is not repeated.
The embodiment of the application also provides a control device, which specifically comprises a processor and a storage device; the storage means has stored thereon a computer program which, when run by a processor, performs the method according to any of the above embodiments.
Fig. 4 is a schematic structural diagram of a control device according to an embodiment of the present application, where the control device 100 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 being connected by the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and the at least one other network element is achieved via at least one communication interface 43 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 42 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The memory 41 is configured to store a program, and the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present application may be applied to the processor 40 or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 40. The processor 40 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 41 and the processor 40 reads the information in the memory 41 and in combination with its hardware performs the steps of the method described above.
The computer program product of the readable storage medium provided by the embodiment of the present application includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of loading an explosive charge vehicle, the method being applied to a control device for a charge system and comprising:
acquiring distance information detected by a plurality of laser sensors in the process that a pipe conveying mechanism of the explosive charging vehicle conveys a medicine conveying pipe to the bottom of a blast hole; the laser sensor is arranged around a guide pipe of the pipe conveying mechanism, laser emitted by the laser sensor forms a barrel-shaped light beam, and the size of an annular radius formed by the laser sensor and the laser emission angle are adjustable;
judging whether the medicine conveying pipe is stuck or not based on the distance information;
if the medicine delivery pipe is blocked, controlling the pipe conveying mechanism to stop pipe conveying operation, and controlling the pipe conveying mechanism to continuously execute the pipe conveying operation after controlling the pipe conveying mechanism to execute at least one pipe punching and withdrawing operation;
and when the medicine conveying pipe reaches the bottom of the blast hole, controlling a conveying pump of the explosive charging vehicle to charge.
2. The method of claim 1, wherein prior to acquiring the distance information detected by the plurality of laser sensors, the method further comprises:
controlling a multi-axis mechanical arm of the explosive charging vehicle to enable a guide tube of the tube feeding mechanism to be aligned with the blast hole, and controlling the distance between the guide tube and the blast hole to be a first preset distance;
and acquiring a second preset distance detected by the laser sensor.
3. The method of claim 2, wherein determining whether a stuck tube is present in the drug delivery tube based on the distance information comprises:
comparing the distance information with the second preset distance;
and if at least one distance information detected by the laser sensor is smaller than the second preset distance, determining that the medicine delivery tube is stuck.
4. The method of claim 1, wherein after controlling the pipe feed mechanism to continue performing the pipe feed operation, the method further comprises:
judging whether the medicine conveying pipe is provided with a clamping pipe or not;
if yes, the pipe feeding mechanism is controlled to repeatedly execute the pipe punching and withdrawing operation;
if not, controlling the pipe conveying mechanism to execute the pipe conveying operation.
5. The method according to claim 1, wherein the method further comprises:
and acquiring the length of the drug delivery pipe conveyed by the pipe conveying mechanism in real time.
6. The method of claim 5, wherein the punching and tube withdrawing operation comprises:
determining the withdrawal length based on the length of the delivered drug delivery tube and a preset ratio; wherein the preset proportion is that the length of the withdrawal pipe accounts for the length of the conveyed medicine delivery pipe and is in direct proportion to the times of the pipe withdrawing operation of the punching card;
and controlling the pipe feeding mechanism to carry out pipe withdrawal according to the pipe withdrawal length.
7. The method of claim 6, wherein the method further comprises:
if the medicine delivery tube has a clamping tube after the operation of punching the clamping tube for the preset times is executed, alarm information is sent, and the operation of feeding the medicine delivery tube is manually intervened.
8. The method of claim 5, wherein controlling the transfer pump of the explosive charge vehicle to perform the charging operation after the transfer tube reaches the bottom of the borehole comprises:
comparing the length of the conveyed medicine conveying pipe with the depth of the blast hole acquired in advance, and judging that the medicine conveying pipe reaches the bottom of the blast hole;
if the medicine conveying pipe reaches the bottom of the blast hole, controlling the pipe conveying mechanism to execute the pipe punching and withdrawing operation and then stopping pipe conveying;
and controlling the conveying pump of the explosive loading vehicle and the loading pipe withdrawal operation to be started simultaneously so as to finish the loading operation.
9. A charge system comprising: explosive charge car and controlling means, explosive charge car includes: the device comprises a multi-shaft mechanical arm, a pipe conveying mechanism, a laser sensor, a guide pipe, a medicine conveying pipe and a conveying pump;
the laser sensor is arranged around a guide pipe of the pipe conveying mechanism, laser emitted by the laser sensor forms a barrel-shaped light beam, and the size of an annular radius formed by the laser sensor and the laser emission angle are adjustable;
the control device controls the explosive charging vehicle to charge by the method of any one of claims 1 to 8.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the method of any of the preceding claims 1 to 8.
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