Method for carrying out automatic powder charging by rapidly positioning blast hole under shaft
A blasting hole and charge technology, which is applied in image data processing, instruments, blasting, etc., can solve problems such as poor safety, high labor intensity, and long time for hole alignment
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[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0035] Before the holes are aligned, the distribution positions of the blastholes have been determined, that is, the layout of the blastholes is known from the blasting design. The blastholes in this embodiment are fan-shaped upwards, and the structured light vision system and the mechanical arm have been debugged and installed.
[0036] The method for automatically charging explosives by adopting the described downhole rapid positioning of blastholes comprises the following steps:
[0037] Step 1: Determine the coordinate system of the job site
[0038] The job site coordinate system (such as figure 1 shown) including the blast hole coordinate system O P -x p the y p z p , Manipulator base coordinate system O 0 -x 0 the y 0 z 0 , The coordinate system O of the pipe delivery device T -x T the y T z T and the camera coordi...
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