Application of Explosive Filling Robot in Tunnel Environment

Combined with China’s comprehensive transportation and mining projects being in full swing, a large number of tunneling projects are set to flourish. Currently, the blasting method of filling explosives for tunnel rock drilling is mostly done manually, with only a small number of simple injection equipment. Workers must labor in a complex operating environment of humid air, dust, and fumes, resulting in low operational efficiency, high labor intensity, and high risks. By summarizing the literature related to explosive filling robots, this paper analyses two main aspects: The current situation of explosives filling robot application and the key explosive filling technologies at home and abroad. The characteristics of explosives filling that still need manual assistance are pointed out, followed by a summary of three key technologies of intelligent detection, intelligent grasping and intelligent filling. Subsequently, a brief analysis of future challenges and developments is given, which can serve as a reference for relevant researchers.