Control method of robot for mixed loading explosive operation on site

The invention relates to a control method of a robot for mixed loading explosive operation on site. The control method comprises the following steps: (1) receiving an explosive loading command; (2) planning a driving path by an autonomous navigation system, after planning of the driving path is finished, causing the explosive loading robot to leave for an detonation site, and entering step (3) after the robot arrives at the detonation site; (3) positioning; (4) measuring; (5) loading explosive; (6) judging whether all explosive loading is finished, and entering step (7) if yes, otherwise entering step (3); (7) cleaning a pipeline; (8) returning devices; and (9) ending the explosive loading after returning back to a starting point. The control method of a robot for mixed loading explosive operation on site has the following beneficial effects: the explosive loading robot is adopted to perform mixed loading explosive filling on site under a shaft, 10-20 operators for explosive loading can be reduced on the expl