Method and equipment for controlling ammunition delivering tube at tail end of working arm to be aligned to shot hole

The invention provides a method and equipment for controlling an ammunition delivering tube at the tail end of a working arm to be aligned to a shot hole. The method comprises the following steps: detecting an inclined angle of a rock wall; determining a first rotating angle adjusting amount of every joint of the working arm and a first retractable adjusting amount of a retractable pair of the working arm according to an inclination angle; controlling the working arm to move according to the first rotating angle adjusting amount and the first retractable adjusting amount; acquiring an image shot by a camera arranged at the tail end of the working arm; analyzing the image to determine the position of the shot hole in the image; detecting the vertical distance between the tail end of the working arm and the rock wall; determining a second rotating angle adjusting amount of every joint of the working arm and a second retractable adjusting amount of the retractable pair of the working armaccording to the position