Blast hole blocking method, blast hole blocking device and blast hole blocking system

Abstract

The invention provides a blast hole blocking method, a blast hole blocking device and a blast hole blocking system.The blast hole blocking method comprises the steps that blocking parameter information is obtained, and the blocking parameter information comprises structural parameters of a blast hole and the density rho of a blocking material; according to the plugging parameter information, the mass delta m of a plugging material needed for plugging the blast hole is calculated; and the feeding mechanism is controlled to fill the blast hole with the blocking material, the mass m1 of the blocking material actually filled into the blast hole by the feeding mechanism is controlled, and the difference value between the m1 and the delta m is made to be within the preset range. According to the blast hole blocking method, the safety, efficiency and accuracy of blast hole blocking operation can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of blasting, and in particular to a blasthole plugging method, a blasthole plugging device and a blasthole plugging system. Background Art

[0002] Open-pit mining technology is widely used in mining operations. The main processes of open-pit mining are: drilling, blasting, mining, transportation, soil discharge and ore unloading; among them, the drilling and blasting stage can be divided into three steps: drilling, plugging and blasting.

[0003] At present, great progress has been made in the aspects of blasthole drilling speed, blasting effect and blasting quality, but the blasthole plugging step has not been taken seriously. At present, most of the blastholes are filled manually. In the process of blasthole plugging, since the explosives and detonators have been installed inside the blasthole, the manual filling method is extremely dangerous. At the same time, manual filling requires the plugging material to be unloaded near the blasthole first, and then manually loaded into the blasthole that has been filled with gunpowder. This process is time-consuming and labor-intensive, which greatly affects the efficiency of mineral mining. Summary of the invention

[0004] The purpose of the present invention is to provide a blasthole plugging method, a blasthole plugging device and a blasthole plugging system. The blasthole plugging method can improve the safety, efficiency and accuracy of the blasthole plugging operation.

[0005] The present invention provides a blasthole plugging method, which is used for a blasthole plugging device. The blasthole plugging device comprises a feeding mechanism, which is used to store plugging materials and load the plugging materials into the blasthole. The blasthole plugging method comprises:

[0006] Obtaining plugging parameter information, the plugging parameter information including structural parameters of the blasthole and density ρ of the plugging material; calculating the mass Δm of the plugging material required to plug the blasthole according to the plugging parameter information;

[0007] Control the feeding mechanism to load the plugging material into the blasthole, and control the mass m of the plugging material actually loaded into the blasthole by the feeding mechanism 1 , so that the m 1 The difference between Δm and Δm is within a preset range.

[0008] Furthermore, the blasthole is a cylindrical hole, and the structural parameters of the blasthole include the radius r of the blasthole and the plugging depth h of the blasthole, and the Δm=π*r 2 *h*ρ.

[0009] Furthermore, the blasthole plugging device further comprises a movable chassis, and the feeding mechanism is arranged on the chassis; before controlling the feeding mechanism to load the plugging material into the blasthole, the blasthole plugging method further comprises:

[0010] Acquire the position information of the blasthole; and control the movement of the chassis according to the position information of the blasthole to move the blasthole plugging device to the position of the blasthole.

[0011] Furthermore, the blasthole plugging device further includes a positioning module and an identification module, wherein the positioning module is used to obtain the position information of the blasthole plugging device, and the identification module is used to identify the blasthole; and the control of the chassis movement according to the position information of the blasthole so that the blasthole plugging device moves to the position of the blasthole specifically includes:

[0012] Planning a moving path of the blasthole plugging device according to the position information of the blasthole and the position information of the blasthole plugging device;

[0013] Control the movement of the chassis according to the movement path, so that the blast hole blocking device moves to a distance between the device and the blast hole within a first distance range;

[0014] The blast hole is identified by the identification module, and the chassis movement is controlled according to the identification result of the identification module, so that the blast hole plugging device moves to a distance between it and the blast hole within a second distance range; wherein the second distance range is smaller than the first distance range.

[0015] Furthermore, the feeding mechanism has a discharge port; before controlling the feeding mechanism to load the blocking material into the blasthole and after the blasthole blocking device moves to the location of the blasthole, the blasthole blocking method further includes:

[0016] The discharge port of the feeding mechanism is controlled to be aligned with the blast hole.

[0017] Furthermore, the blasthole plugging device further includes a rotating device and an identification module, wherein the rotating device is disposed between the chassis and the feeding mechanism, the rotating device is used to drive the feeding mechanism to rotate horizontally, and the identification module is used to identify the blasthole; the controlling the discharge port of the feeding mechanism to align with the blasthole specifically includes:

[0018] The blasthole is identified by the identification module, and the rotation device is controlled to operate according to the identification result of the identification module to drive the feeding mechanism to rotate horizontally so that the discharge port of the feeding mechanism is aligned with the blasthole.

[0019] Furthermore, after controlling the feeding mechanism to load the plugging material into the blasthole, the blasthole plugging method further comprises:

[0020] After the plugging material is loaded into the upper blasthole, the mass m of the plugging material currently remaining in the feeding mechanism is obtained. 2 , and calculate the mass Δm of the plugging material required to plug the next blasthole 1 ;

[0021] If m 2 ≥Δm 1 , then control the blasthole plugging device to load the plugging material into the next blasthole; if m 2 <Δm 1 , then control the blast hole plugging device to refill.

[0022] Furthermore, the feeding mechanism comprises a silo for storing the plugging material, a feeding pipe connected to the silo, a feeding device for conveying the plugging material in the silo to the feeding pipe, and a weighing sensor for detecting the mass of the plugging material in the silo; the feeding mechanism is controlled to load the plugging material into the blasthole, and the mass m of the plugging material actually loaded into the blasthole by the feeding mechanism is controlled. 1 , so that the m 1 The difference between the Δm and the above Δm is within a preset range, specifically including:

[0023] Control the feeding device to operate so as to load the plugging material in the silo into the blasthole through the feeding pipe; and detect the mass of the remaining plugging material in the silo in real time through the weighing sensor, so as to calculate the mass m of the plugging material actually loaded into the blasthole by the feeding mechanism. 1 ;

[0024] When the m 1 When the difference between Δm and Δm is within the preset range, the feeding device is controlled to stop running.

[0025] The present invention also provides a blasthole plugging device, including a controller and a feeding mechanism, wherein the feeding mechanism is used to store plugging materials and load the plugging materials into the blasthole, and the controller is connected to the feeding mechanism; when the controller executes a computer program, the blasthole plugging method described above is implemented.

[0026] The present invention also provides a blasthole plugging system, comprising a control center and at least one blasthole plugging device as described above, wherein the blasthole plugging device further comprises a communication module, the communication module is connected to the controller, and the communication module is used to communicate remotely with the control center;

[0027] The control center is used to perform the following operations:

[0028] According to the blasthole position distribution map and the number of the blasthole plugging devices actually in operation, the task is assigned to determine the number and position of the blastholes to be plugged by each of the blasthole plugging devices; wherein the blasthole position distribution map includes the number information of the blastholes and the position information of each of the blastholes;

[0029] The plugging parameter information and the quantity information and location information of the blastholes to be plugged are remotely transmitted to each corresponding blasthole plugging device; wherein the plugging parameter information includes the structural parameters of the blastholes and the density ρ of the plugging material.

[0030] The blasthole plugging method provided by the present invention realizes the plugging of the blasthole by controlling the blasthole plugging device to load the plugging material into the blasthole. Compared with the manual filling method, the safety and efficiency of the blasthole plugging operation can be greatly improved, thereby improving the efficiency of mineral mining; at the same time, the mass m of the plugging material actually loaded into the blasthole by controlling the feeding mechanism 1 , so that m 1 The mass Δm of the plugging material required to plug the blasthole is controlled within the error range, so as to accurately control the plugging depth and plugging amount of the blasthole to meet the design requirements of the blasting construction, improve the subsequent blasting efficiency, and help control the fragmentation of the rock after blasting, reduce the consumption of equipment and personnel caused by the secondary crushing of the rock, thereby further improving the construction efficiency and reducing the construction cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of the blast hole plugging device in an embodiment of the present invention.

[0032] Figure 2 It is a structural schematic diagram of the feeding mechanism in an embodiment of the present invention.

[0033] Figure 3 Schematic diagram of control logic of the command center, control center and blast hole plugging device in an embodiment of the present invention.

[0034] Figure 4 It is a schematic diagram of the structure of the blasthole after loading explosives and plugging materials in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0036] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular sequence or order.

[0037] The directional words such as up, down, left, right, front, back, top, bottom, etc. (if any) involved in the specification and claims of the present invention are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are only for the clarity and convenience of expressing the technical solution. It should be understood that the use of directional words should not limit the scope of protection claimed in this application.

[0038] like Figures 1 to 4 As shown, an embodiment of the present invention provides a blasthole plugging device 1, comprising a movable chassis 11, a rotating device 12, a feeding mechanism 13 and a controller 17, wherein the feeding mechanism 13 is used to store plugging materials 4 and load the plugging materials 4 into the blasthole 3. The feeding mechanism 13 has a discharge port 130, through which the plugging materials 4 stored in the feeding mechanism 13 can be discharged and loaded into the blasthole 3.

[0039] The feeding mechanism 13 is arranged on the chassis 11, and the rotating device 12 is arranged between the chassis 11 and the feeding mechanism 13. The rotating device 12 is connected to the chassis 11 and the feeding mechanism 13 respectively (that is, the rotating device 12 is arranged on the chassis 11, and the feeding mechanism 13 is arranged on the rotating device 12). The rotating device 12 is used to drive the feeding mechanism 13 to rotate horizontally relative to the chassis 11, so that the discharge port 130 of the feeding mechanism 13 is aligned with the blast hole 3, so that the feeding mechanism 13 can fill the plugging material 4 into the blast hole 3 through the discharge port 130.

[0040] The controller 17 is respectively connected to the chassis 11, the rotary device 12 and the feeding mechanism 13 (specifically, an electrical signal connection), and the controller 17 is used to control the operation of the chassis 11, the rotary device 12 and the feeding mechanism 13. Among them, the controller 17 can control the movement of the chassis 11 to realize the automatic walking function of the blasthole plugging device 1, so that the blasthole plugging device 1 can move to the position of the blasthole 3; the controller 17 can control the operation of the rotary device 12 to align the discharge port 130 of the feeding mechanism 13 with the blasthole 3; the controller 17 can control the operation of the feeding mechanism 13 to load the plugging material 4 into the blasthole 3. Through the mutual cooperation of the chassis 11, the rotary device 12 and the feeding mechanism 13, the automation and unmanned blasthole plugging operation of the blasthole plugging device 1 is realized. The controller 17 can be specifically set at a position such as on the chassis 11.

[0041] Furthermore, in the present embodiment, the chassis 11 is a crawler chassis, specifically an electric rubber crawler chassis, to improve the passing performance of the chassis 11; the controller 17 is specifically connected to the travel motor (not shown) in the chassis 11. The chassis 11 is provided with a mounting interface (not shown) to facilitate the installation of the rotary device 12. The chassis 11 is provided with a power battery system (not shown), which can provide power for the rotary device 12 and the feeding mechanism 13 in addition to providing power for the chassis 11 itself (that is, the power battery system is electrically connected to the rotary device 12 and the feeding mechanism 13) to ensure the working endurance of the blasthole plugging device 1. The chassis 11 is provided with an unmanned driving system (not shown) to realize the automatic walking and autonomous operation of the blasthole plugging device 1.

[0042] Furthermore, in this embodiment, the rotary device 12 is an electric rotary support (i.e., an electric rotary table), and the controller 17 is specifically connected to a rotary motor (not shown) in the rotary device 12. The electric rotary support specifically adopts a worm gear transmission form, can achieve 360° rotation, has a large driving torque, runs smoothly, has a small impact, and can achieve self-locking, thereby facilitating the hole alignment operation of the feeding mechanism 13.

[0043] Furthermore, if Figures 1 to 4 As shown, in this embodiment, the feeding mechanism 13 includes a silo 131, a feeding pipe 132 and a feeding device 133. The silo 131 is used to store the plugging material 4. The feeding pipe 132 is located outside the silo 131, one end of the feeding pipe 132 is connected to the silo 131, and the discharge port 130 is arranged at the other end of the feeding pipe 132. At least part of the feeding device 133 is arranged in the silo 131, and the feeding device 133 provides a conveying power for the plugging material 4. The feeding device 133 is used to convey the plugging material 4 in the silo 131 to the feeding pipe 132, so as to fill (add) the plugging material 4 into the blasthole 3 through the feeding pipe 132. The controller 17 is connected to the feeding device 133, and the controller 17 is used to control the operation of the feeding device 133, and then control the filling operation of the feeding mechanism 13.

[0044] Furthermore, if Figures 1 to 4As shown, in this embodiment, the feeding device 133 includes a driving mechanism 1331 and a spiral 1332. The spiral 1332 is arranged in the silo 131, and the spiral 1332 is arranged corresponding to the feeding pipe 132 (that is, the rotation axis of the spiral 1332 is aligned with the entrance of the feeding pipe 132). The driving mechanism 1331 is fixedly arranged on the outer wall of the silo 131. The driving mechanism 1331 is connected to the spiral 1332, and the driving mechanism 1331 is used to drive the spiral 1332 to rotate so as to transport the blocking material 4 in the silo 131 to the feeding pipe 132 (when the spiral 1332 rotates, it can push the blocking material 4 in the silo 131 into the feeding pipe 132). The controller 17 is connected to the driving mechanism 1331, and the controller 17 is used to control the operation of the driving mechanism 1331.

[0045] Specifically, in the present embodiment, the driving mechanism 1331 and the feeding pipe 132 are respectively located on opposite sides of the silo 131, one end of the spiral 1332 extends to one side of the silo 131 close to the driving mechanism 1331 and is connected to the driving mechanism 1331, and the other end of the spiral 1332 extends to the entrance of the feeding pipe 132 (the spiral 1332 can also extend into the feeding pipe 132). The spiral 1332 is a shaftless spiral (i.e., it adopts a design without a central axis), and the use of a shaftless spiral can improve the adaptability of the feeding device 133 to the plugging material 4; specifically, the shaftless spiral can adapt to the waste materials after the beneficiation such as the viscous tailings and tailings, and can adopt the materials such as the drill cuttings of the blasthole drilling machine, thereby saving the material cost of the plugging construction. Of course, in other embodiments, the spiral 1332 can also adopt a shafted spiral. The specific structure and working principle of the spiral 1332 can refer to the prior art, which will not be repeated here.

[0046] Furthermore, in this embodiment, the driving mechanism 1331 includes a driving motor (not numbered in the figure) and a reducer (not numbered in the figure), the output end of the driving motor is connected to the input end of the reducer, and the output end of the reducer is connected to the spiral body 1332; wherein the driving motor is used to provide driving force, the reducer plays a role in deceleration and torque increase, and the controller 17 is connected to the driving motor. When working, the controller 17 controls the driving motor to operate, and the driving force of the driving motor is transmitted to the spiral body 1332 after deceleration and torque increase by the reducer, thereby driving the spiral body 1332 to rotate.

[0047] Furthermore, if Figure 1 and Figure 2As shown, in this embodiment, the silo 131 is located directly above the chassis 11, and the feeding pipe 132 extends to one side of the chassis 11. The silo 131 is a structure with an opening on the top, and the plugging material 4 can be loaded into the silo 131 through its top opening; since the silo 131 is arranged on the chassis 11, the silo 131 has a certain height, and the height can facilitate the loading of the plugging material 4 into the silo 131, and the plugging material 4 can be loaded into the silo 131 by a loader, an excavator and other equipment; the loaded plugging material 4 can be bulk materials such as sand and gravel, dry soil, dry tailings, tailings, etc., or can be materials such as rock powder and debris after on-site drilling.

[0048] Furthermore, if Figure 1 and Figure 2 As shown, in this embodiment, the feeding pipe 132 includes a first pipe section 1321 extending horizontally, a second pipe section 1322 extending in a bent manner, and a third pipe section 1323 extending vertically downward, one end of the first pipe section 1321 is connected to the silo 131, the other end of the first pipe section 1321 is connected to one end of the second pipe section 1322, the other end of the second pipe section 1322 is connected to the upper end of the third pipe section 1323, and the discharge port 130 is arranged at the lower end of the third pipe section 1323. Such an arrangement enables the plugging material 4 in the silo 131 to be more smoothly and accurately fed into the blasthole 3.

[0049] Specifically, when performing a blast hole plugging operation, after adjusting the discharge port 130 on the feeding pipe 132 to align with the blast hole 3, the discharge port 130 is located above the blast hole 3; the controller 17 controls the feeding device 133 to operate, and the blocking material 4 in the silo 131 is transported to the discharge port 130 through the first pipe section 1321, the second pipe section 1322 and the third pipe section 1323 in sequence, and then added to the blast hole 3 through the discharge port 130 to complete the blast hole plugging operation.

[0050] Furthermore, if Figure 1 and Figure 2 As shown, in this embodiment, the feeding pipe 132 is a round pipe. The third pipe section 1323 is a reducer with a gradually decreasing diameter from top to bottom, so that the diameters of the first pipe section 1321 and the second pipe section 1322 can be set relatively large, which is convenient for the flow of the plugging material 4 in the feeding pipe 132; at the same time, the diameter of the discharge port 130 is relatively small, so that the diameter of the discharge port 130 can be smaller than the diameter of the blast hole 3, ensuring that the plugging material 4 can be fully added to the blast hole 3 as much as possible. Among them, the diameter of the discharge port 130 can be designed according to the diameters of different blast holes 3.

[0051] Furthermore, if Figures 1 to 3As shown, in this embodiment, the feeding mechanism 13 further includes a weighing sensor 134, which is used to detect the mass of the blocking material 4 in the silo 131, and the controller 17 is connected to the weighing sensor 134 (specifically, an electrical signal connection). The controller 17 is used to control the mass of the blocking material 4 actually loaded into the blasthole 3 by the feeding mechanism 13 according to the mass of the blocking material 4 in the silo 131 detected by the weighing sensor 134 (specifically, the mass of the blocking material 4 in the silo 131 can be obtained by detecting the sum of the masses of the blocking material 4 and the silo 131, and then subtracting the mass of the silo 131).

[0052] Specifically, when the plugging material 4 is loaded into the blasthole 3, the controller 17 obtains the mass change of the plugging material 4 in the silo 131 before and after the loading operation through the weighing sensor 134, and can calculate the mass of the plugging material 4 actually loaded into the blasthole 3 by the feeding mechanism 13. By controlling the mass of the plugging material 4 actually loaded into the blasthole 3 by the feeding mechanism 13, the actual loading mass and the mass of the plugging material 4 required to plug the blasthole 3 are controlled within the error range, thereby accurately controlling the plugging depth and plugging amount of the blasthole 3 to meet the design requirements of the blasting construction, improve the subsequent blasting efficiency, and help control the fragmentation of the rock after blasting, reduce the consumption of equipment and personnel caused by the secondary crushing construction of the rock, thereby further improving the construction efficiency and reducing the construction cost (when the plugging operation is performed manually, the plugging parameters are usually uncontrollable, resulting in uncontrollable fragmentation of the rock after blasting, and usually requires on-site secondary crushing before loading and transportation).

[0053] Furthermore, if Figure 1 and Figure 2 As shown, in this embodiment, the feeding mechanism 13 further includes a support seat 135, which is disposed on the rotary device 12. The rotary device 12 is used to drive the support seat 135 to rotate horizontally, thereby driving the silo 131, the feeding pipe 132 and the feeding device 133 to rotate. The silo 131 is disposed on the support seat 135, and the weighing sensor 134 is disposed between the silo 131 and the support seat 135.

[0054] Specifically, in the present embodiment, the support seat 135 is a support plate. A plurality of legs 136 are arranged at intervals on the silo 131 (in the present embodiment, the number of the legs 136 is four, and the four legs 136 are respectively arranged at the four vertex positions of the silo 131), and the plurality of legs 136 are connected to the support seat 135. The silo 131 is in a suspended state, and the silo 131 is supported by the plurality of legs 136. There are a plurality of weighing sensors 134, and the plurality of weighing sensors 134 are respectively arranged between the plurality of legs 136 and the support seat 135; the mass of the blocked material 4 in the silo 131 is the sum of the mass data detected by the plurality of weighing sensors 134. Of course, in other embodiments, the weighing sensors 134 can also be arranged in other forms.

[0055] Furthermore, if Figures 1 to 3 As shown, in this embodiment, the blasthole plugging device 1 further includes an identification module 14, which is used to identify the blasthole 3, and the controller 17 is connected to the identification module 14 (specifically, an electrical signal connection). The controller 17 is used to control the operation of the rotary device 12 according to the identification result of the identification module 14, so as to drive the feeding mechanism 13 to rotate horizontally, thereby aligning the discharge port 130 of the feeding mechanism 13 with the blasthole 3.

[0056] Specifically, in this embodiment, the recognition module 14 includes a depth camera, which generally uses two cameras to shoot the same scene from different angles, and then calculates the depth information through parallax, so as to identify whether there is a blasthole 3 on the ground. In this embodiment, the recognition module 14 can play the role of blasthole alignment. After the recognition module 14 recognizes the blasthole 3, according to the recognition result of the recognition module 14, the controller 17 obtains the azimuth information of the blasthole 3 relative to the blasthole plugging device 1, and the controller 17 controls the operation of the rotary device 12 according to the azimuth information, so that the discharge port 130 of the feeding mechanism 13 is aligned with the blasthole 3. Of course, in other embodiments, the recognition module 14 can also use an ultrasonic device, etc., or a combination of multiple recognition devices.

[0057] Furthermore, if Figure 1 and Figure 2 As shown, in this embodiment, the identification module 14 is disposed on the feeding pipe 132; preferably, the identification module 14 is disposed on the third pipe section 1323, so as to facilitate the blasthole identification and alignment. Of course, in other embodiments, the identification module 14 can also be disposed at other positions.

[0058] Furthermore, if Figures 1 to 3As shown, in this embodiment, the blasthole plugging device 1 further includes a positioning module 15, which is used to obtain the position information of the blasthole plugging device 1, and the controller 17 is connected to the positioning module 15 (specifically, an electrical signal connection); the positioning module 15 can be specifically arranged at a position on the chassis 11. The controller 17 can control the movement of the chassis 11 according to the position information of the blasthole 3 and the position information of the blasthole plugging device 1, and the recognition result of the recognition module 14, so that the blasthole plugging device 1 moves to the position where the blasthole 3 is located.

[0059] Specifically, the positioning module 15 can be a GPS positioning module, a BD (Beidou) positioning module, etc. During the loading operation, the blasthole plugging device 1 will receive the position information of the blasthole 3, and obtain the current position information of the blasthole plugging device 1 through the positioning module 15. The controller 17 performs path planning according to the position information of the blasthole 3 and the position information of the blasthole plugging device 1, and controls the movement of the chassis 11 accordingly, so that the blasthole plugging device 1 moves to the area where the blasthole 3 is located; however, limited by the accuracy of the positioning technology, the blasthole plugging device 1 generally cannot accurately come to the vicinity of the blasthole 3 (the distance between the blasthole plugging device 1 and the blasthole 3 is generally about 10 meters to 30 meters). At this time, the identification module 14 is required to identify the blasthole 3. After the identification module 14 identifies the blasthole 3, according to the identification result of the identification module 14, the controller 17 obtains the azimuth information of the blasthole 3 relative to the blasthole plugging device 1, and the controller 17 controls the movement of the chassis 11 according to the azimuth information, so that the blasthole plugging device 1 moves to the position (near) of the blasthole 3.

[0060] Furthermore, if Figures 1 to 3 As shown, in this embodiment, the blasthole plugging device 1 further includes a communication module 16, which is connected to the controller 17 (specifically, an electrical signal connection), and the communication module 16 can be specifically arranged on the chassis 11 or the like. The communication module 16 is used to remotely communicate with the control center 2, so as to remotely control the blasthole plugging device 1 through the communication module 16, send data parameters to the blasthole plugging device 1, and receive data parameters of the blasthole plugging device 1. The communication module 16 can specifically be a 4G network communication module, a 5G network communication module, etc.

[0061] An embodiment of the present invention also provides a blasthole plugging method, which is used in the above-mentioned blasthole plugging device 1; wherein the controller 17 in the blasthole plugging device 1 can implement the blasthole plugging method when executing a computer program (that is, the blasthole plugging method can be controlled and executed by the controller 17).

[0062] The blasthole plugging method comprises:

[0063] Obtaining plugging parameter information, the plugging parameter information including structural parameters of the blasthole 3 and density ρ of the plugging material 4; calculating the mass Δm of the plugging material 4 required to plug the blasthole 3 according to the plugging parameter information;

[0064] Control the feeding mechanism 13 to fill the plugging material 4 into the blasthole 3, and control the mass m of the plugging material 4 actually filled into the blasthole 3 by the feeding mechanism 13 1 , so that the m 1 The difference between Δm and Δm is within a preset range.

[0065] Specifically, the mass m of the plugging material 4 actually loaded into the blasthole 3 by controlling the feeding mechanism 13 is 1 , so that the m 1 The mass Δm of the plugging material 4 required to plug the blasthole 3 is controlled within the error range, so as to accurately control the plugging depth (that is, the height of the plugging material 4) and the plugging amount of the blasthole 3, so as to meet the design requirements of the blasting construction, improve the subsequent blasting efficiency, and help control the fragmentation of the rock after blasting, reduce the consumption of equipment and personnel caused by the secondary rock crushing construction, thereby further improving the construction efficiency and reducing the construction cost. Among them, the preset range can be ±5% of the Δm, that is, the m 1 Not exceeding Δm*±5%; of course, the preset range can be set according to actual needs.

[0066] Furthermore, if Figure 4 As shown, in this embodiment, the blast hole 3 is a cylindrical hole, and the structural parameters of the blast hole 3 include the radius r of the blast hole 3 and the plugging depth h of the blast hole 3, and the Δm=π*r 2 *h*ρ (i.e., the structural parameters of the blasthole 3 include the plugging volume V of the blasthole 3, Δm=V*ρ); wherein, the radius r and the plugging depth h of different blastholes 3 may be different, and the density ρ of different types of plugging materials 4 may also be different. Of course, in other embodiments, the blasthole 3 may also be a non-circular hole, such as a truncated cone structure, etc. In this case, the mass Δm of the plugging material 4 required to plug the blasthole 3 needs to be calculated according to the actual shape of the blasthole 3.

[0067] Furthermore, in this embodiment, the above-mentioned control feeding mechanism 13 is used to fill the plugging material 4 into the blasthole 3, and the mass m of the plugging material 4 actually filled into the blasthole 3 by the feeding mechanism 13 is controlled. 1 , so that m 1 The difference between Δm and Δm is within a preset range, including:

[0068] The feeding device 133 is controlled to operate so as to load the plugging material 4 in the silo 131 into the blast hole 3 through the feeding pipe 132; and the mass of the remaining plugging material 4 in the silo 131 is detected in real time through the weighing sensor 134, so as to calculate the mass m of the plugging material 4 actually loaded into the blast hole 3 by the feeding mechanism 13 1 ;

[0069] When the m 1 When the difference between Δm and Δm is within the preset range, the feeding device 133 is controlled to stop running, thereby stopping the filling of the plugging material 4 into the blasthole 3 .

[0070] Specifically, during the filling operation, before the plugging material 4 is filled into the blasthole 3, the mass m of the plugging material 4 in the silo 131 is detected by the weighing sensor 134. q In the process of filling the plugging material 4 into the blasthole 3, the mass m of the remaining plugging material 4 in the silo 131 is detected in real time by the weighing sensor 134 x According to the m q With the m x The mass m of the plugging material 4 actually loaded into the blasthole 3 by the feeding mechanism 13 can be calculated by the difference between 1 (i.e. m 1 =m q -m x ).

[0071] Furthermore, in this embodiment, before the above-mentioned control feeding mechanism 13 is used to load the plugging material 4 into the blasthole 3, the blasthole plugging method further includes:

[0072] The position information of the blast hole 3 is obtained; the movement of the chassis 11 is controlled according to the position information of the blast hole 3, so that the blast hole plugging device 1 moves to the position of the blast hole 3.

[0073] Further, in this embodiment, the above-mentioned acquisition of the position information of the blasthole 3 specifically includes:

[0074] The communication module 16 is used to perform remote communication with the control center 2 , and the position information of the blast hole 3 sent by the control center 2 is received through the communication module 16 .

[0075] Further, in this embodiment, the above-mentioned controlling the movement of the chassis 11 according to the position information of the blasthole 3 so that the blasthole blocking device 1 moves to the position where the blasthole 3 is located specifically includes:

[0076] According to the position information of the blasthole 3 and the position information of the blasthole plugging device 1, a moving path of the blasthole plugging device 1 is planned;

[0077] Control the chassis 11 to move according to the moving path, so that the blast hole plugging device 1 moves to a distance between it and the blast hole 3 within a first distance range;

[0078] The blast hole 3 is identified by the identification module 14, and the chassis 11 is controlled to move according to the identification result of the identification module 14, so that the blast hole plugging device 1 moves to a distance between it and the blast hole 3 within the second distance range. The second distance range is smaller than the first distance range, and the second distance range is, for example, 10 meters to 30 meters, and the second distance range is, for example, 0.5 meters to 2 meters. When the blast hole plugging device 1 moves to a distance between it and the blast hole 3 within the second distance range, according to the design length of the feeding tube 132, when the rotary device 12 rotates, the discharge port 130 on the feeding tube 132 can be aligned with the blast hole 3, so as to facilitate the next feeding action.

[0079] Furthermore, in this embodiment, before the above-mentioned control feeding mechanism 13 is used to load the plugging material 4 into the blasthole 3 and after the blasthole plugging device 1 is moved to the position of the blasthole 3, the blasthole plugging method further includes:

[0080] The discharge port 130 of the feeding mechanism 13 is controlled to be aligned with the blast hole 3 .

[0081] Furthermore, in this embodiment, the control of the discharge port 130 of the feeding mechanism 13 to align with the blast hole 3 specifically includes:

[0082] The blasthole 3 is identified by the identification module 14 , and the rotation device 12 is controlled to operate according to the identification result of the identification module 14 to drive the feeding mechanism 13 to rotate horizontally so that the discharge port 130 of the feeding mechanism 13 is aligned with the blasthole 3 .

[0083] Furthermore, in this embodiment, after controlling the feeding mechanism 13 to load the plugging material 4 into the blasthole 3, the blasthole plugging method further includes:

[0084] After the plugging material 4 is loaded into the upper blasthole 3, the mass m of the plugging material 4 currently remaining in the feeding mechanism 13 is obtained. 2 (Specifically, the mass m of the plugging material 4 currently remaining in the silo 131 is obtained 2 ), and calculate the mass Δm of the plugging material 4 required to plug the next blasthole 3 1 (The quality of the plugging material 4 required for different blastholes 3 may be different);

[0085] If m 2 ≥Δm 1 , then the blasthole plugging device 1 is controlled to load the plugging material 4 into the next blasthole 3; if m 2 <Δm 1, then the blast hole plugging device 1 is controlled to refill (i.e., the plugging material 4 is loaded into the blast hole plugging device 1).

[0086] Among them, when the blast hole plugging device 1 needs to be refilled, the blast hole plugging device 1 can travel to the material loading area for refilling, or the loading vehicle can travel to the location of the blast hole plugging device 1 to refill it (at this time, the blast hole plugging device 1 can be controlled to send a refilling request information to the loading vehicle).

[0087] Furthermore, in this embodiment, the above-mentioned obtaining of blocking parameter information specifically includes:

[0088] The communication module 16 is used to perform remote communication with the control center 2 , and the blocking parameter information sent by the control center 2 is received through the communication module 16 .

[0089] like Figure 3 As shown, an embodiment of the present invention further provides a blasthole plugging system, comprising a control center 2 (i.e., a back-end server) and at least one blasthole plugging device 1 as described above (generally multiple), the control center 2 being capable of remotely communicating with the communication module 16; the control center 2 being used for remotely transmitting plugging parameter information and quantity information and location information of the blastholes 3 to be plugged to each corresponding blasthole plugging device 1.

[0090] Specifically, the control center 2 is used to at least perform the following operations:

[0091] According to the blasthole position distribution map (not shown) and the number of blasthole plugging devices 1 actually in operation, the task is assigned to determine the number and position of blastholes 3 to be plugged by each blasthole plugging device 1; wherein the blasthole 3 position distribution map includes the number information of the blastholes 3 and the position information of each blasthole 3;

[0092] The plugging parameter information and the quantity information and position information of the blastholes 3 to be plugged are remotely transmitted to each corresponding blasthole plugging device 1 (the control center 2 can integrate the quantity information, position information and plugging parameter information of the blastholes 3 to be plugged by each blasthole plugging device 1 into a blasthole operation diagram, and then remotely transmit each blasthole operation diagram to each corresponding blasthole plugging device 1); wherein the plugging parameter information includes the structural parameters of the blasthole 3 and the density ρ of the plugging material 4.

[0093] Therefore, the control center 2 can cooperate with multiple blast hole plugging devices 1 to achieve automated and unmanned operations, improve plugging operation efficiency, and avoid repeated operations of each blast hole plugging device 1.

[0094] like Figures 1 to 4 As shown, the working process of the blasthole plugging system and the blasthole plugging device 1 can be:

[0095] (1) Before preparing for the operation, the command center remotely uploads the blasthole location distribution map and plugging parameter information of the open-pit mine blasting area to the control center 2. The control center 2 allocates tasks based on the blasthole location distribution map and the number of blasthole plugging devices 1 actually in operation, determines the number and position of blastholes 3 that each blasthole plugging device 1 needs to plug, and generates a blasthole operation map. The control center 2 remotely transmits each blasthole operation map to the controller 17 of each corresponding blasthole plugging device 1, and each blasthole plugging device 1 performs autonomous plugging operations according to the set blasthole operation map.

[0096] The blasthole plugging device 1 detects whether the plugging material 4 in the silo 131 is full through the weighing sensor 134 to determine whether to start the plugging operation; when the silo 131 is not full, the blasthole plugging device 1 can be refilled by a loader or a loading vehicle, etc. During the plugging operation, multiple blasthole plugging devices 1 can work together to improve the construction efficiency.

[0097] (2) After the blast hole plugging device 1 is loaded with the plugging material 4, the chassis 11 is controlled to move according to the position information of the blast hole 3 and the position information of the blast hole plugging device 1 obtained by the positioning module 15, so that the blast hole plugging device 1 enters the plugging construction area; then the blast hole 3 is identified by the identification module 14, so as to control the chassis 11 to move to the vicinity of the blast hole 3 that needs to be plugged, and then the rotating device 12 is controlled to operate to adjust the position of the feeding pipe 132 so that the discharge port 130 on the feeding pipe 132 is aligned with the blast hole 3.

[0098] (3) The blasthole plugging device 1 calculates the mass Δm of the plugging material 4 required to plug the blasthole 3 based on the plugging parameter information. The feeding device 133 is controlled to operate, and the plugging material 4 in the silo 131 is transported to the feeding pipe 132 through the feeding device 133, and then the plugging material 4 is loaded into the blasthole 3 through the feeding pipe 132; at this time, since the blasthole 3 is pre-filled with explosives 5, the plugging material 4 will be loaded above the explosives 5. During the plugging operation, the mass of the remaining plugging material 4 in the silo 131 is detected in real time by the weighing sensor 134, and the mass m of the plugging material 4 actually loaded into the blasthole 3 by the feeding mechanism 13 is calculated. 1 ; When m 1 When the difference between Δm and 1 ≈Δm), the feeding device 133 is controlled to stop running, so as to stop loading the plugging material 4 into the blasthole 3. Thus, by detecting the filling quality of the plugging material 4, it is indirectly ensured that the plugging depth h meets the requirements of the blasting parameter setting, and accurate plugging construction is achieved according to the plugging parameters, thereby improving the blasting efficiency and accuracy.

[0099] (4) After the plugging material 4 is loaded into the upper blast hole 3, the mass m of the plugging material 4 currently remaining in the silo 131 is detected. 2, and calculate the mass Δm of the plugging material 4 required to plug the next blasthole 3 1 If m 2 ≥Δm 1 , then the blasthole plugging device 1 is controlled to continue to load the plugging material 4 into the next blasthole 3; if m 2 <Δm 1 , then control the blasthole plugging device 1 to refill.

[0100] The blasthole plugging device 1, blasthole plugging method and blasthole plugging system provided in the embodiments of the present invention can realize the automation and unmanned operation of open-pit blasthole plugging construction, liberate labor, improve work efficiency, reduce plugging construction costs, and improve the profitability of mine blasting construction; its advantages specifically include:

[0101] (1) By controlling the blasthole plugging device 1 to load the plugging material 4 into the blasthole 3, the blasthole 3 is plugged. Compared with the manual filling method, the safety and efficiency of the blasthole plugging operation can be greatly improved, thereby improving the efficiency of mineral mining.

[0102] (2) By setting a weighing sensor 134 to detect the mass of the blocking material 4 in the silo 131, the mass of the blocking material 4 actually loaded into the blasthole 3 by the feeding mechanism 13 is controlled, thereby accurately controlling the blocking depth and blocking amount of the blasthole 3 to meet the design requirements of the blasting construction, improve the subsequent blasting efficiency, and help control the fragmentation of the rock after blasting, reduce the consumption of equipment and personnel caused by the secondary rock crushing construction, thereby further improving the construction efficiency and reducing the construction cost.

[0103] (3) By providing the chassis 11, the rotating device 12, the positioning module 15 and the identification module 14, etc., the blast hole plugging device 1 can realize functions such as automatic hole finding and automatic hole alignment.

[0104] (4) Multiple blasthole plugging devices 1 can be used to work in coordination, thereby improving the efficiency of plugging construction.

[0105] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A blast hole plugging method, used in a blast hole plugging device, characterized in that: The blasthole plugging device comprises a feeding mechanism, which is used to store plugging materials and load the plugging materials into the blasthole; the blasthole plugging method comprises: Obtaining plugging parameter information, the plugging parameter information including structural parameters of the blasthole and density ρ of the plugging material; calculating the mass Δm of the plugging material required to plug the blasthole according to the plugging parameter information; The feeding mechanism is controlled to load the plugging material into the blasthole, and the mass m1 of the plugging material actually loaded into the blasthole by the feeding mechanism is controlled so that the difference between m1 and Δm is within a preset range.

2. The blast hole plugging method according to claim 1, characterized in that: The blast hole is a cylindrical hole, and the structural parameters of the blast hole include the radius r of the blast hole and the plugging depth h of the blast hole. The Δm=π*r 2 *h*ρ.

3. The blast hole plugging method according to claim 1, characterized in that: The blast hole plugging device also includes a movable chassis, and the feeding mechanism is arranged on the chassis; Before controlling the feeding mechanism to load the plugging material into the blasthole, the blasthole plugging method further includes: Acquire the position information of the blasthole; and control the movement of the chassis according to the position information of the blasthole to move the blasthole plugging device to the position of the blasthole.

4. The blast hole plugging method according to claim 3, characterized in that: The blast hole plugging device further includes a positioning module and an identification module, wherein the positioning module is used to obtain the position information of the blast hole plugging device, and the identification module is used to identify the blast hole; and the control of the chassis movement according to the position information of the blast hole so that the blast hole plugging device moves to the position of the blast hole specifically includes: Planning a moving path of the blasthole plugging device according to the position information of the blasthole and the position information of the blasthole plugging device; Control the movement of the chassis according to the movement path, so that the blast hole blocking device moves to a distance between the device and the blast hole within a first distance range; The blast hole is identified by the identification module, and the chassis movement is controlled according to the identification result of the identification module, so that the blast hole plugging device moves to a distance between it and the blast hole within a second distance range; wherein the second distance range is smaller than the first distance range.

5. The blast hole plugging method according to claim 3, characterized in that: The feeding mechanism has a discharge port; before controlling the feeding mechanism to load the blocking material into the blasthole and after the blasthole blocking device moves to the location of the blasthole, the blasthole blocking method further includes: The discharge port of the feeding mechanism is controlled to be aligned with the blast hole.

6. The blast hole plugging method according to claim 5, characterized in that: The blast hole plugging device further includes a rotating device and an identification module, wherein the rotating device is arranged between the chassis and the feeding mechanism, the rotating device is used to drive the feeding mechanism to rotate horizontally, and the identification module is used to identify the blast hole; The controlling the discharge port of the feeding mechanism to align with the blasthole specifically includes: The blasthole is identified by the identification module, and the rotation device is controlled to operate according to the identification result of the identification module to drive the feeding mechanism to rotate horizontally so that the discharge port of the feeding mechanism is aligned with the blasthole.

7. The blast hole plugging method according to claim 1, characterized in that: After controlling the feeding mechanism to load the plugging material into the blasthole, the blasthole plugging method further comprises: After the plugging material is loaded into the previous blasthole, the mass m2 of the plugging material currently remaining in the feeding mechanism is obtained, and the mass Δm1 of the plugging material required to plug the next blasthole is calculated; If m2≥Δm1, the blast hole plugging device is controlled to load the plugging material into the next blast hole; if m2<Δm1, the blast hole plugging device is controlled to refill the material.

8. The blasthole plugging method according to any one of claims 1 to 7, characterized in that: The feeding mechanism includes a silo for storing the plugging material, a feeding pipe connected to the silo, a feeding device for conveying the plugging material in the silo to the feeding pipe, and a weighing sensor for detecting the mass of the plugging material in the silo; the method of controlling the feeding mechanism to load the plugging material into the blasthole and controlling the mass m1 of the plugging material actually loaded into the blasthole by the feeding mechanism so that the difference between m1 and Δm is within a preset range specifically includes: Control the feeding device to operate so as to load the plugging material in the silo into the blasthole through the feeding pipe; and detect the mass of the remaining plugging material in the silo in real time through the weighing sensor, so as to calculate the mass m1 of the plugging material actually loaded into the blasthole by the feeding mechanism; When the difference between m1 and Δm is within the preset range, the feeding device is controlled to stop running.

9. A blast hole plugging device, characterized in that: The method comprises a controller and a feeding mechanism, wherein the feeding mechanism is used to store plugging materials and load the plugging materials into the blasthole, and the controller is connected to the feeding mechanism; when the controller executes a computer program, the blasthole plugging method as described in any one of claims 1-8 is implemented.

10. A blasthole plugging system, characterized in that: comprising a control center and at least one blast hole plugging device as claimed in claim 9, wherein the blast hole plugging device further comprises a communication module, the communication module is connected to the controller, and the communication module is used for remote communication with the control center; The control center is used to perform the following operations: According to the blasthole position distribution map and the number of the blasthole plugging devices actually in operation, the task is assigned to determine the number and position of the blastholes to be plugged by each of the blasthole plugging devices; wherein the blasthole position distribution map includes the number information of the blastholes and the position information of each of the blastholes; The plugging parameter information and the quantity information and position information of the blast holes to be plugged are remotely transmitted to each corresponding blast hole plugging device.

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