Method for automatically detecting blast hole crack hole and charging height in charging process

Abstract

The invention relates to the technical field of blasting charge, and discloses a method for automatically detecting a blast hole crack hole and charge height in a charge process, which comprises the following steps of: conveying an explosive into a blast hole through an explosive conveying pipe, and setting a theoretical pipe withdrawing speed of the explosive conveying pipe; the pipeline conveying pressure change in the explosive conveying pipe withdrawing process is detected in real time; dynamically adjusting the tube withdrawing speed of the explosive conveying tube according to the change of the conveying pressure of the pipeline, enabling the tube withdrawing speed of the explosive conveying tube to be matched with the lifting speed of the explosive liquid level in the blast hole, and monitoring the explosive loading height in real time; judging whether a crack hole or an extrusion deformation defect exists in the blast hole according to the difference value between the actual explosive conveying pipe withdrawing speed and the theoretical explosive conveying pipe withdrawing speed; and when the difference value exceeds a preset range, triggering an alarm. According to the invention, accurate matching of the tube withdrawing speed and the explosive liquid level height can be realized, the explosive charging height is monitored in real time, defects such as blast hole cracks and holes are automatically identified, an alarm is given in real time, and the intelligent level, the safety and the filling uniformity in the explosive charging process are obviously improved.

Description

Technical Field

[0001] The invention relates to the technical field of blasting charges, in particular to a method for automatically detecting cracks and holes in blast holes and charge height during a charge process. Background Art

[0002] With the rapid development of intelligent and automated engineering blasting technology, deephole blasting has become widely adopted in mining blasting and construction earthwork blasting. Due to its wide coverage and concentrated energy release, deephole blasting has become a key means of improving blasting efficiency. However, due to complex geological conditions, deephole drilling often produces structural defects such as cracks, holes, and extrusion deformation. These invisible factors seriously interfere with the uniform filling of explosives and the effectiveness of energy release. Therefore, real-time perception of blasthole status and dynamic adjustment of charging strategies have become key to improving blasting quality and reducing operational risks.

[0003] In the existing technology, the charging process usually adopts an on-site mixing method, in which explosives are injected into the blasthole through a drug delivery pipe and the pipe is withdrawn according to a set withdrawal speed. The operator judges the liquid level rise based on experience and adjusts the withdrawal speed manually or semi-automatically to achieve the charging target. Although this method has a certain adaptability under conventional conditions, it is difficult to respond to liquid level changes in a timely manner when faced with complex conditions in the hole, especially when there are hidden defects such as hole wall leakage or structural shrinkage. It is easy to cause problems such as explosive accumulation, cavity or interruption of supply, affecting the quality of explosive filling and blasting uniformity. In addition, the traditional method lacks the ability to perceive the state of the explosive liquid level in real time. The entire charging process is basically in a "blind loading" state, making it difficult to achieve closed-loop control.

[0004] Therefore, the present invention proposes a method for automatically detecting cracks and holes in blastholes and charging height during the charging process to solve the shortcomings of the existing technology. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for automatically detecting cracks and holes in blastholes and charging height during the charging process, which solves the problems of difficulty in real-time identification of blasthole defects and difficulty in accurately matching the tube withdrawal speed with the explosive liquid level rising speed during the existing charging process.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a method for automatically detecting cracks and holes in blastholes and charge height during a charge process, comprising the following steps: Deliver explosives into the blasthole through the explosive delivery tube and set the theoretical withdrawal speed of the explosive delivery tube; Real-time detection of changes in the delivery pressure in the pipeline during the withdrawal of the drug delivery tube; Dynamically adjust the withdrawal speed of the drug delivery tube according to the change of the pipeline delivery pressure, so that the withdrawal speed of the drug delivery tube matches the rising speed of the explosive liquid level in the blasthole, and monitor the charging height in real time; The difference between the actual withdrawal speed of the drug delivery tube and the theoretical withdrawal speed is used to determine whether there are cracks, holes or extrusion deformation defects in the blasthole; When the difference exceeds a preset range, an alarm is triggered.

[0007] Preferably, a tube head structure is installed at the front end of the drug delivery tube, and the tube head structure is a cylindrical structure. The bottom and periphery of the tube head structure are provided with a plurality of pore structures, and the pore structures are a plurality of distributed through holes or strip-shaped through holes.

[0008] Preferably, the theoretical drug delivery tube withdrawal speed is set as follows: The calculation is based on the ratio of the charge volume flow rate Q to the designed cross-sectional area of the blasthole s, that is, the theoretical withdrawal speed of the charge tube v0 = Q / s.

[0009] Preferably, the step of real-time detecting the change in the delivery pressure in the drug delivery tube during the withdrawal process includes: The delivery pressure in the drug delivery pipe is detected by a pressure sensor installed at the outlet of the delivery pump; Calculating the real-time pipeline pressure value P of the drug delivery tube when withdrawing the drug delivery tube based on the electrical signal output by the pressure sensor; The real-time pipeline pressure value P of the withdrawal of the drug delivery tube is compared with the pre-calibrated reference pressure P0 of the withdrawal of the drug delivery tube to obtain the pressure difference ΔP=P-P0 of the withdrawal of the drug delivery tube.

[0010] Preferably, the change in the real-time pipeline pressure value P of the drug delivery tube during withdrawal is related to the insertion depth of the cylindrical structure of the drug delivery tube relative to the explosive liquid level in the blasthole, including: When the cylindrical structure of the drug delivery tube is completely exposed to the liquid level of the blasthole, the explosives in the drug delivery tube can flow out through the multiple pore structures arranged at the bottom and periphery of the cylindrical structure, and the real-time pipeline pressure value P is the minimum; When the cylindrical structure of the drug delivery tube is inserted into the explosive liquid level in the blast hole, the explosive in the drug delivery tube is blocked from flowing out, and the real-time pipeline pressure value P increases; When the cylindrical structure of the drug delivery tube is completely inserted into the explosive liquid level in the blast hole, all the explosives in the drug delivery tube are blocked from flowing out, and the real-time pipeline pressure value P continues to increase.

[0011] Preferably, the step of dynamically adjusting the withdrawal speed of the drug delivery tube according to the change of the pipeline delivery pressure so as to match the withdrawal speed of the drug delivery tube with the rising speed of the explosive liquid level in the blasthole includes: When the withdrawal pressure difference ΔP>k, calculate the withdrawal speed adjustment Δv=m(ΔP-k), and execute withdrawal at the adjusted actual withdrawal speed v=v0+Δv; Wherein, k is the preset pressure deviation threshold; m is the speed adjustment coefficient; and v0 is the theoretical withdrawal speed of the drug delivery tube.

[0012] Preferably, the step of determining whether a crack, hole or extrusion deformation defect exists in the blasthole by the difference between the actual withdrawal speed of the drug delivery tube and the theoretical withdrawal speed of the drug delivery tube comprises: Calculate in real time the difference between the actual withdrawal speed v of the drug delivery tube and the theoretical withdrawal speed v0, Δv′=|v-v0|; When Δv′>Δv ′ 1. When the actual withdrawal speed v of the drug delivery tube is continuously lower than the theoretical withdrawal speed v0, it is determined that there are cracks and holes in the blasthole; When Δv′>Δv ′ 2. When the actual withdrawal speed v of the drug delivery tube is continuously higher than the theoretical withdrawal speed v0, it is determined that the blasthole has extrusion deformation; Where Δv ′ 1 is the threshold for determining cracks and holes; Δv ′ 2 is the extrusion deformation judgment threshold.

[0013] Preferably, the step of triggering an alarm when the difference exceeds a preset range includes: When Δv ′ >Δv max When the delay judgment timer is started, if Δv ′ Continuously exceeding Δv max , then trigger the alarm signal; Where Δv max is the dynamic alarm threshold, through the formula Δv max =a×max(Δv ′ 1,Δv ′ 2) Calculation, a is the safety factor; T1 is the delay judgment time window.

[0014] Preferably, the safety factor a is dynamically adjusted according to the geological conditions of the blasthole, and the specific adjustment method is: When defects are detected in N consecutive blastholes, the safety factor a is updated to: Among them, a new is the updated safety factor; a old is the original safety factor; n is the number of times the alarm is triggered in N blastholes; f is the classification coefficient set according to geological rock conditions.

[0015] In summary, the present invention includes at least one of the following beneficial technical effects: 1. This invention monitors the pressure differential during the withdrawal of the drug delivery tube in real time and dynamically adjusts the withdrawal speed based on changes in the pressure differential, ensuring that the withdrawal speed of the drug delivery tube precisely matches the rate of increase in the explosive liquid level within the blasthole. This intelligent control not only reduces the need for human intervention but also automatically adjusts the withdrawal speed through a closed-loop feedback mechanism, preventing liquid level lag or overly rapid withdrawal, thereby improving the accuracy and reliability of the charging process.

[0016] 2. This invention automatically determines whether the blasthole contains structural defects such as cracks, holes, or extrusion deformation by comparing the difference between the actual and theoretical withdrawal velocities in real time. Upon detection of an anomaly, an alarm is immediately triggered, prompting operators to intervene promptly or conduct safety inspections, effectively avoiding operational safety hazards caused by defects.

[0017] 3. Through its automated detection and control mechanisms, this invention significantly reduces reliance on manual operation and mitigates operator risk. In complex operating environments, it can independently identify and respond to abnormal conditions, such as liquid level lag or structural defects, thereby reducing operational errors and equipment failures caused by human factors and improving overall operational safety and stability.

[0018] 4. By accurately measuring the withdrawal length of the explosive delivery tube in real time, the present invention can accurately determine the actual filling height of the explosives in the blasthole. This not only ensures that the charge in each blasthole meets the design requirements, but also avoids over- or under-charging caused by errors in estimation or empirical judgment, thereby improving the uniformity and controllability of the blasting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram of the structure of the drug delivery tube of the present invention; Figure 3 This is a schematic diagram of the pipe head structure of the present invention fully exposing the liquid level of the charged powder in the blast hole; Figure 4 This is a schematic diagram of the explosive liquid level after a portion of the pipe head structure of the present invention has been inserted into the hole; Figure 5 This is a schematic diagram of the explosive liquid level when the pipe head structure of the present invention is fully inserted into the hole; Figure 6 It is a schematic diagram of the pipe head structure of the present invention.

[0020] Among them, 1. Charging vehicle; 2. Charging tube reel; 3. Working arm; 4. Guide mechanism; 5. Charging tube; 6. Tube head structure; 7. Cracks and holes; 8. Extrusion deformation; 9. Gunhole; 10. Charging liquid level. DETAILED DESCRIPTION

[0021] The following is combined with Figure 1 -Attached Figure 6 , the present invention is described in further detail.

[0022] The embodiment of the present invention provides a method for automatically detecting cracks and holes in blastholes and charge height during the charge process. S1, delivering explosives into the blasthole 9 through the explosive delivery tube 5, and setting the theoretical withdrawal speed of the explosive delivery tube 5; S2, real-time detection of the delivery pressure change in the drug delivery tube 5 during the withdrawal process; S3, dynamically adjust the withdrawal speed of the drug delivery tube 5 according to the change of the pipeline delivery pressure, so that the withdrawal speed of the drug delivery tube 5 matches the rising speed of the explosive liquid level in the blasthole 9, and monitor the charging height in real time; S4. Determine whether the blasthole 9 has crack holes 7 or extrusion deformation 8 defects based on the difference between the actual withdrawal speed of the drug delivery tube 5 and the theoretical withdrawal speed of the drug delivery tube 5; S5. When the difference exceeds the preset range, an alarm is triggered.

[0023] In step S1, in this embodiment, the charging operation uses the charging vehicle 1 as the work platform. Initially, the operator drives the charging vehicle 1 to the vicinity of the target blasthole 9. Preferably, the position of the blasthole 9 is precisely calibrated using an onboard positioning module to ensure vertical insertion accuracy during the drug delivery operation. The charging vehicle 1 platform is adjusted to a substantially horizontal position using a self-leveling device to ensure that the drug delivery tube 5 maintains a vertical axis during insertion, preventing deflection that could affect subsequent charging efficiency and accuracy.

[0024] After positioning is completed, the working arm 3 or the guide mechanism 4 (guide wheel) of the drug delivery tube 5 and the drug delivery tube reel 2 are controlled to insert the drug delivery tube 5 into the bottom of the blast hole 9, and then the explosives are pumped out through the drug delivery tube 5 and filled into the blast hole 9 through the delivery pump on the charging vehicle 1.

[0025] The front end of the drug delivery tube 5 is mounted with a tube head structure 6. This cylindrical structure features multiple pores at its base and periphery, either distributed or strip-shaped. These pores are evenly distributed along the circumference of the tube head, and their diameters are designed based on the rheological properties of the explosive, ensuring uniform diffusion of the explosive through the pores into the bore 9 under pumping pressure.

[0026] The theoretical withdrawal speed of the drug delivery tube 5 is set based on the principle of fluid continuity and is determined by the mathematical relationship between the charge volume flow rate Q and the cross-sectional area s of the blasthole 9. The specific calculation formula is: v0=Q / s; Among them, Q is determined by the displacement parameter of the delivery pump; s is calculated according to the design diameter D of the blast hole 9 (s=πD 2 / 4).

[0027] During the implementation process, the control system of the charging vehicle 1 selects the cross-sectional area input mode according to the working conditions of the blasthole 9: Preset mode: directly use the nominal diameter in the design drawing to calculate s; Dynamic calibration mode: The diameter of the blasthole 9 is measured in real time by a laser caliper and the actual cross-sectional area is calculated.

[0028] This dual-mode design enhances the system's adaptability to complex on-site geological conditions, and is particularly suitable for working conditions with local collapse or rock deformation.

[0029] In this embodiment, step S2 is implemented in the following manner: A pressure sensor is installed at the outlet of the delivery pump. It is rigidly connected to the drug delivery tube 5 via a flange or threaded interface to ensure real-time pressure signal acquisition. The pressure sensor continuously monitors the delivery pressure within the drug delivery tube 5 at a preset sampling frequency (preferably no less than 100 Hz) and outputs an analog electrical signal to the processing unit.

[0030] The calculation of the real-time pipeline pressure value P of the drug delivery tube 5 when it is withdrawn is completed through the following process: Amplify and filter the original electrical signal to eliminate high-frequency noise interference; Convert the analog signal into a digital signal through the AD conversion module; The digital signal is smoothed using a sliding average algorithm, with a window length of preferably 0.5 seconds; The voltage value is converted into a pressure physical quantity according to the sensor calibration curve to obtain the real-time pipeline pressure value P.

[0031] The pre-calibration of the withdrawal reference pressure P0 of the drug delivery tube 5 is performed during the initialization phase of the drug loading operation. The specific method is as follows: When the drug delivery tube 5 is completely inserted into the bottom of the blast hole 9 and the tube head is completely out of the explosive liquid surface, the pressure acquisition program is started; When the pressure fluctuation amplitude for 10 consecutive sampling periods is less than the set threshold, the average pressure value of the period is taken as P0.

[0032] The pressure difference ΔP when the drug delivery tube 5 is withdrawn is calculated by the following formula: ΔP=P-P0; In this embodiment, the correlation between the change in the real-time pipeline pressure value P of the drug delivery tube 5 during withdrawal and the insertion depth of the cylindrical structure of the drug delivery tube 5 relative to the explosive liquid level in the blasthole 9 is achieved through the following physical mechanism: The pressure differential directly indicates the relative position between the tube head structure 6 and the explosive liquid level. When the cylindrical structure of the drug delivery tube 5 is completely exposed above the charged liquid level of the blasthole 9, the multiple pores at the bottom and surrounding areas of the cylindrical structure are fully exposed, allowing the explosive to flow freely through the through-holes with minimal flow resistance. At this point, the real-time pipeline pressure value P approaches the pre-calibrated reference pressure P0 for withdrawing the drug delivery tube 5, i.e., ΔP ≈ 0.

[0033] When the cylindrical portion of the drug delivery tube 5 is inserted into the explosive liquid level in the blasthole 9, part of the through-hole is covered by the liquid, reducing the effective flow area, obstructing the outflow of explosives, and increasing fluid resistance, causing the real-time pipeline pressure value P to increase, with ΔP > 0. The magnitude of the pressure increase is positively correlated with the through-hole coverage ratio.

[0034] When the cylindrical structure of the drug delivery tube 5 is completely inserted into the explosive liquid level in the blasthole 9, all through holes are closed by the liquid level, the explosive flow channel is completely blocked, and the real-time pipeline pressure value P continues to increase as the insertion depth increases.

[0035] In this embodiment, step S3 is implemented in the following manner: When the pressure difference ΔP of the drug delivery tube 5 is greater than k (k is the preset pressure deviation threshold), the control system starts the speed adjustment program. The speed adjustment amount Δv of the withdrawal tube is calculated by the linear proportional formula: Δv=m(ΔP-k); The velocity adjustment coefficient m is obtained by calibration based on the rheological properties of the explosive and the parameters of the through-holes on the cylindrical structure.

[0036] The actual adjusted withdrawal speed v of the drug delivery tube 5 is calculated by the following formula: v=v0+Δv; Wherein, v0 is the theoretical withdrawal speed of the drug delivery tube 5. When ΔP>k, Δv is a positive value, and the control system increases the withdrawal speed.

[0037] The above control logic is sent to the hydraulic control unit through the control system of the charging vehicle 1, which adjusts the control valve block of the hydraulic motor to increase the speed of the drug delivery tube reel 2 in real time, thereby accelerating the tube withdrawal process and making the tube withdrawal speed keep up with the rising speed of the liquid level.

[0038] When ΔP=0, and for a duration of t (a preset value), the control system slows down the pipe withdrawal speed.

[0039] When 0 < ΔP ≤ k is detected in real time and ΔP stabilizes, it is determined that the liquid level rise and the tube withdrawal speed are in a dynamic equilibrium state, and there is no current liquid level lag or advance. Under this operating condition, the control system will maintain the existing tube withdrawal speed for stable operation to ensure charging efficiency and filling uniformity.

[0040] It should be noted that the ΔP-based judgment logic is premised on the requirement that at least a portion of the through-holes of the cylindrical structure of the drug delivery tube 5 remain submerged in the liquid explosive for a certain period of time t during the withdrawal process. This condition is crucial for ensuring that the pressure difference signal is representative of the liquid level. If the cylindrical structure of the drug delivery tube 5 completely escapes the liquid surface, the pressure sensor will only detect the gas phase or gas-liquid interface pressure. The measured ΔP will lose its actual correlation with the change in liquid level, making it difficult for the control system to make effective judgments based on this information.

[0041] Before charging begins, the drug delivery tube 5 is first lowered to the bottom of the blasthole 9. This operation establishes an accurate starting reference plane for the charge height. Subsequent charge heights are measured upward from this bottom of the hole as the zero point, thus ensuring the consistency and accuracy of the measurement.

[0042] To monitor the displacement of the medication tube 5 during retraction in real time, the present invention preferably utilizes an absolute encoder. The encoder is mounted on one end of the spool shaft of the medication tube reel 2 and rotates coaxially with the reel. This configuration enables the encoder to directly and in real time detect the amount of rotation of the reel. The absolute encoder is chosen because it maintains position information even after power failure, ensuring the continuity and reliability of monitoring data under various operating conditions.

[0043] As the tubing reel 2 rotates during retraction, a coaxially mounted absolute encoder generates a real-time signal representing the tubing reel's rotation (e.g., cumulative revolutions or precise angle). The control system receives this signal and, combined with pre-set physical parameters of the tubing reel 2, calculates the length of the tubing reeled upward from the bottom of the blasthole.

[0044] The preset parameters of the drug delivery tube reel mainly include the effective circumference C of the reel reel , or the linear displacement of the drug delivery tube corresponding to the unit rotation of the encoder. For example, if the number of turns of the drum recorded by the absolute encoder is N revolutions , then the upward exit length of the drug delivery tube is the current loading height H charge , can be calculated by the following formula: H charge =N revolutions ×C reel ; Finally, the length of the drug delivery tube that is withdrawn upward from the bottom of the blasthole, calculated in the above manner, is defined as the real-time charge height formed in the current blasthole.

[0045] In this embodiment, step S4 is implemented in the following manner: The actual withdrawal speed v of the drug delivery tube 5 and the theoretical withdrawal speed v0 of the drug delivery tube 5 are collected in real time, and the real-time speed difference Δv′=|v−v0| is calculated.

[0046] When Δv′>Δv ′ 1 and the actual withdrawal speed v of the drug delivery tube 5 is continuously lower than the theoretical withdrawal speed v0 of the drug delivery tube 5, indicating that the explosive filling amount per unit time is less than the theoretical design value. This state is triggered by the following physical mechanism: When crack holes 7 exist in the blasthole 9, the explosives are lost abnormally through the geological defects, resulting in a decrease in the rate of liquid level rise; In order to maintain the synchronization between the tube head and the liquid level, the control system is forced to reduce the actual withdrawal speed v of the drug delivery tube 5 to compensate for the lag of the liquid level; The through holes in the cylindrical structure exacerbate the abnormal loss effect. The distributed through hole design allows the local loss to be quickly reflected to the speed control link through the pressure difference ΔP when the drug delivery tube 5 exits the tube.

[0047] When Δv′>Δv ′ 2. If the actual withdrawal speed v of the drug delivery tube 5 is continuously higher than the theoretical withdrawal speed v0 of the drug delivery tube 5, it indicates that the actual cross-sectional area of the blasthole 9 is smaller than the designed value. This state is caused by the following factors: The blast hole 9 has extrusion deformation 8, which reduces the effective charging space; Under the same charge flow rate, the liquid level rise rate is accelerated, forcing the control system to increase the actual withdrawal speed v of the drug delivery pipe 5 to track the liquid level changes.

[0048] Δv ′ 1 is the threshold for determining cracks and holes, Δv ′ 2 is the threshold for judging the extrusion deformation 8.

[0049] In this embodiment, step S5 is implemented in the following manner: When the real-time speed deviation Δv′ exceeds the dynamic alarm threshold Δv max When , the control system starts the delay judgment mechanism. Dynamic alarm threshold Δv max Determined by the following calculation: Δv max =a×max(Δv ′ 1,Δv ′ 2); Where a is the safety factor, and the initial value of a is set according to the integrity level of the geological rock mass; Δv ′ 1 is the threshold for determining cracks and holes, Δv ′ 2 is the threshold for judging the extrusion deformation 8.

[0050] In the time window T1, the control system uses a sliding window algorithm to continuously monitor Δv ′ When the duration of the over-limit condition exceeds a preset ratio, a graded alarm response is triggered. The time window T1 is set by comprehensively considering the control system response delay and operating condition fluctuation characteristics, and the preferred range covers the typical charging operation cycle.

[0051] The dynamic adjustment of the safety factor a is achieved through an adaptive learning algorithm: when defects are detected in N consecutive blastholes 9, the safety factor is updated according to the following formula: Among them, a new is the updated safety factor; a old is the original safety factor; n is the number of times the alarm is triggered in N blastholes 9; f is set according to the geological rock condition classification coefficient, and the lower the f value, the smaller it is, the lower the sensitivity to the defects of the blasthole 9, the lower the alarm frequency, the fewer shutdowns, and the more normal the charging work is.

[0052] In addition, the safety factor a is manually adjusted according to actual working conditions to ensure a balance between alarm accuracy, charging safety and efficiency.

[0053] Through the synergistic effect of three technical means: dynamic alarm threshold, delayed judgment, and adaptive coefficient, an intelligent alarm system that takes into account both detection accuracy and operational efficiency is built.

[0054] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for automatically detecting cracks, holes and charge height of blastholes during charge charging, characterized in that: The following steps are involved: Deliver explosives into the blasthole through the explosive delivery tube and set the theoretical withdrawal speed of the explosive delivery tube; Real-time detection of changes in the delivery pressure in the pipeline during the withdrawal of the drug delivery tube; Dynamically adjust the withdrawal speed of the drug delivery tube according to the change of the pipeline delivery pressure, so that the withdrawal speed of the drug delivery tube matches the rising speed of the explosive liquid level in the blasthole, and monitor the charging height in real time; The difference between the actual withdrawal speed of the drug delivery tube and the theoretical withdrawal speed is used to determine whether there are cracks, holes or extrusion deformation defects in the blasthole; When the difference exceeds a preset range, an alarm is triggered.

2. The method for automatically detecting blasthole cracks and holes and charge height during charge charging according to claim 1, characterized in that: The front end of the drug delivery tube is equipped with a tube head structure, which is a cylindrical structure. The bottom and periphery of the tube head structure are provided with a plurality of pore structures, which are a plurality of distributed through holes or strip-shaped through holes.

3. The method for automatically detecting cracks, holes and charge height of blastholes during charge charging according to claim 1, characterized in that: The theoretical drug delivery tube withdrawal speed is set as follows: The calculation is based on the ratio of the charge volume flow rate Q to the designed cross-sectional area of the blasthole s, that is, the theoretical withdrawal speed of the charge tube v0 = Q / s.

4. The method for automatically detecting blasthole cracks and holes and charge height during charge charging according to claim 1, characterized in that: The step of detecting the change of the delivery pressure in the drug delivery tube in real time during the withdrawal process includes: The delivery pressure in the drug delivery pipe is detected by a pressure sensor installed at the outlet of the delivery pump; Calculating the real-time pipeline pressure value P of the drug delivery tube when withdrawing the drug delivery tube based on the electrical signal output by the pressure sensor; The real-time pipeline pressure value P of the withdrawal of the drug delivery tube is compared with the pre-calibrated reference pressure P0 of the withdrawal of the drug delivery tube to obtain the pressure difference ΔP=P-P0 of the withdrawal of the drug delivery tube.

5. The method for automatically detecting blasthole cracks and holes and charge height during charge charging according to claim 4, characterized in that: The change in the real-time pipeline pressure value P of the drug delivery tube during withdrawal is related to the insertion depth of the cylindrical structure of the drug delivery tube relative to the explosive liquid level in the blasthole, including: When the cylindrical structure of the drug delivery tube is completely exposed to the liquid level of the blasthole, the explosives in the drug delivery tube can flow out through the multiple pore structures arranged at the bottom and periphery of the cylindrical structure, and the real-time pipeline pressure value P is the minimum; When the cylindrical structure of the drug delivery tube is inserted into the explosive liquid level in the blast hole, the explosive in the drug delivery tube is blocked from flowing out, and the real-time pipeline pressure value P increases; When the cylindrical structure of the drug delivery tube is completely inserted into the explosive liquid level in the blast hole, all the explosives in the drug delivery tube are blocked from flowing out, and the real-time pipeline pressure value P continues to increase.

6. The method for automatically detecting cracks, holes and charge height of blastholes during charge charging according to claim 1, characterized in that: The step of dynamically adjusting the withdrawal speed of the drug delivery tube according to the change of the pipeline delivery pressure so as to match the withdrawal speed of the drug delivery tube with the rising speed of the explosive liquid level in the blasthole comprises: When the withdrawal pressure difference ΔP>k, calculate the withdrawal speed adjustment Δv=m(ΔP-k), and execute withdrawal at the adjusted actual withdrawal speed v=v0+Δv; Wherein, k is the preset pressure deviation threshold; m is the speed adjustment coefficient; and v0 is the theoretical withdrawal speed of the drug delivery tube.

7. The method for automatically detecting cracks, holes and charge height of blastholes during charge charging according to claim 1, characterized in that: The step of real-time monitoring of charge height comprises: After the drug delivery tube is lowered to the bottom of the blasthole, the absolute encoder installed on the drug delivery tube reel is used to detect the rotation amount of the drug delivery tube reel in real time during the retraction process; Calculating the length of the drug delivery tube that is withdrawn upward from the predetermined starting drug loading position based on the rotation amount and preset parameters of the drug delivery tube reel; The upward withdrawal length is used as the charge height formed in the current blasthole.

8. The method for automatically detecting cracks, holes and charge height of blastholes during charge charging according to claim 1, characterized in that: The step of determining whether a crack, hole or extrusion deformation defect exists in a blasthole by using the difference between the actual withdrawal speed of the drug delivery tube and the theoretical withdrawal speed of the drug delivery tube comprises: Calculate in real time the difference between the actual withdrawal speed v of the drug delivery tube and the theoretical withdrawal speed v0, Δv′=|v-v0|; When Δv′>Δv ′ 1. When the actual withdrawal speed v of the drug delivery tube is continuously lower than the theoretical withdrawal speed v0, it is determined that there are cracks and holes in the blasthole; When Δv′>Δv ′ 2. When the actual withdrawal speed v of the drug delivery tube is continuously higher than the theoretical withdrawal speed v0, it is determined that the blasthole has extrusion deformation; Where Δv ′ 1 is the threshold for determining cracks and holes; Δv ′ 2 is the extrusion deformation judgment threshold.

9. The method for automatically detecting cracks, holes and charge height of blastholes during charge charging according to claim 1, characterized in that: The step of triggering an alarm when the difference exceeds a preset range includes: When Δv ′ >Δv max When the delay judgment timer is started, if Δv ′ Continuously exceeding Δv max , then trigger the alarm signal; Where Δv max is the dynamic alarm threshold, through the formula Δv max =a×max(Δv ′ 1,Δv ′ 2) Calculation, a is the safety factor; T1 is the delay judgment time window.

10. The method for automatically detecting cracks, holes and charge height of blastholes during charge charging according to claim 9, characterized in that: The safety factor a is dynamically adjusted according to the geological conditions of the blasthole. The specific adjustment method is: When defects are detected in N consecutive blastholes, the safety factor a is updated to: Among them, a new is the updated safety factor; a old is the original safety factor; n is the number of times the alarm is triggered in N blastholes; f is the classification coefficient set according to geological rock conditions.

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