Non-contact rapid identification method and system for water holes in blasting area based on infrared thermal imaging

Abstract

The invention discloses an explosion area water hole non-contact type rapid identification method and system based on infrared thermal imaging. The method specifically comprises the following steps that S1, identification parameters are determined according to existing explosion parameters of an explosion area to be identified; s2, determining flight parameters based on the elevation, orientation and area of the explosion area to be identified; s3, setting shooting parameters and environmental parameters in the infrared thermal imager based on the rock mass type of the explosion area to be identified; s4, after S1, S2 and S3 are completed, monitoring data collection is conducted on the explosion area to be recognized, after collection is completed, the monitoring data are transmitted to an indoor unit to be processed, and first temperatures of all water holes in the explosion area and second temperatures of rock masses around the water holes are output; s5, comparing the first blast hole temperature with the second surrounding rock mass temperature to obtain an identification result, and marking hole site categories on the blasting design drawing according to the identification result; and S6, the charging type and the dosage are adjusted according to the hole site type.

Description

Technical Field

[0001] The invention relates to the technical field of open-pit rock engineering blasting, and in particular to a non-contact rapid identification method and system for water holes in a blasting area based on infrared thermal imaging. Background Art

[0002] In drilling and blasting mining, the environment inside the blasthole has a great impact on blasting construction, personnel safety and blasting effect; especially in water-containing blastholes, the presence of water will not only affect construction efficiency and labor intensity, but also reduce the detonation performance of explosives, which is not conducive to rock crushing.

[0003] Therefore, before construction, all blast holes in the blasting area need to be measured and inspected on site and special holes need to be marked, so that technicians can accurately design and construct, and process special holes to achieve fine blasting, safe and controllable, and cost-effective. At present, most on-site measurement tools are measuring ropes, but for large-scale blasting construction, when there are a large number of blast holes, this measurement method is time-consuming and laborious, especially in bad weather, which can cause great damage to personnel. Therefore, it is urgent to find a new method to quickly and accurately identify water holes.

[0004] In recent years, with the rapid development of electronic information technology, surveying and mapping technology and other related technologies, infrared thermal imaging technology has been used more and more widely in various industries, but its application in the field of engineering blasting to guide blasting construction is still blank. The principle of infrared thermal imaging measurement technology is to use the thermal radiation on the surface of an object to identify the surface temperature distribution of the object. It converts the light signal into an electrical signal through an infrared detector, and then converts it into a thermal image after processing, and displays it in pseudo-color for people to observe. For this reason, infrared thermal imaging technology is introduced into the field of engineering blasting. By using the radiation differences of different materials such as rock, water, minerals, and detonation gas in the same environment, it provides technicians with a method to quickly identify water holes, thereby guiding blasting construction. Summary of the invention

[0005] In view of the problem of low efficiency in blast hole measurement in the prior art, the present invention proposes a non-contact rapid identification method and system for water holes in blasting areas based on infrared thermal imaging.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The non-contact rapid identification method of water holes in the explosion area based on infrared thermal imaging specifically includes the following steps:

[0008] S1: Determine the identification parameters according to the existing blasting parameters of the blasting area to be identified;

[0009] S2: Confirm the flight parameters based on the altitude, orientation and size of the explosion area to be identified;

[0010] S3: Setting shooting parameters and environmental parameters in the infrared thermal imager based on the rock type of the blasting area to be identified;

[0011] S4: After completing S1, S2, and S3, collect monitoring data for the proposed explosion area, transmit the monitoring data to the internal industry for processing, and output the first temperature of each water hole in the explosion area and the second temperature of the rock mass around the water hole;

[0012] S5: Compare the first temperature of the blasthole with the second temperature of the surrounding rock mass to obtain an identification result, and mark the hole position category on the blasting design drawing according to the identification result;

[0013] S6: Adjust the charge type and amount according to the hole type.

[0014] Preferably, in said S1, the identification parameters include the location of the blasting area to be identified, the number of blasting holes in the blasting area n, the diameter size d of the blasting holes in the blasting area, and the area size S of the blasting area.

[0015] Preferably, in S2, the flight parameters include route range, flight altitude h, flight speed v, return altitude h 1 , shooting frequency f; where,

[0016] The horizontal distance between the route range and the explosion zone boundary line is Z ≥ 30m; the flight altitude is 5m ≤ h ≤ 10m; the flight speed is 8m / s ≤ v ≤ 14m / s; the return altitude is h 1 ≥h; shooting frequency f is equidistant shooting, taking a picture every 5m.

[0017] Preferably, in S3, the shooting parameters include infrared emissivity ε, and the environmental parameters include atmospheric transmittance η and ambient temperature T.

[0018] Preferably, the S4 includes:

[0019] S4-1: After collecting monitoring data, thermal imaging images are synthesized;

[0020] S4-2: On the thermal imaging image, a first circle is formed with the center of the blasthole as the base point and a radius of R1, and then n first characteristic points are selected within the first circle, and the temperatures of the n first characteristic points are averaged to obtain the first temperature;

[0021] S4-3: On the thermal imaging image, a second circle is formed with the center of the blast hole as the base point and a radius of R2, and then m second characteristic points are selected within the second circle. The temperatures of the m second characteristic points are averaged to obtain the second temperature.

[0022] Preferably, in S4-2, d is the diameter of the blast hole.

[0023] Preferably, in S4-3, a is the hole spacing, b is the row spacing, and d is the blast hole diameter.

[0024] Preferably, in S5, the first temperature Δt is calculated 1 and the second temperature of the surrounding rock mass Δt 2 The difference: Δξ=|Δt 2 -Δt 1 |; if 0≤Δξ<ξ 1 , it is judged as a dry hole, ξ 1 represents the first threshold; if ξ 1 ≤Δξ<ξ 2 , it is judged as a suspected water hole, ξ 2 represents the second threshold; if ξ 2 ≤Δξ<ξ 3 , determined as a water hole, ξ 3 represents the third threshold; if ξ 3 ≤Δξ<ξ 4 , determined as a suspected high-temperature hole, ξ 4 represents the fourth threshold; if Δξ≥ξ 4 , determined to be a high-temperature hole.

[0025] Preferably, in S6, when the hole type is a dry hole, the first type of charge is adopted; when the hole type is a water hole, the second type of charge is adopted; when the hole type is a high temperature hole, the third type of charge is adopted.

[0026] The present invention also provides a non-contact rapid identification system for water holes in explosion areas based on infrared thermal imaging, comprising a first module, a second module, a third module, a fourth module, a fifth module and a sixth module; wherein:

[0027] The first module is used to determine the identification parameters according to the blasting parameters;

[0028] The second module is used to determine the flight parameters based on the elevation, orientation and size of the explosion area to be identified;

[0029] The third module is used to set shooting parameters and environmental parameters in the infrared thermal imager based on the rock type of the blasting area to be identified;

[0030] The fourth module is used to process the monitoring data collected by infrared thermal imaging and output the first temperature of each water hole in the explosion area and the second temperature of the rock mass around the water hole.

[0031] A fifth module is used to determine the hole position category according to the comparison between the first temperature and the second temperature;

[0032] The sixth module is used to adjust the charge type and amount according to the hole type.

[0033] In summary, due to the adoption of the above technical solution, compared with the prior art, the present invention has at least the following beneficial effects:

[0034] The present invention automatically identifies the hole types in the blasting area through infrared imaging, reduces the labor intensity of personnel, improves the efficiency of water hole identification, and can provide technicians with quantitative data on the number of water holes in the blasting area, making it easy to change the blasting design parameters in time and have enough time to prepare related materials, thereby achieving the purpose of saving construction costs and precise blasting. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of a non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to an exemplary embodiment of the present invention.

[0036] Figure 2 A schematic diagram of collecting monitoring data in the field according to an exemplary embodiment of the present invention.

[0037] Figure 3 Schematic diagram of an infrared thermal imaging image of a water hole according to an exemplary embodiment of the present invention.

[0038] Figure 4 It is a schematic diagram of a non-contact rapid identification system for water holes in explosion areas based on infrared thermal imaging according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below in conjunction with the examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following examples, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0040] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] Because the infrared radiation presented by the water-bearing borehole and the dry borehole in the same blast area under the same environment is significantly different in the stereoscopic infrared thermal imaging perspective; the water content of the borehole also characterizes the thermal conductivity characteristics of the rock mass near it, which is manifested in that the radiation temperature of the rock mass near the water-bearing borehole is usually lower than that of the non-water-bearing rock mass, and the pseudo-color image shows that the color of the water-bearing part is darker than that of the dry hole. The identification of the two follows the infrared thermal imaging temperature calculation formula of the object surface:

[0042]

[0043] In the formula, is the spectral radiance of the surface itself, is the spectral radiance of atmospheric radiation reflected from the surface of the object, is the spectral radiance of solar radiation reflected from the surface of the object, is the spectral radiance of the ground radiation reflected by the surface of the object; T 0 is the temperature of the object being measured; T a is the atmospheric temperature; T g is the temperature of the ground feature; L sun is the spectral radiance of the sun; ε a is the sky background emissivity; is the temperature T 0 The object being measured is in the direction Directional spectral emissivity on ; is the temperature T 0 The object being measured is in the direction Spectral hemispherical-directional reflectance on; is the temperature T 0 The spectral bidirectional reflectance distribution function of the object under test to solar radiation; is the azimuth of the sun relative to the target; For the feature in the direction Spectral emissivity on ; is the temperature T 0 The spectral bidirectional reflectance distribution function of the measured object to the ground radiation; It is the azimuth of the object relative to the target.

[0044] Take the average value to get the surface temperature of the object being measured:

[0045]

[0046] Where I(T) is the average temperature of the response spectrum interval λ.

[0047] Based on the above technical principles, such as Figure 1 As shown, the present invention provides a non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging, which specifically includes the following steps:

[0048] S1: Determine the identification parameters based on the existing blasting parameters of the blasting area to be identified.

[0049] In this embodiment, the blasting parameters include step height, hole spacing, row spacing, etc.; the identification parameters include the location of the blasting area to be identified, the number of blasting holes in the blasting area n, the diameter size d of the blasting holes in the blasting area, the area size S of the blasting area, etc.

[0050] For example, in a large open-pit coal mine, rock and soil stripping is carried out by step blasting, with an annual drilling and blasting volume of 75 million m 3 , the rock type is mostly mudstone, the average single blasting area is 3, and some areas of the blasting area contain water. It is necessary to use airborne infrared thermal imaging technology to identify the number and specific hole positions of water-containing blastholes in the blasting area, so as to facilitate the allocation of materials in advance. The drone model used is DJI's industrial-grade Matrice 350, and the infrared thermal imager is DJI Zenmuse H20T, which is an uncooled infrared thermal imaging, with a photo resolution of 640×512, a maximum digital zoom of 8 times, and supports point temperature measurement and regional temperature measurement. The temperature measurement range is -40℃~550℃, and the equivalent focal length is 58mm.

[0051] There are three blasting areas with a step height of 15m. The locations of the blasting areas are the 640-625 platform in the middle of the south bank, the 655-640 platform in the east of the south bank, and the 640-625 platform in the east bank; the number of blast holes n are 203, 138 and 63 respectively; the diameter d of the blast holes in the blasting areas is 152mm; the area sizes S of the blasting areas are 324m×26m, 234m×26m, and 101m×21m respectively; some areas of the blasting areas contain water, but the number of water holes is unclear.

[0052] S2: Based on the elevation, direction and size of the explosion area to be identified, the flight parameters are planned in the UAV remote controller. The flight parameters include route range, flight altitude h, flight speed v, return altitude h 1 , shooting frequency f and other parameters.

[0053] In this embodiment, Figure 2 As shown, the UAV 1 is equipped with an infrared thermal imager 2; the blast holes 3 are evenly distributed in the blasting area, and the blasting area is provided with a boundary line 4, the hole spacing is a, and the row spacing is b; the UAV 1 flies over the blasting area to detect the blast holes, then the horizontal distance Z between the route range (i.e., the shooting boundary of the infrared thermal imager 2) and the boundary line 4 is ≥30m (when the limited space is less than 30m, it can be appropriately reduced), and the flight altitude (i.e., the vertical distance from the blasting area) needs to be controlled within 5m≤h≤10m; the shooting interval is set to equidistant shooting, the equidistant shooting length is related to the width of the infrared thermal imaging viewing angle, the heading and lateral overlap rates are not less than 60% and 70% respectively, and the return altitude is not less than the flight altitude.

[0054] For example, if it is determined that the drone needs to fly three times, the route planning for the first blasting area, the second blasting area, and the third blasting area are all rectangular, with a range of 358m×63m, 277m×65m, and 152m×64m respectively. The flight altitude h is 4m directly above the blasting area, the flight speed is 12m / s, the shooting method is equidistant shooting, a picture is taken every 5m, the return altitude is 50m, and the heading and lateral overlap rates are 65% and 75% respectively.

[0055] S3: Setting shooting parameters and environmental parameters in the infrared thermal imager based on the rock type in the blasting area to be identified; the shooting parameters include infrared emissivity ε (including mudstone and water), and the environmental parameters include atmospheric transmittance η, ambient temperature T, etc.

[0056] In this embodiment, the shooting distance of the infrared thermal imager is consistent with the flight route height, and the lens is adjusted to -90° (directly above the shooting target, with the mirror surface parallel to the step surface). The target is clearly imaged through the focal length, and the flight is carried out after all preparations are completed to complete the collection of external infrared thermal imaging image data.

[0057] For example, the infrared emissivity ε of mudstone and water is 0.92 and 0.95 respectively; the ambient temperature is 36°C, the air humidity is 0.28, the atmospheric transmittance is 0.996, and the infrared temperature display range is -40°C to 550°C. After setting the shooting parameters and environmental parameters, adjust the infrared lens so that the mirror surface is parallel to the target step surface, and rotate the aperture so that the blast hole angle is clearly displayed on the screen, and upload the route for automatic flight. After completing the data collection of the first, second, and third blasting areas, stop the flight.

[0058] S4: After completing S1, S2, and S3, the UAV collects monitoring data for the explosion area to be identified. After the collection, the monitoring data is transmitted to the internal industry for processing, and the first temperature of each water hole in the explosion area and the second temperature of the rock mass around the water hole are output.

[0059] In this embodiment, the monitoring data is imported into the corresponding processing software for thermal imaging picture synthesis, and the display mode is adjusted to pseudo color. The distribution status of water holes in the blasting area is preliminarily distinguished by different colors, and then the first characteristic point near the mouth of each blast hole is selected to output the first temperature.

[0060] In this embodiment, Figure 3 As shown, the method for selecting the first feature point is:

[0061] The first characteristic points are evenly distributed in the first circle with a radius of R1 (infrared image of water hole) with the center of the blasthole as the base point, and the number is not less than 5, for example, sp6; d is the diameter of the blast hole.

[0062] The first temperature is the average temperature of multiple first characteristic points, denoted as Δt 1 , the temperature residual δ of each first characteristic point is ≤5℃.

[0063] Similarly, the second characteristic points of the ambient radiation temperature (second temperature) are also no less than 5, and the second characteristic points are evenly distributed in a second circle (surrounding infrared image) with the center of the blasthole as the base point and a radius of R2. Let a be the hole pitch and b be the row pitch; then the average value of the temperatures of multiple second feature points (such as sp1, sp2, sp3, sp4, sp5) is taken and denoted as Δt 2 The residual δ between the temperatures of each pair of second feature points is ≤ 4°C.

[0064] For example, import the monitoring data collected in the field into professional software (such as testo lRSott) for synthesis, and import the synthesized image into DJI ThermalAnalysis Tool 3 for temperature extraction, and adjust the display mode to pseudo-color. The first feature point corresponding to the temperature at the orifice of the blast hole (the first temperature) is within the first circle with a radius of 27.6 cm centered on the center of the blast hole. The temperatures of the 5 first feature points are 8.8°C, 8.6°C, 6.3°C, 6.7°C, and 10.3°C respectively, and the average value is Δt 1 = 8.14°C; the range for selecting the second feature points corresponding to the temperature of the surrounding rock mass surface (the second temperature) is within the second circle where 27.6 cm < R2 ≤ 419 cm. The temperatures of the 5 second feature points are 22.3°C, 22.8°C, 23.1°C, 24.7°C, and 23.8°C respectively, and the average value is Δt 2 = 23.34°C. Perform the same operation on each blast hole according to the above method until the temperatures of all blast holes are calculated.

[0065] S5: Compare the first temperature of the blast hole with the second temperature of the surrounding rock mass to obtain the recognition result, and number and mark the hole position category on the blasting design drawing according to the recognition result; the hole position categories include dry holes, suspected water holes, water holes, suspected high-temperature holes, and high-temperature holes.

[0066] In this embodiment, calculate the difference between the first temperature Δt 1 and the second temperature Δt 2 of the surrounding rock mass: Δξ = |Δt 2 - Δt 1 |; if 0 ≤ Δξ < ξ 1 , it is determined as a dry hole, and ξ 1 represents the first threshold; if ξ 1 ≤ Δξ < ξ 2 , it is determined as a suspected water hole, and ξ 2 represents the second threshold; if ξ 2 ≤ Δξ < ξ 3 , it is determined as a water hole, and ξ 3 represents the third threshold; if ξ 3 ≤ Δξ < ξ 4 , it is determined as a suspected high-temperature hole, and ξ 4 represents the fourth threshold; if Δξ ≥ ξ 4 , it is determined as a high-temperature hole.

[0067] Because the infrared intensity radiated by the same object in different environments is different, 1 , 2 , 3 , 4 It is not a fixed value and needs to change according to environmental changes. Usually, the value of high temperature environment is higher than that of winter. 1 , 2 , 3 , 4 The value should be higher than that in winter and summer. 1 , 2 , 3 , 4 The recommended values ​​are 8℃, 15℃, 40℃ and 60℃ respectively, and the recommended values ​​in winter are 6.8℃, 14.2℃, 38℃ and 59.5℃.

[0068] For example, when the measurement range is in summer, the average temperature Δt output from the orifice is 1 Radiation temperature Δt of the surrounding environment 2 The residual Δξ is 15.2℃, ξ 2 =15℃≤Δξ<ξ 3 =40℃, it is determined to be a water hole. Similarly, referring to the above method, the remaining blastholes were determined, and a total of 299 water holes were determined, of which 164, 97 and 38 were in the first blasting area, the second blasting area and the third blasting area, respectively; 22 suspected water holes, of which 13, 6 and 3 were in the first blasting area, the second blasting area and the third blasting area, respectively;

[0069] In this embodiment, the suspected water holes are rechecked again by handheld infrared temperature measuring gun: if the difference between the measured temperature and the ambient temperature is within 15°C, it is a dry hole; if the temperature difference is between 15°C and 40°C, it is determined to be a water hole; if the temperature in the hole displayed by the handheld infrared exceeds 60°C, it is a high-temperature hole. After compounding, the number of water holes in three blasting areas was determined to be 8, 4 and 0 respectively, and the rest were all dry holes. Then, according to the identification results, the blast holes were marked on the blasting design drawings.

[0070] S6. Adjust the charge type and amount according to the hole type and implement it after completing the briefing.

[0071] In this embodiment, when the hole position category is a dry hole, the first type of charge (for example, mixed ammonium nitrate oil charge) is adopted; when the hole position category is a water hole, the second type of charge (for example, mixed emulsion explosive charge) is adopted; when the hole position is a high-temperature hole, the third type of charge (for example, high-temperature resistant explosive) is adopted.

[0072] In this embodiment, since different types of explosives have different densities, the corresponding usage under the same charging parameters (same height) also varies accordingly.

[0073] In this embodiment, all electronic detonators are waterproof, and blasting is performed after all processes are completed.

[0074] like Figure 4 As shown, based on the above method, the present invention also provides a non-contact rapid identification system for water holes in explosion areas based on infrared thermal imaging, including a first module, a second module, a third module, a fourth module, a fifth module and a sixth module.

[0075] The first module is used to determine the identification parameters according to the blasting parameters; the identification parameters include the location of the blasting area to be identified, the number of blasting holes in the blasting area n, the diameter size d of the blasting holes in the blasting area, the area size S of the blasting area, etc.

[0076] The second module is used to plan the flight parameters in the UAV remote controller based on the elevation, direction and area of ​​the explosion area to be identified. The flight parameters include route range, flight altitude h, flight speed v, return altitude h 1 , shooting frequency f and other parameters.

[0077] The third module is used to set shooting parameters and environmental parameters in the infrared thermal imager based on the rock type in the blasting area to be identified; the shooting parameters include infrared emissivity ε (including mudstone and water), and the environmental parameters include atmospheric transmittance η, ambient temperature T, etc.

[0078] The fourth module is used to process the monitoring data collected by infrared thermal imaging and output the first temperature of each water hole in the explosion area and the second temperature of the rock mass around the water hole.

[0079] The fifth module is used to determine the hole position category according to the comparison between the first temperature and the second temperature; the hole position categories include dry hole, suspected water hole, water hole, suspected high temperature hole, and high temperature hole.

[0080] The sixth module is used to adjust the charge type and amount according to the hole type.

[0081] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A non-contact rapid identification method for water holes in explosion areas based on infrared thermal imaging, characterized in that: The specific steps include: S1: Determine the identification parameters according to the existing blasting parameters of the blasting area to be identified; S2: Confirm the flight parameters based on the altitude, orientation and size of the explosion area to be identified; S3: Setting shooting parameters and environmental parameters in the infrared thermal imager based on the rock type of the blasting area to be identified; S4: After completing S1, S2, and S3, collect monitoring data for the proposed explosion area, transmit the monitoring data to the internal industry for processing, and output the first temperature of each water hole in the explosion area and the second temperature of the rock mass around the water hole; S5: Compare the first temperature of the blasthole with the second temperature of the surrounding rock mass to obtain an identification result, and mark the hole position category on the blasting design drawing according to the identification result; S6: Adjust the charge type and amount according to the hole type.

2. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 1 is characterized in that: In S1, the identification parameters include the location of the blasting area to be identified, the number of blasting holes in the blasting area n, the diameter size d of the blasting holes in the blasting area, and the area size S of the blasting area.

3. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 1, characterized in that: In S2, the flight parameters include route range, flight altitude h, flight speed v, return altitude h1, and shooting frequency f; wherein, The horizontal distance Z between the route range and the boundary line of the explosion area is ≥30m; the flight altitude is 5m≤h≤10m; the flight speed is 8m / s≤v≤14m / s; the return altitude h1≥h; the shooting frequency f is equidistant shooting, taking a picture every 5m.

4. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 1, characterized in that: In S3, the shooting parameters include infrared emissivity ε, and the environmental parameters include atmospheric transmittance η and ambient temperature T.

5. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 1, characterized in that: The S4 includes: S4-1: After collecting monitoring data, thermal imaging images are synthesized; S4-2: On the thermal imaging image, a first circle is formed with the center of the blasthole as the base point and a radius of R1, and then n first characteristic points are selected within the first circle, and the temperatures of the n first characteristic points are averaged to obtain the first temperature; S4-3: On the thermal imaging image, a second circle is formed with the center of the blast hole as the base point and a radius of R2, and then m second characteristic points are selected within the second circle. The temperatures of the m second characteristic points are averaged to obtain the second temperature.

6. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 5, characterized in that: In S4-2, d is the diameter of the blast hole.

7. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 5, characterized in that: In S4-3, a is the hole spacing, b is the row spacing, and d is the blast hole diameter.

8. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 1, characterized in that: In S5, the difference between the first temperature Δt1 and the second temperature Δt2 of the surrounding rock mass is calculated: Δξ=|Δt2-Δt1|; if 0≤Δξ<ξ1, it is judged as a dry hole, and ξ1 represents the first threshold; if ξ1≤Δξ<ξ2, it is judged as a suspected water hole, and ξ2 represents the second threshold; if ξ2≤Δξ<ξ3, it is judged as a water hole, and ξ3 represents the third threshold; if ξ3≤Δξ<ξ4, it is judged as a suspected high-temperature hole, and ξ4 represents the fourth threshold; if Δξ≥ξ4, it is judged as a high-temperature hole.

9. The non-contact rapid identification method of water holes in explosion areas based on infrared thermal imaging according to claim 1, characterized in that: In S6, when the hole type is a dry hole, the first type of charge is used; when the hole type is a water hole, the second type of charge is used; when the hole type is a high-temperature hole, the third type of charge is used.

10. A non-contact rapid identification system for water holes in explosion areas based on infrared thermal imaging based on the identification method according to any one of claims 1 to 9, characterized in that: It includes a first module, a second module, a third module, a fourth module, a fifth module and a sixth module; wherein, The first module is used to determine the identification parameters according to the blasting parameters; The second module is used to determine the flight parameters based on the elevation, orientation and size of the explosion area to be identified; The third module is used to set shooting parameters and environmental parameters in the infrared thermal imager based on the rock type of the blasting area to be identified; The fourth module is used to process the monitoring data collected by infrared thermal imaging and output the first temperature of each water hole in the explosion area and the second temperature of the rock mass around the water hole. A fifth module is used to determine the hole position category according to the comparison between the first temperature and the second temperature; The sixth module is used to adjust the charge type and amount according to the hole type.

Images