Intelligent directional shaped charge blasting system based on artificial intelligence control

Abstract

The invention relates to an intelligent directional shaped charge blasting system based on artificial intelligence control, which comprises a blasting energy acquisition module used for determining energy required by blasting of to-be-blasted rocks and acquiring explosive quantity required by a single hole according to the energy required by blasting of the to-be-blasted rocks; the rock drillability evaluation module is used for carrying out block division on the rock, establishing a rock drillability evaluation system and obtaining a drillability evaluation result of each rock on the basis of the rock drillability evaluation system by utilizing a fuzzy comprehensive evaluation method; and the directional shaped charge blasting module is used for planning a drilling path based on the drillability evaluation result of each rock and the explosive amount required by a single hole, determining the joint angle of the mechanical arm through the drilling path, drilling by using a front-section drill bit of the mechanical arm, arranging an angle measuring instrument at the joint of the mechanical arm, feeding back angle information, and outputting the angle information. And the joint angle of the mechanical arm is optimized, a single drill hole is formed, and the single drill hole is filled with explosive for directional shaped charge blasting.

Description

Technical Field

[0001] The invention relates to the technical field of blasting engineering, and in particular to an intelligent directional energy-focused blasting system based on artificial intelligence control. Background Art

[0002] In recent years, my country's infrastructure projects have been launched on a large scale, and tunnel projects are a very important part of infrastructure projects. The excavation methods in tunnel construction are usually divided into manual excavation, mechanical excavation and blasting excavation. Traditional blasting technology often has problems such as insufficient precision, low safety and low efficiency. Blasting excavation has the significant characteristics of low construction cost, so it is usually used in mountain tunnels. Blasting excavation blasting method depends on the physical and mechanical properties of rock mass. Usually, blasting design is based on engineering rock mass classification, but this design method is too rough and cannot accurately reflect the unevenness and variability of rock mass at the tunnel face, resulting in blasting over-excavation and under-excavation, which not only wastes explosives, but also causes poor tunnel stability, or requires subsequent additional construction such as supplementary excavation, filling and grouting.

[0003] With the development of artificial intelligence technology, its application in the field of blasting can improve the accuracy and safety of blasting, reduce costs and improve efficiency. Summary of the invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to propose an intelligent directional focused energy blasting system based on artificial intelligence control, which can improve the accuracy and safety of blasting, reduce costs and improve efficiency.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] An intelligent directional energy-gathering blasting system based on artificial intelligence control, comprising:

[0007] The blasting energy acquisition module is used to determine the blasting energy required for the rock to be blasted, and to obtain the amount of explosives required for a single hole according to the blasting energy required for the rock to be blasted;

[0008] A rock drillability evaluation module is used to divide the rock into blocks, establish a drillability index for each rock, establish a rock drillability evaluation system based on the drillability index, and obtain a drillability evaluation result for each rock based on the rock drillability evaluation system using a fuzzy comprehensive evaluation method;

[0009] The directional focused energy blasting module is used to plan a drilling path based on the drillability evaluation results of each rock and the amount of explosives required for a single hole, determine the joint angle of the robot arm through the drilling path, use the drill bit at the front section of the robot arm to drill, and set an angle measuring instrument at the joint of the robot arm to feed back angle information, optimize the joint angle of the robot arm, form a single borehole, and charge the single borehole for directional focused energy blasting.

[0010] Optionally, determining the blasting energy required for the rock to be blasted includes:

[0011] Ecrush=E F +E P +Ek

[0012] Among them, E crush is the blasting energy required for the rock to be blasted, E F is the crushing surface energy, E P is the deformation energy of the rock in the crushing zone, E k The kinetic energy of the rock's movement.

[0013] Optionally, the method for obtaining the broken surface energy is:

[0014]

[0015] The method to obtain the deformation energy of the rock in the crushing zone is:

[0016]

[0017] Where h is the drilling height, L is the drilling length, r b is the half-width of the artificial crack, p d is the initial pressure of the shock wave transmitted into the rock, α is the pressure attenuation coefficient, R c is the depth of the crushing zone, K c is the dynamic fracture toughness of rock, E is the dynamic elastic modulus of rock, d is the average diameter of debris particles, ε is the ultimate dynamic strain of rock, r- α It represents the attenuation law of shock wave pressure with distance r.

[0018] Optionally, the rock drillability evaluation module includes:

[0019] An evaluation system unit, used to obtain various blasting properties of the rock to be blasted, divide the rock into blocks, establish a drillability index for each rock based on the various blasting properties, and establish a rock drillability evaluation system based on the drillability index;

[0020] A fuzzy evaluation matrix construction unit is used to determine the factor set and comment set of the evaluation model based on the rock drillability evaluation system by using the fuzzy comprehensive evaluation method, determine the membership measurement of the factors in the various factor sets to the various evaluation levels in the comment set one by one, and construct the fuzzy evaluation matrix. At the same time, according to the different influences of the various factors in the factor set on the comment set, a weight distribution set is introduced;

[0021] The evaluation result acquisition unit is used to obtain the drillability evaluation result of each rock by using the fuzzy evaluation matrix and the fuzzy synthesis operation of the weight allocation set.

[0022] Optionally, the multi-faceted blasting properties include: rock mass structure, geological structure, groundwater, density, Mohs hardness, quartz and iron content, compressive strength, elastic modulus and tensile strength.

[0023] Optionally, the comment set includes: V={v1, v2, v3, v4}={hard, hard, medium-hard, soft}.

[0024] Optionally, obtaining the weight distribution set includes: assigning weights to different factors in the factor set according to their importance, and the set of assignment results is the weight distribution set.

[0025] Optionally, the directional focused energy blasting module includes:

[0026] A path planning unit, used for planning a drilling path based on the drillability evaluation result of each rock and the amount of explosives required for a single hole;

[0027] A joint angle determination unit is used to determine the real-time joint angle of the robot arm through the drilling path according to the rotation speed of the joint drive motor collected by the incremental encoder connected to the joint drive motor of the robot arm, and to set an angle measuring instrument at the joint of the robot arm to feed back angle information and optimize the joint angle of the robot arm to form a single drill hole;

[0028] The directional focused charge blasting unit is used to charge explosives in the single borehole for directional focused charge blasting.

[0029] Optionally, the robotic arm comprises:

[0030] A power supply, used to supply power to the controller of the robotic arm;

[0031] A voltage detector, used for detecting the voltage of the power supply;

[0032] A supercapacitor power supply, used to supply power to the controller when the voltage detected by the voltage detector is lower than a preset value;

[0033] A robot arm joint angle determiner, used to determine the real-time joint angle of the robot arm according to the rotation speed of the joint drive motor collected by the incremental encoder connected to the robot arm joint drive motor;

[0034] Angle measuring instrument, used to feedback angle information;

[0035] The memory is used to supply power from the super capacitor power supply when the voltage detected by the voltage detector is lower than a preset value, so as to save the joint angle of the robot arm at the moment when the voltage is lower than the preset value.

[0036] The beneficial effects of the present invention are:

[0037] The present invention obtains the amount of explosives required for a single hole and establishes a rock drillability evaluation system, and uses a fuzzy comprehensive evaluation method to obtain the drillability evaluation result of each rock on the basis of the rock drillability evaluation system. Based on the drillability evaluation result of each rock and the amount of explosives required for a single hole, the present invention plans a drilling path, forms a single borehole, and charges are loaded in the single borehole for directional focused energy blasting, thereby improving the accuracy and safety of blasting, reducing costs, and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 The present invention is a schematic diagram of an intelligent directional focused energy blasting system based on artificial intelligence control according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1As shown, this embodiment discloses an intelligent directional focused energy blasting system based on artificial intelligence control, including: a blasting energy acquisition module, used to determine the blasting energy required for the rock to be blasted, and obtain the amount of explosives required for a single hole according to the blasting energy required for the rock to be blasted; a rock drillability evaluation module, used to divide the rock into blocks, establish a drillability index for each rock, establish a rock drillability evaluation system through the drillability index, and obtain the drillability evaluation result of each rock based on the rock drillability evaluation system using a fuzzy comprehensive evaluation method; a directional focused energy blasting module, used to plan a drilling path based on the drillability evaluation result of each rock and the amount of explosives required for a single hole, determine the joint angle of the mechanical arm through the drilling path, use the front drill bit of the mechanical arm to drill, and set an angle measuring instrument at the joint of the mechanical arm to feed back angle information, optimize the joint angle of the mechanical arm, form a single borehole, and charge the single borehole for directional focused energy blasting.

[0043] During the blasting process, the explosive energy consumed in the crushing area can be divided into crushing surface energy, deformation energy of rock in the crushing area, kinetic energy of rock movement and other forms of energy. The sum of these energies should be equal to the total energy of the explosive. The formula can be expressed as:

[0044] Furthermore, the energy required for blasting the rock to be blasted includes:

[0045] Ecrush=E F +E P +Ek

[0046] Among them, E crush is the blasting energy required for the rock to be blasted, E F is the crushing surface energy, E P is the deformation energy of the rock in the crushing zone, E k The kinetic energy of the rock's movement.

[0047] Furthermore, the method for obtaining the crushing surface energy is:

[0048]

[0049] The method to obtain the deformation energy of the rock in the crushing zone is:

[0050]

[0051] Where h is the drilling height, L is the drilling length, r b is the half-width of the artificial crack, p d is the initial pressure of the shock wave transmitted into the rock, α is the pressure attenuation coefficient, R c is the depth of the crushing zone, K cis the dynamic fracture toughness of rock, E is the dynamic elastic modulus of rock, d is the average diameter of debris particles, ε is the ultimate dynamic strain of rock, r- α It represents the attenuation law of shock wave pressure with distance r.

[0052] Explosion energy distribution: After the explosive explodes, part of the energy acts on the rocks around the blast hole in the form of shock waves, and the other part of the energy is generated by the expansion of the explosive gas. The distribution of the explosion impact energy and the explosive gas energy under the conditions of lateral detonation and one-end detonation is very different. The ratio of the impact energy and gas energy used for blasting and breaking the rock can be adjusted by changing the detonation method to improve the energy utilization rate of blasting and breaking the rock.

[0053] Relationship between explosive performance and rock breaking ability: Performance parameters of explosives such as detonation velocity, detonation heat and density have a direct impact on the blasting effect. For example, explosives with high detonation velocity can generate more impact energy, which is helpful for rock breaking. Explosives with high detonation heat can provide more energy for rock breaking.

[0054] Mechanical properties of rock: The mechanical properties of rock, such as uniaxial compressive strength, tensile strength, elastic modulus and Poisson's ratio, also affect the rock-breaking effect of explosives. Hard rock requires more impact energy to produce initial cracks, while soft rock requires less impact energy.

[0055] Matching of explosives and rocks: Reasonable matching of explosives and rocks should be able to give full play to the advantages of both and avoid their respective disadvantages according to the engineering control objectives, so as to achieve sufficient crushing effect, reasonably control the size of the crushing area or ensure sufficient fine particle content.

[0056] Furthermore, the rock drillability evaluation module includes:

[0057] The evaluation system unit is used to obtain various blasting properties of the rock to be blasted, and divide the rock into blocks. Based on the various blasting properties, the drillability index of each rock is established, and the rock drillability evaluation system is established through the drillability index;

[0058] The fuzzy evaluation matrix construction unit is used to determine the factor set and comment set of the evaluation model based on the rock drillability evaluation system by using the fuzzy comprehensive evaluation method, determine the membership of the factors in the various factor sets to the various evaluation levels in the comment set one by one, and construct the fuzzy evaluation matrix. At the same time, according to the different influences of the factors in the factor set on the comment set, a weight distribution set is introduced;

[0059] The evaluation result acquisition unit is used to obtain the drillability evaluation result of each rock by using the fuzzy evaluation matrix and the fuzzy synthesis operation of the weight distribution set.

[0060] Specifically, establishing a rock drillability evaluation system includes: comprehensively considering various attributes of rock drillability, each of which has different decay processes during use, selecting representative first-level sub-item evaluation indicators of rock drillability, and establishing a rock drillability evaluation system based on the first-level sub-item evaluation indicators.

[0061] The first-level sub-evaluation indicators include: structural strength, flatness, anti-skid performance and damage condition of the road surface.

[0062] Furthermore, the multi-faceted blasting properties include: rock mass structure, geological structure, groundwater, density, Mohs hardness, quartz and iron content, compressive strength, elastic modulus and tensile strength.

[0063] Furthermore, the comment set includes: V = {v1, v2, v3, v4} = {hard, hard, medium-hard, soft}.

[0064] Furthermore, we establish the factor set U and the sub-factor set U i =u ij (i=1,2,3;j=1,2,3):

[0065] U = {U1, U2, U3} = {geological and hydrological conditions, rock physical properties, rock mechanical properties};

[0066] U1={u 11 ,u 12 ,u 13} = {rock structure, stratum structure, groundwater};

[0067] U2={u 21 ,u 22 ,u 23} = {density, Mohs hardness, quartz and iron content};

[0068] U3={u 31 ,u 32 ,u 33}={compressive strength, elastic modulus, tensile strength}.

[0069] (1) Based on geological survey data and collected rock samples, determine the rock structure, stratigraphic structure and groundwater conditions at the drilling site.

[0070] (2) Density: The density of rock refers to the mass per unit volume. The mass of the sample is obtained by weighing with an electronic scale, and the volume is measured with a vernier caliper to obtain the calculated average value of the height and diameter of the cylindrical sample. When measuring the length of the sample, three different positions are selected along the long axis of the sample and the average value is taken as the effective length value. Similarly, when measuring the diameter of the sample, three different positions are selected and the average value is taken as the effective diameter.

[0071] (3) Mohs hardness: The hardness of rock during drilling refers to the ability of the rock surface to resist the penetration or penetration of the drill bit cutting teeth. Starting from a lower Mohs hardness scale, use the protruding part of a mineral hardness scale with a known Mohs hardness to scratch the smooth surface of the bedrock sample, and observe whether there are scratch marks on the scratched smooth surface of the bedrock sample until the Mohs hardness of the bedrock sample is measured to be between two Mohs hardness levels or equivalent to a certain Mohs hardness scale hardness value.

[0072] (4) Quartz and iron content: The mineral components of common rocks in geotechnical engineering are mainly quartz, feldspar, calcite, mica, etc. Among them, quartz is a component with high hardness and high content, and the iron content in sandstone is also high. The quartz and iron content is obtained by X-ray diffraction analysis.

[0073] (5) Compressive strength: In the process of "hard collision" between the drill bit and the rock, the compressive strength of the rock is a major factor that directly affects the drilling speed. For typical siltstone, the higher the compressive strength, the slower the drilling speed. The compressive strength of the rock is obtained by performing triaxial tests on standard cylindrical specimens.

[0074] (6) Elastic modulus: refers to the ratio of stress to strain when the rock has not lost its elasticity. The elastic modulus is the ability of the rock to resist elastic deformation at a macroscopic level and reflects the strength of the molecular bonds and structural surfaces at a microscopic level.

[0075] (7) Tensile strength: Although rock drilling is intuitively manifested as compression, the rock layer may also undergo splitting and damage under pressure. The tensile strength is obtained using a universal testing machine using the Brazilian splitting test.

[0076] Furthermore, obtaining the weight distribution set includes: assigning weights to different factors in the factor set according to their importance, and the set of assignment results is the weight distribution set.

[0077] Using the fuzzy comprehensive evaluation method, on the basis of the comprehensive evaluation system of pavement conditions, the factor set and comment set of the evaluation model are determined, including:

[0078] The factor set of the evaluation model is composed of evaluation indicators, and the evaluation in the comprehensive evaluation system of road conditions is based on the evaluation

[0079] The grade standards constitute the comment set.

[0080] Furthermore, the directional focused energy blasting module includes:

[0081] A path planning unit is used to plan the drilling path based on the drillability evaluation results of each rock and the amount of explosives required for a single hole;

[0082] A joint angle determination unit is used to determine the real-time joint angle of the robot arm through a drilling path according to the rotation speed of the joint drive motor collected by an incremental encoder connected to the joint drive motor of the robot arm, and to set an angle measuring instrument at the joint of the robot arm to feed back angle information and optimize the joint angle of the robot arm to form a single drill hole;

[0083] A directional focused charge blasting unit is used to charge explosives in a single borehole for directional focused charge blasting.

[0084] Furthermore, the robotic arm comprises:

[0085] A power supply, used to supply power to a controller of the robotic arm;

[0086] A voltage detector, used for detecting the voltage of the power supply;

[0087] A supercapacitor power supply, used to supply power to the controller when the voltage detected by the voltage detector is lower than a preset value;

[0088] A robot arm joint angle determiner, used to determine the real-time joint angle of the robot arm according to the rotation speed of the joint drive motor collected by the incremental encoder connected to the robot arm joint drive motor;

[0089] Angle measuring instrument, used to feedback angle information;

[0090] The memory is used to supply power from the super capacitor power supply when the voltage detected by the voltage detector is lower than the preset value, so as to save the joint angle of the robot arm at the moment when the voltage is lower than the preset value.

[0091] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent directional energy-focused blasting system based on artificial intelligence control, characterized in that: include: The blasting energy acquisition module is used to determine the blasting energy required for the rock to be blasted, and to obtain the amount of explosives required for a single hole according to the blasting energy required for the rock to be blasted; A rock drillability evaluation module is used to divide the rock into blocks, establish a drillability index for each rock, establish a rock drillability evaluation system based on the drillability index, and obtain a drillability evaluation result for each rock based on the rock drillability evaluation system using a fuzzy comprehensive evaluation method; The directional focused energy blasting module is used to plan a drilling path based on the drillability evaluation results of each rock and the amount of explosives required for a single hole, determine the joint angle of the robot arm through the drilling path, use the drill bit at the front section of the robot arm to drill, and set an angle measuring instrument at the joint of the robot arm to feed back angle information, optimize the joint angle of the robot arm, form a single borehole, and charge the single borehole for directional focused energy blasting.

2. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 1 is characterized in that: Determine the blasting energy required for the rock to be blasted including: AND crush =And F +E P +E k Among them, E crush is the energy required for blasting the rock to be blasted, E F is the crushing surface energy, E P is the deformation energy of the rock in the crushing zone, E k The kinetic energy of the rock's movement.

3. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 2 is characterized in that: The method for obtaining the broken surface energy is: The method to obtain the deformation energy of the rock in the crushing zone is: Where h is the drilling height, L is the drilling length, r b is the half width of the artificial crack, p d is the initial pressure of the shock wave transmitted into the rock, α is the pressure attenuation coefficient, R c is the depth of the crushing zone, K c is the dynamic fracture toughness of rock, E is the dynamic elastic modulus of rock, d is the average diameter of debris particles, ε is the ultimate dynamic strain of rock, r- α It represents the attenuation law of shock wave pressure with distance r.

4. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 1 is characterized in that: The rock drillability evaluation module includes: An evaluation system unit, used to obtain various blasting properties of the rock to be blasted, divide the rock into blocks, establish a drillability index for each rock based on the various blasting properties, and establish a rock drillability evaluation system based on the drillability index; A fuzzy evaluation matrix construction unit is used to determine the factor set and comment set of the evaluation model based on the rock drillability evaluation system by using the fuzzy comprehensive evaluation method, determine the membership measurement of the factors in the various factor sets to the various evaluation levels in the comment set one by one, and construct the fuzzy evaluation matrix. At the same time, according to the different influences of the various factors in the factor set on the comment set, a weight distribution set is introduced; The evaluation result acquisition unit is used to obtain the drillability evaluation result of each rock by using the fuzzy evaluation matrix and the fuzzy synthesis operation of the weight allocation set.

5. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 4 is characterized in that: The various blasting properties include: rock mass structure, geological structure, groundwater, density, Mohs hardness, quartz and iron content, compressive strength, elastic modulus and tensile strength.

6. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 4 is characterized in that: The review set Including: V = {v1, v2, v3, v4} = {hard, hard, medium hard, soft}.

7. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 4 is characterized in that: Acquiring the weight distribution set includes: assigning weights to different factors in the factor set according to their importance, and the set of assignment results is the weight distribution set.

8. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 1 is characterized in that: The directional focused energy blasting module comprises: A path planning unit, used for planning a drilling path based on the drillability evaluation result of each rock and the amount of explosives required for a single hole; A joint angle determination unit is used to determine the real-time joint angle of the robot arm through the drilling path according to the rotation speed of the joint drive motor collected by the incremental encoder connected to the joint drive motor of the robot arm, and to set an angle measuring instrument at the joint of the robot arm to feed back angle information and optimize the joint angle of the robot arm to form a single drill hole; The directional focused charge blasting unit is used to charge explosives in the single borehole for directional focused charge blasting.

9. The intelligent directional energy-focused blasting system based on artificial intelligence control according to claim 8 is characterized in that: The robotic arm comprises: A power supply, used to supply power to the controller of the robotic arm; A voltage detector, used for detecting the voltage of the power supply; A supercapacitor power supply, used to supply power to the controller when the voltage detected by the voltage detector is lower than a preset value; A robot arm joint angle determiner, used to determine the real-time joint angle of the robot arm according to the rotation speed of the joint drive motor collected by the incremental encoder connected to the robot arm joint drive motor; Angle measuring instrument, used to feedback angle information; The memory is used to supply power from the super capacitor power supply when the voltage detected by the voltage detector is lower than a preset value, so as to save the joint angle of the robot arm at the moment when the voltage is lower than the preset value.

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