Novel medium-length hole blasting intelligent hole inspection device and method

Abstract

The invention discloses a novel medium-length hole blasting intelligent hole inspection device and method. The novel medium-length hole blasting intelligent hole inspection device comprises a driving device, a measuring device and a connecting device. The driving device comprises a motor, a guide wheel and a carrier; every four guide wheels form a group, and the two groups of guide wheels are arranged at the front end and the rear end of the carrier respectively. The measuring device comprises a data measuring unit, a data receiver and a data processing unit which are connected in sequence; the connecting device comprises eight supporting rods and a telescopic unit, and the eight supporting rods are used for being connected with the eight guide wheels and the carrier correspondingly. A telescopic unit is arranged at the joint of the supporting rod and the carrier and can be contracted and expanded according to the size of the blast hole, so that the guide wheel is tightly pressed on the blast hole wall; the carrier is driven by the guide wheels to move forwards continuously in the blast hole, the data measuring unit records angle data of the blast hole and space moving track data of the carrier and the eight guide wheels in real time and wirelessly transmits the angle data and the space moving track data to the data receiver and the data processing unit for further processing, and parameters of the blast hole are calculated. According to the invention, blast hole parameters can be accurately measured.

Description

Technical Field

[0001] The present application relates to a blasthole parameter measurement technology in the blasting field, and specifically to a novel intelligent hole inspection device and method for medium-deep hole blasting. Background Art

[0002] By rationally designing the depth, diameter and number of blastholes, it is possible to ensure that the explosives are evenly distributed in the blasting area, thereby achieving the expected blasting effect. However, due to the lack of accuracy and stability of some drilling equipment, the unskilled drilling operators, changes in geological conditions and other reasons, the depth and direction of the blastholes may be inconsistent. Unqualified blastholes often appear in actual drilling. These unqualified medium-depth holes affect the effect and safety of blasting. Therefore, it is necessary to design a device that can intelligently detect blasthole formation parameters to provide data support for rock drilling effect evaluation and precise design of blasting charge, to ensure the smooth progress of blasting.

[0003] At present, there are technologies on the market that use ultrasound and other methods to measure blasthole parameters, but there are disadvantages in use, such as the depth in the hole suitable for sound waves to work is difficult to grasp, the instrument is not convenient to carry and large-scale detection, etc. They can only be used as auxiliary inspection instruments for the process. There are also guide wheel hole measuring devices that use catheter guide grooves on the market, but the catheter is prone to torsional deformation during use, resulting in inconsistency between measurement data and measurement direction, resulting in errors. Therefore, it is necessary to develop a new type of intelligent equipment for detecting blasthole parameters. Summary of the invention

[0004] The purpose of the present invention is to provide a novel intelligent hole inspection device and method for medium-deep hole blasting, which can accurately measure blasthole parameters.

[0005] The technical solution provided by this application is:

[0006] In a first aspect, the present application provides a novel intelligent hole inspection device for medium- and deep-hole blasting, comprising: a driving device, a measuring device, and a connecting device;

[0007] The driving device includes a motor, a guide wheel and a carrier. The motor provides power to the guide wheel, and the guide wheel drives the carrier to move forward and backward in the blast hole. There are eight guide wheels in total, and each four guide wheels form a group. A total of two groups of guide wheels are respectively arranged at the front and rear ends of the carrier. Each group of guide wheels is centrally symmetrically distributed around a center point on a cross section. The two groups of guide wheels are symmetrically arranged.

[0008] The measuring device comprises a data measuring unit, a data receiver and a data processing unit, wherein the data measuring unit, the data receiver and the data processing unit are connected in sequence;

[0009] The data measurement unit includes a plurality of sensors installed on the center of the carrier and the eight guide wheels, which are used to measure the angle data of the blasthole and the spatial running trajectory data of the carrier and the eight guide wheels respectively;

[0010] The connecting device includes a support rod and a telescopic unit. There are eight support rods in total, which are used to connect eight guide wheels and carriers respectively. The connection between the support rod and the carrier is provided with a telescopic unit, which can be contracted and expanded according to the size of the blasthole, so that the guide wheel is tightly pressed against the blasthole wall.

[0011] The guide wheel drives the carrier to continuously move forward in the blasthole, and the data measurement unit records the angle data of the blasthole and the spatial running trajectory data of the carrier and the eight guide wheels in real time, and transmits them wirelessly to the data receiver and the data processing unit for further processing;

[0012] The data processing unit calculates the parameters of the blasthole based on the data transmitted by the measuring unit.

[0013] In a possible implementation, the multiple sensors installed on the center of the carrier and the eight guide wheels include an angle sensor and a displacement sensor installed at the center of the carrier, and a displacement sensor installed on the eight guide wheels; the angle sensor is used to record the angle data of the blast hole in real time, and the displacement sensor records the spatial trajectory data of the carrier and the eight guide wheels in real time.

[0014] In a possible implementation, the parameters of the blasthole include a horizontal displacement of the center of the blasthole;

[0015] The formula for calculating the horizontal displacement of the blasthole center is:

[0016]

[0017] Δ i =L i ×sinθ i

[0018] Where N is the number of measurement segments; Δ i is the displacement change of the measurement segment at the i-th measuring point; L i is the spatial displacement measured by the displacement sensor installed at the center of the carrier in the i-th measurement section, θ i is the angle change measured by the displacement sensor installed at the center of the carrier in the i-th measuring section.

[0019] In a possible implementation, the parameters of the blasthole include the radius of the blasthole;

[0020] Calculating the radius of the blasthole includes: fitting a circle with the most similar cross-section to the four guide wheels at the current position according to the positions of the same group of four guide wheels, and using the least squares method to obtain the center and radius of the circle, that is, the radius of the blasthole at the current position.

[0021] In one possible implementation, the position of the guide wheel is obtained by placing a data receiver at the mouth of the gun bore, using the position of the data receiver as a base reference coordinate, receiving a signal from a guide wheel with a built-in signal transmitter, and using the time and direction of signal reception to determine the position coordinates of the guide wheel.

[0022] In one possible implementation, the position of the guide wheel is checked in the following manner:

[0023] The number of rotations of the guide wheel is obtained by using a sensor, and the length of the guide wheel displacement is calculated in combination with the diameter of the guide wheel. The number of rotations of the eight guide wheels are checked against each other, and the calculated length of the guide wheel displacement is checked against the data transmitted by the displacement sensor to achieve position verification of the guide wheel.

[0024] In a possible implementation, the parameters of the blasthole include a three-dimensional model of the blasthole;

[0025] Get the 3D model of the blasthole by:

[0026] The spatial trajectory of the center of the blasthole is used as the normal line of the blasthole section. Combined with the radius of the blasthole, the spatial trajectory of the center of the blasthole and the blasthole section are processed in three dimensions to form a three-dimensional model of the current blasthole.

[0027] In a second aspect, the present application provides a novel intelligent hole inspection method for medium-deep hole blasting, which uses the above-mentioned novel intelligent hole inspection device for medium-deep hole blasting to calculate the parameters of the blasthole.

[0028] The specific implementation method of the second aspect of the present application can refer to the implementation method of the first aspect, which will not be repeated here.

[0029] Beneficial effects:

[0030] The present invention designs a fully automatic guide wheel type working equipment using wireless signals, which can intelligently enter the blasthole. During the operation of the equipment for measuring the borehole, the sensor automatically records the spatial displacement trajectory of the center of the carrier in the device, and at the same time, through the position of the guide wheel, the radius of the blasthole at the current position is calculated by relying on the data processing unit. The spatial trajectory of the center of the blasthole is used as the normal of the blasthole section. Combined with the radius of the blasthole, the spatial trajectory of the center of the blasthole and the blasthole section are processed in three dimensions to form a digital three-dimensional model of the current blasthole. It is convenient for the mine borehole inspection work to be carried out. It has the following advantages:

[0031] (1) Various sensors and wireless transmission data processing units are used to realize automated intelligent borehole inspection, eliminating the need for manual data collection and calculation, effectively shortening the borehole inspection cycle and helping to improve efficiency.

[0032] (2) High precision, fast response time, various sensor elements, and data processing units ensure the fast and accurate operation of the equipment. At the same time, based on traditional hole inspection, it can further form a three-dimensional model of medium and deep holes.

[0033] (3) Compared with traditional guide wheel equipment, the guide groove of the conduit and the connecting cable are eliminated, and wireless transmission is used, making the equipment lighter, more flexible and easier to install.

[0034] (4) There are four guide wheels in the horizontal and vertical directions. These guide wheels cooperate with the telescopic device to better adapt to medium and deep holes of different shapes. At the same time, they avoid the problem of inaccurate measurement data caused by the twisting of the catheter when the traditional guide wheel equipment is running in the catheter.

[0035] (5) The overall process is more continuous, and the entire continuous displacement from the hole mouth to the hole bottom can be measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the device structure in one embodiment of the present application;

[0037] Figure 2 This is a schematic cross-sectional view of a device in one embodiment of the present application;

[0038] Figure 3 This is a schematic diagram of the relationship between blasthole parameters in one embodiment of the present application;

[0039] Figure 4 This is a schematic diagram of the running trajectory in one embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application.

[0041] Specific embodiments according to the present application will be described below with reference to the accompanying drawings.

[0042] like Figure 1 As shown, the embodiment of the present application provides a novel medium-deep hole blasting intelligent hole inspection device, including: a driving device, a measuring device and a connecting device;

[0043] The driving device includes a motor, a guide wheel and a carrier. The motor provides power to the guide wheel, and the guide wheel drives the carrier to move forward and backward in the blast hole. There are eight guide wheels in total, and each of four guide wheels is divided into a group. A total of two groups of guide wheels are respectively arranged at the front and rear ends of the carrier; each group of guide wheels is centrally symmetrically distributed around a center point on a cross section; the two groups of guide wheels are symmetrically arranged; thus, there are four guide wheels in the horizontal direction and four guide wheels in the vertical direction;

[0044] The measuring device comprises a data measuring unit, a data receiver and a data processing unit, wherein the data measuring unit, the data receiver and the data processing unit are connected in sequence;

[0045] The data measurement unit includes a plurality of sensors installed on the center of the carrier and the eight guide wheels, which are used to measure the angle data of the blasthole and the spatial running trajectory data of the carrier and the eight guide wheels respectively;

[0046] The connecting device includes a support rod and a telescopic unit. There are eight support rods in total, which are used to connect eight guide wheels and carriers respectively. The connection between the support rod and the carrier is provided with a telescopic unit, which can be contracted and expanded according to the size of the blasthole, so that the guide wheel is tightly pressed against the blasthole wall.

[0047] The above structure can ensure that the device is always close to the center of the hole during operation, ensuring the stability of the equipment operation, so that the measuring device can work better;

[0048] The guide wheel drives the carrier to continuously move forward in the blasthole, and the data measurement unit records the angle data of the blasthole and the spatial running trajectory data of the carrier and the eight guide wheels in real time, and transmits them wirelessly to the data receiver and the data processing unit for further processing;

[0049] The data processing unit obtains the parameters of the blasthole based on the data transmitted by the measuring unit.

[0050] In some embodiments, the multiple sensors installed on the center of the carrier and the eight guide wheels include an angle sensor and a displacement sensor installed on the center of the carrier, and a displacement sensor installed on the eight guide wheels; the angle sensor is used to record the angle data of the blast hole in real time, and the displacement sensor records the spatial trajectory data of the carrier and the eight guide wheels in real time.

[0051] The parameters of the blasthole include the horizontal displacement of the blasthole center. When measuring the horizontal displacement of the blasthole center, the basic working principle is as follows: Figure 3 shown.

[0052] During the operation of the device, the displacement sensor automatically records the spatial displacement of the center of the carrier, and the angle sensor automatically records the angular change of the center of the carrier.

[0053] When the measured blasthole is tilted and deformed, multiple sensors will sense the deformation synchronously. The displacement change (deformation) and angle change measured by the angle sensor and displacement sensor installed at the center of the carrier at a certain depth point have the following relationship:

[0054] Δ i =L i ×sinθ i

[0055] Where: Δ i is the displacement change of the measuring section of the i-th measuring point, in mm; L i is the spatial displacement measured by the displacement sensor installed at the center of the carrier in the i-th measuring section, in mm; θ i is the angle change measured by the displacement sensor installed at the center of the carrier in the i-th measuring section, in degrees, and the total horizontal displacement S of the center of the blasthole at the N-th measuring section. i With Δ i Has the following relationship:

[0056]

[0057] Where B is the number of measurement segments.

[0058] The total horizontal displacement of the center of the blasthole at each measuring section is obtained in turn, and the spatial trajectory of the center of the blasthole can be obtained.

[0059] In addition, by obtaining the position of the guide wheel, the radius of the blasthole can be calculated by relying on the data processing unit, including:

[0060] Based on the same group of four guide wheels (4 guide wheels form 360 degrees), fit the circle with the most similar cross-section of the four guide wheels at the current position (if the medium-deep hole is drilled relatively regularly and roundly, it is easy to measure the radius of the blasthole. If the shape of the medium-deep hole is irregular, fitting is required at this time), and use the least squares method to obtain the center and radius of the circle.

[0061] Assume that the position coordinates of the four data points are (x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) and (x 4 ,y 4 ). To find a circle, its equation is (xa) 2 +(yb) 2 =r 2 , where (a,b) are the coordinates of the center of the circle and r is the radius of the circle.

[0062] Setting the objective function to the sum of the squares of the distances from all points to the center of the circle can be expressed as:

[0063]

[0064] The data processing unit uses a pre-written function to find the minimum value of the objective function S(a, b, r), and then obtains the radius r of the corresponding circle, that is, the radius of the blast hole at the current position.

[0065] In some embodiments, the position of the guide wheel can be obtained in the following manner: a data receiver is placed at the mouth of the gun bore, the position of the data receiver is used as a reference coordinate of the base, a signal is received from a guide wheel with a built-in signal transmitter, and the time and direction of signal reception are used to determine the position coordinates of the guide wheel.

[0066] When processing data, set a suitable sampling interval, and each sampling will get 9 data points, one data point for each of the eight guide wheels at the front and rear of the device, and one data point for the measuring device. In this way, spatial trajectory data for subsequent data processing can be obtained.

[0067] In some embodiments, the position of the guide wheel can be checked by:

[0068] The diameter of the guide wheel is fixed. A sensor is used to obtain the number of rotations of the guide wheel. Combined with the diameter of the guide wheel, the length of the guide wheel displacement is calculated. The number of rotations of the eight guide wheels are checked against each other, and the calculated length of the guide wheel displacement is checked against the data transmitted by the displacement sensor to achieve position verification of the guide wheel.

[0069] By checking the position of the guide wheel, the correctness of the device operation can be verified.

[0070] The number of rotations of the guide wheel can be obtained by using a Hall sensor installed on the guide wheel, by counting the electromagnetic signal of each rotation of the guide wheel. The number of rotations of the guide wheel can also be collected using an ordinary photoelectric counter or a weight counter.

[0071] The basic principle used by the present invention to measure the spatial trajectory of the blasthole center and form a three-dimensional model is as follows: Figure 4 The spatial trajectory data of the carrier center, that is, the spatial trajectory of the blasthole center, is used as the normal of the four blasthole sections and the sections where the four guide wheels are located to perform three-dimensional processing to form a three-dimensional model of the current blasthole.

[0072] The overall operation process is: when the device is running, the staff will install the device and place it at the corresponding blasthole position. After starting the equipment, the device will measure the medium and deep hole data. The sensor of the measuring device will measure and record the displacement, angle and other data and transmit them to the data receiver through wireless signal transmission. The data receiver will then transmit the data to the data processing unit. During operation, according to the shape of the blasthole wall, the support rod and guide wheel with telescopic device can adapt to the size of each part of the blasthole and be pressed against the blasthole wall. At the same time, the position of the equipment close to the center of the blasthole is ensured to ensure the smooth operation process and accurate measurement. According to the position of the guide wheel, the radius of the blasthole is known. Finally, according to the sum of the information received by the data receiver, calculation verification is performed to automatically identify whether the parameters of the blasthole are qualified, and a three-dimensional model of the blasthole can be formed according to the operation trajectory and cross-sectional size.

[0073] The embodiment of the present application also provides a novel medium-long hole blasting intelligent hole inspection method, which uses the novel medium-long hole blasting intelligent hole inspection device to obtain the parameters of the blasthole. The specific implementation of the method can refer to the specific embodiment of the device above, which will not be repeated here.

[0074] The above description of the embodiments of the present application is only a partial embodiment of the present application, which is used to enable professionals in the field to implement or use the content of the present application, and is not used to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A new type of intelligent hole inspection device for medium-deep hole blasting, characterized in that: include: Drive devices, measuring devices and connecting devices; The driving device includes a motor, a guide wheel and a carrier. The motor provides power to the guide wheel, and the guide wheel drives the carrier to move forward and backward in the blast hole. There are eight guide wheels in total, and each four guide wheels form a group. A total of two groups of guide wheels are respectively arranged at the front and rear ends of the carrier. Each group of guide wheels is centrally symmetrically distributed around a center point on a cross section. The two groups of guide wheels are symmetrically arranged. The measuring device comprises a data measuring unit, a data receiver and a data processing unit, wherein the data measuring unit, the data receiver and the data processing unit are connected in sequence; The data measurement unit includes a plurality of sensors installed on the center of the carrier and the eight guide wheels, which are used to measure the angle data of the blasthole and the spatial running trajectory data of the carrier and the eight guide wheels respectively; The connecting device includes a support rod and a telescopic unit. There are eight support rods in total, which are used to connect eight guide wheels and carriers respectively. The connection between the support rod and the carrier is provided with a telescopic unit, which can be contracted and expanded according to the size of the blasthole, so that the guide wheel is tightly pressed against the blasthole wall. The guide wheel drives the carrier to continuously move forward in the blasthole, and the data measurement unit records the angle data of the blasthole and the spatial running trajectory data of the carrier and the eight guide wheels in real time, and transmits them wirelessly to the data receiver and the data processing unit for further processing; The data processing unit calculates the parameters of the blasthole based on the data transmitted by the measuring unit.

2. The device according to claim 1, characterized in that The multiple sensors installed on the center of the carrier and the eight guide wheels include an angle sensor and a displacement sensor installed on the center of the carrier, and a displacement sensor installed on the eight guide wheels; the angle sensor is used to record the angle data of the blasthole in real time, and the displacement sensor is used to record the spatial operation trajectory data of the carrier and the eight guide wheels in real time.

3. The device according to claim 2, characterized in that The parameters of the blasthole include the horizontal displacement of the center of the blasthole; The formula for calculating the horizontal displacement of the blasthole center is: D i =L i ×sinθ i Where N is the number of measurement segments; Δ i is the displacement change of the measurement segment at the i-th measuring point; L i is the spatial displacement measured by the displacement sensor installed at the center of the carrier in the i-th measurement section, θ i is the angle change measured by the displacement sensor installed at the center of the carrier in the i-th measuring section.

4. The device according to claim 1, characterized in that The parameters of the blasthole include the radius of the blasthole; Calculating the radius of the blasthole includes: fitting a circle with the most similar cross-section to the four guide wheels at the current position according to the positions of the same group of four guide wheels, and using the least squares method to obtain the center and radius of the circle, that is, the radius of the blasthole at the current position.

5. The device according to claim 4, characterized in that The position of the guide wheel is obtained in the following manner: a data receiver is placed at the mouth of the gun bore, the position of the data receiver is used as a reference coordinate, a signal from a guide wheel with a built-in signal transmitter is received, and the time and direction of signal reception are used to determine the position coordinates of the guide wheel.

6. The device according to claim 5, characterized in that Check the position of the guide wheel by: The number of rotations of the guide wheel is obtained by using a sensor, and the length of the guide wheel displacement is calculated in combination with the diameter of the guide wheel. The number of rotations of the eight guide wheels are checked against each other, and the calculated length of the guide wheel displacement is checked against the data transmitted by the displacement sensor to achieve position verification of the guide wheel.

7. The device according to any one of claims 4 to 6, characterized in that: The parameters of the blasthole include a three-dimensional model of the blasthole; Get the 3D model of the blasthole by: The spatial trajectory of the center of the blasthole is used as the normal line of the blasthole section. Combined with the radius of the blasthole, the spatial trajectory of the center of the blasthole and the blasthole section are processed in three dimensions to form a three-dimensional model of the current blasthole.

8. A new intelligent hole inspection method for medium-deep hole blasting, characterized in that: The device according to any one of claims 1 to 7 is used to calculate the parameters of the blasthole.

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