A new intelligent hole checking device and method for medium-length hole blasting

Abstract

The application discloses a novel intelligent hole checking device and method for medium-deep hole blasting, which comprises a driving device, a measuring device and a connecting device. The driving device comprises a motor, guide wheels and a carrier. Every four guide wheels form a group, and there are two groups of guide wheels arranged at the front and rear ends of the carrier. The measuring device comprises a data measuring unit, a data receiver and a data processing unit connected in sequence. The connecting device comprises support rods and telescopic units. There are eight support rods, which are used for connecting the eight guide wheels and the carrier. The connecting part of the support rod and the carrier is provided with a telescopic unit, which can be contracted and expanded according to the size of the blast hole, so that the guide wheels are tightly pressed on the blast hole wall. The carrier is continuously advanced in the blast hole by the guide wheels. The data measuring unit records the angle data of the blast hole and the space running track data of the carrier and the eight guide wheels in real time, and wirelessly transmits the data to the data receiver and the data processing unit for further processing, so as to calculate the parameters of the blast hole. The application can accurately measure the parameters of the blast hole.

Description

TECHNICAL FIELD

[0001] The present application relates to the blasting hole parameter measurement technology in the blasting field, and particularly relates to a new type of intelligent hole checking device and method for medium-length hole blasting. BACKGROUND

[0002] By reasonably designing the depth, diameter and number of the blast hole, the explosive can be uniformly distributed in the blasting area, so that the expected blasting effect can be achieved. However, due to the insufficient accuracy and stability of part of the drilling equipment, the unskilled drilling operators, the change of geological conditions and other reasons, the depth and direction of the blast hole may be inconsistent, and in the actual drilling, unqualified blast holes often occur, which affect the blasting effect and safety. Therefore, it is necessary to design a device that can intelligently detect the blast hole forming parameters, provide data support for rock drilling effect evaluation and accurate blasting explosive design, and ensure the smooth progress of blasting.

[0003] At present, there are technologies for measuring blast hole parameters by using ultrasonic waves and the like on the market, but there are disadvantages such as difficulty in grasping the depth suitable for sound wave work in the hole, inconvenience in carrying and large-scale detection of the instrument, and the like. They can only be used as auxiliary inspection instruments in the process, and there are guide wheel type hole measuring devices using guide pipes and guide grooves on the market, but in the use process, the guide pipe is prone to torsional deformation, which causes the measured data and the measured direction to be inconsistent, resulting in errors. Therefore, it is necessary to develop a new type of intelligent blast hole parameter detection device. SUMMARY

[0004] The purpose of the present application is to provide a new type of intelligent hole checking device and method for medium-length hole blasting, which can accurately measure the blast hole parameters.

[0005] The technical scheme provided by the present application is as follows:

[0006] In a first aspect, the present application provides a new type of intelligent hole checking device for medium-length hole blasting, which comprises a driving device, a measuring device and a connecting device.

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

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

[0009] The data measuring unit comprises a plurality of sensors installed on the center of the carrier and the eight guide wheels, respectively used for measuring the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels;

[0010] The connecting device comprises eight support rods and telescopic units, the support rods are respectively used for connecting the eight guide wheels and the carrier; the support rods are provided with telescopic units at the connection with the carrier, which can be contracted and expanded according to the size of the blast hole, so that the guide wheels are tightly pressed on the blast hole wall;

[0011] The carrier is continuously driven in the blast hole by the guide wheels, the data measuring unit records the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels in real time, and wirelessly transmits to the data receiver and the data processing unit for further processing;

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

[0013] In a possible implementation, the plurality of sensors installed on the center of the carrier and the eight guide wheels comprise an angle sensor and a displacement sensor installed on the center of the carrier, and displacement sensors installed on the eight guide wheels; the angle sensor is used for recording the angle data of the blast hole in real time, and the displacement sensor records the spatial running track data of the carrier and the eight guide wheels in real time.

[0014] In a possible implementation, the parameters of the blast hole comprise the horizontal displacement amount of the center of the blast hole;

[0015] The formula for calculating the horizontal displacement amount of the center of the blast hole is:

[0016]

[0017] Δ i =L i ×sinθ i

[0018] Wherein, N is the number of measurement sections; Δ i is the displacement change amount of the i-th measurement section; L i is the spatial displacement measured by the displacement sensor installed on the center of the carrier in the i-th measurement section, θ i is the angle change amount measured by the displacement sensor installed on the center of the carrier in the i-th measurement section.

[0019] In a possible implementation, the parameters of the blast hole comprise the radius of the blast hole;

[0020] The radius of the blast hole is calculated by fitting a circle most similar to the section where the four guide wheels are located at the current position according to the positions of the same set of four guide wheels, and using the least square method to obtain the center and radius of the circle, i.e. the radius of the blast hole at the current position.

[0021] In a possible implementation, the position of the guide wheel is obtained by placing a data receiver at the blast hole opening, taking the position of the data receiver as a reference coordinate, receiving a signal emitted by the guide wheel with a built-in signal transmitter, and determining the position coordinate of the guide wheel by using the time and direction of the signal reception.

[0022] In a possible implementation, the position of the guide wheel is verified by:

[0023] The number of rotations of the guide wheel is obtained by using a sensor, and the length of the displacement of the guide wheel is calculated by combining the diameter of the guide wheel; the number of rotations of the eight guide wheels is verified with each other, and the length of the displacement of the guide wheel calculated is verified with the data transmitted by the displacement sensor, so as to realize the position verification of the guide wheel.

[0024] In a possible implementation, the parameters of the blast hole include a three-dimensional model of the blast hole.

[0025] The three-dimensional model of the blast hole is obtained by:

[0026] The three-dimensional model of the current blast hole is formed by using the spatial trajectory of the center of the blast hole as the normal line of the section of the blast hole, and combining the radius of the blast hole to perform three-dimensional processing on the spatial trajectory of the center of the blast hole and the section of the blast hole.

[0027] In a second aspect, the application provides a novel intelligent blast hole verification method for medium-length and deep hole blasting, which adopts the novel intelligent blast hole verification device for medium-length and deep hole blasting and calculates the parameters of the blast hole.

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

[0029] Beneficial effects:

[0030] The application designs a full-automatic guide wheel type working device using wireless signals, which can intelligently enter a blast hole. During the operation of the device for measuring the blast hole, a sensor automatically records the spatial displacement trajectory of the center of the carrier, and the radius of the blast hole at the current position is calculated by relying on a data processing unit according to the position of the guide wheel. The spatial trajectory of the center of the blast hole is used as the normal line of the section of the blast hole, and the spatial trajectory of the center of the blast hole and the section of the blast hole are three-dimensionally processed by combining the radius of the blast hole, so as to form a digital three-dimensional model of the current blast hole. The application facilitates the verification of the blast hole in a mine and has the following advantages:

[0031] (1) Using various sensors and wireless data transmission processing units, automatic intelligent hole inspection is realized, manual data collection and subsequent calculation are not needed, the hole inspection period is effectively shortened, and the efficiency is improved.

[0032] (2) High precision, fast response time, various sensing elements and data processing units ensure the rapid and accurate operation of the equipment. In addition to the traditional hole inspection, a three-dimensional model of the medium-deep hole can also be formed.

[0033] (3) Compared with the traditional guide wheel type equipment, the guide pipe guide groove and the connecting cable are cancelled, and the wireless transmission method is used, making the equipment more agile and flexible, and facilitating installation.

[0034] (4) There are four guide wheels in the horizontal and vertical directions, which cooperate with the telescopic device to better adapt to different shapes of medium-deep holes, and avoid the problem of inaccurate measurement data caused by the twisting of the guide pipe when the traditional guide wheel equipment runs in the guide pipe.

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

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

[0037] Figure 2 Figure 2 is a schematic diagram of the cross section of the device in an embodiment of the present application;

[0038] Figure 3 Figure 3 is a principle diagram of the blast hole parameter relationship in an embodiment of the present application;

[0039] Figure 4 Figure 4 is a schematic diagram of the running track in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable personnel in the technical field to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be further described in detail below with reference to the drawings in the embodiments of the present application.

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

[0042] As shown in Figure 1 , the present application provides a new type of medium-deep hole blasting intelligent hole inspection device, which comprises a driving device, a measuring device and a connecting device.

[0043] The driving device comprises a motor, guide wheels and a carrier, the motor provides power for the guide wheels, the guide wheels drive the carrier to move forward and backward in the blast hole; the guide wheels are eight in total, every four guide wheels form a group, and there are two groups of guide wheels 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 section; the two groups of guide wheels are symmetrically arranged; thus, there are four guide wheels in the horizontal and vertical directions respectively;

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

[0045] The data measuring unit comprises a plurality of sensors mounted on the center of the carrier and the eight guide wheels, which are used to measure the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels respectively;

[0046] The connecting device comprises support rods and telescopic units, the support rods are eight in total and are used to connect the eight guide wheels and the carrier respectively; the connecting positions of the support rods and the carrier are provided with telescopic units, which can be contracted and expanded according to the size of the blast hole, so that the guide wheels are tightly pressed against the blast hole wall;

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

[0048] The data measuring unit records the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels in real time, and wirelessly transmits them to the data receiver and the data processing unit for further processing;

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

[0050] In some embodiments, the plurality of sensors mounted on the center of the carrier and the eight guide wheels comprise an angle sensor and a displacement sensor mounted on the center of the carrier, and displacement sensors mounted 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 running track data of the carrier and the eight guide wheels in real time.

[0051] The parameters of the blast hole include the horizontal displacement of the center of the blast hole. When measuring the horizontal displacement of the center of the blast hole, the basic working principle is as shown in Figure 3 .

[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 angle change of the center of the carrier.

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

[0054] Δ i = L i × sin θ i

[0055] In the formula: Δ i is the displacement change amount of the i-th measuring section, with the unit of mm; L i is the spatial displacement measured by the displacement sensor installed at the center of the carrier at the i-th measuring section, with the unit of mm; θ i is the angle change amount measured by the displacement sensor installed at the center of the carrier at the i-th measuring section, with the unit of °, and the total horizontal displacement amount S i of the blast hole center at the N-th measuring section has the following relationship with Δ i .

[0056]

[0057] Wherein, B is the number of measuring sections.

[0058] By sequentially obtaining the total horizontal displacement amount of the blast hole center at each measuring section, the spatial trajectory of the blast hole center can be obtained.

[0059] In addition, by obtaining the positions of the guide wheels, the radius of the blast hole can be calculated by the data processing unit, including:

[0060] According to the same set of four guide wheels (4 guide wheels form 360 degrees), the most similar circle of the section where the four guide wheels are located at the current position is fitted (if the medium-length hole is punched out to be relatively regular and round, the radius of the blast hole can be easily measured, and if the shape of the medium-length hole is irregular, it needs to be fitted at this time), and the center and radius of the circle are obtained by using the least square method.

[0061] Suppose the position coordinates of the four data points are (x1, y1), (x2, y2), (x3, y3) and (x4, y4). In order to find a circle, the equation of which is (x-a) 2 +(y-b) 2 =r 2 , where (a, b) is the center coordinate of the circle, and r is the radius of the circle.

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

[0063]

[0064] The data processing unit uses a function programmed in advance to find the minimum value of the target function S(a, b, r), and then the radius r of the corresponding circle, i.e. the radius of the current position hole, can be obtained.

[0065] In some embodiments, the position of the guide wheels can be obtained by placing a data receiver at the hole mouth, taking the position of the data receiver as the reference coordinate, receiving the signals emitted by the guide wheels with the built-in signal transmitters, and determining the position coordinates of the guide wheels by using the time and direction of the signal reception.

[0066] During data processing, a suitable sampling interval is set, and each sampling will obtain 9 data points, each of the eight guide wheels in front and behind the device corresponds to one data point, and the measuring device corresponds to one data point. Thus, the spatial trajectory data for subsequent data processing can be obtained.

[0067] In some embodiments, the position of the guide wheels can be verified by the following method:

[0068] The diameter of the guide wheel is fixed, the number of rotations of the guide wheel is obtained by using a sensor, and the length of the displacement of the guide wheel is calculated by combining the diameter of the guide wheel; the number of rotations of the eight guide wheels is cross-verified, and the length of the displacement of the guide wheel calculated is cross-verified with the data transmitted by the displacement sensor, so as to realize the position verification of the guide wheel.

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

[0070] The number of rotations of the guide wheel can be obtained by counting the electromagnetic signals of each rotation of the guide wheel by a Hall sensor installed on the guide wheel, or by using a common photoelectric counter or a weight counter to collect the number of rotations of the guide wheel.

[0071] The basic principle used by the present application to measure the spatial trajectory of the hole center and form a three-dimensional model is shown in Figure 4 The spatial trajectory data of the carrier center, i.e. the spatial trajectory of the hole center, is used as the normal line of the four hole sections and the sections where the four guide wheels are located for three-dimensional processing to form a three-dimensional model of the current hole.

[0072] The overall operation process is as follows: when the device is running, the worker installs the device, places the device in the position of the corresponding blast hole, starts the equipment, and then the device measures the data of the medium-deep hole. The sensor of the measuring device measures and records the displacement, angle and other data and transmits them to the data receiver through wireless signal transmission. The data receiver transmits the data to the data processing unit. During the operation process, according to the shape of the blast hole wall, the support rod with the telescopic device and the guide wheel can adapt to the size of each part of the blast hole, realize the compression on the blast hole wall, ensure the equipment close to the center of the blast hole, ensure the smooth operation process and the accuracy of the measurement, and know the size of the radius of the blast hole according to the position of the guide wheel. Finally, according to the total information received by the data receiver, the calculation verification is carried out, and the device can automatically identify whether the parameters of the blast hole are qualified, and can form a three-dimensional model of the blast hole according to the running track and the cross-sectional size.

[0073] The embodiment of the present application also provides a novel intelligent blast hole checking method for medium-deep hole blasting, which uses the novel intelligent blast hole checking device for medium-deep hole blasting to obtain the parameters of the blast hole. The specific implementation manner of the method can refer to the specific embodiments of the device, which will not be described here.

[0074] The above description of the embodiments of the present application is only part of the embodiments of the present application, which is used to enable those skilled in the art to implement or use the content of the present application, and is not used to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A novel intelligent borehole inspection device for medium-deep hole blasting, characterized in that, include: Drive unit, measuring unit, and connecting unit; The driving device includes a motor, guide wheels, and a carrier. The motor provides power to the guide wheels, which drive the carrier to move back and forth in the borehole. There are eight guide wheels in total, with four guide wheels forming a group. Two groups of guide wheels are respectively set 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 arranged symmetrically. The measuring device includes a data measuring unit, a data receiver, and a data processing unit, which are connected in sequence. The data measurement unit includes multiple sensors installed at the center of the carrier and on eight guide wheels, which are used to measure the angle data of the borehole and the spatial trajectory data of the carrier and the eight guide wheels, respectively. The connecting device includes support rods and telescopic units. There are eight support rods in total, which are used to connect eight guide wheels and the carrier respectively. The connection between the support rod and the carrier is provided with a telescopic unit, which can expand and contract according to the size of the borehole, so that the guide wheels are pressed tightly against the borehole wall. The carrier is driven to move forward continuously in the borehole by the guide wheels. The data measurement unit records the angle data of the borehole and the spatial trajectory data of the carrier and the eight guide wheels in real time, and wirelessly transmits them to the data receiver and data processing unit for further processing. The data processing unit calculates the parameters of the borehole based on the data transmitted by the measurement unit; The parameters of the borehole include the radius of the borehole; the radius of the borehole is calculated by fitting the most similar circle of the cross section of the four guide wheels at the current position based on the position of the four guide wheels in the same group, and using the least squares method to obtain the center and radius of the circle, which is the radius of the borehole at the current position. The position of the guide wheel is obtained by placing a data receiver at the borehole, using the position of the data receiver as a reference coordinate, receiving the signal emitted by the guide wheel with a built-in signal transmitter, and using the time and azimuth of the received signal to determine the position coordinates of the guide wheel. The parameters of the borehole include a three-dimensional model of the borehole. The three-dimensional model of the borehole is obtained by using the spatial trajectory of the borehole center as the normal of the borehole section, and combining the borehole radius to perform three-dimensional processing on the spatial trajectory of the borehole center and the borehole section to form the current three-dimensional model of the borehole.

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

3. The apparatus according to claim 2, characterized in that, The parameters of the borehole include the horizontal displacement of the borehole center; The formula for calculating the horizontal displacement of the borehole center is: ； ； in, Indicates the first The total horizontal displacement of the borehole center at each measurement section The number of measurement segments; For the first The displacement change of each measuring point is measured. For the displacement sensor installed at the center of the carrier in the first The spatial displacement measured in each measurement segment For the displacement sensor installed at the center of the carrier in the first The measured angle change of each measurement segment.

4. The apparatus according to claim 1, characterized in that, The position of the guide wheel is checked using the following method: The number of rotations of the guide wheel is obtained using a sensor, and the length of the guide wheel displacement is calculated by combining the diameter of the guide wheel. The number of rotations of the eight guide wheels are cross-checked, and the calculated length of the guide wheel displacement is cross-checked with the data transmitted by the displacement sensor to realize the position verification of the guide wheel.

5. A novel intelligent borehole inspection method for medium-deep hole blasting, characterized in that, The parameters of the borehole are calculated using the apparatus described in any one of claims 1 to 4.

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