Method for Detecting the Environment Inside a Hole

Abstract

The present invention discloses a method for detecting the internal environment of a hole, which includes: the host obtains the real-time change characteristics of the pulling force value during the wire laying process; when the real-time change characteristics conform to the first preset change characteristics, it is confirmed that the detection pendant reaches the bottom of the hole; the host controls the main axis pulley to tighten the signal wire, and during the tightening process, the host judges whether the pulling force value exceeds the first preset pulling force value. When it exceeds the first preset pulling force value, the wire laying length of the signal wire collected by the wire length collector is obtained as the hole depth. During the measurement of the hole depth, in cooperation with the internal environment detection device of the hole, by detecting the real-time change of the pulling force of the signal wire, the actual situation of the detection pendant in the hole is accurately determined through the real-time pulling force change characteristics, so as to realize accurate measurement of the hole depth, and then customized placement of explosives can be carried out according to the accurately measured hole depth, improving the blasting effect.

Description

Technical Field

[0001] The present invention relates to the technical field of mine blasting, and specifically relates to a method for detecting the environment inside a hole. Background Art

[0002] In existing mine blasting, a drilling machine is used to drill holes. After the drilling is completed, explosives are placed in the blasting holes for blasting. However, during the blasting process, some blasting results with lower controllability may occur. Through research by the applicant, it is found that although the accuracy requirements for mine blasting are lower than those for other directional blasting, in the actual operation process, the environment inside the blasting hole often differs greatly from the set drilling parameters. If, according to past experience, after the blasting hole is completed, explosives are placed by setting the drilling parameters, in some blasting holes where the environment inside the hole often differs greatly from the set drilling parameters, the blasting effect is very likely to be uncontrollable, resulting in a poor blasting effect.

[0003] Based on this, how to improve the mine blasting effect has become an urgent technical problem to be solved. Summary of the Invention

[0004] In view of this, the present invention provides a method for detecting the environment inside a hole to solve the problem of how to improve the mine blasting effect in related technologies.

[0005] In a first aspect, the present invention provides a method for detecting the environment inside a hole, which is applicable to a device for detecting the environment inside a hole. The device for detecting the environment inside a hole includes a main unit; a signal line connected between the main unit and a detection pendant; a main axis pulley for winding / unwinding the signal line; a force sensor for detecting the tensile force value of the signal line during winding / unwinding and feeding it back to the main unit; a line length collector for collecting the winding / unwinding length of the signal line. The measurement method includes:

[0006] The main unit obtains the real-time change characteristics of the tensile force value during the unwinding process;

[0007] When the real-time change characteristics conform to the first preset change characteristics, it is confirmed that the detection pendant reaches the bottom of the hole;

[0008] The main unit controls the main axis pulley to tighten the signal line. During the tightening process, the main unit determines whether the tensile force value exceeds the first preset tensile force value. When it exceeds the first preset tensile force value, the actual unwinding length of the signal line collected by the line length collector is obtained as the depth of the hole.

[0009] Optionally, before unwinding, the main unit controls the main axis pulley to perform pre-tightening of the winding until the tensile force value reaches the pre-tightening tensile force value.

[0010] Optionally, when the tensile force value reaches the pre-tightening tensile force value, control the main axis wheel to pay out the wire at a first set acceleration until the set pay-out speed is reached and then pay out the wire at the set pay-out speed.

[0011] Optionally, during the wire pay-out process, the main machine controls the real-time wire pay-out acceleration of the main axis wheel to be within the range of the first set acceleration according to the real-time change characteristics of the tensile force value, and controls the tensile force value to remain greater than the second preset tensile force value.

[0012] Optionally, during the wire pay-out process, when the main machine detects that the tensile force value suddenly changes to be less than the collision detection threshold, it controls the main axis wheel to stop paying out the wire.

[0013] Optionally, after controlling the main axis wheel to stop paying out the wire, it further includes:

[0014] Continuously detect the tensile force value until the change of the tensile force value reaches a stable state, and obtain the first stable tensile force value;

[0015] If the first stable tensile force value is less than the tensile force value before the mutation, the real-time change characteristics conform to the first preset change characteristics, and it is confirmed that the detection pendant reaches the bottom of the hole;

[0016] If the first stable tensile force value returns to the tensile force value before the mutation, the real-time change characteristics conform to the second preset change characteristics, and it is confirmed that the detection pendant collides, and control the main axis wheel to resume paying out the wire at the pay-out speed before stopping paying out the wire.

[0017] Optionally, an attitude sensor is further provided on the detection pendant;

[0018] When the change of the tensile force value reaches a stable state, the main machine obtains the attitude data of the detection pendant collected by the attitude sensor;

[0019] If the attitude data indicates that the detection pendant is in a vertical attitude and the first stable tensile force value returns to the tensile force value before the mutation, it is confirmed that the detection pendant collides;

[0020] If the attitude data indicates that the detection pendant is in an inclined state or a horizontal state and the first stable tensile force value is less than the tensile force value before the mutation, it is confirmed that the detection pendant reaches the bottom of the hole.

[0021] Optionally, a temperature sensor is further provided on the detection pendant;

[0022] The main machine obtains the temperature data in the hole collected by the temperature sensor.

[0023] Optionally, after obtaining the pay-out length of the signal wire collected by the wire length collector as the hole depth, it further includes:

[0024] The host controls the main axis reel to decelerate and take in the wire at a second set acceleration. During the wire-taking-in process, when the host detects that the tensile force value is greater than a third preset tensile force value, it controls the main axis reel to stop taking in the wire.

[0025] Optionally, the hole internal environment detection device further includes a pendant in-place sensor;

[0026] When the host detects that the tensile force value is greater than a third preset tensile force value, it determines whether the pendant in-place sensor detects an in-place signal;

[0027] If an in-place signal is detected, it is confirmed that the condition for completing the wire-taking-in is met;

[0028] If no in-place signal is detected, it is confirmed that the detection pendant has collided, controls the wire reel to stop taking in the wire, and after the tensile force value stabilizes, controls the main axis reel to continue taking in the wire until the condition for completing the wire-taking-in is met.

[0029] Optionally, the wire length collector includes an encoder for collecting the number of turns of the main axis reel;

[0030] The obtaining of the actual wire release length of the signal wire collected by the wire length collector as the hole depth includes:

[0031] During the wire release process, the encoder records in real time the cumulative number of turns of the main axis reel and the cumulative reduction in the number of layers of the signal wire on the main axis reel;

[0032] Based on the cumulative number of turns and the cumulative reduction in layers, determine the actual wire release length of the signal wire as the hole depth.

[0033] The above-mentioned method for detecting the internal environment of a hole in the present invention uses a device for detecting the internal environment of a hole to detect the internal environment of a blasting hole. Among them, the device for detecting the internal environment of a hole includes a main unit; a signal line connected between the main unit and a detection pendant; a main axis pulley for winding / unwinding the signal line; a force sensor for detecting the tensile force value of the signal line during winding / unwinding and feeding it back to the main unit; a line length collector for collecting the winding / unwinding length of the signal line. During the process of paying out the line, the main unit obtains the real-time change characteristics of the tensile force value during the pay-out process. When the real-time change characteristics conform to the first preset change characteristics, it is confirmed that the detection pendant reaches the bottom of the hole. After reaching the bottom of the hole, the main unit controls the main axis pulley to stop paying out the line and controls the main axis pulley to tighten the signal line. During the tightening process, the tensile force value will continuously change until it reaches the first preset tensile force value, then it can be confirmed that the pendant just touches the bottom of the hole. At this time, the actual pay-out length of the signal line collected by the line length collector is used as the hole depth. During the measurement of the hole depth, in cooperation with the device for detecting the internal environment of the hole, by detecting the tensile force change of the signal line in real time, the actual situation of the detection pendant in the hole is accurately determined through the real-time tensile force change characteristics, so as to realize accurate measurement of the hole depth, and then the explosive can be customized and placed according to the accurately measured hole depth to improve the blasting effect. Brief Description of the Drawings

[0034] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic structural diagram of the line pay-out unit of the device for detecting the internal environment of a hole according to an embodiment of the present invention;

[0036] Figure 2 It is a schematic structural diagram of the positioning unit of the device for detecting the internal environment of a hole according to an embodiment of the present invention;

[0037] Figure 3 It is a schematic diagram of the tensile force change curve of the signal line during the detection of the internal environment of a hole according to an embodiment of the present invention. Detailed Embodiments

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] To solve the above problems, according to an embodiment of the present invention, there is provided a method for detecting the internal environment of a hole, which is applicable to a device for detecting the internal environment of a hole, such as Figure 1 and Figure 2 shown, the device for detecting the internal environment of a hole includes a host; a signal line connected between the host and a detection pendant; a main axis pulley for winding / unwinding the signal line; a force sensor for detecting the pulling force value of the signal line during winding / unwinding and feeding it back to the host; and a line length collector for collecting the winding / unwinding length of the signal line.

[0040] Among them, the host can be an upper computer or a controller provided on the device for detecting the internal environment of the hole. In this embodiment, the controller provided on the device for detecting the internal environment of the hole is taken as an example for description:

[0041] See Figure 1 and Figure 2 shown, the device for detecting the internal environment of a hole may include a wire releasing unit 1, a positioning unit 2, and a detection pendant 3. Among them, the signal line 101, the host, the main axis pulley 102, and the force sensor 103 are arranged in the wire releasing unit, and the detection pendant 3 is arranged in the positioning unit 2. Before wire releasing, the detection pendant 3 is held and protected by a pendant bracket. One end of the signal line 101 is connected to the detection pendant 3, and the other end is connected to the host after passing through the main axis pulley 102. The force sensor 103 can be arranged on the movement path of the signal line 101. In this embodiment, a plurality of wire guide pulleys are arranged on the movement path of the signal line 101. Among them, the force sensor 103 can be arranged on one of the wire guide pulleys. During the descent of the detection pendant 3, the pulling force of the detection pendant 3 on the signal line is converted into the pressure of the signal line on the wire guide pulley. Further, the force sensor 103 can obtain the pulling force of the detection pendant 3 on the signal line by measuring the pressure of the signal line 101 on the wire guide pulley.

[0042] When performing the method for measuring the internal environment of a hole, during the wire releasing process, the detection pendant 3 is perpendicular to the upper part of the blasting hole, and the host controls the main axis pulley 102 to rotate, and the detection pendant 3 moves downward into the blasting hole. During the wire releasing process, the host obtains the pulling force value of the detection pendant 3 on the signal line 101 in real time through the force sensor 103 to form a pulling force value curve to obtain the real-time change characteristics of the pulling force value.

[0043] During the wire release process, when detecting the pendant 3 descending, the tension value will change according to the set tension value. For example, during the accelerating descent process, the tension value will decrease, and during the uniform descent process, the tension value will be in a stable state. When the detecting pendant 3 reaches the bottom of the hole, due to the bottom support effect of the hole bottom on the detecting pendant 3, the tension value suddenly decreases. Therefore, during the descent process of the detecting pendant 3, if the tension value suddenly decreases, it is considered that the detecting pendant 3 reaches the bottom of the hole. When the host detects that the real-time change characteristic of the tension value during the wire release process conforms to the first preset change characteristic, that is, the tension value suddenly decreases, it is confirmed that the detecting pendant 3 reaches the bottom of the hole.

[0044] Since there will be a certain amount of slack in the signal line 101 after hitting the bottom of the hole, directly recording the wire length at this time may lead to inaccurate detection. Therefore, when it is confirmed that the detecting pendant 3 reaches the bottom of the hole, the host controls the wire reel to take in the wire, lifts the detecting pendant 3 to a position where the bottom of the detecting pendant 3 just touches the bottom of the hole, and then records the wire length. In this embodiment, during the wire release process, when it is confirmed that the detecting pendant 3 reaches the bottom of the hole, the signal line needs to be tightened. During the tightening process, the host judges whether the tension value exceeds the first preset tension value. When it exceeds the first preset tension value, the actual wire release length of the signal line 101 collected by the wire length collector is obtained as the hole depth. The setting of the first preset tension value is determined by the pressure distribution of the signal line 101 on the wire guide wheel collected by the force sensor 103. Exemplarily, the wire guide wheel often serves as a fixed pulley, and the tension value detected by the force sensor 103 is the sum of the tensions on both sides of the fixed pulley. When the bottom of the detecting pendant 3 just touches the bottom of the hole, the tension value detected by the force sensor 103 should be twice the gravity value of the detecting pendant 3. Therefore, in one embodiment, the first preset tension value can be twice the gravity value of the detecting pendant 3. Other pressure distribution situations of the signal line 101 on the wire guide wheel are also applicable in this embodiment. Specifically, refer to Figure 3 the schematic diagram of the fifth area E shown in

[0045] In this embodiment, the internal environment detection device for the hole is used to detect the internal environment of the blasting hole. Among them, the internal environment detection device for the hole includes a main unit; a signal line 101 connected between the main unit and the detection pendant 3; a main axis pulley 102 for winding / unwinding the signal line 101; a force sensor 103 for detecting the tensile force value of the signal line 101 during winding / unwinding and feeding it back to the main unit; a wire length collector for collecting the winding / unwinding length of the signal line 101. During the wire unwinding process, the main unit obtains the real-time change characteristics of the tensile force value during the wire unwinding process. When the real-time change characteristics conform to the first preset change characteristics, it is confirmed that the detection pendant 3 reaches the bottom of the hole. After reaching the bottom of the hole, the main unit controls the main axis pulley 102 to stop unwinding the wire and controls the main axis pulley 102 to tighten the signal line. During the tightening process, the tensile force value will continuously change until it reaches the first preset tensile force value, then it can be confirmed that the detection pendant 3 just touches the bottom of the hole. At this time, the actual unwound length of the signal line 101 collected by the wire length collector is used as the hole depth. In this embodiment, the actual unwound length can be the remaining unwound length after the start of unwinding until the completion of the tightening process. During the hole depth measurement process, in cooperation with the internal environment detection device for the hole, by detecting the real-time change of the tensile force of the signal line 101, the actual situation of the detection pendant 3 in the hole is accurately determined through the real-time tensile force change characteristics, thereby realizing accurate hole depth measurement.

[0046] In one embodiment, in order to prevent the signal line 101 from being in a slack state before wire unwinding, which affects the accuracy of hole depth measurement, in this embodiment, before wire unwinding, the main unit controls the main axis pulley 102 to perform pre-tightening of the wire winding until the tensile force value reaches the pre-tightening tensile force value. Specifically, before wire unwinding, the wire pressing device is loosened, and the main unit controls the main axis pulley 102 to perform pre-tightening of the wire winding, tightening the signal line until the tensile force value reaches the pre-tightening tensile force value. The detection pendant 3 is tightened in the pendant bracket. At this time, it can be cooperated with whether the detection pendant in-place detection sensor can normally detect the detection pendant. If the detection pendant in-place is detected, it is confirmed that the pre-tightening is completed.

[0047] When the pre-tightening is completed, the main axis pulley 102 is controlled to unwind the wire at a first set acceleration until the set wire unwinding speed is reached, and then unwind the wire at the set wire unwinding speed. In this embodiment, the wire can be unwound at a relatively small initial wire unwinding speed and accelerated at the first set acceleration. During the acceleration process, the tensile force value decreases until the maximum wire unwinding speed or the set wire unwinding speed is reached, and then unwind the wire at the set wire unwinding speed to ensure that there is always a certain pressure on the signal line 101 during the wire unwinding process, preventing accidents such as the signal line 101 from becoming slack, swinging, or getting tangled. For details, see Figure 3 the change of the tensile force curve in the first region A of the tensile force curve in. In this embodiment, the judgment of the actual wire unwinding speed can be calculated through the actual tensile force value and acceleration.

[0048] Further, during the wire pay-out process, the host controls the real-time wire pay-out acceleration of the main axis pulley 102 to be within the range of a first set acceleration according to the real-time change characteristics of the tensile force value, and controls the tensile force value to be greater than a second preset tensile force value. Wherein, the second preset tensile force value can be a tensile force value greater than or equal to the collision detection threshold. In this embodiment, a buffer 104 is further provided on the movement path of the signal wire 101 in the wire pay-out unit 1, and this buffer 104 can prevent the wire from being too loose due to the inertia of various machines during an emergency stop. In this embodiment, the buffer 104 can be a swing arm with one end hinged and fixed and a wire pulley provided at the other end. An elastic buffer member, such as a spring damper, is provided between both ends of the swing arm. One end of the elastic buffer member is fixed on the swing arm, and the other end is fixed on the wire pay-out unit 1. When no wire is paid out, the signal wire 101 has no pressure on the buffer 104, and the swing arm of the buffer 104 is in its original position. During the wire pay-out process, the tensile force value on the signal wire 101 is applied to the buffer 104, and the elastic buffer member of the swing arm tensions the signal wire 101 to prevent the signal wire from loosening and getting tangled on the wire pulley. During the wire pay-out process, it is necessary to ensure that the tensile force value of the signal wire 101 can be applied to the buffer 104 to keep the buffer 104 in a tensioned state and prevent the signal wire 101 from loosening and getting tangled on the wire pulley. Therefore, in this embodiment, during the wire pay-out process, it is necessary to ensure that the tensile force value of the signal wire 101 is greater than the second preset tensile force value to ensure that the swing arm is not in its original position within this tensile force value range.

[0049] Since the hole wall of the blasting hole is not smooth enough, there may be some protrusions. Additionally, during the wire pay-out process, when it is detected that the detection pendant 3 collides with a protrusion on the hole wall or swings too violently to cause a collision, it will cause a change in the tensile force value, which may lead to misjudgment. Therefore, in this embodiment, when the tensile force value suddenly changes, when the host detects that the tensile force value suddenly changes to be less than the collision detection threshold, it controls the main axis pulley 102 to stop paying out the wire. Often when the detection pendant 3 suddenly changes, there may be situations of collision, entering the water, or reaching the bottom. In this embodiment, the collision detection threshold can be set according to the actual application situation, and this collision detection threshold should be less than the minimum tensile force value during the accelerated descent process or the uniform descent process.

[0050] Therefore, in order to accurately judge the collision situation of the detection pendant 3, in this embodiment, if the tensile force value suddenly decreases, after controlling the main axis pulley 102 to stop paying out the wire, the tensile force value is continuously detected until the change in the tensile force value reaches a stable state, and a first stable tensile force value is obtained.

[0051] If the first stable tensile value returns to the tensile value before the mutation, the real-time change characteristic conforms to the second preset change characteristic, it is confirmed that the detection pendant 3 has collided, and the main axis pulley 102 is controlled to resume the wire releasing speed before deceleration for wire releasing. When a collision occurs, the tensile value will suddenly decrease. Since the pendant 3 does not touch the bottom of the hole and there is no lifting support, after the collision, the pendant 3 will be in a suspended state again. Therefore, the fluctuation state of the tensile value gradually stabilizes until it returns to the tensile value before the mutation. Therefore, if the first stable tensile value returns to the tensile value before the mutation, it is confirmed that a collision has occurred, and after stabilization, wire releasing continues. Refer to Figure 3 the schematic diagram of the tensile curve of the second region B shown in

[0052] If the first stable tensile value is less than the tensile value before the mutation, the real-time change characteristic conforms to the first preset change characteristic, and it is confirmed that the detection pendant 3 has reached the bottom of the hole. Refer to Figure 3 the tensile change situation of the fourth region D in

[0053] In one embodiment, in order to more accurately determine whether a collision has occurred or the bottom of the hole has been reached and prevent misjudgment, in this embodiment, an attitude sensor is further provided on the detection pendant 3; when the change in the tensile value reaches a stable state, the host obtains the attitude data of the detection pendant 3 collected by the attitude sensor; if the attitude data indicates that the detection pendant 3 is in a vertical attitude and the first stable tensile value returns to the tensile value between the mutations, it is confirmed that the detection pendant 3 has collided; if the attitude data indicates that the detection pendant 3 is in an inclined state or a horizontal state and the first stable tensile value is less than the tensile value before the mutation, it is confirmed that the detection pendant 3 has reached the bottom of the hole. In this embodiment, the tensile value before the mutation is related to the motion state of the detection pendant before the mutation. Exemplarily, when the detection pendant is in an accelerated descending state, the tensile value before the mutation is the tensile value in the accelerated descending state, and this tensile value is greater than the second preset tensile value. When the detection pendant before the mutation is in a uniform descending state, the tensile value before the mutation is the tensile value in the uniform descending state. In an alternative embodiment, the tensile value before the mutation can be the first preset tensile value described in the above embodiment.

[0054] Detect that the detection pendant 3 is in a vertically suspended state during the descent. If a collision occurs, the detection pendant 3 will tilt briefly and then return to vertical. If it reaches the bottom of the hole, the detection pendant 3 will continue to tilt or be in a horizontal state. Therefore, after the tensile force value changes suddenly and reaches a stable state, by judging the attitude data of the detection pendant 3, if the attitude data indicates that the detection pendant 3 is in a vertical attitude and the first stable tensile force value returns to the tensile force value before the mutation, it is confirmed that the detection pendant 3 has collided. If the attitude data indicates that the detection pendant 3 is in an inclined state or a horizontal state and the first stable tensile force value is less than the tensile force value before the mutation, it is confirmed that the detection pendant 3 has reached the bottom of the hole. It can more accurately judge whether the detection pendant 3 has reached the bottom of the hole and increase the accuracy.

[0055] After measuring the hole depth, it is necessary to retract the detection pendant 3. During the process of taking in the wire, the host controls the main wire wheel 102 to take in the wire at a second set acceleration. During the process of taking in the wire, the host can control the main wire wheel 102 to first accelerate the wire taking-in, then keep a constant speed after reaching a certain wire taking-in speed, and then decelerate the wire taking-in when approaching the top of the hole. Therefore, in this embodiment, the second set acceleration can be a collection of multiple accelerations. During the process of taking in the wire, when the host detects that the tensile force value is greater than the third preset tensile force value, it controls the main wire wheel 102 to stop taking in the wire. The collision stop detection is also required during the recovery process. Since the motor torque of the main wire wheel is limited, the pressure upper limit threshold, that is, the third preset tensile force value, is specified according to the torque upper limit. When the threshold is reached, the collision stop is triggered. After stabilization, it is detected whether the pressure returns to the normal range. If it is normal, it continues to rise. The change of the tensile force value during the specific wire taking-in process can be seen in Figure 3 the schematic diagram of the sixth region F shown.

[0056] When the wire taking-in is about to be completed, it is necessary to continuously reduce the wire taking-in speed to prevent the wire from being taken in too tightly, or the cable from swinging, or damaging the connection between the detection pendant 3 and the cable. In this embodiment, three slow decelerations will be performed when the wire taking-in reaches the last 4 meters, 2 meters, and 0.5 meters. Finally, the detection pendant 3 reaches the position in the positioning unit at a speed of 5 centimeters per second. At this time, the in-place sensor of the detection pendant 3 detects it, and at the same time, the force sensor 103 reaches the third preset tensile force value, and then the bracket of the detection pendant 3 is closed.

[0057] In one embodiment, a temperature sensor is also provided on the detection pendant, and the host obtains the temperature data in the cavity collected by the temperature sensor. In this embodiment, during the descent or ascent of the detection pendant, the temperature sensor can continuously collect the temperature data corresponding to different depths in the cavity.

[0058] In one embodiment, the wire length collector includes an encoder for collecting the number of rotations of the main axis pulley 102; obtaining the pay-off length of the signal wire 101 collected by the wire length collector as the hole depth includes: during the pay-off process, the encoder records in real time the cumulative number of rotations of the main axis pulley 102 and the cumulative number of layers reduced by the signal wire 101 on the main axis pulley 102; and determining the pay-off length of the signal wire 101 based on the cumulative number of rotations and the cumulative number of reduced layers.

[0059] In an exemplary embodiment, the parameters involved in calculating the wire length are: the diameter of the main axis pulley 102, the width of the main axis pulley 102, the total length of the cable, the diameter of the cable, and the speed ratio between the encoder and the main axis pulley 102. When calculating, when the wire wheel is tightened to the pre-tightening force, the value of the encoder is cleared at this time, and this is used as the wire length origin value. When paying out the wire outward, the cumulative value of the positive and negative rotations of the encoder is calculated and accumulated in real time, and the corresponding number of turns and layer changes of the cable released on the current main axis pulley 102 are calculated through the speed ratio between the encoded value and the main axis, so as to calculate the length of the released wire.

[0060] To prevent the signal wire 101 from getting tangled during the wire retraction and pay-off processes, the hole environment detection device further includes a wire aligner, which includes a driving motor, a lead screw arranged in parallel, and a wire aligning trolley for abutting against the signal wire 101 and adjusting the transmission angle of the signal wire 101, wherein the wire aligning trolley reciprocates along the lead screw under the action of the driving motor. In a further optional embodiment, limit switches for fixing the movement track of the wire aligning trolley are provided at both ends of the lead screw. The spindle speed and the running speed of the lead screw are determined by the axial width generated when the cable winds around the wire wheel for one week, and this length is equal to the wire diameter. When actually calculating, considering the gap between the wires and the spiral twist of the wire material, the wire tension will be slightly amplified. The axial width of one turn corresponds to the running distance of the lead screw, and the running speed of the wire aligner is calculated through the lead. The movement of the wire aligner is always synchronized with the main axis pulley 102, so as to ensure that the cable is evenly and tightly arranged on the wire wheel.

[0061] In one embodiment, during wire retraction, when the host detects that the tension value is greater than the third preset tension value, it controls the main axis pulley 102 to stop wire retraction. At this time, the signal wire 101 may be too tight, and the main axis pulley 102 is controlled to slowly pay out the wire. When the buffer 104 returns to the origin during the slow wire pay-out, the wire pressing device is locked to complete the wire retraction.

[0062] In one embodiment, during the descent of the pendant 3, there may be water in the blasting hole. If there is water in the blasting hole, after detecting that the pendant 3 enters the water, due to the buoyancy of the water, if the wire release speed in its suspended state is still used for wire release, the wire release speed may be greater than the descent speed of the detected pendant 3, which may cause the signal wire 101 to become disordered. Moreover, the water accumulation in the hole is also an important index for detecting the environmental parameters of the mine blasting hole. In some related technologies, when measuring the environment in the mine blasting hole, tools such as tape measures are used for manual measurement. However, the manual measurement has large errors, and it is difficult to completely collect the environmental parameters in the hole. For example, it is difficult to collect and accurately measure parameters such as whether there is water seepage in the hole and the water depth in the hole, which affects the blasting effect. In some other related technologies, by modifying the drilling machine, the hole depth is measured in real time while drilling. However, due to the influence of the mine geological layer or environment, the environment in the hole is relatively complex (such as the existence of water seepage, loose geology, etc.), and the mine blasting holes are relatively densely distributed. If the blasting hole is measured in real time during the drilling process, it may lead to the difficulty in accurately detecting the water seepage in the blasting hole. Moreover, after measuring the current blasting hole, when drilling the next blasting hole, due to the high density of the blasting holes and the loose mine geology, etc., the environment in the previous blasting hole may change. For example, due to vibration, etc., the hole wall may become loose, deformed or even collapsed, and the water seepage in the hole increases, resulting in an increase in water accumulation, etc., causing the measured environmental parameters in the hole to be inconsistent with the actual parameters.

[0063] In some other related technologies, if methods such as lidar measurement and visual measurement are adopted, they are often limited by factors such as the smoothness of the hole wall of the blasting hole and geological looseness, resulting in protruding rock blocks on the hole wall and water accumulation in the hole. This has a great impact on the laser accuracy, and the visual measurement method often requires a rigid support rod to support the camera. Therefore, it is also difficult to accurately measure in the complex internal environment of the mine blasting hole. In addition, some solutions for measuring the water accumulation in the hole by a liquid level sensor are limited by the measurement method and the working principle of the liquid level sensor, and it is also difficult to accurately measure the depth of the water accumulation in the hole. Usually, the measurement of the water accumulation depth in the hole is often dynamic, that is, the liquid level sensor is dynamically extended into the hole by some tools. During the descent of the liquid level sensor, after detecting the liquid level signal by the liquid level sensor, the liquid level in the hole and the water accumulation depth are determined. However, when measuring the water accumulation in the mine blasting hole, it is often difficult to accurately measure the water accumulation depth using a liquid level sensor. For example, when using a static pressure type liquid level sensor, it works based on the principle that the liquid static pressure is proportional to the liquid level height. Therefore, it is necessary to measure the liquid static pressure after entering the water. After detecting the liquid pressure, the liquid level sensor may be far from the liquid surface, and the water quality in different mine blasting holes may be different. For example, some holes may contain clear water, while others may contain mud, etc., and their liquid pressures are also different. Therefore, the measurement standards for different holes are not the same, and it is difficult to accurately measure. In addition, for a float type liquid level sensor, due to the non-smooth hole wall and the presence of mud at the bottom of the hole, the float may have mismeasurements, and the accuracy of this type of sensor is relatively low, and the error in the blasting hole may reach more than 10 cm; for a capacitive liquid level sensor, it measures the liquid based on the change in the dielectric constant between the electrodes. However, the water quality in different mine blasting holes may be different, and their dielectric constants are also different. Therefore, the measurement standards for different holes are not the same, and it is difficult to accurately measure. In addition, some ultrasonic, radar and other liquid level sensors require fewer surrounding obstacles, while the internal environment of the mine blasting hole is complex and there are many obstacles on the hole wall. Therefore, the accuracy is greatly affected, and there may even be many misjudgment situations.

[0064] Therefore, in the present application, it is also possible to accurately detect the water depth in the hole by measuring the change in the pulling force of the signal line on the monitoring pendant during the descent of the detection pendant, so as to accurately measure the water depth in the hole. In this embodiment, when measuring the mine blasting hole, a flexible signal line is used to tow the detection pendant, which can enable the pendant to smoothly enter the blasting hole and reduce the influence of the inner wall of the blasting hole. At the same time, when the detection pendant contacts the liquid surface (clear water surface or even mud surface), the pulling force of the signal line on the monitoring pendant will undergo a sudden change. Moreover, since the resistance to entering the water is less than the resistance of collision and reaching the bottom, this sudden change is different from that of touching hard structures such as the bottom and wall of the hole. Therefore, in the present application, the special sudden change in the pulling force of the signal line on the monitoring pendant is used to accurately detect whether it contacts the liquid surface, and this measurement method can be unaffected by the hole environment or the water quality in the hole. During the process of paying out the signal line 101, the real-time pulling force value during the paying-out process is obtained; when the pulling force value suddenly decreases to the first pulling force value, it is confirmed that the detection pendant 3 enters the water in the hole, where the first pulling force value is greater than the bottom pulling force threshold and the collision pulling force threshold of the detection pendant 3; the host computer calculates the pulling force difference between the first pulling force value and the real-time pulling force value, recalculates the paying-out speed based on the pulling force difference to obtain the paying-out speed in the water, and the host computer controls the main axis pulley 102 to pay out the line at the paying-out speed in the water. Until the hole depth is measured after determining that the bottom of the hole is reached according to the above embodiment.

[0065] In one embodiment, when the detection pendant reaches the bottom of the hole, not only the hole depth needs to be measured, but also the water depth needs to be measured. In this embodiment, when it is confirmed that the detection pendant enters the water, the current position is determined as the zero position for detecting water entry; when it is confirmed that the detection pendant reaches the bottom of the hole, the position at the bottom is determined as the bottom position for detecting water entry; the water depth in the hole is calculated based on the zero position for detecting water entry and the bottom position for detecting water entry. When measuring the mine blasting hole, a flexible signal line is used to tow the detection pendant, which can enable the pendant to smoothly enter the blasting hole and reduce the influence of the inner wall of the blasting hole. At the same time, when the detection pendant contacts the liquid surface (clear water or even mud), the pulling force of the signal line on the monitoring pendant will undergo a sudden change. Moreover, since the resistance to entering the water is less than the resistance of collision and reaching the bottom, this sudden change is different from that of touching hard structures such as the bottom and wall of the hole. Therefore, in the present application, the special sudden change in the pulling force of the signal line on the monitoring pendant is used to accurately detect whether it contacts the liquid surface, and this measurement method can be unaffected by the hole environment or the water quality in the hole.

[0066] During the wire pay-off process, collisions, reaching the bottom, and encountering water will all cause the tensile force value to decrease. After entering the water, the wire may become entangled. Therefore, in this embodiment, the tensile force value is detected in real time during the wire pay-off process. Since the resistance when entering the water is less than the resistance of collisions and reaching the bottom, when the tensile force value suddenly decreases to the first tensile force value, that is, the tensile force value suddenly decreases and the stabilized tensile force value is greater than the bottom-reaching tensile force threshold and the collision tensile force threshold, it can be confirmed that the detection pendant 3 has entered the water. After entering the water, based on the water entry situation, that is, based on the host computer calculating the tensile force difference between the first tensile force value and the real-time tensile force value, the wire pay-off speed is recalculated to obtain the wire pay-off speed in water, preventing the wire pay-off speed in water from being too fast, which may cause the wire to become entangled or lead to false triggering of collision detection or bottom-reaching detection.

[0067] In one embodiment, the detection method for the tensile force value to suddenly decrease to the first tensile force value includes: when detecting that the real-time tensile force value suddenly decreases and the minimum value of the real-time tensile force value is greater than the bottom-reaching tensile force threshold and the collision tensile force threshold, controlling the main axis pulley 102 to decelerate. In this embodiment, when detecting that the tensile force value suddenly decreases, the main axis pulley can be controlled to decelerate until the wire pay-off stops. When the real-time tensile force value reaches a stable state, the real-time tensile force value during the wire pay-off process is obtained, and when the tensile force value suddenly decreases to the first tensile force value. Specifically, reference can be made to Figure 3 the tensile force value shown in the tensile force value curve of the second region B in. After the tensile force value suddenly changes and reaches a stable state after oscillation, the tensile force value stabilizes at the first tensile force value.

[0068] To further improve the accuracy of water entry detection, in this embodiment, a liquid level sensor is provided in the detection pendant 3. When the sudden decrease in the tensile force value reaches the first tensile force value, it is determined whether the liquid level sensor detects a liquid level signal. If a liquid level signal is detected, it is confirmed that the detection pendant 3 has entered the water in the hole. In this embodiment, the liquid level in the hole is jointly determined by combining the change in the signal line tensile force and the liquid level signal detected by the liquid level sensor. In particular, when the inner wall of the hole is relatively smooth and the water quality of the accumulated water in the hole is good, the sudden change in tensile force characteristics and the liquid level signal are mutually verified, and it is possible to more accurately confirm that the detection pendant 3 has entered the water in the hole. In this embodiment, the first moment when the collected signal suddenly changes to the first tensile force value can be recorded, and the second moment when the liquid level signal is collected can be recorded. The time difference between the first moment and the second moment is judged. When the time difference is less than the preset time difference, it is confirmed that the detection pendant has entered the water at the first moment. Therefore, the accurate distance between the hole edge and the water entry detection zero position is calculated by the wire release length at the first moment. When the time difference is greater than the preset time difference, there may be poor water quality, for example, there is mud, etc. The liquid level sensor has a delay or the accuracy has an error. Therefore, the time difference can be used to determine the adjustment of the tensile force value range after the monitoring pendant enters the water (the time difference is inversely related to the tensile force value range, that is, the longer the time difference, the smaller the tensile force value range). When the first tensile force value is still within the adjusted tensile force range, it is confirmed that the detection pendant has entered the water at the first moment.

[0069] In another embodiment, when the time difference is greater than the preset time difference, the wire release speed for water entry can also be adjusted by the time difference, that is, the time difference is inversely related to the wire release speed, so as to avoid the increase in buoyancy or resistance caused by poor water quality, which may lead to the wire entanglement when the detection pendant descends at a high speed after entering the water.

[0070] When calculating the water depth, the position where the tensile force value exceeds the first preset tensile force value during the tightening process also needs to be used as the bottom position of the water entry detection, and the actual water depth in the hole is calculated based on the bottom position of the water detection and the recorded zero position of the water entry detection. Among them, when calculating the water depth or hole depth with an encoder, during the wire release process, the encoder records the first cumulative number of rotations of the main axis wheel from the start of wire release to when the detection pendant reaches the bottom of the hole and the first cumulative number of layers reduced by the signal line on the main axis wheel; based on the first cumulative number of rotations and the first cumulative reduction in layers, the actual wire release length of the signal line is determined as the hole depth.

[0071] Calculating the water depth in the hole based on the water entry detection zero position and the water entry detection bottom position includes: the encoder records the second cumulative rotation turns of the main axis wheel from the water entry detection zero position to the water entry detection bottom position and the second cumulative reduced layers of the signal line on the main axis wheel; determining the water depth in the hole based on the second cumulative rotation turns and the second cumulative reduction layers.

[0072] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

[0073] In the above embodiments of the present application, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0074] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for detecting the internal environment of a hole, characterized in that, An environmental detection device applicable to the inside of a hole, the environmental detection device inside the hole includes a main unit; a signal line connected between the main unit and a detection pendant; a main axis pulley for winding / unwinding the signal line; a force sensor for detecting the pulling force value of the signal line during winding / unwinding and feeding it back to the main unit; a wire length collector for collecting the winding / unwinding length of the signal line; The detection method includes: The main unit obtains the real-time change characteristics of the pulling force value during the wire unwinding process; When the pulling force value suddenly decreases to a first pulling force value, it is confirmed that the detection pendant enters the water inside the hole, where the first pulling force value is greater than the bottom pulling force threshold and the collision pulling force threshold of the detection pendant; A liquid level sensor is arranged inside the detection pendant to record the first moment when the collected signal suddenly changes to the first pulling force value, record the second moment when the liquid level signal is collected, and judge the time difference between the first moment and the second moment; when the time difference is greater than a preset time difference, the wire unwinding speed when entering the water is adjusted according to the time difference, and the time difference is inversely related to the wire unwinding speed; When the real-time change characteristics conform to the first preset change characteristics, it is confirmed that the detection pendant reaches the bottom of the hole; The main unit controls the main axis pulley to tighten the signal line. During the tightening process, the main unit judges whether the pulling force value exceeds the first preset pulling force value. When it exceeds the first preset pulling force value, the detection pendant is lifted to a position where the bottom of the detection pendant just touches the bottom of the hole, and the actual wire unwinding length of the signal line collected by the wire length collector is obtained as the depth of the hole.

2. The method for detecting the internal environment of a hole according to claim 1, wherein Before wire unwinding, the main unit controls the main axis pulley to perform wire winding pre-tightening until the pulling force value reaches the pre-tightening pulling force value; When the pulling force value reaches the pre-tightening pulling force value, control the main axis pulley to unwind the wire at a first set acceleration until the set wire unwinding speed is reached and then unwind the wire at the set wire unwinding speed.

3. The method for detecting the internal environment of the hole according to claim 2, characterized in that, During the wire unwinding process, the main unit controls the real-time wire unwinding acceleration of the main axis pulley to be within the range of the first set acceleration according to the real-time change characteristics of the pulling force value, and controls the pulling force value to remain greater than the second preset pulling force value.

4. The method for detecting the environment inside a hole according to claim 1, wherein, During the wire unwinding process, when the main unit detects that the pulling force value suddenly changes to be less than the collision detection threshold, it controls the main axis pulley to stop wire unwinding.

5. The method for detecting the internal environment of a hole according to claim 4, characterized in that, After controlling the main axis pulley to stop wire unwinding, it further includes: Continuously detecting the pulling force value until the change of the pulling force value reaches a stable state, and obtaining a first stable pulling force value; If the first stable pulling force value is less than the pulling force value before the sudden change, then the real-time change characteristics conform to the first preset change characteristics, and it is confirmed that the detection pendant reaches the bottom of the hole; If the first stable pulling force value returns to the pulling force value before the sudden change, then the real-time change characteristics conform to the second preset change characteristics, and it is confirmed that the detection pendant collides, and control the main axis pulley to unwind the wire at the wire unwinding speed before stopping wire unwinding.

6. The method for detecting the internal environment of a hole according to claim 5, wherein, An attitude sensor is further arranged on the detection pendant; When the change of the pulling force value reaches a stable state, the main unit obtains the attitude data of the detection pendant collected by the attitude sensor; If the attitude data indicates that the detection pendant is in a vertical attitude and the first stable tension value returns to the tension value before the mutation, it is confirmed that the detection pendant has collided; If the attitude data indicates that the detection pendant is in an inclined state or a horizontal state and the first stable tension value is less than the tension value before the mutation, it is confirmed that the detection pendant has reached the bottom of the hole.

7. The method for detecting the internal environment of the hole according to claim 1, characterized in that A temperature sensor is also provided on the detection pendant; The host obtains the temperature data inside the hole collected by the temperature sensor.

8. The method for detecting the internal environment of a hole according to claim 1, characterized in that, After obtaining the actual pay-off length of the signal line collected by the line length collector as the hole depth, it further includes: The host controls the main axis reel to take in the line at a second set acceleration. During the line-taking-in process, when the host detects that the tension value is greater than a third preset tension value, it controls the main axis reel to stop taking in the line.

9. The method for detecting the internal environment of a hole according to claim 8, wherein, The hole internal environment detection device further includes a pendant in-place sensor; When the host detects that the tension value is greater than a third preset tension value, it judges whether the pendant in-place sensor detects an in-place signal; If an in-place signal is detected, it is confirmed that the condition for completing the line-taking-in is met; If no in-place signal is detected, it is confirmed that the detection pendant has collided, the main axis reel is controlled to stop taking in the line, and after the tension value is stable, the main axis reel is controlled to continue taking in the line until the condition for completing the line-taking-in is met.

10. The method for detecting the internal environment of the hole according to claim 1, wherein, The line length collector includes an encoder for collecting the number of rotations of the main axis reel; The obtaining of the actual pay-off length of the signal line collected by the line length collector as the hole depth includes: During the pay-off process, the encoder records in real time the cumulative number of rotations of the main axis reel and the cumulative number of layers reduced by the signal line on the main axis reel; Based on the cumulative number of rotations and the cumulative number of reduced layers, the actual pay-off length of the signal line is determined as the hole depth.

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