Method for detecting environment in hole

Abstract

The hole internal environment detection method comprises the steps that a tension value is detected in real time in the paying-off process, and when the water entering resistance is smaller than collision and bottom reaching resistance, when the tension value is suddenly reduced to a first tension value, namely, the tension value is suddenly reduced, and the stabilized tension value is larger than a bottom reaching tension threshold value and a collision tension threshold value, the water entering resistance is smaller than the collision resistance and the bottom reaching resistance; according to the method, the detection pendant can be confirmed to enter the water, and after the detection pendant enters the water, the pay-off speed is recalculated on the basis of the water entering condition, namely the tensile force difference value between the first tensile force value and the tensile force value before sudden change is calculated on the basis of the host, so that the underwater pay-off speed is obtained; and line disorder or false triggering of collision detection or bottom detection caused by too high pay-off speed in water is prevented, so that the accuracy of hole detection is improved, the accuracy of explosive placement is improved, and the blasting effect is improved.

Description

Technical Field

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

[0002] Existing mine blasting uses a drilling machine to drill holes. After drilling is completed, explosives are placed in the blasting holes for blasting. However, during the blasting process, some blasting results with low controllability may occur. The applicant has found through research that although the accuracy requirements of mine blasting are lower than other directional blasting, in actual operation, the hole environment of the blasting hole is often quite different from the set drilling parameters. If, according to past experience, after the blasting hole is completed, the explosives are placed by setting the drilling parameters, in some blasting holes where the hole environment is often quite different from the set drilling parameters, the blasting effect is easily uncontrollable, resulting in poor blasting effect.

[0003] Based on this, how to improve the effect of mine blasting has become a technical problem that needs to be solved urgently. Summary of the invention

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

[0005] In a first aspect, the present invention provides a method for detecting the environment in a hole, which is applicable to a device for detecting the environment in a hole, wherein the device comprises a host; a signal line connected between the host and a detection pendant; a main axis wheel for retracting / releasing the signal line; a force sensor for detecting the tension value of the signal line during the retracting / releasing process and feeding it back to the host; and a line length collector for collecting the retracted / releasing length of the signal line; the measuring method comprises: The host controls the main axis wheel to pay out the wire at a preset pay-out speed, and obtains the real-time tension value during the pay-out process; When the tension value suddenly decreases to a first tension value, it is confirmed that the detection pendant enters the water in the hole, wherein the first tension value is greater than a bottom tension threshold and a collision tension threshold of the detection pendant; The host calculates the tension difference between the first tension value and the tension value before the mutation, recalculates the line-releasing speed based on the tension difference, and obtains the underwater line-releasing speed. The host controls the main axis wheel to release the line at the underwater line-releasing speed until the real-time tension value mutates to the bottom tension threshold, confirming that the detection pendant has reached the bottom of the hole.

[0006] Optionally, the method for detecting that the tension value suddenly decreases to a first tension value includes: When it is detected that the real-time tension value suddenly decreases and the minimum real-time tension value is greater than the bottom tension threshold and the collision tension threshold, the main axis wheel is controlled to stop, and when the real-time tension value reaches a stable state, it is confirmed that the tension value suddenly decreases to the first tension value.

[0007] Optionally, a liquid level sensor is provided in the detection pendant. When the tension value suddenly decreases to a first tension 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 has entered the water in the hole.

[0008] Optionally, the host controls the main axis wheel to release the line at the underwater release speed until the real-time tension value suddenly changes to the bottom tension threshold, and confirming that the detection pendant reaches the bottom of the hole includes: When the main engine controls the main axis wheel to release the line at the underwater release speed, and the real-time tension value suddenly decreases, the main axis wheel is controlled to stop releasing the line, and the real-time tension value is continuously detected until the change of the real-time tension value reaches a stable state, thereby obtaining a first tension stability value; If the first tension stability value is less than the second tension value, it is confirmed that the detection pendant has reached the bottom of the hole; If the first tension stability value is restored to the second tension value, it is confirmed that the detection pendant has collided, and the host controls the main axis wheel to continue to pay out the line, wherein the second tension value is greater than the first tension value.

[0009] Optionally, the detection pendant is also provided with a posture sensor; When the change of the pulling force value reaches a stable state, the host obtains the posture data of the detection pendant collected by the posture sensor; If the posture data indicates that the detection pendant is in a vertical posture, and the first tension stability value is restored to the second tension value, it is confirmed that the detection pendant has collided; If the posture data indicates that the detection pendant is in an inclined state or a horizontal state, and the first tension stability value is less than the second tension value, it is confirmed that the detection pendant has reached the bottom of the hole.

[0010] Optionally, after confirming that the detection pendant has reached the bottom of the hole, the host controls the main axis wheel to tighten the signal line. During the tightening process, the host determines whether the tension value exceeds a first preset tension value. When it exceeds the first preset tension value, the host obtains the pay-out length of the signal line collected by the line length collector as the hole depth.

[0011] Optionally, when it is confirmed that the detection pendant has entered the water, the current position is determined as the zero point position of the water entry detection; When it is confirmed that the detection pendant has reached the bottom of the hole, the bottom position is determined as the bottom point position of the water entry detection; The water depth in the hole is calculated based on the zero point position of the water entry detection and the bottom point position of the water entry detection.

[0012] Optionally, before paying out the line, the main engine controls the main axis wheel to pre-tighten the line, and when the tension value reaches the pre-tightening tension value, the main axis wheel is controlled to pay out the line at a first set acceleration, until the preset pay-out speed is reached and the pay-out is performed according to the preset pay-out speed. During the process of paying out the line at the first set acceleration, the tension value is controlled to remain greater than the second preset tension value.

[0013] Optionally, after obtaining the pay-out length of the signal line collected by the line length collector as the hole depth, the method further includes: The host controls the main axis wheel to decelerate and reel in the wire at a second set acceleration. During the reeling process, when the host detects that the tension value is greater than a third preset tension value, the host controls the main axis wheel to stop reeling in the wire.

[0014] Optionally, the hole internal environment detection device further includes a pendant in place sensor; When the host detects that the pulling force value is greater than a third preset pulling force value, it determines whether the pendant in-place sensor detects an in-place signal; If the arrival signal is detected, it is confirmed that the conditions for completing the line collection are met; If the arrival signal is not detected, it is confirmed that the detection pendant has collided, and the wire wheel is controlled to stop winding the wire. After the tension value is stable, the main axis wheel is controlled to continue winding the wire until the winding completion condition is met. Optionally, the line length collector includes an encoder for collecting the number of rotations of the main axis wheel; The obtaining the actual pay-out length of the signal line collected by the line length collector as the hole depth comprises: During the wire-laying process, the encoder records the first cumulative number of rotations of the main axis wheel and the first cumulative number of layers of the signal line reduced on the main axis wheel from the start of wire-laying to the time when the detection pendant reaches the bottom of the hole; Determine the actual pay-out length of the signal line as the hole depth based on the first accumulated number of rotations and the first accumulated number of reduced layers; The calculating of the water depth in the hole based on the zero point position of the water entry detection and the bottom point position of the water entry detection comprises: The encoder records the second accumulated number of rotations of the main axis wheel from the water entry detection zero point position to the water entry detection bottom point position and the second accumulated number of reduced layers of the signal line on the main axis wheel; The water depth in the hole is determined based on the second accumulated number of rotations and the second accumulated number of reduced layers.

[0015] In the hole environment measurement method of the present invention, during the signal line release process, the real-time tension value during the release process is obtained; when the tension value suddenly decreases to a first tension value, it is confirmed that the detection pendant has entered the water in the hole, wherein the first tension value is greater than the bottom tension threshold and the collision tension threshold of the detection pendant; the host calculates the tension difference between the first tension value and the tension value before the sudden change, recalculates the release speed based on the tension difference, obtains the underwater release speed, and the host controls the main axis wheel to release the line at the underwater release speed. The hole depth is measured until it is determined that the bottom of the hole has been reached. When measuring inside a mine blasting hole, a flexible signal line is used to pull the detection pendant, which allows the pendant to enter the blasting hole smoothly and reduce the impact 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 signal line will produce a sudden change in the pulling force on the monitoring pendant. Moreover, since the resistance to entering the water is less than the resistance to collision and reaching the bottom, this sudden change is different from touching hard structures such as the bottom of the hole and the wall of the hole. Therefore, in this 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 will not be affected by the hole environment or the water quality in the hole. When the tension value suddenly decreases to the first tension value, that is, the tension value suddenly decreases, and the stabilized tension value is greater than the bottom tension threshold and the collision tension threshold, it can be confirmed that the detection pendant has entered water. After entering water, based on the water entry situation, that is, based on the tension difference between the first tension value and the tension value before the mutation calculated by the host, the line-releasing speed is recalculated to obtain the line-releasing speed in water, so as to prevent the line from being tangled due to the fast line-releasing speed in water or causing false triggering of collision detection or bottom detection, thereby improving the accuracy of hole depth and water depth detection, and improving the accuracy of explosive placement to improve the blasting effect.

[0016] Furthermore, during the release process, the host obtains the real-time change characteristics of the tension value during the release process; when the real-time change characteristics meet the first preset change characteristics, it is confirmed that the detection pendant has reached the bottom of the hole. After reaching the bottom of the hole, the host controls the main axis wheel to stop releasing the wire and controls the main axis wheel to tighten the signal line. During the tightening process, the tension value will continue to change until it reaches the first preset tension value, then it can be confirmed that the detection pendant just touches the bottom of the hole. At this time, the release length of the signal line collected by the line length collector is used as the hole depth. When calculating the water depth, it is also necessary to use the position where the tension value exceeds the first preset tension value during the tightening process as the bottom point position of the water entry detection, and calculate the actual water depth in the hole based on the bottom point position of the water detection and the recorded zero point position of the water entry detection. In the process of hole depth measurement, in conjunction with the hole environment detection device, the actual situation of the detection pendant in the hole is accurately determined by real-time detection of the tension change of the signal line through the real-time tension change characteristics, thereby realizing accurate hole depth and water depth measurement, and then being able to customize the placement of explosives according to the precise hole depth measured, thereby improving the blasting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a schematic structural diagram of a wire-laying unit of a hole environment detection device according to an embodiment of the present invention; Figure 2 2 is a schematic structural diagram of a positioning unit of a hole environment detection device according to an embodiment of the present invention; Figure 3 1 is a schematic diagram of a curve of tension variation of a signal line during hole internal environment detection according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] As described in the background technology, during mine blasting, it is necessary to accurately measure the environment inside the mine blasting hole. In some related technologies, a tape measure or other tool is used for manual measurement. However, the manual measurement error is large, and it is difficult to completely collect the environmental parameters inside the hole. For example, there is water seepage in the hole, and parameters such as the water depth in the hole are difficult to collect and accurately measure, which affects the blasting effect. In other related technologies, the hole depth is measured in real time while drilling by modifying the drilling machine. However, due to the influence of the mine geological layer or environment, the environment inside the hole is relatively complex (for example, There is water seepage, loose geology, etc.), and the distribution of mine blasting holes is relatively dense. If the blasting holes are measured in real time during the drilling process, it may be difficult to accurately detect the water seepage in the blasting holes. After measuring the current blasting hole, when drilling the next blasting hole, the environment in the previous blasting hole may change due to the high density of blasting holes and loose mine geology. For example, due to vibration, the hole wall may loosen, deform or even collapse, and the water seepage in the hole may increase, resulting in more water accumulation, etc., causing the measured hole environment parameters to be inconsistent with the actual parameters.

[0021] In other related technologies, if methods such as lidar measurement and visual measurement are used, they are often limited by the smoothness of the blasting hole wall and the looseness of the geology, which may lead to protruding rocks on the hole wall and water accumulation in the hole, which have a great impact on the laser accuracy. In addition, the visual measurement method often requires a hard support rod to support the camera. Therefore, it is difficult to accurately measure the complex hole environment of the mine blasting hole. In addition, some solutions for measuring water accumulation in holes through liquid level sensors are limited by the measurement method and the working principle of the liquid level sensor, and it is difficult to accurately measure the depth of water accumulation in the hole. Usually, the measurement of the depth of water accumulation in the hole is often dynamic, that is, the liquid level sensor is dynamically extended into the hole through some tools, and during the descent of the liquid level sensor, the liquid level in the hole and the depth of water accumulation are determined after the liquid level sensor detects the liquid level signal. However, when measuring water accumulation in mine blasting holes, it is often difficult to accurately measure the depth of water accumulation using liquid level sensors. For example, a static pressure liquid level sensor works based on the principle that the static pressure of the liquid is proportional to the liquid level height. Therefore, it is necessary to enter the water to measure the static pressure of the liquid. After detecting the liquid pressure, the liquid level sensor may be far away from the liquid surface, and the water quality in different mine blasting holes may be different. For example, some holes contain clear water, while other holes may contain mud, and the liquid pressures are also different. Therefore, the measurement standards for different holes are not the same, making it difficult to measure accurately. In addition, the float-type liquid level sensor is limited by the rough hole wall and the presence of mud at the bottom of the hole, which leads to mismeasurement of the float, and the accuracy of this sensor is low. The error in the blasting hole may reach more than 10 cm; the capacitive liquid level sensor measures the liquid based on the change in the dielectric constant between 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, making it difficult to measure accurately. In addition, some ultrasonic, radar and other liquid level sensors require fewer obstacles around them, while the environment in 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 more misjudgments.

[0022] Based on this, the present application proposes a method for detecting the environment in a hole that can accurately measure the environmental parameters in a mine blasting hole, which is suitable for an in-hole environment detection device, such as Figure 1 and Figure 2 As shown, the hole environment detection device includes a main unit; a signal line connected between the main unit and the detection pendant; a main axis wheel for retracting / releasing the signal line; a force sensor for detecting the tension value of the signal line during the retraction / releasing process and feeding it back to the main unit; and a line length collector for collecting the retraction / releasing length of the signal line.

[0023] The host may be a host computer or a controller provided on the hole environment detection device. In this embodiment, the controller provided on the hole environment detection device is taken as an example for explanation: See also Figure 1 and Figure 2 As shown, the hole internal environment detection device may include a wire-laying unit 1, a positioning unit 2 and a detection pendant 3, wherein a signal line 101, a main unit, a main axis wheel 102, and a force sensor 103 are arranged in the wire-laying unit, and the detection pendant 3 is arranged in the positioning unit 2. One end of the signal line 101 is connected to the detection pendant, and the other end is connected to the main unit after passing through the main axis wheel 102. The force sensor 103 may be arranged on the movement line of the signal line 101. In this embodiment, a plurality of wire wheels are arranged on the movement line of the signal line 101, wherein the force sensor 103 may be arranged on one of the wire wheels. During the descent of the detection pendant 3, the tension of the detection pendant 3 on the signal line is converted into the pressure of the signal line on the wire wheel, and then the force sensor 103 can obtain the tension of the detection pendant on the signal line by measuring the pressure of the signal line 101 on the wire wheel.

[0024] When performing the method for measuring the environment in a hole, 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 the detection pendant 3 enters the water, due to the buoyancy of the water, if the wire is still released at the wire release speed in the suspended state, the wire release speed may be greater than the descent speed of the pendant 3, thereby causing the signal line 101 to be disordered. Therefore, in this embodiment, during the wire release of the signal line 101, the real-time tension value during the wire release is obtained; when the tension value suddenly decreases to the first tension value, it is confirmed that the detection pendant 3 enters the water in the hole, wherein the first tension value is greater than the bottom tension threshold and the collision tension threshold of the detection pendant 3; the host calculates the tension difference between the first tension value and the tension value before the sudden change, recalculates the wire release speed based on the tension difference, obtains the water wire release speed, and the host controls the main axis wheel 102 to release the wire at the water wire release speed. The hole depth is measured until it is determined that the hole bottom has been reached.

[0025] In one embodiment, when the detection pendant reaches the bottom of the hole, it is necessary not only to measure the hole depth but also the water depth. In this embodiment, when it is confirmed that the detection pendant enters the water, the current position is determined as the zero point position of water entry detection; when it is confirmed that the detection pendant reaches the bottom of the hole, the bottom position is determined as the bottom point position of water entry detection; the water depth in the hole is calculated based on the zero point position of water entry detection and the bottom point position of water entry detection. When measuring in a mine blasting hole, a flexible signal line is used to pull the detection pendant, so that the pendant can 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 mud), the signal line will produce a sudden change in the pulling force on the monitoring pendant, and because the water entry resistance is less than the collision and bottom resistance, this sudden change is different from touching the hard structures such as the bottom of the hole and the wall of the hole. Therefore, in this application, the special sudden change of 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.

[0026] During the line-releasing process, collision, bottoming out, and water will all result in a decrease in tension. After entering the water, the line may become tangled. Therefore, in this embodiment, the tension is detected in real time during the line-releasing process. Since the resistance to entering the water is less than the resistance to collision and bottoming out, when the tension suddenly decreases to the first tension value, that is, the tension value has suddenly decreased, and the stabilized tension value is greater than the bottom tension threshold and the collision tension threshold, it can be confirmed that the detection pendant 3 has entered water. After entering water, based on the water entry situation, that is, based on the tension difference between the first tension value and the tension value before the mutation calculated by the host, the line-releasing speed is recalculated to obtain the line-releasing speed in the water to prevent the line from being tangled due to excessively fast line-releasing speed in the water or causing erroneous triggering of collision detection or bottoming detection.

[0027] In one embodiment, the method for detecting that the tension value suddenly decreases to the first tension value includes: when detecting that the real-time tension value suddenly decreases, and the minimum value of the real-time tension value is greater than the bottom tension threshold and the collision tension threshold, controlling the main axis wheel 102 to decelerate. In this embodiment, when the tension value suddenly decreases, the main axis wheel can be controlled to decelerate to stop paying out the wire, and when the real-time tension value reaches a stable state, the real-time tension value in the paying out process is obtained, and when the tension value suddenly decreases to the first tension value. For details, please refer to Figure 3 The tension value shown in the tension value curve of the second region B is stabilized at the first tension value when the tension value suddenly changes and then oscillates to reach a stable state.

[0028] In one embodiment, a liquid level sensor may also be provided in the detection pendant 3. When the tension value suddenly decreases to the first tension 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 determined by combining the change in the tension of the signal line with the liquid level signal detected by the liquid level sensor. In particular, when the arm in the hole is relatively smooth and the water quality of the water in the hole is good, the sudden change in tension and the liquid level signal are mutually verified, so that it can be more accurately confirmed that the detection pendant 3 has entered the water in the hole. In this embodiment, the first moment when the acquisition signal suddenly changes to the first tension 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 can be determined. 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 length of the line at the first moment is calculated as the accurate distance between the hole edge and the zero point position of the water entry detection. When the time difference is greater than the preset time difference, the water quality may be poor. For example, there is mud, etc., and the liquid level sensor has a delay or accuracy error. Therefore, the time difference can be used to determine the adjustment of the tension value range after the monitoring pendant enters the water (the time difference and the tension value range are inversely correlated, that is, the longer the time difference, the smaller the tension value range). When the first tension value is still within the adjusted tension range, it is confirmed that the detection pendant has entered the water at the first moment.

[0029] In another embodiment, when the time difference is greater than the preset time difference, the line-releasing speed after entering the water can also be adjusted according to the time difference, that is, the time difference is inversely correlated with the line-releasing speed, so as to avoid the increase of buoyancy or resistance caused by poor water quality, which may cause line disorder when the detection pendant descends at a high speed after entering the water.

[0030] During the wire laying process, the detection pendant 3 is perpendicular to the top of the blast hole, and the host controls the main axis wheel 102 to rotate, and the detection pendant 3 moves downward into the blast hole. During the wire laying process, the host obtains the tension value of the detection pendant 3 on the signal line 101 in real time through the force sensor 103, forming a tension value curve to obtain the real-time change characteristics of the tension value.

[0031] During the process of releasing the wire, the tension value of the detection pendant 3 will change according to the set tension value during the descent process. For example, during the accelerated descent process, the tension value will decrease. During the uniform descent process, the tension value is in a stable state. When the detection pendant 3 reaches the bottom of the hole, the tension value suddenly decreases due to the bottoming effect of the bottom of the hole on the detection pendant 3. Therefore, during the descent process of the detection pendant 3, if the tension value suddenly decreases, it is considered that the detection pendant 3 has reached the bottom of the hole. When the host detects that the real-time change characteristics of the tension value during the release process meet the first preset change characteristics, it is confirmed that the detection pendant 3 has reached the bottom of the hole.

[0032] Since the signal line 101 will be somewhat loose after colliding with the bottom of the hole, directly recording the line length at this time may lead to inaccurate detection of the hole depth and water depth. Therefore, when it is confirmed that the detection pendant 3 has reached the bottom of the hole, the host controls the main axis wheel to reel in the line, lifts the detection pendant 3 to a position where the bottom of the detection pendant 3 just touches the bottom of the hole, and then records the line length. In this embodiment, during the line-laying process, when it is confirmed that the detection pendant 3 has reached the bottom of the hole, the signal line needs to be tightened. During the tightening process, the host determines whether the tension value exceeds the first preset tension value. When it exceeds the first preset tension value, the actual line-laying length of the signal line 101 collected by the line length collector is obtained as the hole depth. When calculating the water depth, it is also necessary to use the position where the tension value exceeds the first preset tension value during the tightening process as the bottom point position of the water entry detection, and calculate the actual water depth in the hole based on the bottom point position of the water detection and the recorded zero point position of the water entry detection.

[0033] The setting of the first preset tension value is determined by the pressure distribution of the signal line 101 on the wire wheel collected by the force sensor 103. For example, the wire wheel is often used 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 detection pendant 3 is just in contact with the bottom of the hole, the tension value detected by the force sensor 103 should be twice the gravity value of the detection pendant 3. Therefore, in one embodiment, the first preset tension value can be twice the gravity value of the detection pendant 3. The pressure distribution of other signal lines 101 on the wire wheel is also applicable in this embodiment. For details, see Figure 3 Schematic diagram of the fifth area E shown in .

[0034] In this embodiment, during the line-laying process, the host obtains the real-time change characteristics of the tension value during the line-laying process; when the real-time change characteristics meet the first preset change characteristics, it is confirmed that the detection pendant 3 has reached the bottom of the hole. After reaching the bottom of the hole, the host controls the main axis wheel 102 to stop paying out the line, and controls the main axis wheel 102 to reel in the line. During the reeling process, the tension value will continue to change until it reaches the first preset tension value, then it can be confirmed that the detection pendant 3 just touches the bottom of the hole. At this time, the line-laying length of the signal line 101 collected by the line length collector is used as the hole depth. In the process of hole depth measurement, in conjunction with the hole environment detection device, the tension change of the signal line 101 is detected in real time, and the real-time tension change characteristics are used to accurately determine the actual situation of the detection pendant 3 in the hole, thereby achieving accurate hole depth and hole water depth measurement.

[0035] In one embodiment, in order to prevent the signal line 101 from being in a loose state before the line is released, which affects the accuracy of the hole depth measurement, in this embodiment, before the line is released, the host controls the main axis wheel 102 to pre-tighten the line until the tension value reaches the pre-tightening tension value. Specifically, before the line is released, the wire presser is released, and the host controls the main axis wheel 102 to pre-tighten the line, tighten the signal line until the tension value reaches the pre-tightening tension value, and tighten the detection pendant 3 in the pendant bracket. At this time, the detection pendant 3 can be detected in place by the detection sensor to see whether it detects the detection pendant normally. If the detection pendant is detected in place, it is confirmed that the pre-tightening is completed.

[0036] When the pre-tightening tension value is reached, that is, after the pre-tightening is completed, the main axis wheel 102 is controlled to pay out the wire at the first set acceleration, until the set pay-out speed is reached, and the pay-out is performed at the set pay-out speed. In this embodiment, the pay-out can be performed at a smaller initial pay-out speed, and at the same time, the pay-out is accelerated at the first set acceleration. During the acceleration process, the tension value decreases until the maximum pay-out speed is reached or the set pay-out speed is reached. Then, the pay-out is performed at a uniform speed at the set pay-out speed to ensure that there is always a certain pressure on the signal line 101 during the pay-out process, so as to prevent the signal line 101 from being loosened, swung, or tangled. For details, see Figure 3 The tension curve of the first region A in the tension curve in FIG. 1 can be changed. In this embodiment, the actual wire release speed can be determined by calculating the actual tension value and the acceleration.

[0037] Furthermore, during the wire-releasing process, the host controls the real-time wire-releasing acceleration of the main axis wheel 102 to be within the range of the first set acceleration according to the real-time change characteristics of the tension value, and controls the tension value to remain greater than the second preset tension value. The second preset tension value may be a tension value greater than or equal to the collision detection threshold. In the present embodiment, a buffer 104 is also provided on the moving path of the signal line 101 in the wire-releasing unit 1, and the buffer 104 can prevent the cable from being too loose due to the inertia of various machines during emergency stop. In the present embodiment, the buffer 104 may be a swing arm with one end hinged and fixed and a wire wheel provided at the other end, and an elastic buffer, such as a spring damper, is passed between the two ends of the swing arm, and one end of the elastic buffer is fixed to the swing arm, and the other end is fixed to the wire-releasing unit 1. When the wire is not released, the signal wire 101 exerts no pressure on the buffer 104, and the swing arm of the buffer 104 is at its origin position. During the wire release process, the tension value on the signal wire 101 is applied to the buffer 104, and the elastic buffer of the swing arm tightens the signal wire 101 to prevent the signal wire from being loosened or disordered on the wire reel. During the wire release process, it is necessary to ensure that the tension value of the signal wire 101 can be applied to the buffer 104, so that the buffer 104 is in a tensioned state to prevent the signal wire 101 from being loosened or disordered on the wire reel. Therefore, in this embodiment, during the wire release process, it is necessary to ensure that the tension value of the signal wire 101 is greater than the second preset tension value to ensure that the swing arm is not at its origin position within the tension value range.

[0038] Since the wall of the blast hole is not smooth enough, there may be some protrusions. In addition, during the line-release process, the detection pendant 3 collides with the protrusions on the hole wall or swings too violently to cause a collision, which causes a change in the tension value, which may cause a misjudgment. Therefore, in this embodiment, when the tension value suddenly changes, the host detects that the tension value suddenly changes to less than the collision detection threshold, and controls the main axis wheel 102 to stop releasing the line. Often, when the detection pendant 3 suddenly changes, there may be a collision, entering the water or reaching the bottom.

[0039] Therefore, in order to accurately determine the collision situation of the detection pendant 3, in this embodiment, if the tension value suddenly decreases, the main axis wheel 102 is controlled to stop paying out the line, and the tension value is continuously detected until the change in the tension value reaches a stable state, thereby obtaining a first tension stability value.

[0040] If the first tension stability value is restored to the second tension value, that is, the tension value before the sudden change, the real-time change feature meets the second preset change feature, confirming that the detection pendant 3 has collided, and controlling the main axis wheel 102 to restore to the pay-off speed before deceleration to pay-off. Among them, the second tension value is greater than or equal to the first tension value, that is, the second tension value can be the tension value when the detection pendant is in a suspended state in water or in the air. In this embodiment, the second tension value can be determined according to the environment in which the detection pendant is located. For example, when the tension value suddenly decreases and decreases to below the first tension value, that is, when it decreases to the collision detection threshold or the bottom detection threshold, the environment in which the detection pendant is located can be judged first. If it has entered the water, the second tension value is the tension value of the detection pendant in the suspended state in the water. If it has not entered the water, the second tension value is the tension value of the detection pendant in the suspended state in the air.

[0041] When a collision occurs, the tension value will suddenly decrease. Since the pendant 3 does not touch the bottom of the hole and has no support, the pendant 3 will be suspended again after the collision. Therefore, the tension value will return to the second tension value. Therefore, if the first tension stability value returns to the second tension value, it is confirmed that a collision has occurred. After stabilization, continue to release the line. Figure 3 Schematic diagram of the tension curve of the second area B shown in FIG.

[0042] If the first tension stability value is less than the second tension value, the real-time change characteristic meets the first preset change characteristic, confirming that the detection pendant 3 has reached the bottom of the hole. Figure 3 The change of tension in the fourth area D. Since the tension value of the detection pendant 3 suddenly decreases, if the detection pendant 3 is used to get the bottom of the hole, the tension value will not be able to recover to the tension value of the pendant 3 in the suspended state due to the lifting effect of the bottom of the hole. Therefore, after the tension value changes steadily, if the first tension stability value is less than the second tension value, it is confirmed that the pendant 3 has contacted the bottom of the hole, and it is further confirmed that the detection pendant 3 has reached the bottom of the hole.

[0043] In one embodiment, in order to further accurately determine whether a collision occurs or the bottom of the hole is reached to prevent misjudgment, in this embodiment, a posture sensor is also provided on the detection pendant 3; when the change in the tension value reaches a stable state, the host obtains the posture data of the detection pendant 3 collected by the posture sensor; if the posture data indicates that the detection pendant 3 is in a vertical posture, and the first tension stability value is restored to the second tension value, it is confirmed that the detection pendant 3 has a collision; if the posture data indicates that the detection pendant 3 is in an inclined state or a horizontal state, and the first tension stability value is less than the second tension value, it is confirmed that the detection pendant 3 has reached the bottom of the hole.

[0044] The detection pendant 3 is in a vertical suspended state during the descent process. If a collision occurs, the pendant 3 will tilt briefly and then return to vertical. If it reaches the bottom of the hole, the pendant 3 will continue to tilt or be in a horizontal state. Therefore, after the tension value changes suddenly, when it reaches a stable state, the posture data of the detection pendant 3 can be judged. If the posture data indicates that the detection pendant 3 is in a vertical posture, and the first tension stability value returns to the tension value between the mutations, it is confirmed that the detection pendant 3 has collided. If the posture data indicates that the detection pendant 3 is in an inclined state or a horizontal state, and the first tension stability value is less than the tension value before the mutation, it is confirmed that the detection pendant 3 has reached the bottom of the hole, which can more accurately determine whether the detection pendant 3 has reached the bottom of the hole, thereby increasing accuracy.

[0045] After measuring the hole depth, the pendant 3 needs to be retracted. During the process of winding up, the host controls the main axis wheel 102 to wind up at the second set acceleration. The host controls the main axis wheel 102 to accelerate the winding up first, and then wind up at a constant speed after reaching a certain winding up speed. When it is about to reach the top of the hole, it slows down and winds up. Therefore, in this embodiment, the second set acceleration can be a collection of multiple accelerations. During the winding up process, when the host detects that the tension value is greater than the third preset tension value, it controls the main axis wheel 102 to stop winding up. During the recovery process, collision stop detection is also required, because the motor torque of the main axis wheel is limited. The upper limit pressure threshold, that is, the third preset tension 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 normal, it continues to rise. For specific changes in tension values ​​during the winding process, please refer to Figure 3 A schematic diagram of the sixth region F is shown.

[0046] When the line is about to be wound, the winding speed needs to be continuously reduced to prevent the line from being wound too tightly or the cable from swinging or causing damage to the connection between the detection pendant 3 and the cable. In the present embodiment, three slow decelerations are performed when the line is wound to the last 4 meters, 2 meters, and 0.5 meters. Finally, the detection pendant 3 is in place 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 that the force sensor 103 reaches the third preset tension value, and then the detection pendant 3 bracket is closed.

[0047] 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, the temperature sensor can continuously collect temperature data corresponding to different depths in the cavity during the descent or ascent of the detection pendant.

[0048] In one embodiment, the line length collector includes an encoder for collecting the number of rotations of the main axis wheel 102; the acquisition of the actual pay-out length of the signal line collected by the line length collector as the hole depth includes: during the pay-out process, the encoder records the first cumulative number of rotations of the main axis wheel from the start of pay-out to the time when the detection pendant reaches the bottom of the hole and the first cumulative number of reduced layers of the signal line on the main axis wheel; based on the first cumulative number of rotations and the first cumulative number of reduced layers, the actual pay-out length of the signal line is determined as the hole depth; The calculation of the water depth in the hole based on the zero point position of the water entry detection and the bottom point position of the water entry detection includes: the encoder records the second cumulative number of rotations of the main axis wheel from the zero point position of the water entry detection to the bottom point position of the water entry detection and the second cumulative number of reduced layers of the signal line on the main axis wheel; the water depth in the hole is determined based on the second cumulative number of rotations and the second cumulative number of reduced layers. In this way, the hole depth and the water depth in the hole are accurately measured.

[0049] In an exemplary embodiment, the parameters involved in calculating the line length are: the diameter of the spindle wheel 102, the width of the spindle wheel 102, the total length of the cable, the cable diameter, and the speed ratio between the encoder and the spindle wheel 102. When calculating, when the spindle wheel is tightened to the pre-tensioning tension, the value of the encoder is cleared, and this is used as the origin value of the line length. When the line is released outward, the cumulative value of the encoder's forward and reverse rotation is calculated and accumulated in real time, and the corresponding number of turns and layers of the cable released on the current spindle wheel 102 are calculated by the encoder value and the speed ratio of the spindle, so as to calculate the length of the released line.

[0050] In order to prevent the signal line 101 from being tangled during the process of winding and releasing the line, the hole environment detection device also includes a cycloid, which includes a driving motor, a parallel screw rod and a cycloid trolley for abutting the signal line 101 and adjusting the transmission angle of the signal line 101, wherein the cycloid trolley reciprocates along the screw rod under the action of the driving motor. In a further optional embodiment, both ends of the screw rod are provided with limit switches for fixing the movement trajectory of the cycloid trolley. The spindle speed and the screw rod running speed are determined by the axial width generated by the cable winding around the wire wheel. This length is equal to the wire diameter. In actual calculation, the gap between the wires and the spiral torsion of the wire material will slightly amplify the wire strength. The axial width of one circle corresponds to the running distance of the screw rod, and the running speed of the cycloid is calculated by the lead. The movement of the cycloid is always synchronized with the main axis wheel 102, so as to ensure that the cables are evenly and tightly arranged on the wire wheel.

[0051] In one embodiment, when winding the line, when the main engine detects that the tension value is greater than the third preset tension value, the main axis wheel 102 is controlled to stop winding the line. At this time, the signal line 101 may be too tight, and the main axis wheel 102 is controlled to slowly release the line. When the line is slowly released to the buffer 104 to the origin, the wire presser is locked to complete the winding.

[0052] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

[0053] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0054] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for detecting the environment inside a hole, characterized in that: Applicable to a hole environment detection device, the hole environment detection device comprises a host; a signal line connected between the host and the detection pendant; a main axis wheel for collecting / releasing the signal line; A force sensor, used to detect the tension value of the signal line during the retraction / release process and feed back to the host; Line length collector, used to collect the retracted / released length of the signal line; The detection method comprises: The host controls the main axis wheel to pay out the wire at a preset pay-out speed, and obtains the real-time tension value during the pay-out process; When the tension value suddenly decreases to a first tension value, it is confirmed that the detection pendant enters the water in the hole, wherein the first tension value is greater than a bottom tension threshold and a collision tension threshold of the detection pendant; The host calculates the tension difference between the first tension value and the tension value before the mutation, recalculates the line-releasing speed based on the tension difference, and obtains the underwater line-releasing speed. The host controls the main axis wheel to release the line at the underwater line-releasing speed until the real-time tension value mutates to the bottom tension threshold, confirming that the detection pendant has reached the bottom of the hole.

2. The method for detecting the environment in a hole according to claim 1, characterized in that: The detection method of the sudden decrease of the tension value to the first tension value comprises: When it is detected that the real-time tension value suddenly decreases and the minimum real-time tension value is greater than the bottom tension threshold and the collision tension threshold, the main axis wheel is controlled to stop, and when the real-time tension value reaches a stable state, it is confirmed that the tension value suddenly decreases to the first tension value.

3. The method for detecting the environment inside a hole according to claim 1, characterized in that: A liquid level sensor is arranged in the detection pendant. After the tension value suddenly decreases to the first tension 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 enters the water in the hole.

4. The method for detecting the environment inside a hole according to claim 1, characterized in that: The host controls the main axis wheel to release the line at the underwater release speed until the real-time tension value suddenly changes to the bottom tension threshold, and confirming that the detection pendant reaches the bottom of the hole includes: When the main engine controls the main axis wheel to release the line at the underwater release speed, and the real-time tension value suddenly decreases, the main axis wheel is controlled to stop releasing the line, and the real-time tension value is continuously detected until the change of the real-time tension value reaches a stable state, thereby obtaining a first tension stability value; If the first tension stability value is less than the second tension value, it is confirmed that the detection pendant has reached the bottom of the hole; If the first tension stability value is restored to the second tension value, it is confirmed that the detection pendant has collided, and the host controls the main axis wheel to continue to pay out the line, wherein the second tension value is greater than or equal to the first tension value.

5. The method for detecting the environment in a hole according to claim 4, characterized in that: The detection pendant is also provided with a posture sensor; When the change of the pulling force value reaches a stable state, the host obtains the posture data of the detection pendant collected by the posture sensor; If the posture data indicates that the detection pendant is in a vertical posture, and the first tension stability value is restored to the second tension value, it is confirmed that the detection pendant has collided; If the posture data indicates that the detection pendant is in an inclined state or a horizontal state, and the first tension stability value is less than the second tension value, it is confirmed that the detection pendant has reached the bottom of the hole.

6. The method for detecting the environment in a hole according to claim 1, wherein: After confirming that the detection pendant has reached the bottom of the hole, the host controls the main axis wheel to tighten the signal line. During the tightening process, the host determines whether the tension value exceeds a first preset tension value. When it exceeds the first preset tension value, it is confirmed that the detection pendant has reached the bottom of the hole, and the actual pay-out length of the signal line collected by the line length collector is obtained as the hole depth (.

7. The method for detecting the environment inside a hole according to any one of claims 1 to 6, characterized in that: When it is confirmed that the detection pendant has entered the water, the current position is determined as the zero point position of the water entry detection; When it is confirmed that the detection pendant has reached the bottom of the hole, the bottom position is determined as the bottom point position of the water entry detection; The water depth in the hole is calculated based on the zero point position of the water entry detection and the bottom point position of the water entry detection.

8. The method for detecting the environment inside a hole according to claim 1, wherein: Before paying out the line, the main engine controls the main axis wheel to pre-tighten the line. When the tension value reaches the pre-tightening tension value, the main axis wheel is controlled to pay out the line at a first set acceleration, and the line is paid out according to the preset pay-out speed until the preset pay-out speed is reached. During the process of paying out the line at the first set acceleration, the tension value is controlled to remain greater than the second preset tension value.

9. The method for detecting the environment in a hole according to claim 6, wherein: After obtaining the pay-out length of the signal line collected by the line length collector as the hole depth, the method further includes: The host controls the main axis wheel to reel in the line at a second set acceleration. During the reeling process, when the host detects that the tension value is greater than a third preset tension value, the host controls the main axis wheel to stop reeling in the line.

10. The method for detecting the environment inside a hole according to claim 9, characterized in that: The hole internal environment detection device also includes a pendant in place sensor; When the host detects that the pulling force value is greater than a third preset pulling force value, it determines whether the pendant in-place sensor detects an in-place signal; If the arrival signal is detected, it is confirmed that the conditions for completing the line collection are met; If the in-position signal is not detected, it is confirmed that the detection pendant has collided, and the wire wheel is controlled to stop winding the wire. After the tension value stabilizes, the main axis wheel is controlled to continue winding the wire until the winding completion condition is met.

11. The method for detecting the environment inside a hole according to claim 7, wherein: The line length collector includes an encoder for collecting the number of rotations of the main axis wheel; The obtaining the actual pay-out length of the signal line collected by the line length collector as the hole depth comprises: During the wire-laying process, the encoder records the first cumulative number of rotations of the main axis wheel and the first cumulative number of layers of the signal line reduced on the main axis wheel from the start of wire-laying to the time when the detection pendant reaches the bottom of the hole; Determine the actual pay-out length of the signal line as the hole depth based on the first accumulated number of rotations and the first accumulated number of reduced layers; The calculating of the water depth in the hole based on the zero point position of the water entry detection and the bottom point position of the water entry detection comprises: The encoder records the second accumulated number of rotations of the main axis wheel from the water entry detection zero point position to the water entry detection bottom point position and the second accumulated number of reduced layers of the signal line on the main axis wheel; The water depth in the hole is determined based on the second accumulated number of rotations and the second accumulated number of reduced layers.

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