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: detecting the pulling force value in real time during the wire laying process. Since the resistance when entering the water is less than the resistance of collision and reaching the bottom, when the pulling force value suddenly decreases to the first pulling force value, that is, the pulling force value suddenly decreases and the stabilized pulling force value is greater than the bottom-reaching pulling force threshold and the collision pulling force threshold, it can be confirmed that the detection pendant has entered the water. After entering the water, based on the water entry situation, that is, based on the host computer calculating the pulling force difference between the first pulling force value and the pulling force value before the mutation, the wire laying speed is recalculated to obtain the wire laying speed in water, preventing the wire laying speed in water from being too fast, which may cause wire entanglement or false triggering of collision detection or bottom-reaching detection, thereby improving the accuracy of hole detection, improving the accuracy of placing explosives, and enhancing the blasting effect.

Description

Technical Field

[0001] The present invention relates to the technical field of mine blasting, and particularly relates to a method for detecting the internal environment of 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 low 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 internal environment of 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 internal environment of the hole often differs greatly from the set drilling parameters, the blasting effect is 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 internal environment of 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 internal environment of a hole, which is applicable to a device for detecting the internal environment of a hole. 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 pulling 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 controls the main axis pulley to unwind the signal line at a preset unwinding speed and obtains the real-time pulling force value during the unwinding process.

[0007] When the pulling force value suddenly decreases to a first pulling force value, it is confirmed that the detection pendant enters the water in the hole, where the first pulling force value is greater than the bottom-reaching pulling force threshold and the collision pulling force threshold of the detection pendant.

[0008] The main unit calculates the pulling force difference between the first pulling force value and the pulling force value before the mutation, recalculates the unwinding speed based on the pulling force difference to obtain the underwater unwinding speed, and the main unit controls the main axis pulley to unwind the signal line at the underwater unwinding speed until the real-time pulling force value suddenly changes to the bottom-reaching pulling force threshold, and it is confirmed that the detection pendant reaches the bottom of the hole.

[0009] Optionally, the detection method for the pulling force value suddenly decreasing to the first pulling force value includes:

[0010] When it is detected that the real-time pulling force value suddenly decreases and the minimum value of the real-time pulling force value is greater than the bottom-reaching pulling force threshold and the collision pulling force threshold, control the main axis wheel to stop. When the real-time pulling force value reaches a stable state, confirm that the sudden decrease in the pulling force value reaches the first pulling force value.

[0011] Optionally, a liquid level sensor is provided in the detection pendant. When the pulling force value suddenly decreases to the first pulling force value, determine whether the liquid level sensor detects a liquid level signal. If a liquid level signal is detected, confirm that the detection pendant enters the water in the hole.

[0012] Optionally, the host controls the main axis wheel to pay out the wire at the underwater wire payout speed until the real-time pulling force value suddenly changes to the bottom-reaching pulling force threshold. Confirming that the detection pendant reaches the bottom of the hole includes:

[0013] During the process of the host controlling the main axis wheel to pay out the wire at the underwater wire payout speed, when the real-time pulling force value suddenly decreases, control the main axis wheel to stop paying out the wire and continuously detect the real-time pulling force value until the change in the real-time pulling force value reaches a stable state, and obtain the first stable pulling force value;

[0014] If the first stable pulling force value is less than the second pulling force value, confirm that the detection pendant reaches the bottom of the hole;

[0015] If the first stable pulling force value returns to the second pulling force value, confirm that the detection pendant collides, and the host controls the main axis wheel to continue paying out the wire, where the second pulling force value is greater than the first pulling force value.

[0016] Optionally, an attitude sensor is further provided on the detection pendant;

[0017] When the change in the pulling force value reaches a stable state, the host obtains the attitude data of the detection pendant collected by the attitude sensor;

[0018] If the attitude data indicates that the detection pendant is in a vertical attitude and the first stable pulling force value returns to the second pulling force value, confirm that the detection pendant collides;

[0019] If the attitude data indicates that the detection pendant is in an inclined state or a horizontal state and the first stable pulling force value is less than the second pulling force value, confirm that the detection pendant reaches the bottom of the hole.

[0020] 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.

[0021] 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;

[0022] 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;

[0023] 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.

[0024] 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.

[0025] 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:

[0026] 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.

[0027] Optionally, the hole internal environment detection device further includes a pendant in place sensor;

[0028] 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;

[0029] If the arrival signal is detected, it is confirmed that the conditions for completing the line collection are met;

[0030] 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 stabilizes, the main axis wheel is controlled to continue winding the wire until the winding completion condition is met.

[0031] Optionally, the line length collector includes an encoder for collecting the number of rotations of the main axis wheel;

[0032] The obtaining the actual pay-out length of the signal line collected by the line length collector as the hole depth comprises:

[0033] During the wire pay - out process, the encoder records the first cumulative number of rotations of the main axis wheel from the start of wire pay - out until the detection pendant reaches the bottom of the hole and the first cumulative reduction in the number of layers of the signal wire on the main axis wheel;

[0034] Based on the first cumulative number of rotations and the first cumulative reduction in layers, determine the actual wire pay - out length of the signal wire as the depth of the hole;

[0035] The calculation of the water depth in the hole based on the zero - point position of water - entry detection and the bottom - point position of water - entry detection includes:

[0036] The encoder records the second cumulative number of rotations of the main axis wheel from the zero - point position of water - entry detection to the bottom - point position of water - entry detection and the second cumulative reduction in the number of layers of the signal wire on the main axis wheel;

[0037] Based on the second cumulative number of rotations and the second cumulative reduction in layers, determine the water depth in the hole.

[0038] In the above - mentioned method for measuring the environment inside the hole of the present invention, during the process of paying out the signal wire, the real - time tension value during the wire - pay - out process is obtained; when the tension value suddenly decreases to the first tension value, it is confirmed that the detection pendant enters the water in the hole, where the first tension value is greater than the bottom - reaching tension threshold and the collision tension threshold; the host computer calculates the tension difference between the first tension value and the tension value before the mutation, and recalculates the wire - pay - out speed based on the tension difference to obtain the wire - pay - out speed in water. The host computer controls the main axis wheel to pay out the wire at the wire - pay - out speed in water. Until it is determined that the bottom of the hole is reached, the depth of the hole is measured. When measuring the inside of a mine blasting hole, using a flexible signal wire to tow the detection pendant can enable the pendant to smoothly enter the blasting hole, reducing the influence of the inner wall of the blasting hole. At the same time, when the detection pendant contacts the liquid surface (clean water surface or even mud surface), the tension of the signal wire on the monitoring pendant will have a sudden change. Moreover, since the water - entry resistance is less than the collision and bottom - reaching resistances, this sudden change is different from touching hard structures such as the bottom and the wall of the hole. Therefore, in this application, the special sudden change of the tension of the signal wire on the monitoring pendant is used to accurately detect whether it touches the liquid surface, and this measurement method can be unaffected by the hole environment or the water quality inside the hole. When the tension value suddenly decreases to the first tension value, that is, the tension value has a sudden decrease and the stabilized tension value is greater than the bottom - reaching tension threshold and the collision tension threshold, it can be confirmed that the detection pendant has entered the water. After the water - entry occurs, based on the water - entry situation, that is, based on the host computer calculating the tension difference between the first tension value and the tension value before the mutation, the wire - pay - out speed is recalculated to obtain the wire - pay - out speed in water, preventing the wire from getting tangled or causing false triggering of collision detection or bottom - reaching detection due to too fast a wire - pay - out speed in water, thereby improving the accuracy of detecting the hole depth and water depth, improving the accuracy of placing explosives, and enhancing the blasting effect.

[0039] 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

[0040] 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.

[0041] Figure 1 is a structural schematic diagram of a wire-laying unit of a hole environment detection device according to an embodiment of the present invention;

[0042] 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;

[0043] 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

[0044] 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.

[0045] As described in the background art, during mine blasting, it is necessary to accurately measure the environment inside the mine blasting holes. In some related technologies, tools such as tape measures are used for manual measurement. However, manual measurement has large errors, and it is difficult to fully collect the environmental parameters inside the holes. For example, it is difficult to collect and accurately measure parameters such as whether there is water seepage inside the hole and the water depth inside 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 inside the hole is relatively complex (such as the existence of 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 lead to inaccurate detection of water seepage inside the blasting holes. Moreover, after measuring the current blasting hole, when drilling the next blasting hole, due to the high density of blasting holes and loose mine geology, etc., the environment inside 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 inside the hole increases, resulting in an increase in accumulated water, etc., causing the measured environmental parameters inside the hole to be inconsistent with the actual parameters.

[0046] 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 through 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 through some tools. During the descent of the liquid level sensor, after detecting the liquid level signal through 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 contain clear water, while some other holes 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, etc., 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 liquid level sensors such as ultrasonic and radar 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.

[0047] Based on this, the present application proposes a hole internal environment detection method that can accurately measure the environmental parameters in the mine blasting hole, which is applicable to a hole internal environment detection device, such as Figure 1 and Figure 2 As shown, the hole internal environment detection device includes a host; a signal line connected between the host and the detection pendant; a main axis pulley for taking in / releasing the signal line; a force sensor for detecting the pulling force value of the signal line during the taking in / releasing process and feeding it back to the host; and a line length collector for collecting the taking in / releasing length of the signal line.

[0048] Among them, the host can be a host computer or a controller arranged on the hole internal environment detection device. In this embodiment, the controller arranged on the hole internal environment detection device is taken as an example for illustration:

[0049] See Figure 1 and Figure 2 As shown, the hole internal environment detection device may include a wire releasing unit 1, a positioning unit 2 and a detection pendant 3. Among them, a signal line 101, a host computer, a main axis pulley 102, and a force sensor 103 are arranged in the wire releasing unit, 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 host computer after passing through the main axis pulley 102. The force sensor 103 may 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 may be arranged on one of the wire guide pulleys. During the descent of the detection pendant 3, the pulling force of the detection pendant on the signal line is converted into the pressure of the signal line on the wire guide pulley. Furthermore, the force sensor 103 can obtain the pulling force of the detection pendant on the signal line by measuring the pressure of the signal line 101 on the wire guide pulley.

[0050] When implementing the hole internal environment measurement method, 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 releasing speed in its suspended state is still used for wire releasing, the wire releasing speed may be greater than the descent speed of the pendant 3, thereby causing the signal line 101 to become disordered. Therefore, in this embodiment, during the wire releasing process of the signal line 101, the real-time pulling force value during the wire releasing process is obtained; when the pulling force value suddenly decreases to a 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 pulling force value before the mutation, recalculates the wire releasing speed based on the pulling force difference to obtain the wire releasing speed in water, and the host computer controls the main axis pulley 102 to release wire at the wire releasing speed in water. Until it is determined that the bottom of the hole is reached, the hole depth is measured.

[0051] In one embodiment, when detecting that the pendant reaches the bottom of the hole, it is necessary to measure not only 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 position for 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 position for water entry detection; the water depth in the hole is calculated based on the zero position for water entry detection and the bottom position for water entry detection. When measuring in a 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, reduce the influence of the inner wall of the blasting hole. At the same time, when the detection pendant contacts the liquid surface (clean water or mud), the pulling force of the signal line on the monitoring pendant will have a sudden change. Moreover, since the water entry resistance is less than the collision and bottom resistance, this sudden change is different from that when touching hard structures such as the bottom of the hole and the hole wall. 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 touches the liquid surface, and this measurement method can be unaffected by the hole environment or the water quality in the hole.

[0052] During the wire release process, the pulling force value will decrease in the cases of collision, reaching the bottom, and encountering water. After entering the water, the wire may get tangled. Therefore, in this embodiment, the pulling force value is detected in real time during the wire release process. Since the water entry resistance is less than the collision and bottom resistance, when the pulling force value suddenly decreases to the first pulling force value, that is, the pulling force value suddenly decreases and the stabilized pulling force value is greater than the bottom pulling force threshold and the collision pulling force threshold, it can be confirmed that the detection pendant 3 has entered the water. After the water entry occurs, based on the water entry situation, that is, based on the host computer, the wire release speed is recalculated by calculating the difference between the first pulling force value and the pulling force value before the mutation, and the wire release speed in water is obtained to prevent the wire from getting tangled or causing false triggering of collision detection or bottom detection due to too fast wire release speed in water.

[0053] In one embodiment, the detection method for the pulling force value suddenly decreasing to the first pulling force value includes: when detecting that the real-time pulling force value suddenly decreases and the minimum value of the real-time pulling force value is greater than the bottom pulling force threshold and the collision pulling force threshold, controlling the main axis pulley 102 to decelerate. In this embodiment, when detecting that the pulling force value suddenly decreases, the main axis pulley can be controlled to decelerate until the wire release stops. When the real-time pulling force value reaches a stable state, the real-time pulling force value during the wire release process is obtained, and the pulling force value suddenly decreases to the first pulling force value. Specifically, reference can be made to Figure 3 the pulling force value shown in the pulling force value curve of the second region B in. After the pulling force value mutates and reaches a stable state after oscillation, the pulling force value stabilizes at the first pulling force value.

[0054] In one embodiment, a liquid level sensor may also be provided in the detection pendant 3. When the pulling force value suddenly decreases to the first pulling 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 pulling force of the signal line 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 the pulling force 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 acquisition signal suddenly changes to the first pulling force value can be recorded, the second moment when the liquid level signal is acquired can be recorded, and 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 pay-off 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 time delay or the accuracy has an error. Therefore, the pulling force value range after the monitoring pendant enters the water can be adjusted according to the time difference (the time difference is inversely related to the pulling force value range, that is, the longer the time difference, the smaller the pulling force value range). When the first pulling force value is still within the adjusted pulling force range, it is confirmed that the detection pendant has entered the water at the first moment.

[0055] In another embodiment, when the time difference is greater than the preset time difference, the pay-off speed when entering the water can also be adjusted according to the time difference, that is, the time difference is inversely related to the pay-off speed, so as to avoid the increase in buoyancy or resistance caused by poor water quality, which may lead to the situation of disordered wires when the detection pendant descends at a high speed after entering the water.

[0056] During the pay-off process, the detection pendant 3 is perpendicular to the upper part of the blasting hole, and the host controls the main axis wheel 102 to rotate, and the detection pendant 3 moves downward into the blasting hole. During the pay-off 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, forms a pulling force value curve, and obtains the real-time change characteristics of the pulling force value.

[0057] During the pay-off process, when the detection pendant 3 is descending, the pulling force value will change according to the set pulling force value. For example, during the accelerated descent process, the pulling force value will decrease, and during the uniform descent process, the pulling force value will be in a stable state. When the detection pendant 3 reaches the bottom of the hole, due to the bottom support of the hole bottom on the detection pendant 3, the pulling force value suddenly decreases. Therefore, during the descent of the detection pendant 3, if the pulling force 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 pulling force value during the pay-off process conform to the first preset change characteristics, it is confirmed that the detection pendant 3 has reached the bottom of the hole.

[0058] Since there will be a certain amount of slack in the signal line 101 after hitting the bottom of the hole, directly recording the line length at this time may cause inaccurate detection of the hole depth and water depth. Therefore, when it is confirmed that the detection pendant 3 reaches the bottom of the hole, the host controls the main axis pulley to take 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 process of paying out the line, when it is confirmed that the detection pendant 3 reaches the bottom of the hole, the signal line needs to be tightened. During the tightening process, the host determines whether the tensile force value exceeds the first preset tensile force value. When it exceeds the first preset tensile force value, the actual payout length of the signal line 101 collected by the line length collector is obtained as the hole depth. When calculating the water depth, the position where the tensile force value exceeds the first preset tensile force value during the tightening process is also used as the bottom position of the water detection. Based on this bottom position of the water detection and the recorded zero position of the water detection at the entrance, the actual water depth in the hole is calculated.

[0059] The setting of the first preset tensile force value is determined by the pressure distribution of the signal line 101 collected by the force sensor 103 on the wire pulley. Exemplarily, the wire pulley often acts as a fixed pulley, and the tensile force value detected by the force sensor 103 is the sum of the tensile forces on both sides of the fixed pulley. When the bottom of the detection pendant 3 just touches the bottom of the hole, the tensile force 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 tensile force value can be twice the gravity value of the detection pendant 3. Other pressure distribution situations of the signal line 101 on the wire pulley are also applicable in this embodiment. Specifically, refer to Figure 3 the schematic diagram of the fifth region E shown in

[0060] In this embodiment, during the process of paying out the line, the host obtains the real-time change characteristics of the tensile force value during the payout 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 host controls the main axis pulley 102 to stop paying out the line and controls the main axis pulley 102 to take in the line. During the process of taking in the line, the tensile force value will continue to 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 payout length of the signal line 101 collected by the line length collector is used as the hole depth. During the measurement of the hole depth, in cooperation with the hole environment detection device, 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, so as to realize accurate measurement of the hole depth and the water depth in the hole.

[0061] In one embodiment, in order to prevent the signal line 101 from being in a slack state before wire laying, which may affect the accuracy of hole depth measurement, in this embodiment, before wire laying, the host controls the main axis reel 102 to take up the wire and pre-tighten it until the tensile force value reaches the pre-tightening tensile force value. Specifically, before wire laying, the wire pressing device is loosened, and the host controls the main axis reel 102 to take up the wire and pre-tighten it, pulling the signal line until the tensile force value reaches the pre-tightening tensile force value. Then, it is detected that the pendant 3 is tightened in the pendant bracket. At this time, it can be cooperatively detected whether the pendant in-place detection sensor can normally detect the pendant. If the pendant is detected to be in place, it is confirmed that the pre-tightening is completed.

[0062] When the pre-tightening tensile force value is reached, that is, after the pre-tightening is completed, the main axis reel 102 is controlled to pay out the wire at a first set acceleration until the set wire pay-out speed is reached, and then the wire is paid out at the set wire pay-out speed. In this embodiment, the wire can be paid out at a relatively small initial wire pay-out speed and accelerated at the first set acceleration. During the acceleration process, the tensile force value decreases. Until the maximum wire pay-out speed is reached or the set wire pay-out speed is reached, the wire is paid out at a constant speed at the set wire pay-out speed to ensure that there is always a certain pressure on the signal line 101 during wire laying, preventing accidental situations such as slack, swinging, and tangling of the signal line 101. For specific reference, see Figure 3 the change of the tensile force curve in the first region A in the tensile force curve in. In this embodiment, the actual wire pay-out speed can be calculated by the actual tensile force value and acceleration.

[0063] Further, during the wire pay-out process, the main machine controls the real-time wire pay-out acceleration of the main axis wire wheel 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 guiding wheel provided at the other end. An elastic buffer member, such as a spring damper, is provided between the two 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 being paid out, the signal wire 101 exerts 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 becoming loose or tangled on the wire guiding wheel. 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 becoming loose or tangled on the wire guiding wheel. 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.

[0064] 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, which may cause a change in the tensile force value and may lead to misjudgment. Therefore, in this embodiment, when the main machine detects that the tensile force value suddenly changes to be less than the collision detection threshold during a sudden change in the tensile force value, it controls the main axis wire wheel 102 to stop paying out the wire. Often when the detection pendant 3 undergoes a sudden change, there may be situations such as collision, entering the water, or reaching the bottom.

[0065] Therefore, in order to accurately judge the collision situation of the detection pendant 3, in this embodiment, if a sudden decrease in the tensile force value occurs, after controlling the main axis wire wheel 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.

[0066] If the first stable pulling force value returns to the second pulling force value, i.e., the pulling force value before the mutation, then the real-time change feature conforms to the second preset change feature, it is confirmed that the detection pendant 3 has collided, and the main axis wheel 102 is controlled to resume the wire releasing speed before deceleration for wire releasing. Wherein, the second pulling force value is greater than or equal to the first pulling force value, that is, the second pulling force value can be the pulling force value when the detection pendant is in a suspended state in water or in the air. In this embodiment, the second pulling force value can be determined according to the environment where the detection pendant is located. For example, when the pulling force value suddenly decreases this time and decreases below the first pulling force value, that is, when it decreases to the collision detection threshold or the bottom detection threshold, the environment where the detection pendant is located can be judged first. If the detection pendant has entered the water, the second pulling force value is the pulling force value when the detection pendant is suspended in water. If the detection pendant has not entered the water yet, the second pulling force value is the pulling force value when the detection pendant is in a suspended state in the air.

[0067] When a collision occurs, the pulling force 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 occurs, the pendant 3 will be in a suspended state again. Therefore, the pulling force value will return to the second pulling force value. Therefore, if the first stable pulling force value returns to the second pulling force value, it is confirmed that a collision has occurred. After stabilization, continue to release the wire. Refer to Figure 3 the schematic diagram of the pulling force curve in the second region B shown in

[0068] If the first stable pulling force value is less than the second pulling force value, then the real-time change feature conforms to the first preset change feature, and it is confirmed that the detection pendant 3 has reached the bottom of the hole. Refer to Figure 3 the change of the pulling force value in the fourth region D in

[0069] 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 of the pulling force 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 pulling force value returns to the second pulling force value, 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 pulling force value is less than the second pulling force value, it is confirmed that the detection pendant 3 has reached the bottom of the hole.

[0070] It is detected that the pendant 3 is in a vertically suspended state during the descent. If a collision occurs, the pendant 3 will tilt briefly and then return to the 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 sudden change in the tensile force value and when it 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 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 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, which can more accurately determine whether the detection pendant 3 has reached the bottom of the hole and increase the accuracy.

[0071] After measuring the hole depth, the pendant 3 needs to be retracted. During the wire retraction process, the host controls the main axis pulley 102 to retract the wire at a second set acceleration. The host can control the main axis pulley 102 to first accelerate the wire retraction, then retract the wire at a constant speed after reaching a certain wire retraction speed, and then decelerate the wire retraction when approaching the top of the hole. Therefore, in this embodiment, the second set acceleration can be a collection of multiple accelerations. During the wire retraction process, when the host detects that the tensile force value is greater than the third preset tensile force value, it controls the main axis pulley 102 to stop retracting the wire. The collision stop detection is also required during the recovery process. Since the motor torque of the main axis pulley 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, the ascent continues. For the change in the tensile force value during the specific wire retraction process, reference can be made to Figure 3 the schematic diagram of the sixth region F shown.

[0072] When the wire retraction is about to be completed, the wire retraction speed needs to be continuously reduced to prevent the wire from being tightened too much, the cable from swinging, or the connection between the detection pendant 3 and the cable from being damaged. In this embodiment, three slow decelerations will be performed when the wire retraction reaches 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.

[0073] In one embodiment, a temperature sensor is also provided on the detection pendant. 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.

[0074] In one embodiment, the wire length collector includes an encoder for collecting the number of rotations of the main axis pulley 102; obtaining the actual wire release length of the signal wire collected by the wire length collector as the hole depth includes: during the wire release process, the encoder records the first cumulative number of rotations of the main axis pulley from the start of wire release until the detection pendant reaches the bottom of the hole and the first cumulative reduction in the number of layers of the signal wire on the main axis pulley; determining the actual wire release length of the signal wire as the hole depth based on the first cumulative number of rotations and the first cumulative reduction in layers;

[0075] 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 number of rotations of the main axis pulley from the water entry detection zero position to the water entry detection bottom position and the second cumulative reduction in the number of layers of the signal wire on the main axis pulley; determining the water depth in the hole based on the second cumulative number of rotations and the second cumulative reduction in layers. In this way, the hole depth and the water depth in the hole can be accurately measured.

[0076] 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 cable diameter, and the speed ratio between the encoder and the main axis pulley 102. When calculating, when the main axis pulley is tightened to the pre-tightening tension, the value of the encoder is cleared at this time, and this is used as the wire length origin value. When releasing 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 rotations 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.

[0077] To prevent the signal wire 101 from getting tangled during the wire retraction and release processes, the hole environment detection device further includes a wire aligner. The wire aligner 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. 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 trajectory 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 circle 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 arranged evenly and tightly on the wire wheel.

[0078] In one embodiment, when taking up the wire, when the host detects that the pulling force value is greater than the third preset pulling force value, it controls the main wire wheel 102 to stop taking up the wire. At this time, the signal wire 101 may be too tight, and it controls the main wire wheel 102 to slowly pay out the wire. When the buffer 104 reaches the origin during the slow wire payout, the wire pressing device is locked to complete the wire taking up.

[0079] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art in this technical field, 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.

[0080] 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.

[0081] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art in this technical field, 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 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 suddenly changes to the bottom tension threshold, confirming that the detection pendant reaches the bottom of the hole; The detection pendant is provided with a liquid level sensor, which records the first moment when the collected signal suddenly changes to the first tension value, records the second moment when the liquid level signal is collected, and determines the time difference between the first moment and the second moment; the tension value range after the detection pendant enters the water is adjusted according to the time difference, and 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, wherein the time difference is inversely correlated with the tension value range.

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. 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.

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 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 the 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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