Hole internal environment detection device and hole internal environment detection engineering vehicle

Abstract

The invention provides an in-hole environment detection device and an in-hole environment detection engineering van, the in-hole environment detection device is used for mine blast hole environment detection, the in-hole environment detection device comprises a pay-off unit, a positioning unit and a detection pendant, and a signal line of the pay-off unit is connected with the detection pendant through the positioning unit; at least one sensor for environment detection is arranged in the detection pendant; the detection pendant is arranged above the to-be-detected hole in the gravity direction through the positioning unit, the flexible signal line is adopted to pull the detection pendant, the detection pendant can smoothly enter the blast hole, the influence of the inner wall of the blast hole is reduced, the pressure detection sensor detects the pressure of the detection pendant on the signal line in real time, and the detection accuracy is improved. When the detection pendant collides with the wall, enters the water and reaches the bottom of the hole, the pressure of the detection pendant on the signal line also changes, the host can detect the motion state and position information of the pendant in the hole by implementing the obtained pressure change characteristics, and the detection of the information such as the blasting hole depth and the water depth is simply and accurately realized.

Description

Technical Field

[0001] This application relates to the technical field of mine blasting hole environment detection equipment, and particularly relates to an in-hole environment detection device and an in-hole environment detection engineering vehicle. Background Art

[0002] Many drilling operations require accurate determination of drilling parameters. For different drill holes, the parameters to be measured are often different, which results in different measurement methods and measurement times for different drill holes. In operation scenarios such as oil extraction, coal mining, construction drilling, and geological exploration, due to the small number of drill holes and the relatively deep drilling depth, the drilling parameters are often measured during the drilling process. For example, by manually monitoring the reciprocating times of the drilling rig to count the number of drill pipes drilled and thus obtain the drilling depth, or by integrating an automatic measurement device on the drilling machine to measure the drilling depth in real time during the drilling process.

[0003] In the mine blasting scenario, the mine blasting holes are often manually measured with a tape measure after drilling. This measurement operation is cumbersome, inefficient, labor-intensive, has a large measurement error, and the manually measured blasting holes often only measure the hole depth. Due to the lack of measurement and large error of the environmental parameters in the blasting holes, when explosives are subsequently placed, the blasting effect is easily out of control, resulting in a poor blasting effect.

[0004] In some related technologies, real-time measurement of the blasting holes is also carried out during the drilling process. However, in the mine blasting scenario, the number of blasting holes often covers the mine to be blasted, and the depth of the blasting holes is often 5 - 15m. Compared with the depth of mining-type drill holes and exploration-type drill holes, they are shallower, have a larger number, a higher density, and are more affected by the mine geological layer or environment. The in-hole environment is more complex (for example, there is water seepage, loose geology, etc.). Therefore, if real-time measurement of the blasting holes is carried out during the drilling process, it may lead to inaccurate detection of water seepage in the blasting holes. And after measuring the current blasting hole, when drilling the next blasting hole, due to the high density of the blasting holes and the loose mine geology, etc., the environment in the previous blasting hole may change. For example, due to vibration, etc., the hole wall may become loose, deformed or even collapsed, and the water seepage in the hole increases, resulting in an increase in accumulated water, etc., causing the measured in-hole environment parameters to be inconsistent with the actual parameters.

[0005] For some methods using lidar measurement, visual measurement, etc., not only are the hardware complex and costly, but the software and algorithm costs are also relatively high. Moreover, in the face of the complex in-hole environment of mine blasting holes, the laser is easily interfered, and the camera requires a relatively stable support. Therefore, it is difficult for lidar measurement and visual measurement to accurately measure the complex in-hole environment of mine blasting holes.

[0006] Therefore, how to simply and accurately measure the internal environment of mine blasting holes has become a technical problem to be solved urgently. Summary of the Invention

[0007] One technical problem to be solved by this application is: how to simply and accurately measure the internal environment of mine blasting holes.

[0008] To solve the above technical problem, in the first aspect of the embodiments of this application, a hole internal environment detection device is provided for detecting the environment of mine blasting holes.

[0009] In the second aspect of the embodiments of this application, a blasting internal environment detection device is provided for detecting the environment inside a blasting hole. The hole internal environment detection device includes: a wire releasing unit, a positioning unit, and a detection pendant disposed within the positioning unit. The wire releasing unit includes a main unit, a signal wire, a main wire wheel, a wire length collector, and a pressure detection sensor. The signal wire is electrically connected to the main unit, wound around the main wire wheel, and connected to the detection pendant after passing through the wire length collector and the pressure detection sensor. The main unit is electrically connected to the signal wire, the wire length collector, and the pressure detection sensor respectively. The main unit controls the main wire wheel to release the wire. The detection pendant can enter the blasting hole under the action of gravity. During the descending process, the main unit determines the motion state and position information of the detection pendant in the hole by obtaining the pressure change characteristics of the signal collected by the pressure detection sensor, and detects the depth of the blasting hole and the internal environment information of the hole based on the motion state and position information.

[0010] Optionally, the wire releasing unit further includes a wire aligner and a buffer. The signal wire passes through the wire aligner from the main wire wheel and sequentially passes through the buffer and the pressure detection sensor under the action of multiple guiding pulleys to the wire passing hole for communicating with the positioning unit.

[0011] Optionally, the buffer includes a limiting spring and a mounting plate. One end of the limiting spring is fixed on the frame structure of the wire releasing unit, and the other end is connected to the mounting plate. At least one guiding pulley is provided on the mounting plate.

[0012] Optionally, the wire aligner includes a driving motor, a lead screw arranged in parallel, and a wire aligning trolley for abutting against the signal wire to adjust the transmission angle of the signal wire. The wire aligning trolley reciprocates along the lead screw under the action of the driving motor.

[0013] Optionally, a pair of first guiding rollers are provided on the wire aligning trolley along the direction perpendicular to the lead screw. The signal wire is disposed between the first guiding rollers. The rotation direction of the first guiding rollers is the same as the motion direction of the signal wire abutted thereon.

[0014] Optionally, limit switches are provided at both ends of the lead screw; and / or, a second guide roller is provided between the cycloid and the adjacent guide pulley, the signal line is arranged between the second guide rollers, and the rotation direction of the second guide roller is the same as the movement direction of the signal line abutted thereon.

[0015] Optionally, the tail end of the detection pendant is arranged inside the structure of the positioning unit for structural limitation; and / or, a pendant bracket for fixing the detection pendant is provided on the positioning unit.

[0016] Optionally, the detection pendant is provided with at least one or more of an attitude detection sensor, a liquid level sensor, and a temperature sensor.

[0017] Optionally, when the host detects that the pressure change feature is that the pressure value suddenly decreases to the first pressure value, it is confirmed that the detection pendant enters the water in the hole, and the host collects the length of the wire length collector as the zero position of entering the water; the host calculates the pressure difference between the first pressure value and the real-time pressure value, recalculates the wire releasing speed based on the pressure difference to obtain the wire releasing speed in water, and the host controls the main wire wheel to release the wire at the wire releasing speed in water until the real-time pressure value suddenly changes to the bottom pressure threshold, and it is confirmed that the detection pendant reaches the bottom of the hole. The host collects the length of the wire length collector as the hole depth. And calculates the water depth through the zero position of entering the water.

[0018] In the second aspect of the embodiments of the present application, a hole-internal environment detection engineering vehicle is provided. The hole-internal environment detection engineering vehicle includes a vehicle body and the hole-internal environment detection device according to any one of the above, and the wire releasing unit of the hole-internal environment detection device is arranged on the vehicle body.

[0019] The present application has at least the following technical effects: In this application, when measuring inside a mine blasting hole, a flexible signal wire is used to tow a detection pendant, which can enable the detection pendant to smoothly enter the blasting hole, reducing the influence of the inner wall of the blasting hole. Meanwhile, during the descending process, the pressure detection sensor continuously detects the pressure exerted on the signal wire by the detection pendant. When the detection pendant hits the wall, enters water, or reaches the bottom of the hole, its motion state changes, and correspondingly, the pressure exerted by the detection pendant on the signal wire also changes. Therefore, the host computer can determine the motion state (whether it hits the wall, enters water, or reaches the bottom of the hole) and position information (whether it reaches the zero water entry position and whether it reaches the bottom of the hole) of the detection pendant inside the hole by implementing the obtained pressure change characteristics. Thus, it is possible to detect the depth of the blasting hole, the water depth inside the hole, the smoothness of the hole side wall, protruding positions, and other environmental information based on the pressure change characteristics that can be obtained by the host computer. Moreover, in this application, by detecting the environmental parameters inside the hole through pressure change characteristics, it is possible to be unaffected by the hole environment or the water quality inside the hole, and achieve the effect of simply and accurately detecting the environment inside the blasting hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 is the overall structural schematic diagram of the in-hole environment detection device disclosed in the embodiments of the present application; Figure 2 is Figure 1 the side elevation structural schematic diagram of the wire releasing unit of Figure 3 is Figure 1 the three-dimensional structural schematic diagram of the wire releasing unit of Figure 4 is Figure 1 the assembled structural schematic diagram of the positioning unit and the detection pendant of Figure 5 is Figure 1 the overall structural schematic diagram of the detection pendant of Figure 6 is Figure 5 the internal structural schematic diagram of the detection pendant of Description of the reference numerals:

[0022] 1. Pay-off unit; 101. Signal wire; 102. Main wire wheel; 103. Traverser; 1031. Driving motor; 1032. Lead screw; 1033. Traversing carriage; 1034. First guide roller; 1035. Second guide roller; 1036. Limit switch; 104. Buffer; 1041. Limit spring; 1042. Mounting plate; 105. Pressure detection sensor; 106. Guide pulley; 107. Threading hole; 2. Positioning unit; 201. Inlet; 202. Outlet; 203. Universal guide pulley; 204. Pendant bracket; 3. Detection pendant; 301. Attitude detection sensor; 302. Liquid level sensor; 303. Temperature sensor. Detailed implementation manners

[0023] The following further describes the implementation manners of the present application in detail in conjunction with the accompanying drawings and embodiments. The detailed descriptions and drawings of the following embodiments are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application. The present application can be implemented in many different forms, not limited to the specific embodiments disclosed in the text, but including all technical solutions falling within the scope of the claims.

[0024] These embodiments are provided by the present application to make the present application thorough and complete, and to fully convey the scope of the present application to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, the components of materials, numerical expressions and values described in these embodiments should be interpreted as merely exemplary, rather than as limitations.

[0025] It should be noted that in the description of the present application, unless otherwise specified, the meaning of "a plurality" is greater than or equal to two; the terms "inner", "outer", etc. indicate the orientation or positional relationship only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0026] In addition, the "vertical" used in the present application is not strictly vertical, but within the allowable error range. The "parallel" is not strictly parallel, but within the allowable error range. Words such as "including" or "comprising" mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0027] It should also be noted that in the description of this application, unless otherwise clearly specified and defined, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in this application can be understood according to specific circumstances. When it is described that a specific device is located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0028] All terms used in this application have the same meaning as understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, for example, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless specifically defined as such here.

[0029] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the specification.

[0030] As described in the background art, during mine blasting, it is necessary to measure the environment inside the mine blasting holes more accurately. 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 holes and the water depth inside the holes, 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 holes is relatively complex (such as the existence of water seepage, loose geology, etc.), and the mine blasting holes are relatively densely distributed. If the blasting 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 the blasting holes and the 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.

[0031] In some other related technologies, if methods such as lidar measurement and vision 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, water accumulation in the hole, etc. This has a great impact on the laser accuracy, and the vision 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 also difficult to accurately measure the depth of the water accumulation in the hole due to the limitations of the measurement method and the working principle of the liquid level sensor. Usually, the measurement of the water accumulation depth in the hole is often dynamic, that is, the liquid level sensor is dynamically inserted 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 static pressure of the liquid is proportional to the liquid level height. Therefore, it is necessary to measure the liquid static pressure after entering the water. After detecting the liquid pressure, the liquid level sensor may be far from the liquid surface, and the water quality in different mine blasting holes may be different. For example, some holes may contain clear water, while others may contain mud, etc., and their liquid pressures are also different. Therefore, the measurement standards for different holes are not the same, and it is difficult to accurately measure. In addition, for a float type liquid level sensor, due to the non-smooth hole wall and the presence of mud at the bottom of the hole, the float may have mismeasurements, and the accuracy of this type of sensor is relatively low, and the error in the blasting hole may reach more than 10 cm; for a capacitive liquid level sensor, it measures the liquid based on the change in the dielectric constant between the electrodes. However, the water quality in different mine blasting holes may be different, and their dielectric constants are also different. Therefore, the measurement standards for different holes are not the same, and it is difficult to accurately measure. In addition, some 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.

[0032] Based on this, the present application provides a hole internal environment detection device, which can be used for detecting the internal environment of mine blasting holes, such as Figures 1 to 6As shown in the figure, specifically, the environmental detection device inside the hole includes a wire releasing unit 1, a positioning unit 2, and a detection pendant 3. The wire releasing unit is placed on the outer periphery of the hole to be detected. The signal wire 101 of the wire releasing unit 1 is connected to the detection pendant 3 through the positioning unit 2, so as to collect relevant information collected by the detection pendant 3. At least one sensor for environmental detection is provided in the detection pendant 3. Specifically, the collection content can be set according to the actual needs by setting the structure of the detection pendant 3. For example, by configuring a liquid level sensor to collect whether there is liquid in the hole environment, or by setting an attitude sensor in the detection pendant 3 to determine whether the bottom of the hole is inclined after the detection pendant is placed at the bottom of the hole. It is specifically set according to the actual needs, and all replacements according to the collection purpose belong to the same or similar scheme design of this application.

[0033] The detection pendant 3 is arranged above the hole to be detected along the gravity direction through the positioning unit 2, so that during the operation, the detection pendant can enter the hole to be detected vertically under the action of gravity and collect the internal environmental information of the hole to be detected, so as to ensure that the collected information does not have information collection error due to the randomness of the setting position of the positioning unit 2.

[0034] The wire releasing unit 1 includes a host, a signal wire 101, a main wire wheel 102, a wire length collector, and a pressure detection sensor 105. The signal wire 101 is electrically connected to the host and wound around the main wire wheel 102 and then connected to the detection pendant 3 through the wire length collector and the pressure detection sensor 105. The host is respectively electrically connected to the signal wire 101, the wire length collector, and the pressure detection sensor 105. The signal wire 101 is electrically connected to the sensor. Among them, the wire releasing unit 1 includes a host, a signal wire 101, a main wire wheel 102, a wire length collector, and a pressure detection sensor 105. The signal wire 101 is electrically connected to the host and wound around the main wire wheel 102 and then connected to the detection pendant 3 through the wire length collector and the pressure detection sensor 105. The host is respectively electrically connected to the signal wire 101, the wire length collector, and the pressure detection sensor 105. The host controls the main wire wheel 102 to release the wire. The detection pendant 3 can enter the blasting hole under the action of gravity. During the descending process, the host determines the motion state and position information of the detection pendant 3 in the hole by obtaining the pressure change characteristics of the signal collected by the pressure detection sensor 105, and detects the depth and internal environmental information of the blasting hole based on the motion state and position information.

[0035] In this application, when measuring inside a mine blasting hole, using the flexible signal line 101 to tow the detection pendant 3 can enable the detection pendant 3 to smoothly enter the blasting hole, reducing the influence of the inner wall of the blasting hole. At the same time, during the descending process, the pressure detection sensor 105 continuously detects the pressure exerted on the signal line 101 by the detection pendant 3. When the detection pendant 3 hits the wall, enters water, or reaches the bottom of the hole, its motion state will change. Correspondingly, the pressure exerted by the detection pendant 3 on the signal line 101 will also change. Therefore, the host can determine the motion state (whether it hits the wall, enters water, reaches the bottom of the hole) and position information (whether it reaches the water entry zero position, whether it reaches the bottom of the hole) of the detection pendant 3 inside the hole based on the pressure change characteristics obtained in real time. Therefore, it is possible to detect the depth of the blasting hole, the water depth inside the hole, the smoothness of the hole side wall, the protruding position, and other environmental information based on the pressure change characteristics that can be obtained by the host. Moreover, in this application, by detecting the internal environment parameters through the pressure change characteristics, it is possible to be unaffected by the hole environment or the water quality inside the hole, and achieve the effect of simply and accurately detecting the internal environment of the blasting hole.

[0036] Specifically, when the host detects that the pressure change characteristic is that the pressure value suddenly decreases to the first pressure value, it is confirmed that the detection pendant 3 enters the water inside the hole. The host calculates the pressure difference between the first pressure value and the real-time pressure value, and recalculates the wire release speed based on the pressure difference to obtain the wire release speed in water. The host controls the main wire wheel 102 of the wire spool to release the wire at the wire release speed in water until the real-time pressure value suddenly changes to the bottom pressure threshold, and it is confirmed that the detection pendant 3 reaches the bottom of the hole.

[0037] In this embodiment, during the process of releasing the signal line 101, the real-time pressure value during the wire release process is obtained. When the pressure value suddenly decreases to the first pressure value, it is confirmed that the detection pendant 3 enters the water inside the hole, where the first pressure value is greater than the bottom pressure threshold and the collision pressure threshold of the detection pendant 3. The host calculates the pressure difference between the first pressure value and the real-time pressure value, and recalculates the wire release speed based on the pressure difference to obtain the wire release speed in water. The host controls the main wire wheel 102 to release the wire at the wire release speed in water. After determining that it reaches the bottom of the hole, the depth of the hole is measured.

[0038] During the wire pay-out process, pressure value decreases may occur due to collisions, reaching the bottom, or encountering water. After entering the water, wire entanglement may occur. Therefore, in this embodiment, the pressure value is detected in real time during the wire pay-out process. Since the resistance when entering the water is less than the resistance of collisions and reaching the bottom, when the pressure value suddenly decreases to the first pressure value, that is, the pressure value suddenly decreases and the stabilized pressure value is greater than the bottom pressure threshold and the collision pressure 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 calculating the pressure difference between the first pressure value and the real-time pressure value, the wire pay-out speed is recalculated to obtain the wire pay-out speed in water, preventing the wire pay-out speed in water from being too fast, which may cause wire entanglement or false triggering of collision detection or bottom detection.

[0039] In one embodiment, the detection method for the pressure value suddenly decreasing to the first pressure value includes: when detecting that the real-time pressure value suddenly decreases and the minimum value of the real-time pressure value is greater than the bottom pressure threshold and the collision pressure threshold, controlling the main wire wheel 102 to decelerate. In this embodiment, when detecting that the pressure value suddenly decreases, the main wire wheel 102 can be controlled to decelerate until the wire pay-out stops. When the real-time pressure value reaches a stable state, the real-time pressure value during the wire pay-out process is obtained, and when the pressure value suddenly decreases to the first pressure value.

[0040] In one embodiment, if the pressure value suddenly decreases, after controlling the main wire wheel 102 to stop wire pay-out, the pressure value is continuously detected until the change of the pressure value reaches a stable state, and the first pressure stable value is obtained. If the first pressure stable value returns to the second pressure value, that is, the pressure value before the mutation, then the real-time change characteristic conforms to the second preset change characteristic, and it is confirmed that the detection pendant 3 has collided, and the main wire wheel 102 is controlled to resume the wire pay-out speed before deceleration for wire pay-out. Among them, the second pressure value is greater than or equal to the first pressure value, that is, the second pressure value can be the pressure value of the detection pendant 3 in a suspended state in water or in the air.

[0041] When a collision occurs, the pressure value will suddenly decrease. Since the pendant 3 does not touch the bottom of the hole and there is no support, after the collision occurs, the pendant 3 will be in a suspended state again. Therefore, the pressure value will return to the second pressure value. If the first pressure stable value returns to the second pressure value, it is confirmed that a collision has occurred, and after stabilization, wire pay-out continues.

[0042] Since the pressure value of the detection pendant 3 suddenly decreases, if the detection pendant 3 does not reach the bottom of the hole, due to the supporting effect of the bottom of the hole, the pressure value will not be able to return to the pressure value of the suspended state of the pendant 3. Therefore, after the change of the pressure value stabilizes, if the first pressure stable value is less than the second pressure value, it is confirmed that the pendant 3 has contacted the bottom of the hole, and further confirmation is made that the detection pendant 3 has reached the bottom of the hole.

[0043] In one embodiment, a liquid level sensor may be provided in the detection pendant 3. When the pressure value suddenly decreases to the first pressure 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 pressure change of the signal line 101 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 pressure mutation feature 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 pressure value can be recorded, and the second moment when the liquid level signal is acquired can be recorded. The time difference between the first moment and the second moment is judged. When the time difference is less than the preset time difference, it is confirmed that the detection pendant 3 has entered the water at the first moment. Therefore, the accurate distance between the hole edge and the water entry detection zero position is calculated by the wire release length at the first moment. When the time difference is greater than the preset time difference, there may be poor water quality, for example, there is mud, etc. The liquid level sensor has a delay or the accuracy has an error. Therefore, the pressure value range after the monitoring pendant enters the water can be adjusted by the time difference (the time difference is inversely related to the pressure value range, that is, the longer the time difference, the smaller the pressure value range). When the first pressure value is still within the adjusted pressure range, it is confirmed that the detection pendant 3 has entered the water at the first moment.

[0044] In another embodiment, when the time difference is greater than the preset time difference, the wire release speed when entering the water can also be adjusted by the time difference, that is, the time difference is inversely related to the wire release speed, so as to avoid the increase in buoyancy or resistance caused by poor water quality, which may lead to the situation of tangled wires when the detection pendant 3 descends at a high speed after entering the water.

[0045] In a further optional embodiment of the present application, the wire release unit 1 further includes a wire coiler 103 and a buffer 104. The signal line 101 passes through the wire coiler 103 from the main wire wheel 102, and successively passes through the buffer 104 and the pressure detection sensor 105 to the wire passing hole 107 for connecting the positioning unit 2 under the action of a plurality of guiding pulleys 106. The loop design of the signal line 101 using a plurality of guiding pulleys 106 extends the movement route of the signal line 101. During the operation, the signal line 101 can quickly move in this movement route to separate the dust, dirt or liquid adhered to it due to contacting the detection environment, so as to ensure the cleanliness of the signal line and avoid the situation that the signal line is contaminated after being stored due to contacting the detection environment, such as causing the adjacent circuit board to be affected by moisture and affecting the normal operation. Specifically, the signal line 101 can adopt a signal line with a nylon rope outer sheath material having good self-cleaning performance, and can be adaptively adjusted according to actual use requirements.

[0046] Among them, the pressure detection sensor 105 is arranged to directly reflect the pressure of the signal line 101 during the operation, so as to analyze the movement state of the front end of the signal line 101 following the detection pendant 3, such as uniform speed, acceleration, deceleration, emergency stop collision, falling to the bottom of the hole, etc. To ensure the accuracy of the operation of the pressure detection sensor 105, further preferably, when designing the structure of the wire paying-off unit 1, it is necessary to ensure that the signal lines 101 on both sides of the pressure detection sensor 105 are relatively parallel.

[0047] The main function of the buffer 104 is that when the hole environment detection device is in the final stage of recovery or falling to the bottom, when it stops suddenly when falling to the bottom, due to the inertia and reaction time of the motor operation of the wire paying-off unit 1, the signal line 101 may become loose from the main wire wheel 102, resulting in disorder or overlap, which affects the next measurement; when recovering to the end, due to the inertia and reaction time of the motor operation of the wire paying-off unit 1, the wire may be wound too tightly, causing the pressure detection sensor 105 to be damaged by overload. The setting of the buffer 104 can effectively ensure the normal operation of the device and extend its service life. In a specific implementation, the buffer 104 is preferably set with a buffer length greater than 10 cm, so as to prevent both overload and wire disorder. The guide pulley 106 upstream of the buffer 104 is a fixed pulley, so as to ensure the effect of the buffer 104.

[0048] In a further optional embodiment of the present application, the buffer 104 includes a limiting spring 1041 and a mounting plate 1042. One end of the limiting spring 1041 is fixed on the frame structure of the wire paying-off unit 1, and the other end is connected to the mounting plate 1042. At least one guide pulley 106 is provided on the mounting plate 1042. Combining with the guide pulley 106 set as a fixed pulley upstream of the buffer 104, preferably, the overall swinging force of the buffer 104 is appropriate to be twice the gravity of the detection pendant 3 when in the middle position in a uniform speed or static state, ensuring that the buffer 104 can swing as much as possible in the middle, so as to ensure the stability of the overall structure of the wire paying-off unit 1 during the operation and achieve the optimal buffer effect.

[0049] In an optional embodiment of the present application, in order to solve the problem that the signal line 101 is evenly arranged in multiple layers on the main wire wheel 102, the existing reciprocating rod cannot achieve precise control, the wire spacing cannot be adjusted, and it is not applicable to thick signal lines with a wire diameter of 2.5 mm. Therefore, the inventor independently designed a wire aligner suitable for the above application scenario, specifically as Figure 3As shown, the cycloid device 103 includes a driving motor 1031, a lead screw 1032 arranged in parallel, and a cycloid trolley 1033 for abutting against the signal line 101 to adjust the transmission angle of the signal line 101. The cycloid trolley 1033 reciprocates along the lead screw 1032 under the action of the driving motor 1031. In a further optional embodiment, limit switches 1036 for fixing the movement track of the cycloid trolley 1033 are provided at both ends of the lead screw 1032.

[0050] The working principle of the above cycloid device 103 can be specifically explained as follows: When the main line wheel 102 moves, the rotational speed and speed ratio are converted into the offset speed of the signal line 101 swinging in the axial direction of the main line wheel 102. According to this speed and the lead of the lead screw 1032, the rotational speed of the driving motor 1031 driving the lead screw 1032 is calculated. Preferably, the speed is calculated and updated every 10 milliseconds. At the same time, when the main line wheel 102 is fully extended, rapid deceleration, commutation, and acceleration are achieved through the limit switch 1036. Thus, the cycloid device 103 automatically follows the speed and direction of the main line wheel 102, ensuring the uniformity of the signal line 101 during wire laying or winding, and avoiding the situation that the subsequent detection results are affected due to the irregular placement of the signal line 101.

[0051] In an optional embodiment of the present application, a pair of first guide rollers 1034 are provided on the cycloid trolley 1033 along the direction perpendicular to the lead screw 1032. The signal line 101 is arranged between the first guide rollers 1034. The rotation direction of the first guide rollers 1034 is the same as the movement direction of the signal line 101 abutting against them, so as to ensure that while the cycloid device 103 adjusts the wire laying / winding angle of the signal line 101, the situation that the friction force against the signal line 101 is too large and affects the wire laying / winding effect is avoided. In a further optional embodiment, a second guide roller 1035 is provided between the cycloid device 103 and the adjacent guide pulley 106. The signal line 101 is arranged between the second guide rollers 1035, and the rotation direction of the second guide rollers 1035 is the same as the movement direction of the signal line 101 abutting against them. The setting of the second guide roller 1035 can further standardize the movement track and offset angle of the signal line 101 during the wire laying / winding operation, thereby effectively ensuring the operation efficiency of wire laying / winding and reducing the friction loss of the signal line during the operation.

[0052] In an optional embodiment of the present application, the positioning unit 2 includes universal guide wheels 203 for guiding the signal line 101 provided at its wire inlet 201 and wire outlet 202, as Figure 4As shown, in a preferred embodiment of the present application, the positioning unit 2 is set to transfer the signal line 101 from the inlet 201 to the outlet 202 with as few pulleys as possible to reduce the friction force on the signal line 101. At the same time, a universal guide pulley 203 is used at the inlet 201 and / or the outlet 202 to address the problem of arbitrary changes in the position of the positioning unit 2 during actual use. In a further optional embodiment, a 4-wheel universal guide pulley 203 is used at least at the outlet 202.

[0053] In an optional embodiment of the present application, the tail end of the detection pendant 3 is arranged inside the structure of the positioning unit 2 for structural limitation, so as to facilitate fixing the position of the positioning unit 2, thereby ensuring that the detection pendant 3 is located above the hole to be detected along the gravity direction, thus ensuring the accuracy of environmental information collection in the hole and reducing the information collection error caused by the environment. In a further optional embodiment, a pendant bracket 204 for fixing the detection pendant 3 is provided on the positioning unit 2. Specifically, after the signal line 101 is completely retracted, the detection pendant 3 is retracted into the positioning unit 2. At this time, the hood-shaped pendant bracket 204 driven by the push rod motor retracts and holds up the detection pendant 3. In the normal state, the pendant bracket 204 bears the force to prevent the signal line 101 connected to the detection pendant 3 from being damaged by various external forces.

[0054] In an optional embodiment of the present application, the detection pendant 3 is provided with at least one or more of an attitude detection sensor 301, a liquid level sensor 302, and a temperature sensor 303. In a preferred embodiment of the present application, as Figure 5 and Figure 6 shown, the above three environmental detection sensors (attitude detection sensor 301, liquid level sensor 302, and temperature sensor 303) are built into the detection pendant 3.

[0055] Specifically, the attitude detection sensor 301 can be a 6-axis MEMS sensor integrated in the circuit board inside the detection pendant 3, which can detect the tilt angle and rotation angle of the detection pendant 3 in real time. At the same time, the impact state of the detection pendant 3 during operation can be detected through the accelerometer, which is helpful for assisting in detecting the collision situation or the bottom-touching state of the detection pendant 3. The liquid level sensor 302 can be specifically set to have a response time of 10 milliseconds, and can detect the liquid level situation (such as the liquid depth) inside the hole immediately when the detection pendant 3 enters the water, and transmit the status back to the server through the signal line 101. The temperature sensor 303 can be specifically set to communicate with the environment through an aluminum temperature detection window on the side wall of the detection pendant 3, and collect temperature information in real time, so as to comprehensively judge the internal situation of the hole according to the actual temperature collection information and the geographical environment, and formulate the next blasting or construction plan.

[0056] In other embodiments of the present application, the detection pendant 3 may also include an image acquisition module such as an infrared image acquisition module to collect image information of the environment inside the hole. Specifically, adaptive adjustments such as adding and reducing functional modules may be made according to actual needs. Such adjustments fall within the scope of the solution expansion of the present application.

[0057] The present application also provides a hole environment detection engineering vehicle, which includes a vehicle body and a hole environment detection device according to any one of the above-mentioned methods, wherein a wire-laying unit of the hole environment detection device is arranged on the vehicle body.

[0058] The hole environment detection engineering vehicle provided by the present application, which can be used for mountain blasting environment detection, includes a vehicle body and a hole environment detection device arranged on the vehicle body, the hole environment detection device includes a wire-laying unit, a positioning unit and a detection pendant, and the position of the entire device is fixed by placing the wire-laying unit on the periphery of the hole to be detected, wherein the detection pendant is provided with at least one sensor for environment detection. The signal line of the wire-laying unit is connected to the detection pendant through the positioning unit, and the positioning unit is arranged above the hole to be detected along the gravity direction, so that during the operation, the detection pendant can enter the hole to be detected vertically under the action of gravity, so as to detect the internal environment information in the hole to be detected, such as the hole depth and whether there is a tilt at the bottom of the hole, so as to realize the collection of information about the internal environment of the hole to be detected, so as to realize the formulation of the most appropriate blasting plan according to the collection of information about the internal environment of the hole to be detected, thereby solving the technical problems that the existing blasting holes are usually without any internal environment investigation, and the explosives are only placed according to the work experience of engineers or operators, resulting in low controllability of blasting results, high construction period and labor costs required for blasting.

[0059] So far, various embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.

[0060] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. A hole environment detection device, characterized in that: Used for environmental detection in blasting holes, the hole environment detection device comprises: a wire-laying unit, a positioning unit and a detection pendant arranged in the positioning unit, The pay-off unit comprises a host, a signal line, a main line wheel, a line length collector and a pressure detection sensor, wherein the signal line is electrically connected to the host, and is wound on the main line wheel and connected to the detection pendant after passing through the line length collector and the pressure detection sensor; the host is electrically connected to the signal line, the line length collector and the pressure detection sensor respectively; The host controls the main line wheel to pay out the line, and the detection pendant can enter the blasting hole under the action of gravity. During the descent, the host determines the movement state and position information of the detection pendant in the hole by acquiring the pressure change characteristics of the signal collected by the pressure detection sensor, and detects the depth of the blasting hole and the environmental information inside the hole based on the movement state and position information.

2. The hole environment detection device according to claim 1, characterized in that: The pay-off unit also includes a cycloid and a buffer. The signal line passes through the cycloid from the main line wheel and, under the action of multiple guide pulleys, passes through the buffer and the pressure detection sensor in sequence to the threading hole for connecting to the positioning unit.

3. The hole environment detection device according to claim 2, characterized in that: The buffer comprises a limit spring and a mounting plate, one end of the limit spring is fixed to the frame structure of the pay-off unit, and the other end is connected to the mounting plate, and at least one guide pulley is arranged on the mounting plate.

4. The hole environment detection device according to claim 2, characterized in that: The cycloid device includes a driving motor, a lead screw arranged in parallel, and a cycloid trolley for abutting against the signal line to adjust the transmission angle of the signal line. The cycloid trolley reciprocates along the lead screw under the action of the driving motor.

5. The hole environment detection device according to claim 4, characterized in that: The cycloid trolley is provided with a pair of first guide rollers in a direction perpendicular to the lead screw, the signal line is arranged between the first guide rollers, and the rotation direction of the first guide roller is the same as the movement direction of the signal line abutting thereon.

6. The hole environment detection device according to claim 5, characterized in that: Both ends of the screw rod are provided with limit switches; and / or, A second guide roller is provided between the cycloid and the adjacent guide pulley, the signal line is arranged between the second guide rollers, and the rotation direction of the second guide roller is the same as the movement direction of the signal line abutting thereon.

7. The hole environment detection device according to claim 1, characterized in that: The tail end of the detection pendant is arranged inside the structure of the positioning unit for structural limitation; and / or, The positioning unit is provided with a pendant bracket for fixing the detection pendant.

8. The hole environment detection device according to claim 1, characterized in that: The detection pendant is provided with at least one or more of a posture detection sensor, a liquid level sensor and a temperature sensor.

9. The hole environment detection device according to any one of claims 1 to 8, characterized in that: When the host detects that the pressure change characteristic is that the pressure value suddenly decreases to a first pressure value, it is confirmed that the detection pendant enters the water in the hole, and the host collects the length of the line length collector as the zero point of entry into the water; the host calculates the pressure difference between the first pressure value and the pressure value before the sudden change, and recalculates the line-releasing speed based on the pressure difference to obtain the line-releasing speed in the water, and the host controls the main line wheel to release the line at the line-releasing speed in the water until the pressure value suddenly changes to the bottom pressure threshold, confirming that the detection pendant reaches the bottom of the hole, and the host collects the length of the line length collector as the hole depth, and calculates the water depth through the zero point of entry into the water.

10. A hole environment detection engineering vehicle, characterized in that: The hole environment detection engineering vehicle comprises a vehicle body and a hole environment detection device according to any one of claims 1 to 9, and a wire-laying unit of the hole environment detection device is arranged on the vehicle body.

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