Surface mine blasting hole water depth detection equipment and detection method thereof

Abstract

The invention provides surface mine blasting hole water depth detection equipment and a detection method thereof, and belongs to the technical field of blast hole water depth detection. The equipment comprises a central control module, a detection module, a positioning module, a data processing module, a moving module and a man-machine interaction module, based on an ultrasonic reflection time measurement model, environment correction factors and inclination angle correction are combined, the water depth measurement precision is remarkably improved, and the error is smaller than 1%; full-automatic measurement and data transmission are realized, the number of times that an operator gets close to a dangerous area is reduced, and potential safety hazards are reduced. The detection result is fed back in real time through wireless transmission, instant data support is provided for blasting charge design, and the blasting effect is optimized. And a crawler-type moving device and an automatic telescopic mechanism are arranged to adapt to complex terrain conditions and various blast hole forms, and good universality is achieved. The equipment integrates data acquisition, analysis, feedback and automatic adjustment functions, and is combined with a human-computer interaction interface, so that the intelligent level and the operation convenience of the equipment are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of blasthole water depth detection, and in particular to an open-pit mine blasthole water depth detection device and a detection method thereof. Background Art

[0002] In the existing technology, the water depth detection of blasting holes in open-pit mines mainly adopts traditional manual detection or simple physical measurement tools (such as probe rods or floating equipment). Although these methods can measure the water depth in the blasting holes to a certain extent, there are the following problems: Low efficiency: Manual detection requires operators to detect one by one, which is time-consuming, especially when there are a large number of blasting holes, which seriously affects the progress of blasting operations. Insufficient accuracy: The physical detection method is greatly affected by the terrain, blasting hole shape, wind speed and other environmental factors. The measurement data is not accurate enough, which may lead to inaccurate blasting charging plans. Poor real-time performance: Traditional detection tools cannot realize real-time data transmission and recording, and cannot effectively guide the dynamic adjustment of blasting plans. Safety hazards: During manual operation, the operator is close to the blasting hole area and may be exposed to a high-risk environment.

[0003] In view of this, it is necessary to study an efficient, safe, real-time and accurate open-pit mine blasting hole water depth detection equipment and detection method to solve the above technical problems, so as to improve mine operation efficiency and ensure safety. Summary of the invention

[0004] In view of the technical problems existing in the background technology, the present invention provides an open-pit mine blasting hole water depth detection device and a detection method thereof.

[0005] In a first aspect, the present invention provides an open-pit mine blasting hole water depth detection device, comprising: The detection module is used to collect water depth information in the blasthole through ultrasonic signals and sensors, including a steel wire rope, a bottom detection device fixedly connected to the bottom end of the steel wire rope, and a triangular prism floating device sleeved on the steel wire rope and movable up and down; the bottom detection device and the triangular prism floating device are respectively provided with ultrasonic sensors; The positioning module is connected to the top of the detection module and includes a high-precision locator for calibrating the specific position of the detection module in the blast hole.

[0006] As a further improvement of the present invention, the top end of the steel wire rope is connected to the steel wire rope reel through a positioning module.

[0007] As a further improvement of the present invention, the bottom detection device is provided with an inclination sensor and an environmental sensor; and a pendulum is provided inside the inclination sensor.

[0008] As a further improvement of the present invention, a semi-cylindrical floating air cushion is installed on each edge surface of the triangular prism floating device; and the angle between two adjacent floating air cushions is 120 degrees.

[0009] As a further improvement of the present invention, the open-pit mine blasting hole water depth detection equipment also includes a mobile module; the mobile module includes a crawler base and a telescopic mechanism connected to the detection module; the telescopic mechanism drives the wire rope reel to pay out and reel in, so as to adjust the length of the wire rope.

[0010] As a further improvement of the present invention, the positioning module is connected to the telescopic mechanism.

[0011] As a further improvement of the present invention, the open-pit mine blasting borehole water depth detection equipment also includes a central control module; the central control module is respectively connected to the detection module, positioning module, and mobile module, and is used to integrate signal acquisition, data processing, and real-time feedback functions to control the overall operation of the equipment.

[0012] As a further improvement of the present invention, the open-pit mine blasting hole water depth detection equipment also includes a data processing module and a human-computer interaction module that are interconnected; the data processing module and the human-computer interaction module are respectively connected to the central control module.

[0013] In a second aspect, the present invention provides a method for detecting the water depth of a blast hole in an open-pit mine, which uses the above-mentioned open-pit mine blast hole water depth detection equipment for detection, and comprises the following steps: S1, device initialization: start the device and perform self-test, including calibration of ultrasonic sensors in the detection module, data collection of environmental sensors, and initialization of inclination sensors; S2, detection preparation: the crawler base equipped with the mobile module is moved to the predetermined blasthole position in the complex mine terrain, the detection module is placed into the target blasthole through the telescopic mechanism, and the positioning module accurately records the initial position and inclination of the detection device; S3, water depth measurement: emit ultrasonic signals through the detection module, record the time t from the emission to the return of the ultrasonic wave; calculate the preliminary water depth d according to the ultrasonic propagation speed v and time t; combine the environmental sensor and tilt sensor data, and use the correction model to calculate the final water depth; S4, data transmission and processing: wirelessly transmit the measured data to the central control module in real time; the data processing module analyzes multiple measurement data and generates a blasthole water depth distribution map; S5, result feedback and adjustment: the measurement results are displayed in real time on the human-computer interaction interface. If any abnormality is found, the operator is prompted to adjust the charging plan; S6, cleaning and exit: After completing the detection, the equipment cleans the remaining mud and sand in the hole and exits the blasthole, moving to the next target location.

[0014] As a further improvement of the present invention, in step S3, accurate detection of the water depth of the blasthole is achieved based on the ultrasonic reflection time measurement model; The ultrasonic reflection time calculation formula is as follows: ; in: d: measured water depth; v: The propagation speed of ultrasound in water; about 1500m / s, which can be corrected according to the actual water temperature; t: The time from ultrasonic emission to reception; In actual operation, a comprehensive correction model is established by combining the blasthole length and shape parameters: ; in: : blasthole inclination angle; △T: Correction factor of ambient temperature difference on ultrasonic velocity; : Hole wall reflection affects correction parameters.

[0015] Beneficial effects: 1. The water depth detection equipment for blasting holes in open-pit mines provided by the present invention is based on an advanced ultrasonic reflection time measurement model, combined with environmental correction factors and inclination correction technology, and can significantly improve the accuracy of water depth measurement under complex conditions. After multiple tests and verifications, the system measurement error is less than 1%, providing users with efficient and accurate measurement results to meet the high-demand engineering application needs.

[0016] 2. The water depth detection equipment for blasting holes in open-pit mines provided by the present invention realizes the functions of fully automatic measurement and data transmission, avoids the need for operators to frequently approach dangerous areas, and thus reduces safety hazards. In dangerous working environments, the system effectively improves the safety of operations and provides important guarantees for engineering construction. Through the integrated wireless transmission module, real-time feedback of detection results is achieved to ensure that the measurement data can be transmitted to the monitoring end as soon as possible. The water depth information obtained in real time provides reliable data support for blasting charge design and optimizes the blasting effect. In addition, the equipment integrates data acquisition, analysis, feedback and automatic adjustment functions, and realizes a user-friendly operating experience through the human-computer interaction interface. The intelligent design significantly improves the operating efficiency and ease of operation of the equipment, meeting the needs of modern construction. Accurate measurement technology helps optimize the blasting design and avoids environmental damage caused by insufficient or excessive charges. By scientifically controlling the blasting effect, the equipment effectively reduces the impact on the surrounding ecological environment, reflecting the environmental advantages of the equipment.

[0017] 3. The open-pit mine blasting hole water depth detection equipment provided by the present invention is equipped with a crawler-type mobile device and an automatic telescopic mechanism. The equipment can flexibly adapt to complex terrain conditions and various blast hole shapes. Whether in rugged mountainous areas or irregular blast hole environments, the equipment shows excellent versatility and adaptability.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings used in the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 The present invention is a structural block diagram of an open-pit mine blasting hole water depth detection device provided by an embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the structure of the detection module provided by an embodiment of the present invention.

[0022] Figure 3 It is a flow chart of the implementation method of the data processing module provided by the embodiment of the present invention.

[0023] Figure 4 It is a flow chart of the implementation method of the mobile module provided by the embodiment of the present invention.

[0024] Figure 5 The present invention provides a flowchart of a method for detecting water depth in blast holes in an open-pit mine.

[0025] Description of reference numerals: 1. Central control module; 2. Detection module; 3. Positioning module; 4. Data processing module; 5. Mobile module; 6. Human-computer interaction module; 7. Wire rope; 8. Bottom detection device; 9. Ultrasonic transmitter; 10. Environmental sensor; 11. Tilt sensor; 12. Pendulum; 13. Triangular prism floating device; 14. Floating air cushion; 15. Ultrasonic receiver. DETAILED DESCRIPTION

[0026] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" in the specification and claims of the present invention and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0028] In the description of the embodiments of the present invention, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0029] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] In the description of the embodiments of the present invention, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0031] In the description of the embodiments of the present invention, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0032] In the description of the embodiments of the present invention, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention.

[0033] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like 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 a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0034] In order to solve the technical problems of low efficiency, insufficient accuracy, poor real-time performance and potential safety hazards in existing blasthole water depth detection methods, the present invention provides an open-pit mine blasthole water depth detection device and a detection method thereof.

[0035] See also Figure 1 to Figure 2 As shown, the open-pit mine blasting hole water depth detection equipment includes: a detection module 2, a positioning module 3 and a moving module 5.

[0036] The detection module 2 is connected to the positioning module 3 and is used to transmit ultrasonic waves and receive reflected signals; The positioning module 3 is used to calibrate the specific position of the device in the blasthole through a high-precision locator and adjust the measurement point in real time in combination with the depth; The mobile module 5 is connected to the detection module 2 and is equipped with a crawler base, which can move in complex mine terrain and insert the detection module into the blast hole through a telescopic mechanism.

[0037] In some specific embodiments, the detection module 2 collects water depth information in the blasthole through ultrasonic signals and sensors, and uses ultrasonic sensors, inclination sensors, environmental sensors and other sensing devices to achieve this. The ultrasonic sensor: installed at the bottom of the detection module 2, uses a high-sensitivity ultrasonic transducer to emit sound waves and receive signals reflected from the bottom of the water; the transducer frequency is set to 40kHz to ensure accurate detection; the inclination sensor: uses a MEMS inclination sensor to measure the inclination angle of the device in the blasthole, providing data support for subsequent water depth correction; the environmental sensor: the temperature and humidity sensor is used to monitor the ambient temperature, obtain the sound wave propagation speed in water at different temperatures, and correct the ultrasonic wave propagation speed to improve the measurement accuracy.

[0038] The specific structural design of the detection module 2 provided by the present invention is as follows: it mainly includes a steel wire rope 7, a bottom detection device 8 fixedly connected to the bottom end of the steel wire rope 7, and a triangular prism floating device 13 which is sleeved on the steel wire rope 7 and can move up and down; the bottom detection device 8 and the triangular prism floating device 13 are respectively provided with an ultrasonic transmitter 9 and an ultrasonic receiver 15 (ultrasonic sensor).

[0039] Among them, the top end of the wire rope 7 is connected to the wire rope reel through the positioning module 3, and the bottom end is fixedly connected to the bottom detection device 8, and the bottom detection device 8 is fixedly connected with an ultrasonic transmitter 9, an environmental sensor 10 and an inclination sensor 11; the inclination sensor 11 is connected to the bottom detection device 8 by welding, a pin shaft or bolts, and a pendulum 12 is arranged inside.

[0040] The steel wire rope 7 passes through a hollow triangular prism floating device 13 , and a semi-cylindrical floating air cushion 14 is installed on each edge of the triangular prism floating device 13 , and two adjacent floating air cushions 14 are arranged at 120 degrees; an ultrasonic receiver 15 is fixed to the bottom of the triangular prism floating device 13 .

[0041] The working principle of the above-mentioned detection module 2 to realize water depth detection is as follows: the detection module 2 is driven to the blasthole measurement position by the positioning module 3, the wire rope reel drives the motor through the telescopic mechanism in the moving module 5 to release the wire rope reel, so that the bottom detection device 8 falls to the bottom of the blasthole, the triangular prism floating device 13 floats on the water surface, the ultrasonic transmitter 9 on the bottom detection device 8 emits ultrasonic waves, and the ultrasonic receiver 15 on the triangular prism floating device 13 receives the ultrasonic waves, and the time from the emission to the reception of the ultrasonic waves is calculated; at the same time, the Omron photoelectric encoding inclination sensor 11 can rotate freely around the Mitsubishi tapered connecting rod, and the pendulum 12 naturally droops, driving the inclination sensor 11 to emit a series of photoelectric pulse signals to measure the inclination information of the blasthole; the environmental temperature is monitored by the environmental sensor 10 (temperature and humidity sensor), thereby calculating the sound wave propagation speed at this time, and then combining the ultrasonic transmission time and the blasthole inclination information to obtain the corrected water depth.

[0042] The present invention realizes accurate detection of the water depth of the blasthole based on the ultrasonic reflection time measurement model; the ultrasonic reflection time calculation formula is: in: d: measured water depth; v: The propagation speed of ultrasound in water; about 1500m / s, which can be corrected according to the actual water temperature; t: The time from ultrasonic emission to reception; In actual operation, a comprehensive correction model can be established by combining the blasthole length and shape parameters: in: : blasthole inclination angle; △T: Correction factor of ambient temperature difference on ultrasonic velocity; : Hole wall reflection affects correction parameters.

[0043] In some specific embodiments, the positioning module 3 is used to calibrate the specific position of the device in the blasthole and realize dynamic adjustment: a high-precision laser locator is used in combination with a depth sensor to record the depth of the detection device in real time.

[0044] See also Figure 4 As shown, the mobile module 5 drives the device to move flexibly in complex terrain and complete the detection task, which mainly includes a crawler base, a telescopic mechanism and a navigation mechanism.

[0045] The crawler base: uses highly wear-resistant crawlers and is equipped with a dual-motor drive system to provide strong power to adapt to rugged terrain. The telescopic mechanism: uses a drive motor to release the wire rope reel, so that the detection module 2 falls to the bottom of the blasthole and is dynamically adjusted according to the depth sensor command. The navigation mechanism: is equipped with a laser radar or a visual sensor to achieve autonomous navigation and avoid terrain obstacles.

[0046] In some other embodiments, see Figure 1 As shown, the open-pit mine blasting blasthole water depth detection equipment also includes a central control module 1, a data processing module 4, and a human-computer interaction module 6.

[0047] The central control module 1 is connected to the detection module 2 and is used to integrate signal acquisition, data processing, and real-time feedback functions to control the overall operation of the device; it includes water depth detection mode selection and parameter adjustment functions. The data processing module 4 is connected to the human-computer interaction module 6 and is used to analyze the real-time collected data and output the water depth results by combining the ultrasonic reflection time measurement formula and the comprehensive correction model. The human-computer interaction module 6 is connected to the data processing module 4 and is used to provide a visual interface to display the detection data, blasthole morphology, and water depth distribution.

[0048] Specifically, the central control module 1 adopts an embedded controller (such as ARM Cortex-A series) and is equipped with a high-performance CPU and memory to process signal acquisition, data calculation and equipment management; the controller provides a water depth detection mode selection function (such as single-point detection, multi-point scanning) through a software interface, and adjustable parameters include ultrasonic emission frequency and signal acquisition period; by receiving sensor data, the equipment status is monitored in real time, and other modules are controlled through instructions to complete the detection task.

[0049] See also Figure 3 As shown, the data processing module 4 is responsible for data analysis and feedback, and the specific analysis process is as follows: Real-time analysis: Combined with the ultrasonic reflection time measurement formula, calculate the water depth value: ; and make corrections based on the tilt sensor and environmental sensor data; Data optimization: Filter out external noise interference through algorithms to ensure the stability and accuracy of detection data; Data transmission: Integrated wireless transmission module to send detection data to the remote operation platform for operators to view in real time.

[0050] The human-computer interaction module 6 can provide the operator with a friendly control and monitoring interface: it mainly adopts an industrial-grade touch screen display, which is connected to the central control module 1; it provides a blasthole distribution map and a water depth distribution curve by displaying real-time detection data; the user can adjust the detection parameters, switch the detection mode or export data reports through the interface; if the detection data is abnormal, the module will issue an alarm to remind the operator to adjust the operation.

[0051] See also Figure 5 As shown, an open-pit mine blasting hole water depth detection method provided by an embodiment of the present invention is based on the above-mentioned open-pit mine blasting hole water depth detection equipment for detection, and includes the following steps: S1, device initialization: start the device and perform self-test, including calibration of ultrasonic sensor in detection module 2, data collection of environmental sensor (such as temperature, humidity), and initialization of tilt sensor.

[0052] S2, detection preparation: Move the crawler base equipped with the mobile module 5 to the predetermined blasthole position in the complex mine terrain, put the detection module 2 into the target blasthole through the telescopic mechanism, and the positioning module accurately records the initial position and inclination of the detection device.

[0053] S3, water depth measurement: emit ultrasonic signals through detection module 2, and record the time t from the emission to the return of the ultrasonic wave; calculate the preliminary water depth d according to the ultrasonic wave propagation speed v and time t; combine the environmental sensor and tilt sensor data, and use the correction model to calculate the final water depth.

[0054] S4, data transmission and processing: wirelessly transmit the measurement data to the central control module 1 in real time; the data processing module 4 analyzes multiple measurement data and generates a blasthole water depth distribution map.

[0055] S5, result feedback and adjustment: The measurement results (displaying detection data, blasthole shape and water depth distribution) are displayed in real time on the human-computer interaction interface 6. If an abnormality is found (such as water depth exceeding the standard), the operator is prompted to adjust the charging plan.

[0056] S6, cleaning and exit: After completing the detection, the equipment cleans the remaining mud and sand in the hole and exits the blasthole, moving to the next target location.

[0057] The open-pit mine blasting blasthole water depth detection equipment provided by the present invention is mainly used in open-pit mine blasting scenes to measure the water depth data in the blasthole. By accurately measuring the water depth information, it helps mine operators to formulate scientific charging plans, effectively improve the safety and efficiency of blasting operations, and avoid the adverse effects caused by excessive or insufficient charging. In tunnels and underground projects, this equipment can be used to detect the water level in the blasthole, providing important parameter support for engineering blasting. At the same time, the equipment can adapt to complex terrain and special construction conditions, which helps construction units improve the accuracy and safety of operations. The present invention is suitable for monitoring and detecting the water level of holes in water conservancy projects, such as for dam leakage detection, drainage hole depth measurement, etc. The high-precision characteristics of the equipment can provide a scientific decision-making basis for water conservancy projects and reduce potential risks. The present invention can be developed into a series of intelligent mine measurement equipment products, equipped with a central control platform and data analysis software, to provide users with an integrated solution. The supporting system can realize remote data monitoring, real-time visualization of measurement results, and collaborative operation of multiple devices.

[0058] Experimental tests show that the water depth detection method based on ultrasonic reflection time measurement and inclination correction of this open-pit mine blasting blasthole water depth detection equipment can be controlled within 1%, which is much better than the traditional mechanical measurement method. At the same time, the real-time data input of the environmental sensor can significantly improve the reliability of the measurement and ensure stable operation under various climatic conditions. The fully automated measurement process significantly reduces the frequency of personnel entering dangerous areas, thereby effectively reducing the safety hazards in mining operations. In actual use cases, the equipment reduced more than 30% of personnel dangerous contact, bringing significant safety improvements to mining operations. During the actual measurement process, the equipment sends data to the control platform in real time through the wireless transmission module, and users can view the water depth data and distribution map in real time. In the mine blasting operation, the optimized charging scheme provided by intelligent analysis can increase the blasting efficiency by 20% and reduce the waste residue after blasting. The crawler mobile device and automatic telescopic mechanism enable it to maintain good adaptability in rugged terrain and different blasthole forms. In actual mining applications, through precise measurement and optimized charging, the environmental damage caused by blasting is reduced by more than 15% compared with traditional methods, providing significant support for ecological protection.

[0059] In summary, the present invention provides an open-pit mine blasting borehole water depth detection device and a detection method thereof, which belongs to the technical field of borehole water depth detection. The device includes a central control module, a detection module, a positioning module, a data processing module, a mobile module, and a human-computer interaction module; based on the ultrasonic reflection time measurement model, combined with the environmental correction factor and the inclination correction, the water depth measurement accuracy is significantly improved, and the error is less than 1%; it realizes full-automatic measurement and data transmission, reduces the number of times operators approach dangerous areas, and reduces safety hazards. The detection results are fed back in real time through wireless transmission, providing instant data support for blasting charge design and optimizing the blasting effect. It is equipped with a crawler mobile device and an automatic telescopic mechanism to adapt to complex terrain conditions and various borehole shapes, and has good versatility. The device integrates data acquisition, analysis, feedback and automatic adjustment functions, and combined with the human-computer interaction interface, it significantly improves the intelligence level and operation convenience of the equipment.

[0060] It should be noted that the present invention is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and the embodiments having the same structure as the technical idea and exerting the same effect within the scope of the technical solution of the present invention are all included in the technical scope of the present invention. In addition, without departing from the scope of the main purpose of the present invention, various modifications that can be thought of by those skilled in the art to the embodiments and other methods of combining some of the constituent elements in the embodiments are also included in the scope of the present invention.

Claims

1. A water depth detection device for blasting holes in open-pit mines, characterized in that: include: The detection module is used to collect water depth information in the blasthole through ultrasonic signals and sensors, including a steel wire rope, a bottom detection device fixedly connected to the bottom end of the steel wire rope, and a triangular prism floating device sleeved on the steel wire rope and movable up and down; the bottom detection device and the triangular prism floating device are respectively provided with ultrasonic sensors; The positioning module is connected to the top of the detection module and includes a high-precision locator for calibrating the specific position of the detection module in the blast hole.

2. The open-pit mine blasting hole water depth detection equipment according to claim 1 is characterized in that: The top end of the steel wire rope is connected to the steel wire rope reel through a positioning module.

3. The open-pit mine blasting hole water depth detection equipment according to claim 1 is characterized in that: The bottom detection device is provided with an inclination sensor and an environmental sensor; and a pendulum is provided inside the inclination sensor.

4. The open-pit mine blasting hole water depth detection equipment according to claim 1 is characterized in that: A semi-cylindrical floating air cushion is installed on each edge of the triangular prism floating device; and the angle between two adjacent floating air cushions is 120 degrees.

5. The open-pit mine blasting hole water depth detection equipment according to claim 2 is characterized in that: The open-pit mine blasting hole water depth detection equipment also includes a mobile module; the mobile module includes a crawler base and a telescopic mechanism connected to the detection module; the telescopic mechanism drives the wire rope reel to release and reel in, so as to adjust the length of the wire rope.

6. The open-pit mine blasting hole water depth detection equipment according to claim 5, characterized in that: The positioning module is connected to the telescopic mechanism.

7. The open-pit mine blasting hole water depth detection equipment according to claim 5, characterized in that: The open-pit mine blasting borehole water depth detection equipment also includes a central control module; the central control module is respectively connected to the detection module, positioning module, and mobile module, and is used to integrate signal acquisition, data processing, and real-time feedback functions to control the overall operation of the equipment.

8. The open-pit mine blasting hole water depth detection equipment according to claim 7, characterized in that: The open-pit mine blasting blasthole water depth detection equipment also includes a data processing module and a human-computer interaction module that are interconnected; the data processing module and the human-computer interaction module are respectively connected to the central control module.

9. A method for detecting water depth of blast holes in open-pit mines, characterized in that: The detection is performed using the open-pit mine blasting hole water depth detection device as claimed in any one of claims 1 to 8, comprising the following steps: S1, device initialization: start the device and perform self-test, including calibration of ultrasonic sensors in the detection module, data collection of environmental sensors, and initialization of inclination sensors; S2, detection preparation: the crawler base equipped with the mobile module is moved to the predetermined blasthole position in the complex mine terrain, the detection module is placed into the target blasthole through the telescopic mechanism, and the positioning module accurately records the initial position and inclination of the detection device; S3, water depth measurement: emit ultrasonic signals through the detection module, record the time t from the emission to the return of the ultrasonic wave; calculate the preliminary water depth d according to the ultrasonic propagation speed v and time t; combine the environmental sensor and tilt sensor data, and use the correction model to calculate the final water depth; S4, data transmission and processing: wirelessly transmit the measured data to the central control module in real time; the data processing module analyzes multiple measurement data and generates a blasthole water depth distribution map; S5, result feedback and adjustment: the measurement results are displayed in real time on the human-computer interaction interface. If any abnormality is found, the operator is prompted to adjust the charging plan; S6, cleaning and exit: After completing the detection, the equipment cleans the remaining mud and sand in the hole and exits the blasthole, moving to the next target location.

10. A method for detecting water depth of blasting holes in an open-pit mine according to claim 9, characterized in that: In step S3, based on the ultrasonic reflection time measurement model, accurate detection of the water depth of the blasthole is achieved; The ultrasonic reflection time calculation formula is as follows: ； in: d: measured water depth; v: The propagation speed of ultrasound in water; about 1500m / s, which can be corrected according to the actual water temperature; t: The time from ultrasonic emission to reception; In actual operation, a comprehensive correction model is established by combining the blasthole length and shape parameters: ； in: : blasthole inclination angle; △T: Correction factor of ambient temperature difference on ultrasonic velocity; : Hole wall reflection affects correction parameters.

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