Precise bench blasting drilling method based on hole bottom elevation and drilling inclination angle control

Abstract

The invention discloses a step blasting precise drilling method based on hole bottom elevation and drilling inclination angle control, and relates to the technical field of engineering blasting, and the step blasting precise drilling method comprises the following steps: on the basis of an RTK-GPS positioning module and a wireless inclination angle sensor which are mounted at the top of a drilling rod and on the side surface of the drilling rod, drilling rod elevation data and drilling rod inclination angle data are obtained in real time; when drilling is started, the drill bit position of the drill rod is dynamically calculated according to the drill rod elevation data and the drill rod inclination angle data, when the drill rod inclination angle data is kept within the inclination threshold value, and the drill bit position is located within the hole bottom design elevation threshold value at the same time, the drilling stopping threshold value condition is met, drilling of the drilling machine is stopped, and drilling is completed. According to the invention, the position of the step blasting hole bottom can be accurately controlled, and the problems of inconsistent elevation of the blast hole bottom and inclination angle deviation of the blast hole are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering blasting, and particularly relates to a precise drilling method for bench blasting based on the control of hole bottom elevation and drilling inclination angle. Background Art

[0002] During the open-pit mining process, the bench drilling and blasting method is usually adopted to blast and strip the overlying rock mass or ore body, and then the stripped blast muck is loaded and transported. Blasting is one of the important links in open-pit mine production, and the quality of blasting has a great impact on the normal production of open-pit mines.

[0003] However, during the open-pit bench blasting process, since the bench surface is not completely flat, it is easy to cause different elevation of the drill rig at each blast hole, and the drilling depth is often roughly judged by the naked eye and experience of the drilling operator. As a result, the hole bottom elevation error of each blast hole is relatively large, and the blast hole layout will also have a certain deviation. In this way, it is difficult to keep the charge depth of the blast holes consistent, and the relative vertical distance between the blast holes is also inconsistent, making it difficult to maintain the same intensity of the interaction between the blast holes. In the weak action area, it is easy to cause an uneven blasting surface and a high large block rate at the bottom of the rock after blasting, that is, the occurrence of the bench phenomenon, while in the strong action area, problems such as excessive fragmentation of rock blocks will occur. Summary of the Invention

[0004] The purpose of the present invention is to provide a precise drilling method for bench blasting based on the control of hole bottom elevation and drilling inclination angle in view of the above-mentioned deficiencies of the prior art, so as to solve the problems in the prior art.

[0005] The present invention specifically provides the following technical solutions:

[0006] A precise drilling method for bench blasting based on the control of hole bottom elevation and drilling inclination angle, comprising:

[0007] Based on the RTK-GPS positioning module and wireless inclination sensor installed on the top and side of the drill pipe, the drill pipe elevation data and drill pipe inclination angle data are obtained in real time;

[0008] When starting to drill, the drill bit position of the drill pipe is dynamically calculated according to the real-time transmitted drill pipe elevation data and drill pipe inclination angle data. When the drill pipe inclination angle data remains within the inclination threshold, and the drill bit position is simultaneously within the hole bottom design elevation threshold, the drill stop threshold condition is reached, and the drill rig stops drilling to complete the drilling.

[0009] Preferably, the dynamic calculation of the drill bit position of the drill pipe according to the real-time transmitted drill pipe elevation data and drill pipe inclination angle data includes:

[0010] The drill pipe top coordinates (X RTK , Y RTK , H RTK) and obtain the pitch angle α and roll angle β of the drill pipe through the drill pipe inclination angle data;

[0011] According to the top coordinates (X RTK , Y RTK , H RTK ) of the drill pipe, the pitch angle α and roll angle β, dynamically solve the bit position, and the specific expression is:

[0012]

[0013] wherein, (X 钻头 , Y 钻头 , H 钻头 ) are the coordinates of the bit position, and L is the total length of the drill pipe.

[0014] Preferably, when the drilling stop threshold condition is reached, the drill rig stops drilling, specifically:

[0015] When the drilling stop threshold condition is reached, obtain a drilling stop signal and stop drilling. The drilling stop signal includes a normal drilling stop signal and an abnormal signal; wherein, the normal drilling stop signal is: |H 钻头 - H 设计 | ≤ the set height threshold; the abnormal drilling stop signal is: |α| ≥ the set angle threshold or |β| ≥ the set angle threshold; wherein, H 钻头 is the height of the bit, and H 设计 is the designed bottom elevation of the hole;

[0016] In the case of an abnormal drilling stop signal, the drill rig stops drilling, adjusts the drill pipe angle according to the pitch angle |α| or roll angle |β|, and continues drilling. When a normal drilling stop signal is detected, stop drilling.

[0017] Preferably, when obtaining the drill pipe elevation data, the RTK - GPS base station provides observation data for the RTK - GPS positioning module, and the observation data is the position coordinates with a precision higher than the threshold.

[0018] Preferably, the RTK - GPS positioning module and the drill pipe are installed using a magnetic fast - release interface; the wireless inclination sensor is a three - axis sensor, and when installed, the sensor axis is parallel to the drill pipe axis.

[0019] Preferably, after the drilling is completed, obtain a bench blasting bottom elevation and a blast hole with the drilling inclination controlled, and clean the blast hole and check the depth of the blast hole.

[0020] Compared with the prior art, the present invention has the following remarkable advantages:

[0021] By installing an RTK-GPS positioning module and an inclination sensor, the present invention can automatically calculate the drill bit position and the drill stop threshold, and automatically complete the drilling operation. Through the installation of equipment on the drill pipe once, the drilling and excavation of all blast holes in the entire blasting area can be achieved. Multi-machine collaboration reduces manual intervention, greatly improving the convenience and operation efficiency of bench blasting drilling. The drill bit position is dynamically calculated based on the real-time transmitted drill pipe elevation data and drill pipe inclination angle data. When the drill pipe inclination angle remains within the inclination threshold and the drill bit position is simultaneously within the designed elevation threshold of the blast hole bottom, the drill stop threshold condition is reached, and the drilling rig immediately stops drilling to complete the drilling, effectively solving the problems of inconsistent blast hole bottom elevations and blast hole inclination deviations, greatly improving the drilling accuracy, effectively reducing the formation of blasting bases and large blocks, and forming a relatively flat bench surface, providing good conditions for subsequent operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic plan layout diagram of bench blasting blast holes in an embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of high-precision drilling in an embodiment of the present invention;

[0024] Figure 3 It is an overall flowchart in an embodiment of the present invention;

[0025] Figure 4 It is a flowchart of a precise bench blasting drilling method based on hole bottom elevation and drilling inclination control provided by the present invention.

[0026] In the figure: 1 is the blast hole; 2 is the blast hole number; 3 is the bench crest line; 4 is the bench toe line; 5 is the plane blasting design area; 6 is the RTK-GPS base station; 7 is the RTK-GPS positioning module; 8 is the wireless inclination sensor; 9 is the LoRa wireless communication module; 10 is the drilling rig; 11 is the drill pipe; 12 is the blast hole to be drilled; 13 is the drilled blast hole; 14 is the bench top surface; 15 is the profile blasting design area. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following clearly and completely describes the technical solutions of the embodiments of the present invention with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention shall fall within the protection scope of the present invention.

[0028] The emergence of blasting bases will seriously affect the efficiency of loading equipment, accelerate the wear of the equipment, increase the workload of secondary blasting, and at the same time affect the normal operation of other mining operations. In severe cases, it will threaten the safety of personnel and equipment.

[0029] Therefore, taking the bench blasting of an open-pit mine as an example, with the designed hole depth of 12 m and the hole bottom elevation of 100.00 m, the precise drilling method for bench blasting based on the control of hole bottom elevation and drilling inclination angle provided by the present invention is as follows:

[0030] The specific process of the precise drilling method for bench blasting based on the control of hole bottom elevation and drilling inclination angle in this embodiment is as Figure 3 and Figure 4 shown, including:

[0031] Step S1: Set up and calibrate a real-time kinematic carrier-phase differential technology RTK-GPS (Real-time kinematic-GPS) base station 6 at any position outside the blasting area.

[0032] In one embodiment, in the planar blasting design area 5, that is, select a relatively flat position 10 m outside the blasting area to set up the RTK-GPS base station 6, connect to the network CORS service to obtain position coordinates with an accuracy higher than the threshold, calibrate the horizontal accuracy to ±5 mm, and the elevation accuracy to ±10 mm. The bench crest line 3 and the bench bottom line 4 are shown in the appendix Figure 1 . The RTK-GPS base station is arranged in a field outside the blasting area with an open view, no obstruction high ground, and no radio equipment interference source. During calibration, obtain the position with an accuracy higher than the threshold through the network CORS service.

[0033] Step S2: Install an RTK-GPS positioning module 7 on the top of the drill pipe 11, and install a wireless inclination sensor 8 and a LoRa wireless communication module 9 on the side of the drill pipe 11; based on the RTK-GPS base station 6, the RTK-GPS positioning module 7, and the wireless inclination sensor 8, obtain the observation data, the drill pipe elevation data, and the drill pipe inclination angle data in real time, and send all the data to the drill rig central control system through the LoRa wireless communication module 9.

[0034] Among them, the RTK-GPS base station 6 provides the observation data for the RTK-GPS positioning module 7, and the observation data is the position coordinates with an accuracy higher than the threshold; the drill pipe 11 elevation data is obtained through the RTK-GPS positioning module 7, and the drill pipe 11 inclination angle data is obtained through the wireless inclination sensor 8.

[0035] As Figure 2 shown, in one embodiment, an RTK-GPS positioning module 7 is installed on the top of the 12 m long drill pipe 11 by using a magnetic fast-release interface, and a wireless inclination sensor 8 and a LoRa wireless communication module 9 are installed on the side of the top of the drill pipe 11. When installing, ensure that the axis of the wireless inclination sensor 8 is parallel to the axis of the drill pipe 11, and integrate the data of the RTK-GPS positioning module 7 and the wireless inclination sensor 8 and send them to the drill rig central control system through the LoRa wireless communication module 9.

[0036] The RTK-GPS positioning module and the drill pipe are installed with a magnetic quick-release interface, and the magnetic suction force is ≥50N; the wireless inclinometer sensor is a three-axis sensor with a range of ±45°, an inclinometer measurement accuracy of ±0.10°, a sampling frequency of 10Hz. When installed, the axis of the sensor is parallel to the axis of the drill pipe; the LoRa wireless communication module integrates RTK-GPS data and inclinometer data and transmits them to the central control system of the drilling rig in real time, with a delay time ≤100ms.

[0037] Step S3: When starting to drill, the central control system of the drilling rig dynamically calculates the position of the drill bit of the drill pipe based on the real-time transmitted drill pipe elevation data and drill pipe inclination angle data. When the drill pipe inclination angle data remains within the inclination threshold and the drill bit position is simultaneously within the hole bottom design elevation threshold, the drill stop threshold condition is reached, and the drilling rig stops drilling to complete the drilling.

[0038] Before starting to drill, according to the blasting area design, the drilling parameters and the drill stop threshold are initialized, and drilling starts after the initialization.

[0039] In one embodiment, according to the blasting area design, the drilling parameters and the drill stop threshold are input into the central control system of the drilling rig. The drilling parameters include: the designed hole bottom elevation H 设计 = 100.00m, the allowable elevation deviation threshold ΔH max = 1cm, the allowable inclination deviation threshold Δα max = 1°, the total length of the drill pipe 11 is L = 12.0m; the drill stop threshold includes: stopping drilling when the difference between the drill bit elevation coordinate and the target hole bottom elevation coordinate ≤ the set height threshold, that is, the normal drill stop threshold |H 钻头 -H 设计 | ≤ the set height threshold, and the set height threshold here is 1cm, indicating that the blast hole has reached the preset blast hole depth at this time; when the drill pipe inclination angle of the wireless inclinometer sensor ≥ the set angle threshold, stop drilling and alarm when the non-normal drill stop threshold (pitch angle) |α| ≥ the set angle threshold and (roll angle) |β| ≥ the set angle threshold.

[0040] Start drilling. The central control system of the drilling rig dynamically calculates the drill bit position based on the real-time transmitted drill pipe elevation data and drill pipe inclination angle data. The initial elevation of the top of the drill pipe 11 is H RTK = 112.00m. The top coordinate (X RTK , Y RTK , H RTK ) of the drill pipe is obtained according to the real-time transmitted drill pipe elevation data of the RTK-GPS positioning module, and the pitch angle α and roll angle β of the drill pipe are obtained by acquiring the real-time drill pipe inclination angle data of the wireless inclinometer sensor.

[0041] Thus, based on the top coordinate (X RTK , Y RTK , HRTK ) Dynamically calculate the position of the drill bit based on the pitch angle α and roll angle β. The specific expression is as follows:

[0042]

[0043] Where, (X 钻头 , Y 钻头 , H 钻头 ) are the coordinates of the drill bit position, and L is the total length of the drill pipe.

[0044] When the position of the drill bit approaches the designed elevation of the bottom of the blast hole, that is, when the stop drilling threshold condition is reached, a stop drilling signal is obtained and the drilling is stopped. The stop drilling signal includes a normal stop drilling signal and an abnormal signal. Among them, the normal stop drilling signal is: |H 钻头 - H 设计 | ≤ the set height threshold; the abnormal stop drilling signal is: |α| ≥ the set angle threshold or |β| ≥ the set angle threshold. Where, H 钻头 is the height of the drill bit, and H 设计 is the designed elevation of the bottom of the hole. In the case of an abnormal stop drilling signal, it means that the drilling of this blast hole is skewed at this time, and the drilling needs to be stopped for adjustment. The set angle threshold here is 1°. At this time, the drill rig stops drilling, and the angle of the drill pipe is adjusted according to the pitch angle |α| or roll angle |β|, and then continues to drill. When an abnormal stop drilling occurs, the angle of the drill pipe is adjusted according to the pitch angle or roll angle and then continues to drill. When a normal stop drilling signal is detected, the drilling is stopped to complete the drilling of the hole; after the drilling of the hole is completed, a bench blasting hole bottom elevation and a blast hole 1 with a controlled drilling inclination are obtained, and the blast hole 1 is cleaned and the depth of the blast hole 1 is inspected, and the blast hole 1 is sealed and protected. Among them, the blast hole number 2 is as Figure 1 shown, the bench top surface 14, the sectional blasting design area 15, the blast hole to be drilled 12, and the drilled blast hole 13 are as Figure 2 shown.

[0045] In one embodiment, a scale is used to measure the depth of the blast hole 1, check and accept its depth, and after the blast hole 1 is qualified, it is sealed and protected.

[0046] Adopting the present invention can greatly improve the drilling accuracy of bench blasting. Both the hole bottom elevation and the drilling inclination can be guaranteed within a very small error, ensuring that the hole bottom elevations of all blast holes in bench blasting are consistent, effectively reducing the generation of bedrock and large blasted blocks after blasting, and forming a relatively flat bench surface after blasting, providing good working conditions for subsequent construction operations.

[0047] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, which should all be regarded as belonging to the protection scope of the present invention.

Claims

1. A precise drilling method for bench blasting based on the control of the elevation at the bottom of the hole and the drilling inclination, characterized in that, Including: Based on the RTK-GPS positioning module and wireless inclination sensor installed on the top and side of the drill pipe, the elevation data and inclination angle data of the drill pipe are obtained in real time; When starting to drill, the bit position of the drill pipe is dynamically calculated according to the real-time transmitted elevation data and inclination angle data of the drill pipe. When the inclination angle data of the drill pipe remains within the inclination threshold and the bit position is simultaneously within the designed elevation threshold at the bottom of the hole, the stop-drilling threshold condition is reached, and the drill rig stops drilling to complete the drilling.

2. The accurate drilling method for bench blasting based on the control of the elevation at the bottom of the hole and the drilling inclination angle as described in claim 1, wherein, The dynamic calculation of the bit position of the drill pipe according to the real-time transmitted elevation data and inclination angle data of the drill pipe includes: Obtain the coordinates (X RTK , Y RTK , H RTK ) of the top of the drill pipe through the drill pipe elevation data, and obtain the pitch angle α and roll angle β of the drill pipe through the drill pipe inclination angle data; According to the coordinates (X RTK , Y RTK , H RTK ) at the top of the drill pipe, the pitch angle α and the roll angle β, the position of the drill bit is dynamically calculated. The specific expression is as follows: Among them, (X 钻头 , Y 钻头 , H 钻头 ) are the coordinates of the drill bit position, and L is the total length of the drill pipe.

3. The accurate drilling method for bench blasting based on the control of the elevation at the bottom of the hole and the drilling inclination angle as described in claim 2, wherein, The specific condition for reaching the stop-drilling threshold and the drill rig stopping drilling is: When the stop-drilling threshold condition is reached, a stop-drilling signal is obtained and drilling is stopped. The stop-drilling signal includes a normal stop-drilling signal and an abnormal signal. Among them, the normal stop-drilling signal is: |H 钻头 -H 设计 |≤ the set height threshold; the abnormal stop-drilling signal is: |α|≥ the set angle threshold or |β|≥ the set angle threshold. Among them, H 钻头 is the height of the drill bit, and H 设计 is the designed bottom elevation of the hole. In case of an abnormal stop-drilling signal, the drill rig stops drilling, adjusts the angle of the drill pipe according to the pitch angle |α| or roll angle |β|, and continues drilling. When a normal stop-drilling signal is detected, drilling stops.

4. The precise drilling method for bench blasting based on the control of bottom hole elevation and drilling inclination as claimed in claim 1, characterized in that, When obtaining the elevation data of the drill pipe, the RTK-GPS base station provides observation data for the RTK-GPS positioning module, and the observation data is the position coordinates with an accuracy higher than the threshold.

5. The precise drilling method for bench blasting based on the control of the elevation at the bottom of the hole and the drilling inclination angle as described in claim 1, wherein, The RTK-GPS positioning module is installed on the drill pipe using a magnetic quick-release interface; the wireless inclination sensor is a three-axis sensor, and the sensor axis is parallel to the drill pipe axis during installation.

6. The accurate drilling method for bench blasting based on controlling the elevation at the bottom of the hole and the drilling inclination angle as claimed in claim 1, wherein, After the drilling is completed, a bench blasting hole bottom elevation and a blast hole with the drilling inclination angle controlled are obtained, and the blast hole is cleaned and the depth of the blast hole is inspected.

Images