Blast hole parameter detection method and system

Abstract

The invention discloses a blast hole parameter detection method and system, and relates to the technical field of mining, and the method comprises the steps: obtaining the operation state data of a blast hole measurement robot; acquiring environment information of the operation area based on an environment detection component; based on the operation state data, performing health state diagnosis on the blast hole measurement robot by adopting a preset health evaluation algorithm; if yes, an automatic operation control instruction is output to the blast hole measurement robot to complete measurement based on the operation state data and the environment information; if yes, the blast hole measuring robot is controlled to enter a manual remote control operation mode, and an operator is notified to control the blast hole measuring robot to complete measurement through a remote control terminal; acquiring parameter measurement data of the plurality of blast holes, and generating a three-dimensional visual model of the plurality of blast holes according to the parameter measurement data of the plurality of blast holes. The invention aims to improve the automation level of blast hole parameter measurement and optimize and integrate the measurement data of a plurality of blast holes.

Description

Technical Field

[0001] This application relates to the field of mining technology, and in particular to a method and system for detecting borehole parameters. Background Technology

[0002] In mining blasting operations, the borehole, as a key structure for charging and detonation, directly affects the controllability of the blasting effect, the uniformity of ore and rock fragmentation, resource recovery rate, and operational safety due to the accuracy of its geometric parameters (such as hole depth and diameter) and environmental conditions (such as water depth and temperature). Inaccurate measurement of borehole parameters can easily lead to deviations in charge calculation, excessive blasting vibration, increased risk of flyrock, and even safety accidents such as misfires. Traditional borehole parameter measurement mainly relies on manual methods, such as using measuring tapes, measuring ropes, and handheld depth sounders for on-site measurement. This is not only inefficient but also suffers from problems such as large measurement errors, incomplete data recording, and the need for operators to be close to the borehole opening (posing safety risks such as borehole collapse and harmful gases).

[0003] With the development of intelligent mining, some enterprises have begun to use probes with sensors in conjunction with winch systems for semi-automatic measurement to achieve preliminary automatic acquisition of borehole depth or water depth. However, existing technologies still have significant shortcomings: on the one hand, most systems only have the ability to automatically measure a single parameter, lacking the ability to automatically measure multiple borehole parameters such as borehole depth, borehole diameter, water depth, and water temperature; on the other hand, the measurement data of each borehole is usually stored in an isolated form, lacking a unified data management platform, making it impossible to achieve centralized processing, spatial correlation, and 3D visualization modeling of multi-borehole data, which seriously restricts the in-depth application of measurement data in blasting design, effect analysis, and production scheduling. Summary of the Invention

[0004] The main objective of this application is to provide a method and system for detecting borehole parameters, which aims to solve the problems of low automation in existing methods and isolated and difficult-to-integrate borehole measurement data.

[0005] According to a first aspect of this application, this application provides a method for detecting borehole parameters, applied to a borehole parameter detection system, characterized in that the borehole parameter detection system includes a borehole measuring robot, an environmental detection component, and a remote control terminal, wherein the borehole measuring robot is communicatively connected to the remote control terminal; the method includes the following steps: Acquire the operating status data of the borehole measuring robot; Based on the environmental detection component, environmental information of the work area is obtained; Based on the operational status data, a preset health assessment algorithm is used to diagnose the health status of the borehole measuring robot and output the equipment health status diagnosis results. If the equipment health status diagnosis of the borehole measuring robot is normal, then based on the operating status data and the environmental information, an automatic operation control command is output to the borehole measuring robot to drive the borehole measuring robot to complete the parameter measurement of multiple boreholes. If the health status of the borehole measuring robot is diagnosed as abnormal, the robot will be controlled to enter the manual remote control operation mode, and a first alarm prompt and operation mode switching prompt will be sent to the remote control terminal to notify the operator to control the borehole measuring robot through the remote control terminal to complete the parameter measurement of multiple boreholes. Acquire parameter measurement data for multiple boreholes, and generate a 3D visualization model of multiple boreholes based on the parameter measurement data.

[0006] Optionally, the operating status data includes battery power information, and the step of diagnosing the health status of the borehole measuring robot based on the operating status data using a preset health assessment algorithm includes: Based on the battery power information, a curve showing the change of battery power over time is generated, and the rate of power decrease per unit time is calculated. If the rate of power loss per unit time is less than or equal to a preset rate threshold, then the health status of the borehole measuring robot is determined to be normal. If the rate of power loss per unit time is greater than a preset rate threshold, the health status of the borehole measuring robot is determined to be abnormal.

[0007] Optionally, the borehole measurement robot includes a positioning module and a vision detection module. The operating status data includes the position coordinates output by the positioning module and the target borehole identification information output by the vision detection module. The step of outputting automatic operation control commands to the borehole measurement robot based on the operating status data and the environmental information, and driving the borehole measurement robot to complete the parameter measurement of multiple boreholes, includes: Based on the position coordinates output by the positioning module, the position coordinates of the target borehole, and the environmental information, a trajectory movement command is generated and sent to the borehole measurement robot to drive the borehole measurement robot to move to the vicinity of the target borehole. When the distance between the position coordinates output by the positioning module and the position coordinates of the target blast hole is less than a preset distance, and the vision detection module outputs the identification information of the target blast hole, multiple measurement task instructions are output to drive the blast hole measurement robot to measure multiple parameters of the target blast hole.

[0008] Optionally, the environmental information includes the electronic fence boundary and terrain map data of the work area. The step of generating a trajectory movement command based on the position coordinates output by the positioning module, the position coordinates of the target borehole, and the environmental information, and sending it to the borehole measuring robot to drive the borehole measuring robot to move to the vicinity of the target borehole includes: Based on the boundaries of the electronic fence, a closed polygon of the permitted work area is constructed; Based on the terrain map data, the location and outline information of all obstacles in the work area are extracted to generate an obstacle distribution map; Based on the position coordinates of the borehole measuring robot, the position coordinates of the target borehole, the allowed working area polygon, and the obstacle distribution map, a movement path that avoids obstacles in the map and is within the electronic fence boundary is calculated, and a corresponding trajectory movement command is generated. The trajectory movement command is sent to the borehole measuring robot to drive the borehole measuring robot to move to the vicinity of the target borehole.

[0009] Optionally, before the step of calculating a movement path that avoids obstacles on the map and remains within the electronic fence boundary based on the position coordinates of the borehole measuring robot, the position coordinates of the target borehole, the allowed working area polygon, and the obstacle distribution map, and generating corresponding trajectory movement instructions, the method further includes: If the position coordinates of the borehole measuring robot and / or the position coordinates of the target borehole are not within the allowed operating area polygon, a second warning is issued to the remote control terminal, and path planning is terminated.

[0010] Optionally, the step of calculating a movement path that avoids obstacles on the map and remains within the electronic fence boundary based on the position coordinates of the borehole measuring robot, the position coordinates of the target borehole, the allowed working area polygon, and the obstacle distribution map, and generating corresponding trajectory movement instructions, includes: If the position coordinates of the borehole measuring robot and the position coordinates of the target borehole are both within the allowed working area polygon, then the position coordinates of the borehole measuring robot are recorded as the starting coordinates, and the position coordinates of the target borehole are recorded as the ending coordinates. Based on the straight-line path from the starting point coordinates to the ending point coordinates, a preset path search algorithm is used to search for a path and generate an optimal path from the starting point to the ending point that does not pass through any obstacles, is entirely within the boundaries of the electronic fence, and has the shortest total length. During the search process, according to the obstacle distribution map, all areas where obstacles are located are set as impassable areas. The optimal path is discretized into multiple intermediate points to form a movement trajectory composed of continuous coordinate points, and a corresponding trajectory movement command is generated; wherein the distance between adjacent coordinate points is no greater than a first preset distance.

[0011] Optionally, the borehole measuring robot includes a measuring probe for being lowered into the borehole for measurement. One end of the measuring probe is connected to a cable, and the measuring probe is equipped with a pull-rope sensor, an acceleration sensor, an ultrasonic ranging sensor, and a camera. The automatic operation control commands also include borehole depth measurement commands and borehole diameter measurement commands. The step of outputting multiple measurement task commands to drive the borehole measurement robot to measure multiple parameters of the target borehole when the distance between the position coordinates output by the positioning module and the position coordinates of the target borehole is less than a preset distance, and the vision detection module outputs the identification information of the target borehole, includes: When the distance between the position coordinates output by the positioning module and the position coordinates of the target borehole is less than a preset distance, and the vision detection module outputs the identification information of the target borehole, the borehole depth measurement command and the borehole diameter measurement command are output to the borehole measurement robot to drive the borehole measurement robot to measure the borehole depth data and borehole diameter data of the target borehole. The borehole measurement robot, in response to the borehole depth measurement command and the borehole diameter measurement command, performs the following operations: The cable length is recorded by the pull-rope sensor to obtain the depth of the measuring probe inside the hole; The motion state of the measuring probe is detected by the acceleration sensor. When the acceleration of the measuring probe is detected to be lower than a preset threshold, it is determined that the measuring probe has reached the bottom of the hole, and the length of the cable at this time is determined as the hole depth data of the target blast hole. During the cable lowering process, the ultrasonic ranging sensor emits ultrasonic waves towards the borehole wall and receives the reflected signals. The distance from the measuring probe to the borehole wall is calculated based on the round-trip time of the sound waves, and the borehole diameter at the lowering depth is calculated by combining the attitude information of the measuring probe to obtain the ultrasonic ranging result. In addition, the camera captures images of the borehole wall, and the ultrasonic ranging result is corrected by combining the image recognition algorithm to obtain the borehole diameter distribution data along the depth direction of the target blast hole.

[0012] Optionally, the measuring probe is also equipped with an air / water medium sensor and a temperature sensor, and the automatic operation control command also includes a water depth measurement command and a water temperature measurement command; The step of outputting multiple measurement task commands to drive the borehole measurement robot to measure multiple parameters of the target borehole when the distance between the position coordinates output by the positioning module and the position coordinates of the target borehole is less than a preset distance, and the vision detection module outputs the identification information of the target borehole, further includes: When the distance between the position coordinates output by the positioning module and the position coordinates of the target borehole is less than a preset distance, and the vision detection module outputs the identification information of the target borehole, the water depth measurement command and the water temperature measurement command are output to the borehole measurement robot to drive the borehole measurement robot to measure the water depth data and water temperature data in the target borehole. The borehole measurement robot, in response to the water depth measurement command and the water temperature measurement command, performs the following operations: The air / water medium sensor detects the medium state of the environment in which the measuring probe is located; when the medium changes from air to water, the length of the cable extended at this time is recorded as the water surface depth. After detecting the water inlet signal output by the air / water medium sensor, water temperature data acquisition is initiated, and water temperature values ​​at different depths are continuously recorded by the temperature sensor to generate water temperature distribution data along the depth of the hole. Continue lowering the measuring probe, combine the cable length recorded by the pull rope sensor, and use the acceleration sensor to detect whether the measuring probe touches the bottom to determine the depth of the hole; The water depth data of the target borehole is calculated based on the difference between the water surface depth and the borehole bottom depth.

[0013] Optionally, the step of acquiring parameter measurement data of multiple boreholes and generating a three-dimensional visualization model of multiple boreholes based on the parameter measurement data includes: Acquire the hole depth data, hole diameter data distributed along the depth direction, water depth data, and water temperature distribution data for each target borehole; Based on the location coordinates and depth data of the target boreholes, the start and end points and axis direction of each borehole in three-dimensional geographic space are determined; Based on the borehole diameter data along the depth direction, the radial variation profile of the borehole inner wall is constructed to generate a three-dimensional borehole structure with variable diameter characteristics. By combining water depth data and water temperature distribution data, water areas are marked in the three-dimensional structure of the borehole, and water temperature attribute information is also marked. The three-dimensional structure, location coordinates, and water temperature attribute information of all boreholes are integrated into a unified three-dimensional coordinate system to generate three-dimensional visualization models of multiple boreholes.

[0014] According to a second aspect of this application, a borehole parameter detection system is provided, the borehole parameter detection system comprising a borehole parameter detection platform, a borehole measurement robot, an environmental detection component, and a remote control terminal, wherein the borehole parameter detection platform is communicatively connected to the borehole measurement robot, the environmental detection component, and the remote control terminal, and the borehole parameter detection platform applies the borehole parameter detection method as described in the first aspect.

[0015] This application discloses a method for detecting borehole parameters, applied to a borehole parameter detection system. The system comprises a borehole measurement robot, an environmental detection component, and a remote control terminal, wherein the borehole measurement robot and the remote control terminal are communicatively connected. The method includes the following steps: acquiring the operating status data of the borehole measurement robot; acquiring environmental information of the work area based on the environmental detection component; performing a health status diagnosis on the borehole measurement robot using a preset health assessment algorithm based on the operating status data, and outputting the equipment health status diagnosis result; if the equipment health status diagnosis of the borehole measurement robot is normal, then based on the operating status data and environmental information, outputting an automatic operation control command to the borehole measurement robot to drive it to complete the parameter measurement of multiple boreholes; if the equipment health status diagnosis of the borehole measurement robot is abnormal, then controlling the borehole measurement robot to enter a manual remote control operation mode, and sending a first alarm prompt and an operation mode switching prompt to the remote control terminal to notify the operator to control the borehole measurement robot through the remote control terminal to complete the parameter measurement of multiple boreholes; acquiring parameter measurement data of multiple boreholes, and generating a three-dimensional visualization model of multiple boreholes based on the parameter measurement data. Thus, this application can achieve automated measurement of borehole parameters with a high degree of automation, and can integrate parameter measurement data from multiple boreholes to generate three-dimensional visualization models of multiple boreholes, providing intuitive and accurate data support for blasting scheme design, post-blasting effect evaluation, and production scheduling optimization. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating an embodiment of the borehole parameter detection method provided in this application; Figure 2 A flowchart illustrating yet another embodiment of the borehole parameter detection method provided in this application; Figure 3 A flowchart illustrating another embodiment of the borehole parameter detection method provided in this application; Figure 4 This is a schematic diagram of an embodiment of the borehole parameter detection system provided in this application.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Technical terms used in the embodiments of this application: Dijkstra's algorithm is a classic algorithm for finding the shortest path from the starting point to all other nodes in a weighted graph. It uses the idea of ​​breadth-first search (BFS), but expands the path based on the weights of the edges (such as distance, time, energy, etc.), ensuring that each expansion only reaches the currently known unvisited node closest to the starting point.

[0022] The A-Star algorithm, an improved version of Dijkstra's algorithm, combines the actual cost function and the heuristic estimated cost function to guide the search direction. Its search efficiency is much higher than Dijkstra's, especially in two-dimensional grid maps.

[0023] The RRT algorithm (Rapidly-exploring Random Tree) is a sampling-based path planning algorithm, particularly suitable for high-dimensional spaces and complex obstacle environments. It does not rely on a complete map grid, but instead gradually constructs a tree structure growing outwards from the starting point by randomly sampling the state space until it approaches the target.

[0024] The RRT-Star algorithm is an improved version of the RRT algorithm. While retaining the RRT algorithm's ability to efficiently explore complex and high-dimensional spaces, it introduces an incremental optimization mechanism that can continuously optimize the generated paths during operation, gradually converging them to the optimal (or near-optimal) path.

[0025] The main solution of this application embodiment is as follows: acquiring the operating status data of the borehole measurement robot; acquiring environmental information of the work area based on the environmental detection component; diagnosing the health status of the borehole measurement robot using a preset health assessment algorithm based on the operating status data, and outputting the equipment health status diagnosis result; if the equipment health status diagnosis of the borehole measurement robot is normal, then based on the operating status data and environmental information, outputting automatic operation control instructions to the borehole measurement robot to drive the borehole measurement robot to complete the parameter measurement of multiple boreholes; if the equipment health status diagnosis of the borehole measurement robot is abnormal, then controlling the borehole measurement robot to enter the manual remote control operation mode, and sending a first alarm prompt and operation mode switching prompt to the remote control terminal to notify the operator to control the borehole measurement robot through the remote control terminal to complete the parameter measurement of multiple boreholes; acquiring the parameter measurement data of multiple boreholes, and generating a three-dimensional visualization model of multiple boreholes based on the parameter measurement data of multiple boreholes.

[0026] In the embodiments of this application, for ease of description, the following description uses a borehole parameter detection platform that applies a borehole parameter detection method as the execution subject.

[0027] In existing technologies, with the development of intelligent mining, some enterprises have begun to use probes with sensors in conjunction with winch systems for semi-automatic measurement to achieve preliminary automatic acquisition of borehole depth or water depth. However, existing technologies still have significant shortcomings: on the one hand, most systems only have the ability to automatically measure a single parameter, lacking the ability to automatically measure multiple borehole parameters such as borehole depth, borehole diameter, water depth, and water temperature; on the other hand, the measurement data of each borehole is usually stored in an isolated form, lacking a unified data management platform, making it impossible to achieve centralized processing, spatial correlation, and 3D visualization modeling of multi-borehole data, which seriously restricts the in-depth application of measurement data in blasting design, effect analysis, and production scheduling.

[0028] This application provides a solution that enables the borehole parameter detection platform to automatically control the borehole measurement robot to complete the measurement of borehole parameters when the borehole measurement robot is in normal operation. It has a high degree of automation and can integrate parameter measurement data from multiple boreholes to generate three-dimensional visualization models of multiple boreholes. This provides intuitive and accurate data support for blasting scheme design, post-blasting effect evaluation, and production scheduling optimization, thereby improving the level of intelligence in mining or engineering blasting operations.

[0029] Based on this, this application provides a method for detecting borehole parameters.

[0030] Please see Figure 1In one embodiment of this application, the borehole parameter detection system includes a borehole parameter detection platform, a borehole measurement robot, an environmental monitoring component, and a remote control terminal. The borehole parameter detection platform is communicatively connected to the borehole measurement robot, the environmental monitoring component, and the remote control terminal. The borehole measurement robot is communicatively connected to the remote control terminal. The borehole parameter detection method includes steps S10 to S60: Step S10: Obtain the operating status data of the borehole measurement robot.

[0031] In this embodiment, the borehole parameter detection platform is communicatively connected to the borehole measurement robot, enabling comprehensive and real-time collection of the robot's current operating parameters and internal system status information. This operational status data typically includes, but is not limited to: the robot's power status (e.g., battery level, voltage stability), the motor operating current and temperature of each joint, the driving system's operating speed and position feedback, the operating status of sensor modules (e.g., whether the draw rope sensor, ultrasonic ranging sensor, tilt sensor, gyroscope, etc., are online and functioning correctly), error codes or warning logs within the control system, the quality of the communication link (e.g., data transmission delay and packet loss rate with the remote control terminal), and whether there are abnormal vibrations or displacement deviations in the mechanical structure.

[0032] Step S20: Obtain environmental information of the work area based on the environmental detection component.

[0033] In this embodiment, the borehole parameter detection platform is communicatively connected to the environmental detection component. The environmental detection component may include devices such as high-definition cameras, infrared thermal imagers, temperature and humidity sensors, anemometers, and 3D LiDAR. Through these components, the borehole parameter detection platform can acquire multi-dimensional environmental information of the work area, such as: whether the on-site lighting intensity meets visual recognition requirements, whether there is accumulated water or loose gravel within the electronic fence boundary affecting robot movement, whether the ambient temperature exceeds the equipment's permissible operating range, whether there are high-temperature areas posing safety hazards, and whether the surrounding spatial structure is clearly identifiable to support navigation and positioning.

[0034] Step S30: Based on the operating status data, a preset health assessment algorithm is used to diagnose the health status of the borehole measuring robot, and the equipment health status diagnosis results are output.

[0035] In this embodiment, the preset health assessment algorithm can be built based on machine learning models (such as support vector machines, random forests, or neural networks) or rule engines to comprehensively analyze the correlation and trend changes among various operating parameters. For example, the algorithm can identify the phenomenon of abnormally high motor current but no increase in speed, which is judged as mechanical jamming; or it can detect increased battery internal resistance and abnormal discharge curve, which can warn of battery aging risk; it can also detect problems such as sensor drift or signal distortion by comparing historical data.

[0036] Step S40: If the equipment health status diagnosis of the borehole measurement robot is normal, then based on the operating status data and environmental information, an automatic operation control command is output to the borehole measurement robot to drive the borehole measurement robot to complete the parameter measurement of multiple boreholes.

[0037] In this embodiment, the borehole parameter detection platform comprehensively utilizes the operational status data obtained in step S10 and the environmental information collected in step S20 to generate optimal automatic operation control instructions. These instructions may include path planning (e.g., planning the shortest travel route based on the borehole distribution map), attitude adjustment (ensuring the measuring probe is vertically aligned with the borehole opening), and borehole parameter measurement. This drives the borehole measurement robot to navigate to each borehole location, automatically completing the measurement of key parameters such as borehole depth, borehole diameter, inclination angle, azimuth angle, water depth, and water temperature, and transmitting the data back in real time.

[0038] Step S50: If the equipment health status of the borehole measuring robot is diagnosed as abnormal, the borehole measuring robot is controlled to enter the manual remote control operation mode, and a first alarm prompt and operation mode switching prompt are sent to the remote control terminal to notify the operator to control the borehole measuring robot through the remote control terminal to complete the parameter measurement of multiple boreholes.

[0039] In this embodiment, when the health assessment result in step S30 indicates an abnormality in the equipment, an emergency response mechanism is activated to maintain the continuity of operations while ensuring safety. When an abnormality occurs, the automatic operation process is immediately suspended, and the borehole measurement robot is forcibly switched to manual remote control mode to prevent loss of control or damage due to equipment failure. Simultaneously, a "first alarm notification" is sent to the remote control terminal through various means such as audible and visual alarms, pop-up prompts, and SMS push notifications, clearly informing the operator of the type of fault (e.g., "left-side walking motor overheating," "pull rope sensor offline," etc.) and including an "operation mode switching prompt" to guide the operator to take over control. The operator can control the robot's movement and measurement actions in real time through the remote terminal's control interface (e.g., joystick, button, touchscreen), relying on human observation and experience to complete the parameter measurement tasks for the remaining boreholes.

[0040] Step S60: Obtain parameter measurement data of multiple boreholes, and generate a three-dimensional visualization model of multiple boreholes based on the parameter measurement data of multiple boreholes.

[0041] In this embodiment, after collecting parameters from all boreholes, the borehole parameter detection platform integrates and processes the scattered measurement data (such as the coordinates, depth, diameter, water depth, and water temperature of each borehole), and uses 3D modeling technology to construct a three-dimensional visualization model of the borehole group. This model accurately recreates the spatial distribution, geometric shape, and interrelationships of all boreholes in virtual space. Users can rotate, zoom, and section the model through an interactive interface to intuitively view the detailed parameters of any borehole, or perform group analysis (such as borehole uniformity, over-excavation / under-excavation assessment, and blasting effect simulation).

[0042] Thus, this embodiment can automatically control the borehole measurement robot to complete the measurement of borehole parameters when the borehole measurement robot is in normal operation. It has a high degree of automation and can integrate the parameter measurement data of multiple boreholes to generate three-dimensional visualization models of multiple boreholes. This provides intuitive and accurate data support for blasting scheme design, post-blasting effect evaluation and production scheduling optimization, which improves the level of intelligence in mining or engineering blasting operations.

[0043] Please see Figure 2 In one embodiment of this application, the operating status data includes battery power information, and step S30 includes steps S31 to S33: Step S31: Based on the battery power information, generate a curve showing the change of battery power over time, and calculate the rate of power decrease per unit time. Step S32: If the rate of power decrease per unit time is less than or equal to the preset rate threshold, then the equipment health status diagnosis of the borehole measuring robot is determined to be normal. Step S33: If the rate of power decrease per unit time is greater than the preset rate threshold, the health status of the borehole measuring robot is diagnosed as abnormal.

[0044] In this embodiment, the battery power information of the borehole measuring robot is first collected during operation to construct a dynamic curve of battery power change over time. The power consumption rate per unit time, i.e., the discharge slope, is then calculated. This calculated rate is then compared with a pre-set normal range threshold. If the power decrease rate does not exceed the preset threshold, the device's power consumption is at a normal level, and the borehole measuring robot is considered to be in normal health and can continue automatic operation. If the power decrease rate is significantly higher than the preset threshold, it indicates that the device may have faults such as motor overload, increased transmission resistance, circuit abnormalities, or component wear, leading to abnormally high energy consumption. In this case, it is diagnosed as an abnormal health state. Thus, by analyzing the battery power decrease rate per unit time, this embodiment can promptly identify operational abnormalities in the "sub-healthy" stage before serious faults occur, thereby achieving proactive early warning of potential faults. For example, when the walking mechanism of the borehole measuring robot is jammed by gravel, causing an increase in motor load, or when transmission components experience increased friction due to wear from long-term use, the robot's overall power consumption will increase, manifested as a significantly faster battery discharge rate. By monitoring this energy consumption trend in real time, abnormal equipment status can be readily detected, promptly identified as health anomalies, and an automatic response mechanism can be triggered—that is, the robot is controlled to exit automatic operation mode and switch to manual remote control operation mode. Simultaneously, an alarm prompt and mode switch notification are sent to the remote control terminal to remind the operator to intervene. In this way, the operator can remotely monitor the robot's status in real time and manually complete subsequent borehole parameter measurement tasks, effectively avoiding measurement interruptions, data inaccuracies, or equipment damage that might occur if automatic control is continued in the event of equipment malfunction, ensuring the continuity of measurement tasks and operational safety.

[0045] Please see Figure 3 In one embodiment of this application, the borehole measurement robot includes a positioning module and a vision detection module. The operating status data includes the position coordinates output by the positioning module and the target borehole identification information output by the vision detection module. Step S40 includes steps S41 to S42: Step S41: Based on the position coordinates output by the positioning module, the position coordinates of the target blast hole, and the environmental information, generate a trajectory movement command and send it to the blast hole measurement robot to drive the blast hole measurement robot to move to the vicinity of the target blast hole. Step S42: When the distance between the position coordinates output by the positioning module and the position coordinates of the target blast hole is less than a preset distance, and the vision detection module outputs the identification information of the target blast hole, multiple measurement task instructions are output to drive the blast hole measurement robot to measure multiple parameters of the target blast hole.

[0046] In this embodiment, when the borehole measurement robot is diagnosed as being in normal health, the borehole parameter detection platform combines the operating status data of the borehole measurement robot with the working environment information to start an automatic operation process: First, the positioning module obtains the current position coordinates of the borehole measurement robot, and at the same time calls the preset position coordinates of the target borehole and the environmental information such as electronic fences, obstacles, and terrain provided by the environmental detection component to plan a safe and efficient movement path, generate a trajectory movement command and send it to the borehole measurement robot to guide it to autonomously drive to the vicinity of the target borehole. When the borehole parameter detection platform detects that the distance between the real-time position coordinates fed back by the borehole measurement robot's positioning module and the target borehole coordinates is less than a preset threshold (e.g., 0.5 meters), and the vision detection module successfully identifies the outline, center position, and other feature information of the target borehole, it determines that the robot has accurately positioned itself. Subsequently, it triggers multiple measurement task commands, controlling the borehole measurement robot to start the measurement work using devices such as the rope sensor, acceleration sensor, ultrasonic ranging sensor, and camera. It automatically measures key parameters such as the depth, diameter, tilt angle, borehole opening damage, and water depth and temperature inside the borehole, thereby achieving closed-loop control of the entire process from navigation and positioning, visual confirmation to accurate measurement, significantly improving measurement efficiency and operational safety.

[0047] In one embodiment of this application, the environmental information includes the electronic fence boundary and topographic map data of the work area, and step S41 includes steps S411 to S414: Step S411: Based on the electronic fence boundary, construct a closed polygon of the permitted work area; Step S412: Based on the terrain map data, extract the location and outline information of all obstacles in the work area and generate an obstacle distribution map; Step S413: Based on the position coordinates of the borehole measuring robot, the position coordinates of the target borehole, the allowed working area polygon, and the obstacle distribution map, calculate a movement path that avoids obstacles in the map and is within the electronic fence boundary, and generate the corresponding trajectory movement command. Step S414: Send the trajectory movement command to the borehole measuring robot to drive the borehole measuring robot to move to the vicinity of the target borehole.

[0048] In this embodiment, by combining electronic fence boundaries and terrain map data as environmental information, a closed, permissible work area polygon is first constructed based on the electronic fence to ensure the safety and compliance of the robot's activity range. Next, the location and outline information of all obstacles within the work area are extracted using terrain map data to generate an obstacle distribution map, providing a basis for path planning. Subsequently, based on the current position of the borehole measurement robot, the target borehole position, the permissible work area polygon, and the obstacle distribution map, an optimal movement path that avoids all obstacles and remains within the electronic fence boundary is calculated, and a trajectory movement command is generated. Finally, this trajectory movement command is sent to the borehole measurement robot, driving it to autonomously move to the vicinity of the target borehole. Thus, this embodiment can improve the safety, efficiency, and accuracy of the operation, enabling the robot to independently complete navigation tasks in complex environments, effectively avoiding collision risks while quickly and accurately reaching the vicinity of the target borehole.

[0049] In one embodiment, prior to step S413, the method further includes: If the position coordinates of the borehole measuring robot and / or the position coordinates of the target borehole are not within the allowed operating area polygon, a second warning message will be sent to the remote control terminal and path planning will be terminated.

[0050] In this embodiment, invalid path planning can be detected and prevented in advance, which can save computing resources, avoid wasting time trying to generate paths for illegal tasks, and make the entire path planning process more efficient.

[0051] In one embodiment of this application, step S413 includes steps S4131 to S4133: Step S4131: If the position coordinates of the borehole measuring robot and the position coordinates of the target borehole are both within the allowed working area polygon, then the position coordinates of the borehole measuring robot are recorded as the starting coordinates, and the position coordinates of the target borehole are recorded as the ending coordinates. Step S4132: Based on the straight path from the starting point coordinates to the ending point coordinates, a preset path search algorithm is used to search for a path and generate an optimal path from the starting point to the ending point that does not pass through any obstacles, is entirely within the boundaries of the electronic fence, and has the shortest total length. During the search process, according to the obstacle distribution map, all areas where obstacles are located are set as impassable areas. Step S4133: Discretize the optimal path into multiple intermediate points to form a movement trajectory composed of continuous coordinate points, and generate corresponding trajectory movement instructions; wherein the distance between adjacent coordinate points is not greater than a first preset distance.

[0052] In this embodiment, once the position coordinates of the borehole measuring robot and the target borehole are confirmed to be within the allowed working area polygon, the robot's current position is recorded as the starting point coordinates, and the target borehole position is recorded as the ending point coordinates. Subsequently, based on the straight line direction between the starting point and the ending point, a preset path search algorithm (such as A-Star, Dijkstra, or RRT search algorithm) is used for global path planning. During the search process, all obstacle areas in the obstacle distribution map are marked as impassable areas, and the path is constrained to be completely within the electronic fence boundary. Finally, an optimal feasible path is generated from the starting point to the ending point, avoiding all obstacles, with the shortest path, and conforming to the safety boundary. Next, to facilitate smooth robot execution, this continuous path is discretized into a series of intermediate waypoints with a spacing not exceeding a first preset distance (such as 0.3 meters), forming a smooth movement trajectory composed of ordered coordinate points, and a trajectory movement command that can be parsed by the robot control system is generated accordingly. For example, this embodiment can use the RRT algorithm for path planning. In the continuous space of the working area, the algorithm generates a large number of state points through random sampling and gradually builds an exploration tree starting from the starting point. In each iteration, the algorithm randomly selects a sampling point within the allowed operating area, then finds the node closest to that point in the current tree, and expands a new node in that direction by a fixed step size. During the expansion process, based on the obstacle distribution map, all areas containing obstacles are marked as impassable areas, and collision detection is performed on each newly generated path segment—if the path crosses an obstacle or exceeds the electronic fence boundary, the expansion branch is discarded; otherwise, the new node is added to the exploration tree. This process continues until the distance between an expanded node and the target bore location is less than a preset threshold (i.e., the "target arrival determination distance"), at which point a feasible path from the starting point to the target is considered successfully found. Subsequently, the path sequence connecting the starting point and the destination can be extracted by backtracking from the tree. To further improve path quality, this embodiment can use the RRT-Star algorithm for optimization. By introducing a rewire mechanism, existing paths are continuously optimized during the path search process, gradually approaching the shortest path, thereby improving the economy and smoothness of the path while ensuring search efficiency. Thus, this embodiment can ensure the safety and compliance of the path and improve the efficiency of travel. At the same time, the discretized trajectory instructions enhance the accuracy and stability of motion control, enabling the borehole measurement robot to autonomously navigate to the target location efficiently, reliably and accurately in complex environments, significantly improving the intelligence level and overall reliability of automated operations.

[0053] In one embodiment of this application, the borehole measurement robot includes a measurement probe for being lowered into the borehole for measurement. One end of the measurement probe is connected to a cable, and the measurement probe is equipped with a pull rope sensor, an acceleration sensor, an ultrasonic ranging sensor, and a camera. The automatic operation control commands also include borehole depth measurement commands and borehole diameter measurement commands. Step S42 includes step S421: Step S421: When the distance between the position coordinates output by the positioning module and the position coordinates of the target blast hole is less than a preset distance, and the vision detection module outputs the identification information of the target blast hole, the blast hole depth measurement command and the blast hole diameter measurement command are output to the blast hole measurement robot to drive the blast hole measurement robot to measure the hole depth data and hole diameter data of the target blast hole. The borehole measurement robot, in response to borehole depth measurement commands and borehole diameter measurement commands, performs the following operations: The length of the cable being lowered is recorded by a pull-string sensor to obtain the depth of the measuring probe inside the hole; The motion state of the measuring probe is detected by an accelerometer. When the acceleration of the measuring probe is detected to be lower than a preset threshold, it is determined that the measuring probe has reached the bottom of the hole, and the length of the cable at this time is determined as the hole depth data of the target blast hole. During the cable lowering process, ultrasonic ranging sensors emit ultrasonic waves towards the borehole wall and receive reflected signals. The distance from the measuring probe to the borehole wall is calculated based on the round-trip time of the sound waves, and the borehole diameter at the lowering depth is calculated by combining the attitude information of the measuring probe to obtain the ultrasonic ranging result. In addition, images of the borehole wall are acquired by a camera, and the ultrasonic ranging result is corrected by an image recognition algorithm to obtain the borehole diameter distribution data along the depth direction of the target blast hole.

[0054] In this embodiment, when the borehole parameter detection platform detects that the distance between the position coordinates output by the positioning module of the borehole measurement robot and the preset coordinates of the target borehole is less than a preset distance, and the vision detection module successfully identifies the outline and center position of the target borehole, it determines that the robot has accurately positioned itself and then sends borehole depth measurement instructions and borehole diameter measurement instructions to it, initiating the automated measurement process. After receiving the instructions, the robot begins to lower the cable connecting the measurement probe, and records the release length of the cable in real time through the built-in pull rope sensor as the current depth reference value of the measurement probe in the borehole. During the lowering process, the acceleration sensor continuously monitors the movement state of the measurement probe. When it detects that its acceleration is lower than a preset threshold (i.e., the measurement probe stops moving or slightly touches the bottom), it determines that the measurement probe has reached the bottom of the borehole, and determines the total lowering length recorded by the pull rope sensor at this time as the borehole depth data of the target borehole, realizing automatic and accurate determination of the borehole depth. Simultaneously, during the lowering of the measuring probe, the ultrasonic ranging sensor periodically emits ultrasonic signals towards the borehole wall and receives the reflected echoes. Based on the round-trip time of the sound waves, the distance from the current position of the measuring probe to the borehole wall is calculated. Combined with the probe's attitude information (such as tilt angle) provided by the accelerometer, the measurement direction is compensated, thereby calculating the borehole diameter at that depth and forming preliminary diameter distribution data. To further improve measurement accuracy, a camera simultaneously acquires a ring-shaped image of the borehole wall. Image recognition algorithms are used to analyze the borehole diameter contour, and visual measurement results are used to correct errors in ultrasonic ranging that may be caused by borehole wall material, dust, or water accumulation. Finally, multi-source data is fused to obtain continuous, high-precision borehole diameter distribution data along the borehole depth direction. Thus, this embodiment can achieve fully automated and highly reliable measurement of borehole depth and diameter, not only avoiding the safety risks and subjective errors of manual measurement but also significantly improving the integrity and accuracy of the data. This provides a high-quality 3D modeling foundation for subsequent blasting design and rock mechanics analysis, greatly enhancing the intelligence, standardization, and engineering practicality of borehole parameter acquisition.

[0055] In one embodiment of this application, the measuring probe is further provided with an air / water medium sensor and a temperature sensor, and the automatic operation control command also includes a water depth measurement command and a water temperature measurement command; Step S42 further includes step S422: Step S422: When the distance between the position coordinates output by the positioning module and the position coordinates of the target blast hole is less than a preset distance, and the vision detection module outputs the identification information of the target blast hole, the water depth measurement command and water temperature measurement command are output to the blast hole measurement robot to drive the blast hole measurement robot to measure the water depth data and water temperature data in the target blast hole. The borehole measurement robot, in response to water depth and water temperature measurement commands, performs the following operations: The medium state of the environment in which the probe is located is detected by an air / water medium sensor; when the medium changes from air to water, the length of the cable extended at this time is recorded as the water depth. After detecting the water inlet signal output by the air / water medium sensor, water temperature data acquisition is initiated, and water temperature values ​​at different depths are continuously recorded by the temperature sensor to generate water temperature distribution data along the depth of the hole. Continue lowering the measuring probe, combine the cable length recorded by the pull rope sensor, and use the acceleration sensor to detect whether the measuring probe touches the bottom to determine the depth of the hole; The water depth data of the target borehole is calculated based on the difference between the water surface depth and the borehole bottom depth.

[0056] In this embodiment, if the borehole is located in an area with a water source, the borehole parameter detection platform can simultaneously send borehole depth measurement instructions, borehole diameter measurement instructions, water depth measurement instructions, and water temperature measurement instructions to the borehole measurement robot, and simultaneously start its automated detection of water accumulation inside the borehole. After receiving the command, the borehole measurement robot monitors the surrounding environment's medium state in real time during the lowering of the measurement probe using its onboard air / water medium sensor. As the probe gradually moves from air into water, the medium sensor detects a sudden change in dielectric constant or conductivity, outputs a water entry signal, and immediately records the cable length released by the cable release sensor as the water surface depth (i.e., the initial depth of water accumulation). Upon receiving the water entry signal, it automatically initiates a water temperature data acquisition process. Using a temperature sensor integrated on the measurement probe, it continuously collects water temperature values ​​at different depths as the probe continues to descend. Combined with the corresponding depth information, it generates water temperature profile data distributed along the borehole axis, reflecting the temperature change pattern within the borehole. The measurement probe continues to descend until it touches the bottom. At this point, the acceleration sensor detects a sudden stop in the probe's motion (acceleration below a preset threshold). The robot control system determines the bottom depth based on this and, combined with the previously recorded water surface depth, accurately calculates the actual water depth within the target borehole by using the difference between the two. Thus, this embodiment achieves fully automated and high-precision measurement of the water depth and temperature distribution inside the blast hole, which not only avoids the safety risks of manual exploration (such as falling into the hole or exposure to harmful gases), but also overcomes the limitations of traditional measurement methods in obtaining continuous water temperature information. It provides key data support for explosive selection, waterproof design, and geological and hydrological analysis in blasting operations, and significantly improves the safety, scientific nature, and intelligence level of mining operations.

[0057] In one embodiment of this application, step S60 includes steps S61 to S65: Step S61: Obtain the hole depth data, hole diameter data distributed along the depth direction, water depth data, and water temperature distribution data for each target borehole; Step S62: Based on the location coordinates and depth data of the target boreholes, determine the start and end points and axis direction of each borehole in the three-dimensional geographic space. Step S63: Based on the hole diameter data along the depth direction, construct the radial variation profile of the inner wall of the borehole to generate a three-dimensional structure of the borehole with variable diameter characteristics. Step S64: Combining water depth data and water temperature distribution data, mark the water area in the three-dimensional structure of the borehole and mark the water temperature attribute information. Step S65: Integrate the three-dimensional structure, position coordinates and water temperature attribute information of all boreholes into a unified three-dimensional coordinate system to generate a three-dimensional visualization model of multiple boreholes.

[0058] In this embodiment, the borehole parameter detection platform can acquire complete parameter data for each target borehole from each measurement task, including borehole depth, borehole diameter continuously distributed along the depth direction, water depth, and water temperature distribution data. Subsequently, based on the preset position coordinates of the borehole in the working area and the actual measured borehole depth data, the platform calculates the borehole's entrance point (orifice) and bottom point (bottom) in three-dimensional geographic space, and determines its spatial axis orientation (such as inclination angle and azimuth angle) accordingly, establishing the basic spatial framework of the borehole. Then, based on the borehole diameter variation data along the depth direction, the platform constructs the radial contour of the borehole's inner wall on the axis, reconstructing the drilling process. The model generates a refined 3D structural model of the boreholes, capturing realistic diameter variations that may occur during the process, including expansion, contraction, or irregular shapes. Based on this, the starting and ending depths of water accumulation within the boreholes are determined using water depth data. Temperature values ​​collected by water temperature sensors are mapped to corresponding water body areas according to depth. The water body range and temperature distribution information are marked in the 3D model using color gradients or attribute labels, achieving a visual representation of the physical state. Finally, the 3D structure, spatial coordinates, and water temperature attributes of all boreholes are uniformly mapped to the same geographic coordinate system for spatial alignment and integration, ultimately generating multiple 3D visualization models of boreholes covering the entire working area. Thus, this embodiment not only achieves an intuitive transformation from discrete data to a 3D scene, enabling engineers to view the spatial distribution, geometric shape, and internal state of boreholes in a three-dimensional and dynamic manner, but also provides precise data support for key aspects such as over-excavation and under-excavation analysis, blasting charge design, and waterproofing measure optimization. Simultaneously, integrating water temperature information helps assess groundwater activity or explosive stability, improving the safety and intelligent management level of mining operations, and providing a high-value visualization decision-making platform for digital mines and intelligent blasting.

[0059] Please see Figure 4This application also proposes a borehole parameter detection system, which includes a borehole parameter detection platform, a borehole measurement robot, an environmental monitoring component, and a remote control terminal. The borehole parameter detection platform is communicatively connected to the borehole measurement robot, the environmental monitoring component, and the remote control terminal. The borehole parameter detection platform applies the above-described borehole parameter detection method, which can solve the problems of low automation and isolated and difficult-to-integrate borehole measurement data in existing methods. Compared with the prior art, the beneficial effects of the borehole parameter detection system provided in this application are the same as those of the borehole parameter detection method provided in the above embodiments, and other technical features of the borehole parameter detection system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0060] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A blast hole parameter detection method, characterized in that, The application is applied to a blast hole parameter detection system, characterized in that the blast hole parameter detection system comprises a blast hole measuring robot, an environment detection component and a remote control terminal, the blast hole measuring robot is in communication connection with the remote control terminal; the method comprises the following steps: acquiring running state data of the blast hole measuring robot; acquiring environment information of a working area based on the environment detection component; based on the running state data, adopting a preset health assessment algorithm to diagnose the health state of the blast hole measuring robot, and outputting a device health state diagnosis result; if the device health state diagnosis of the blast hole measuring robot is normal, based on the running state data and the environment information, outputting an automatic working control instruction to the blast hole measuring robot to drive the blast hole measuring robot to complete parameter measurement of multiple blast holes; if the device health state diagnosis of the blast hole measuring robot is abnormal, controlling the blast hole measuring robot to enter an artificial remote control operation mode, and sending a first alarm prompt and an operation mode switching prompt to the remote control terminal to inform a working personnel to control the blast hole measuring robot through the remote control terminal to complete parameter measurement of multiple blast holes; acquiring parameter measurement data of multiple blast holes, and generating a three-dimensional visual model of multiple blast holes according to the parameter measurement data of multiple blast holes.

2. The method of claim 1, wherein, The running state data comprises battery power information, and the step of adopting a preset health assessment algorithm to diagnose the health state of the blast hole measuring robot based on the running state data comprises: based on the battery power information, generating a battery power change curve over time, and calculating a power drop rate per unit time; if the power drop rate per unit time is less than or equal to a preset rate threshold, it is determined that the device health state diagnosis of the blast hole measuring robot is normal; if the power drop rate per unit time is greater than the preset rate threshold, it is determined that the device health state diagnosis of the blast hole measuring robot is abnormal.

3. The method of claim 1, wherein, The blast hole measuring robot comprises a positioning module and a visual detection module, the running state data comprises position coordinates output by the positioning module and identification information of a target blast hole output by the visual detection module, and the step of outputting an automatic working control instruction to the blast hole measuring robot based on the running state data and the environment information to drive the blast hole measuring robot to complete parameter measurement of multiple blast holes comprises: based on the position coordinates output by the positioning module, position coordinates of the target blast hole and the environment information, generating a trajectory movement instruction and sending it to the blast hole measuring robot to drive the blast hole measuring robot to move to the vicinity of the target blast hole; when it is detected that the distance between the position coordinates output by the positioning module and the position coordinates of the target blast hole is less than a preset distance, and the visual detection module outputs the identification information of the target blast hole, outputting multiple measurement task instructions to drive the blast hole measuring robot to measure multiple parameters of the target blast hole.

4. The method of claim 3, wherein, The environment information includes electronic fence boundary of the working area and terrain map data, and the step of generating trajectory movement instructions based on the position coordinates output by the positioning module, the position coordinates of the target blast hole, and the environment information, and sending the trajectory movement instructions to the blast hole measuring robot to drive the blast hole measuring robot to move to the vicinity of the target blast hole includes: Based on the electronic fence boundary, a closed allowed working area polygon is constructed; Based on the terrain map data, the position and contour information of all obstacles in the working area are extracted to generate an obstacle distribution map; Based on the position coordinates of the blast hole measuring robot, the position coordinates of the target blast hole, the allowed working area polygon, and the obstacle distribution map, a movement path that avoids obstacles in the map and is within the electronic fence boundary is calculated, and corresponding trajectory movement instructions are generated; The trajectory movement instructions are sent to the blast hole measuring robot to drive the blast hole measuring robot to move to the vicinity of the target blast hole.

5. The method of claim 4, wherein, Before the step of calculating a movement path that avoids obstacles in the map and is within the electronic fence boundary based on the position coordinates of the blast hole measuring robot, the position coordinates of the target blast hole, the allowed working area polygon, and the obstacle distribution map, and generating corresponding trajectory movement instructions, the method further includes: If the position coordinates of the blast hole measuring robot and / or the position coordinates of the target blast hole are not within the allowed working area polygon, a second warning prompt is issued to the remote control terminal, and the path planning is terminated.

6. The method of claim 5, wherein, The step of calculating a movement path that avoids obstacles in the map and is within the electronic fence boundary based on the position coordinates of the blast hole measuring robot, the position coordinates of the target blast hole, the allowed working area polygon, and the obstacle distribution map, and generating corresponding trajectory movement instructions includes: If the position coordinates of the blast hole measuring robot and the position coordinates of the target blast hole are both within the allowed working area polygon, the position coordinates of the blast hole measuring robot are recorded as the starting point coordinates, and the position coordinates of the target blast hole are recorded as the end point coordinates; Based on the straight line path from the starting point coordinates to the end point coordinates, a preset path search algorithm is used for path search to generate an optimal path that meets the shortest total length from the starting point to the end point without passing through any obstacles and is located within the electronic fence boundary throughout the path; during the search process, according to the obstacle distribution map, the areas where all obstacles are located are set as non-passable areas; The optimal path is discretized into multiple intermediate passing points to form a movement trajectory composed of consecutive coordinate points, and corresponding trajectory movement instructions are generated; wherein the distance between adjacent coordinate points is not greater than a first preset distance.

7. The method of claim 3, wherein, The blast hole measuring robot includes a measuring probe for lowering into a blast hole for measurement, one end of the measuring probe is connected with a cable, and the measuring probe is provided with a pull rope sensor, an acceleration sensor, an ultrasonic ranging sensor, and a camera; the automatic operation control instructions further include blast hole depth measurement instructions and blast hole diameter measurement instructions. The step of outputting a plurality of measurement task instructions to drive the blasthole measuring robot to measure a plurality of parameters of the target blasthole when it is detected that the distance between the position coordinates output by the positioning module and the position coordinates of the target blasthole is less than a preset distance and the visual detection module outputs the identification information of the target blasthole comprises: When it is detected that the distance between the position coordinates output by the positioning module and the position coordinates of the target blasthole is less than a preset distance and the visual detection module outputs the identification information of the target blasthole, output the blasthole depth measurement instruction and the blasthole diameter measurement instruction to the blasthole measuring robot to drive the blasthole measuring robot to measure the hole depth data and the hole diameter data of the target blasthole. The blasthole measuring robot, in response to the blasthole depth measurement instruction and the blasthole diameter measurement instruction, performs the following operations: Record the length of the cable during the lowering process by the rope sensor to obtain the depth of the measuring probe in the hole; Detect the motion state of the measuring probe by the acceleration sensor, and when it is detected that the acceleration of the measuring probe is lower than a preset threshold, determine that the measuring probe reaches the bottom of the hole, and determine the length of the cable at this time as the hole depth data of the target blasthole; During the lowering of the cable, the ultrasonic ranging sensor emits ultrasonic waves to the hole wall and receives the reflected signals, calculates the distance from the position of the measuring probe to the hole wall according to the round-trip time of the sound waves, and combines the attitude information of the measuring probe to calculate the hole diameter at the lowering depth, to obtain the ultrasonic ranging result; and the camera collects the hole wall image, and combines the image recognition algorithm to correct the ultrasonic ranging result, to obtain the hole diameter distribution data of the target blasthole along the depth direction.

8. The method of claim 7, wherein, The measuring probe is also provided with an air / water medium sensor and a temperature sensor, and the automatic operation control instruction further comprises a water depth measurement instruction and a water temperature measurement instruction. The step of outputting a plurality of measurement task instructions to drive the blasthole measuring robot to measure a plurality of parameters of the target blasthole when it is detected that the distance between the position coordinates output by the positioning module and the position coordinates of the target blasthole is less than a preset distance and the visual detection module outputs the identification information of the target blasthole further comprises: When it is detected that the distance between the position coordinates output by the positioning module and the position coordinates of the target blasthole is less than a preset distance and the visual detection module outputs the identification information of the target blasthole, output the water depth measurement instruction and the water temperature measurement instruction to the blasthole measuring robot to drive the blasthole measuring robot to measure the water depth data and the water temperature data in the target blasthole. The blasthole measuring robot, in response to the water depth measurement instruction and the water temperature measurement instruction, performs the following operations: Detect the medium state of the environment where the measuring probe is located by the air / water medium sensor; when it is detected that the medium changes from air to water, record the length of the cable at this time as the water surface depth. After detecting the water entry signal output by the air / water medium sensor, water temperature data acquisition is started, and the water temperature values at different depths are continuously recorded by the temperature sensor to generate water temperature distribution data along the hole depth direction; The measurement probe is continuously lowered, the cable length recorded by the pull rope sensor is combined, and whether the measurement probe touches the bottom is detected by the acceleration sensor to determine the hole bottom depth; According to the difference between the water surface depth and the hole bottom depth, the water depth data of the target blast hole is calculated.

9. The method of claim 8, wherein, The step of acquiring parameter measurement data of multiple blast holes and generating a three-dimensional visualization model of the multiple blast holes based on the parameter measurement data of the multiple blast holes includes: Acquiring the hole depth data, hole diameter data along the depth direction, water depth data, and water temperature distribution data of each target blast hole; Based on the position coordinates and hole depth data of the target blast hole, determining the start and end points and axis direction of each blast hole in the three-dimensional geographic space; According to the hole diameter data along the depth direction, constructing the radial variation profile of the blast hole inner wall to generate a blast hole three-dimensional structure with variable diameter characteristics; Combining the water depth data and water temperature distribution data, marking the water area and water temperature attribute information in the blast hole three-dimensional structure; Integrating the blast hole three-dimensional structure, position coordinates, and water temperature attribute information of all blast holes into a unified three-dimensional coordinate system to generate a three-dimensional visualization model of the multiple blast holes.

10. A borehole parameter detection system characterized by, The blast hole parameter detection system includes a blast hole parameter detection platform, a blast hole measurement robot, an environment detection component, and a remote control terminal. The blast hole parameter detection platform is communicatively connected to the blast hole measurement robot, the environment detection component, and the remote control terminal. The blast hole parameter detection platform applies the blast hole parameter detection method according to any one of claims 1 to 9.

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