New intelligent hole inspection device and method for medium-length hole blasting

Abstract

A new intelligent hole inspection device for medium-length hole blasting. The device comprises: a driving device, a measuring device and a connecting device, wherein the driving device comprises an electric motor, guide wheels and a carrier, every four guide wheels are formed into a group, and a total of two groups of guide wheels are respectively arranged at the front and rear ends of the carrier; the measuring device comprises a data measurement unit, a data receiver and a data processing unit which are connected in sequence; and the connecting device comprises support rods and telescopic units, eight support rods are provided in total, and are respectively used to connected the eight guide wheels to the carrier, and the telescopic units are arranged at the joints of the support rods and the carrier, and can retract and extend on the basis of the size of a blasthole, such that the guide wheels are tightly pressed against a blasthole wall. The carrier is driven by the guide wheels to continuously move forward in the blasthole, and the data measurement unit records angle data of the blasthole and spatial moving trajectory data of the carrier and the eight guide wheels in real time, and wirelessly transmits the angle data and the spatial moving trajectory data to the data receiver and the data processing unit for further processing. Further provided is a new intelligent hole inspection method for medium-length hole blasting, which is used for calculating parameters of a blasthole.

Description

A new intelligent hole checking device and method for medium-deep hole blasting TECHNICAL FIELD

[0001] The present application relates to the field of blasting hole parameter measurement technology, in particular to a new intelligent hole checking device and method for medium-deep hole blasting. BACKGROUND

[0002] By reasonably designing the depth, diameter and number of the blast hole, it can be ensured that the explosive can be uniformly distributed in the blasting area, so as to achieve the expected blasting effect. However, due to the insufficient accuracy and stability of part of the drilling equipment, the unskilled drilling operators, the change of geological conditions and other reasons, the depth and direction of the blast hole may not be consistent, and in actual drilling, there are often unqualified blast holes, which affect the blasting effect and safety. Therefore, it is necessary to design a device that can intelligently detect the forming parameters of the blast hole, provide data support for rock drilling effect evaluation and accurate design of blasting explosive quantity, and ensure the smooth progress of blasting.

[0003] At present, there are technologies for measuring blast hole parameters by using ultrasonic waves and other methods on the market, but there are disadvantages such as difficulty in grasping the depth suitable for sound wave work in the hole, inconvenience in carrying and large-scale detection of the instrument, etc. They can only be used as auxiliary inspection instruments in the process, and there are guide wheel type hole measuring devices using guide pipes and guide grooves on the market, but in the process of use, the guide pipe is prone to torsional deformation, which causes the measured data and the measured direction to be inconsistent, resulting in errors. Therefore, it is necessary to develop a new intelligent blast hole parameter detection device. SUMMARY

[0004] The purpose of the present application is to provide a new intelligent hole checking device and method for medium-deep hole blasting, which can accurately measure the blast hole parameters.

[0005] The technical scheme provided by the present application is as follows:

[0006] In a first aspect, the present application provides a new intelligent hole checking device for medium-deep hole blasting, comprising a driving device, a measuring device and a connecting device.

[0007] The driving device comprises a motor, a guide wheel and a carrier, the motor provides power to the guide wheel, and the guide wheel drives the carrier to move forward and backward in the blast hole; the guide wheel has eight in total, four guide wheels form a group, and there are two groups of guide wheels arranged at the front and rear ends of the carrier; each group of guide wheels is centrally symmetrically distributed around the center point on a cross section; the two groups of guide wheels are symmetrically arranged;

[0008] The measuring device comprises a data measurement unit, a data receiver and a data processing unit, which are connected in sequence;

[0009] The data measuring unit comprises a plurality of sensors installed on the center of the carrier and the eight guide wheels, respectively used for measuring the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels;

[0010] The connecting device comprises eight support rods and telescopic units, the eight support rods are respectively used for connecting the eight guide wheels and the carrier; the support rods are provided with telescopic units at the connection positions with the carrier, which can be retracted and expanded according to the size of the blast hole, so that the guide wheels are tightly pressed on the blast hole wall;

[0011] The carrier is continuously driven in the blast hole by the guide wheels, the data measuring unit records the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels in real time, and wirelessly transmits the data to the data receiver and the data processing unit for further processing;

[0012] The data processing unit calculates the parameters of the blast hole based on the data transmitted by the measuring unit.

[0013] In a possible implementation, the plurality of sensors installed on the center of the carrier and the eight guide wheels comprise an angle sensor and a displacement sensor installed on the center of the carrier, and displacement sensors installed on the eight guide wheels; the angle sensor is used for recording the angle data of the blast hole in real time, and the displacement sensors record the spatial running track data of the carrier and the eight guide wheels in real time.

[0014] In a possible implementation, the parameters of the blast hole comprise the horizontal displacement of the center of the blast hole;

[0015] The formula for calculating the horizontal displacement of the center of the blast hole is: Δ i =L i ×sinθ i

[0016] Wherein, N is the number of measurement sections; Δ i is the displacement change of the i-th measurement section; L i is the spatial displacement measured by the displacement sensor installed on the center of the carrier in the i-th measurement section, θ i is the angle change measured by the displacement sensor installed on the center of the carrier in the i-th measurement section.

[0017] In a possible implementation, the parameters of the blast hole comprise the radius of the blast hole;

[0018] The calculation of the radius of the blast hole comprises: fitting a circle most similar to the cross section where the four guide wheels are located at the current position according to the positions of the same group of four guide wheels, and using the least square method to obtain the center and the radius of the circle, i.e. the radius of the blast hole at the current position.

[0019] In one possible implementation, the position of the guide wheel is obtained by placing a data receiver at the borehole, using the position of the data receiver as a reference coordinate, receiving a signal emitted by the guide wheel with a built-in signal transmitter, and using the time and azimuth of the received signal to determine the position coordinates of the guide wheel.

[0020] In one possible implementation, the position of the guide wheel is checked in the following way:

[0021] The number of rotations of the guide wheel is obtained using a sensor, and the length of the guide wheel displacement is calculated by combining the diameter of the guide wheel. The number of rotations of the eight guide wheels are cross-checked, and the calculated length of the guide wheel displacement is cross-checked with the data transmitted by the displacement sensor to realize the position verification of the guide wheel.

[0022] In one possible implementation, the parameters of the borehole include a three-dimensional model of the borehole;

[0023] The 3D model of the borehole is obtained through the following methods:

[0024] Using the spatial trajectory of the borehole center as the normal to the borehole section, and combining it with the borehole radius, the spatial trajectory of the borehole center and the borehole section are processed in three dimensions to form a three-dimensional model of the current borehole.

[0025] Secondly, this application provides a novel intelligent borehole verification method for medium-deep hole blasting, which uses the aforementioned novel intelligent borehole verification device for medium-deep hole blasting to calculate the parameters of the borehole.

[0026] The specific implementation of the second aspect of this application can refer to the implementation of the first aspect, and will not be elaborated here. Beneficial effects:

[0027] This invention designs a fully automatic guide wheel-type working device utilizing wireless signals. It can intelligently enter blast holes. During the device's hole-measuring operation, sensors automatically record the spatial displacement trajectory of the carrier center within the device. Simultaneously, based on the position of the guide wheels and the data processing unit, the radius of the blast hole at the current position is calculated. The spatial trajectory of the blast hole center serves as the normal to the blast hole cross-section. Combining the blast hole radius with the spatial trajectory of the blast hole center and the blast hole cross-section, a three-dimensional model of the current blast hole is formed. This facilitates blast hole inspection work in mines. It has the following advantages:

[0028] (1) By utilizing various sensors and wireless data processing units, automated intelligent hole inspection can be achieved, eliminating the need for manual data collection and calculation, effectively shortening the hole inspection cycle and helping to improve efficiency.

[0029] (2) high precision, fast response time, various sensor elements, data processing unit to ensure the rapid and accurate operation of the equipment, and on the basis of traditional hole inspection, it can further form a three-dimensional model of the medium-deep hole.

[0030] (3) Compared with the traditional guide wheel type equipment, the guide pipe guide groove is cancelled, the connecting cable is cancelled, and the wireless transmission method is used, so that the equipment is more flexible and convenient to install.

[0031] (4) There are four guide wheels in horizontal and vertical directions, which cooperate with the telescopic device to adapt to different shapes of medium-deep holes, and avoid the problem that the traditional guide wheel equipment may cause the guide pipe to twist when running in the guide pipe, resulting in inaccurate measurement data.

[0032] (5) The whole process is more continuous, and the continuous displacement of the hole from the hole to the bottom can be measured. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a schematic diagram of the device structure in an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of the device cross section in an embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the blast hole parameter relationship in an embodiment of the present application;

[0036] Figure 4 is a schematic diagram of the running track in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be further described in detail below with reference to the drawings in the embodiments of the present application.

[0038] The specific embodiments according to the present application will be described below with reference to the drawings.

[0039] As shown in Figure 1, the present application provides a new intelligent hole inspection device for medium-deep hole blasting, which comprises a driving device, a measuring device and a connecting device.

[0040] The driving device comprises a motor, guide wheels and a carrier. The motor provides power to the guide wheels, which drive the carrier to move forward and backward in the blast hole. The guide wheels are divided into two groups, each group having four guide wheels. The two groups of guide wheels are arranged symmetrically at the front and rear ends of the carrier. Each group of guide wheels is centrally symmetrically distributed around a center point on a cross section. Thus, there are four guide wheels in horizontal and vertical directions.

[0041] The measuring device comprises a data measurement unit, a data receiver and a data processing unit, which are connected in sequence.

[0042] The data measuring unit comprises a plurality of sensors installed on the center of the carrier and the eight guide wheels, which are used to measure the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels respectively.

[0043] The connecting device comprises eight support rods and telescopic units, which are used to connect the eight guide wheels and the carrier respectively; the connecting part of the support rod and the carrier is provided with a telescopic unit, which can be contracted and expanded according to the size of the blast hole, so that the guide wheels are tightly pressed on the blast hole wall.

[0044] The above structure can ensure that the device is always close to the center of the hole during operation, and the stability of the device is ensured, so that the measuring device works better.

[0045] The carrier is continuously driven by the guide wheels to advance in the blast hole, the data measuring unit records the angle data of the blast hole and the spatial running track data of the carrier and the eight guide wheels in real time, and transmits them to the data receiver and the data processing unit for further processing.

[0046] The data processing unit obtains the parameters of the blast hole based on the data transmitted by the measuring unit.

[0047] In some embodiments, the plurality of sensors installed on the center of the carrier and the eight guide wheels comprise an angle sensor and a displacement sensor installed on the center of the carrier, and displacement sensors installed on the eight guide wheels; the angle sensor is used to record the angle data of the blast hole in real time, and the displacement sensor records the spatial running track data of the carrier and the eight guide wheels in real time.

[0048] The parameters of the blast hole include the horizontal displacement of the blast hole center. The basic working principle for measuring the horizontal displacement of the blast hole center is shown in Figure 3.

[0049] During the operation of the device, the displacement sensor automatically records the spatial displacement of the carrier center, and the angle sensor automatically records the angle change of the carrier center.

[0050] When the measured blast hole is deformed, the plurality of sensors will synchronously sense the deformation, and the displacement change (deformation) and the angle change measured by the angle sensor and the displacement sensor installed on the center of the carrier at a certain depth measuring point have the following relationship: i = L i × sin θ i

[0051] In the formula: Δ i is the displacement change of the i-th measuring section, with the unit of mm; L i is the spatial displacement measured by the displacement sensor installed on the center of the carrier at the i-th measuring section, with the unit of mm; θ iThe measured angle change of the displacement sensor installed at the center of the carrier at the i-th measuring section, in °, is S i Δ i has the following relationship:

[0052] Where N is the number of measuring sections.

[0053] The total horizontal displacement of the hole center at each measuring section is obtained in sequence, and the spatial trajectory of the hole center can be obtained.

[0054] In addition, by obtaining the position of the guide wheel, the data processing unit can calculate the radius of the hole, including:

[0055] According to the same group of four guide wheels (4 guide wheels form 360 degrees), the most similar circle of the cross section where the four guide wheels are located at the current position is fitted (if the medium-length hole is punched out to be relatively regular and round, it is easy to measure the radius of the hole. If the shape of the medium-length hole is irregular, it needs to be fitted at this time), and the center and radius of the circle are obtained using the least squares method.

[0056] Suppose the position coordinates of the four data points are (x1, y1), (x2, y2), (x3, y3) and (x4, y4). In order to find a circle, its equation is (x-a) 2 +(y-b) 2 =r 2 , where (a, b) is the center of the circle, and r is the radius of the circle.

[0057] Set the objective function as the sum of the squares of the distances of all points to the center of the circle, which can be expressed as:

[0058] The data processing unit uses a previously written function to find the minimum value of the objective function S(a, b, r), and then the corresponding radius r of the circle, i.e. the radius of the hole at the current position, can be obtained.

[0059] In some embodiments, the position of the guide wheel can be obtained by placing a data receiver at the hole mouth, taking the position of the data receiver as the reference coordinate, receiving the signal emitted by the guide wheel with the built-in signal emitter, and determining the position coordinates of the guide wheel using the time and direction of the signal reception.

[0060] During data processing, set an appropriate sampling interval, and each sampling will obtain 9 data points, each corresponding to one data point of the eight guide wheels in front and behind the device, and one data point of the measuring device. Thus, the spatial trajectory data for subsequent data processing can be obtained.

[0061] In some embodiments, the position of the guide wheels can be checked in the following way:

[0062] The diameter of the guide wheels is fixed, the number of rotations of the guide wheels is obtained by using sensors, and the length of the displacement of the guide wheels is calculated by combining the diameter of the guide wheels; the number of rotations of the eight guide wheels is checked with each other, and the length of the displacement of the guide wheels calculated is checked with the data transmitted by the displacement sensor, so as to realize the position checking of the guide wheels.

[0063] By checking the position of the guide wheels, the correctness of the operation of the device can be verified.

[0064] The number of rotations of the guide wheels can be obtained by counting the electromagnetic signals of each rotation of the guide wheels by the Hall sensor installed on the guide wheels, or the number of rotations of the guide wheels can be collected by using ordinary photoelectric counters or weight counters.

[0065] The basic principle used by the application for measuring the spatial trajectory of the hole center and forming a three-dimensional model is shown in Figure 4. The spatial trajectory data of the carrier center, i.e. the spatial trajectory of the hole center, is used as the normal line of the four hole sections and the sections where the four guide wheels are located for three-dimensional processing to form a three-dimensional model of the current hole.

[0066] The overall operation process is as follows: when the device is running, the staff installs the device, places the device at the corresponding hole position, starts the equipment, and the device measures the data of the medium-length hole, the sensor of the measuring device measures and records the displacement, angle and other data and transmits them to the data receiver through wireless signal transmission, the data receiver transmits the data to the data processing unit, during the operation process, according to the shape of the hole wall, the supporting rod with the telescopic device and the guide wheels can adapt to the size of each part of the hole, realize the compression on the hole wall, ensure the proximity of the device to the hole center, ensure the stability of the operation process and the accuracy of the measurement, and according to the position of the guide wheels, the size of the radius of the hole is known, finally, according to the total information received by the data receiver, the calculation verification is carried out, the device can automatically identify whether the parameters of the hole are qualified, and according to the running trajectory and the size of the section, a three-dimensional model of the hole can be formed.

[0067] The embodiment of the application also provides a new intelligent hole checking method for medium-length hole blasting, which uses the above-mentioned new intelligent hole checking device for medium-length hole blasting to obtain the parameters of the hole. The specific implementation of the method can refer to the specific embodiments of the above-mentioned device, which will not be described here.

[0068] The above description of the embodiments of the present application is only part of the embodiments of the present application, for enabling or using the content of the present application, and is not intended to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A novel intelligent borehole inspection device for medium-deep hole blasting, characterized in that, include: Drive unit, measuring unit, and connecting unit; The driving device includes a motor, guide wheels, and a carrier. The motor provides power to the guide wheels, which drive the carrier to move back and forth in the borehole. There are eight guide wheels in total, with four guide wheels forming a group. Two groups of guide wheels are respectively set at the front and rear ends of the carrier. Each group of guide wheels is centrally symmetrically distributed around a center point on a cross section. The two groups of guide wheels are arranged symmetrically. The measuring device includes a data measuring unit, a data receiver, and a data processing unit, which are connected in sequence. The data measurement unit includes multiple sensors installed at the center of the carrier and on eight guide wheels, which are used to measure the angle data of the borehole and the spatial trajectory data of the carrier and the eight guide wheels, respectively. The connecting device includes support rods and telescopic units. There are eight support rods in total, which are used to connect eight guide wheels and the carrier respectively. The connection between the support rod and the carrier is provided with a telescopic unit, which can expand and contract according to the size of the borehole, so that the guide wheels are pressed tightly against the borehole wall. The carrier is driven to move forward continuously in the borehole by the guide wheels. The data measurement unit records the angle data of the borehole and the spatial trajectory data of the carrier and the eight guide wheels in real time, and wirelessly transmits them to the data receiver and data processing unit for further processing. The data processing unit calculates the parameters of the borehole based on the data transmitted by the measurement unit.

2. The apparatus according to claim 1, characterized in that, The multiple sensors installed at the center of the carrier and on the eight guide wheels include an angle sensor and a displacement sensor installed at the center of the carrier, and displacement sensors installed on the eight guide wheels; the angle sensor is used to record the angle data of the borehole in real time, and the displacement sensor records the spatial trajectory data of the carrier and the eight guide wheels in real time.

3. The apparatus according to claim 2, characterized in that, The parameters of the borehole include the horizontal displacement of the borehole center; The formula for calculating the horizontal displacement of the borehole center is: D i =L i ×sinθ i Where N is the number of measurement segments; Δ i L represents the displacement change of the segment measured at the i-th measuring point; i θ is the spatial displacement measured by the displacement sensor installed at the center of the carrier in the i-th measurement segment. i The change in angle measured by the displacement sensor installed at the center of the carrier in the i-th measurement segment.

4. The apparatus according to claim 1, characterized in that, The parameters of the borehole include the radius of the borehole; Calculating the radius of the borehole involves: fitting the most similar circle to the cross section of the four guide wheels at the current position based on their positions, and then using the least squares method to obtain the center and radius of the circle, which is the radius of the borehole at the current position.

5. The apparatus according to claim 4, characterized in that, The position of the guide wheel is obtained by placing a data receiver at the borehole, using the position of the data receiver as a reference coordinate, receiving the signal emitted by the guide wheel with a built-in signal transmitter, and using the time and azimuth of the received signal to determine the position coordinates of the guide wheel.

6. The apparatus according to claim 5, characterized in that, The position of the guide wheel is checked using the following method: The number of rotations of the guide wheel is obtained using a sensor, and the length of the guide wheel displacement is calculated by combining the diameter of the guide wheel. The number of rotations of the eight guide wheels are cross-checked, and the calculated length of the guide wheel displacement is cross-checked with the data transmitted by the displacement sensor to realize the position verification of the guide wheel.

7. The apparatus according to any one of claims 4 to 6, characterized in that, The parameters of the borehole include a three-dimensional model of the borehole; The 3D model of the borehole is obtained through the following methods: Using the spatial trajectory of the borehole center as the normal to the borehole section, and combining it with the borehole radius, the spatial trajectory of the borehole center and the borehole section are processed in three dimensions to form a three-dimensional model of the current borehole.

8. A novel intelligent borehole inspection method for medium-deep hole blasting, characterized in that, The parameters of the borehole are calculated using the apparatus described in any one of claims 1 to 7.

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