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CN-122014223-A - Method for three-dimensionally observing drill hole peeping blasting crack by micro machine

CN122014223ACN 122014223 ACN122014223 ACN 122014223ACN-122014223-A

Abstract

The invention discloses a method for observing, drilling and peeping blasting cracks by a micro machine in three dimensions, which belongs to the technical field of drilling observation technology and blasting engineering detection, the three-dimensional digital core map and the track map of the drilling hole are generated with high precision by matching the circular camera array and the laser scanning unit, sending the circular camera array and the laser scanning unit into the drilling hole to be tested through the flexible guiding device and combining the autonomous navigation and data fusion technology. And quantitatively extracting crack parameters through data comparison of two observations before and after blasting, and reversely pushing optimal blasting parameters by combining the detonation pressure, the charging structure and the geological conditions to form a closed-loop optimization system. The invention greatly improves the observation efficiency, overcomes the visual field blind area, adapts to the complex drilling environment, provides key technical support for intelligent blasting and digital mine construction, and has remarkable practicability and innovation.

Inventors

  • He Dengyun
  • ZHANG HENG
  • YANG JINGXUAN
  • WANG CHUANFENG
  • ZHAO ZHIYUAN
  • LIU CHENG
  • XU DONG
  • SUN KAIQIANG

Assignees

  • 淮北矿业股份有限公司

Dates

Publication Date
20260512
Application Date
20251227

Claims (10)

  1. 1. The method for observing the drill hole peeping and blasting cracks in the three-dimensional manner by the micro machine is characterized by comprising the following steps of: s1, designing and manufacturing a miniature three-dimensional scanning machine, wherein the length of the main body of the three-dimensional scanning machine is smaller than the diameter of a drilling hole to be measured, the miniature three-dimensional scanning machine is provided with an all-round camera array, a laser scanning unit, an Inertial Measurement Unit (IMU) and an autonomous navigation system, and has waterproof, dustproof and vibration-resistant performances, and the working temperature is suitable for an environment of-10 ℃ to 60 ℃; S2, the three-dimensional scanning machine is sent into a borehole to be measured through a flexible guiding device, an autonomous navigation system is started, and the three-dimensional scanning machine is controlled to move at a constant speed along the axial direction of the borehole; S3, continuously shooting a hole wall panoramic image by using the panoramic camera array in the moving process of the three-dimensional scanning machine, synchronously collecting three-dimensional coordinate point clouds on the surface of the hole wall by using the laser scanning unit, and correcting the posture and depth positioning of the three-dimensional scanning machine in real time by using the inertial measurement unit; S4, receiving the image and the point cloud data by the ground terminal, and generating a high-precision drilling three-dimensional digital core map and a drilling track map through data fusion processing; s5, respectively executing the observation flows from S2 to S4 on the same drilling hole to be detected before and after blasting to obtain a three-dimensional digital core diagram, a track diagram and corresponding original data of two observations; s6, comparing the observed data before and after blasting, and extracting the positions, the number, the opening degree, the extension direction and the distribution density of newly-increased cracks; S7, analyzing a crack development rule by combining the detonation pressure, the charging structure and the geological conditions of the blasting engineering, and reversely pushing the combination of the optimal hole distribution radius and the blasting parameters; And S8, feeding back the optimal blasting parameter combination to the next cycle blasting design.
  2. 2. The method for observing a borehole peeping blast crack by a micro machine according to claim 1, wherein the looking-around camera array is composed of 4-8 CMOS sensors, the sensors are uniformly distributed circumferentially, and the resolution of a single CMOS sensor is not lower than 1080P.
  3. 3. The method for observing and drilling peeping and blasting cracks on a micro-machine according to claim 1, wherein the laser scanning unit is a single-line or multi-line rotary laser radar, the scanning frequency is not lower than 20Hz, and the range error is not more than +/-2 mm.
  4. 4. The method for three-dimensionally observing a borehole peeping and blasting crack on a micro-machine according to claim 1, wherein the data transmission mode in S4 is wire transmission or wireless transmission, the wireless transmission adopts 5G or LoRa communication protocol, remote control and instant data analysis are supported, and the data transmission delay is not more than 50ms.
  5. 5. The method for observing the peeping and blasting cracks of the drill holes in the three-dimensional machine according to claim 1, wherein the flexible guiding device is made of high-strength nylon woven materials, the diameter of the flexible guiding device can be adjusted in a self-adaptive mode within the range of 8-50 mm, the flexible guiding device is adaptive to the drill holes to be detected with different diameters, and the three-dimensional scanning machine can be guided to pass through the drill hole sections with the bending angles not exceeding 15 degrees.
  6. 6. The method for observing, drilling and peeping and blasting cracks by a micro machine according to claim 1, wherein a preset track planning module and a real-time obstacle avoidance module are arranged in the autonomous navigation system, the three-dimensional scanning machine is controlled to move at a speed which is adjustable within a range of 0.05-0.2 m/s through cooperative feedback of an inertial measurement unit and a laser scanning unit, and the movement deviation is not more than +/-3 mm/m.
  7. 7. The method for observing a borehole peeping and blasting crack by a micro machine according to claim 1, wherein the data fusion processing in the step S4 adopts an image-point cloud registration algorithm based on Kalman filtering to fuse texture information of a two-dimensional image with spatial position information of a three-dimensional point cloud, and the resolution of a generated borehole three-dimensional digital core map is not lower than 0.1 mm/pixel.
  8. 8. The method for three-dimensionally observing, drilling and peeping and blasting cracks by a micro machine according to claim 1, wherein in the step S6, observation data before and after blasting are compared by adopting a deep learning semantic segmentation model, a newly-added crack area is automatically identified, the measurement precision of the opening degree of the quantitatively extracted crack is not lower than +/-0.05 mm, and the measurement precision of the extending direction is not lower than +/-2 degrees.
  9. 9. The method for three-dimensionally observing a borehole peeping blast crack according to claim 1, wherein the geological conditions combined in S7 include rock compressive strength, rock integrity factor, formation inclination angle and joint development density, and the optimal blast parameter combination is back-deduced by establishing a multiple regression model of crack development parameters with initiation pressure, charge structure and geological conditions.
  10. 10. The method for three-dimensionally observing a borehole peeping and blasting crack on a micro-machine according to claim 1, wherein the three-dimensional scanning machine is further provided with a detachable battery pack, wherein a single endurance time is not less than 4 hours, hot plug replacement is supported, and a data storage module is built in and can locally store observation data not less than 100 GB.

Description

Method for three-dimensionally observing drill hole peeping blasting crack by micro machine Technical Field The invention belongs to the technical field of drilling observation technology and blasting engineering detection, and particularly relates to a method for peeping blasting cracks by three-dimensional observation drilling of a micro machine. Background Currently, borehole peeking techniques play a key role in the engineering and scientific fields, especially in assessing and monitoring borehole quality and fracture surface conditions. Typically, we use a drill sound instrument to achieve this. Such instruments are elaborate in design and typically consist of a camera-mounted connecting rod made of a hard, solid, rigid material to ensure accurate viewing inside the borehole. However, for directional drilling, the situation is slightly different. Directional drilling is a technically complex and relatively accurate drilling method, the drilling of which may be at an angle. This design makes the line of sight of the borehole not straight, but with a certain angle of deviation, which increases the difficulty during the peeping of the borehole. Disclosure of Invention The invention aims to provide a method for observing a borehole peeping blasting crack in a three-dimensional manner by a micro machine, so as to solve the problems in the background art. In order to achieve the purpose, the invention provides the technical scheme that the method for observing the drill hole peeping blasting cracks in three dimensions by using the micro machine comprises the following steps: s1, designing and manufacturing a miniature three-dimensional scanning machine, wherein the length of the main body of the three-dimensional scanning machine is smaller than the diameter of a drilling hole to be measured, the miniature three-dimensional scanning machine is provided with an all-round camera array, a laser scanning unit, an Inertial Measurement Unit (IMU) and an autonomous navigation system, and has waterproof, dustproof and vibration-resistant performances, and the working temperature is suitable for an environment of-10 ℃ to 60 ℃; S2, the three-dimensional scanning machine is sent into a borehole to be measured through a flexible guiding device, an autonomous navigation system is started, and the three-dimensional scanning machine is controlled to move at a constant speed along the axial direction of the borehole; S3, continuously shooting a hole wall panoramic image by using the panoramic camera array in the moving process of the three-dimensional scanning machine, synchronously collecting three-dimensional coordinate point clouds on the surface of the hole wall by using the laser scanning unit, and correcting the posture and depth positioning of the three-dimensional scanning machine in real time by using the inertial measurement unit; S4, receiving the image and the point cloud data by the ground terminal, and generating a high-precision drilling three-dimensional digital core map and a drilling track map through data fusion processing; s5, respectively executing the observation flows from S2 to S4 on the same drilling hole to be detected before and after blasting to obtain a three-dimensional digital core diagram, a track diagram and corresponding original data of two observations; s6, comparing the observed data before and after blasting, and extracting the positions, the number, the opening degree, the extension direction and the distribution density of newly-increased cracks; S7, analyzing a crack development rule by combining the detonation pressure, the charging structure and the geological conditions of the blasting engineering, and reversely pushing the combination of the optimal hole distribution radius and the blasting parameters; And S8, feeding back the optimal blasting parameter combination to the next cycle blasting design. In a specific embodiment, the look-around camera array is composed of 4-8 CMOS sensors, the sensors are uniformly distributed circumferentially, and the resolution of a single CMOS sensor is not lower than 1080P. In the implementation process, parameter calibration is required to be performed on the panoramic camera array, a miniature three-dimensional scanning machine is placed in front of a 360-degree panoramic calibration plate, and exposure parameters and white balance of each CMOS sensor are adjusted, so that imaging brightness and colors of adjacent sensors are kept consistent. And then, acquiring the image of the calibration plate, verifying the splicing error through an image splicing algorithm, ensuring that the splicing gap of the 360-degree panoramic image is smaller than 1 pixel, and eliminating the visual blind area. After the machine enters a borehole, each CMOS sensor synchronously shoots at the frequency of 30 frames/second, every time 5 groups of panoramic images are acquired, the system automatically performs matching verification on texture features of the edges of