CN107144192A - A kind of intelligent construction method of pinpoint blasting - Google Patents
A kind of intelligent construction method of pinpoint blasting Download PDFInfo
- Publication number
- CN107144192A CN107144192A CN201710456625.2A CN201710456625A CN107144192A CN 107144192 A CN107144192 A CN 107144192A CN 201710456625 A CN201710456625 A CN 201710456625A CN 107144192 A CN107144192 A CN 107144192A
- Authority
- CN
- China
- Prior art keywords
- charge
- data
- pinpoint blasting
- intelligent
- blasting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D3/00—Particular applications of blasting techniques
- F42D3/04—Particular applications of blasting techniques for rock blasting
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
- Earth Drilling (AREA)
Abstract
The present invention provides a kind of pinpoint blasting intelligent construction method, and the three-dimensional modeling data in quick-fried area is measured first；Pinpoint blasting design is carried out using pinpoint blasting design system；Then drill hole information data, charge constitution data are sent respectively to intelligent hole-drilling system, intelligent charge system by communications network system；Intelligent hole-drilling system drills according to drill hole information data intelligence；Intelligent charge system is according to charge constitution data intelligence powder charge；Finally, line and pinpoint blasting is prepared.The present invention realizes that rig track route is planned, is automatically positioned, intelligence drills, and the coal top plate data point reuse charge constitution that can be obtained according to drilling, realize being automatically positioned of blasting agent mixing vehicle, intelligent powder charge, a small amount of workman's monitoring is only needed in work progress, so as to reduce the working strength of pinpoint blasting construction, construction precision and operating efficiency are improved, improves demolition effect, production cost is reduced.
Description
Technical field
The invention belongs to opencast mining technical field, and in particular to a kind of intelligent construction method of pinpoint blasting.
Background technology
Opencut application pinpoint blasting technology can will be partially stripped the direct throwing of thing to goaf, improve the life of opencut
Production capacity power, reduces production cost.At present, the link such as pinpoint blasting drilling, powder charge is main by manually operating, because pinpoint blasting is quick-fried
Area is irregular, the reason such as bench face, slope top surface and roof out-of-flatness, causes artificially to determine bore position, powder charge position
Big workload, construction precision and the efficiency such as put low, influence pinpoint blasting effect.
The content of the invention
The problem of existing for prior art, the present invention, which provides one kind, can improve pinpoint blasting construction precision and operation effect
Rate, reduction working strength, the intelligent construction method of pinpoint blasting for improving demolition effect.
The present invention technical solution be：The present invention provides a kind of pinpoint blasting intelligent construction method, including such as bottom
Point：
Quick-fried region measurement system (11)：For measuring pinpoint blasting step slope top surface (1), domatic (2) and quick-fried area boundary line
(3), and by quick-fried area's three-dimensional modeling data of measurement by communications network system (12) it is automatically transmitted to pinpoint blasting design system
(13)；
Communications network system (12)：For the data transfer between each system；
Pinpoint blasting design system (13)：For designing pinpoint blasting parameter, and export drill hole information data, charge constitution
Data, by communications network system (12), are sent respectively to intelligent hole-drilling system (14), intelligent charge system (15)；
Intelligent hole-drilling system (14)：Rig is set to be automatically positioned according to bore position data by programme path, adjust automatically is bored
Bar orientation and angle, intelligence drilling, and automatic identification coal-rock detection line, adjust drillable length；
Intelligent charge system (15)：Blasting agent mixing vehicle is automatically positioned according to charge constitution data by programme path, intelligence
Energy powder charge,
Step is as follows：
S11. measurement pinpoint blasting step slope top surface (1), domatic (2) and quick-fried area boundary line (3), obtain pinpoint blasting quick-fried
Area's three-dimensional modeling data；
S12. quick-fried area's three-dimensional modeling data is transferred to pinpoint blasting design system, according to the geological conditions in quick-fried area, utilized
Pinpoint blasting design system carries out pinpoint blasting design, output drill hole information data, charge constitution data；
S13. drill hole information data are sent to intelligent hole-drilling system (14), rig is moved according to bore position data intelligence
Drilled to relevant position, and according to design dip angle of hole (4), record actual borehole length (7)；
S14. when design drillable length (5) it is unequal with actual borehole length (7) when, by intelligent hole-drilling system by actual coal
Top plate (8) data are sent to pinpoint blasting design system, adjust charge constitution data using pinpoint blasting design system, that is, press
Formula adjustment charge positions (6) and explosive payload (Q)：
Lt=L+ (la-ld)
Qt=Q+ π D2(la-ld)ρ/4
In formula, LtFor the charge positions after adjustment, L is charge positions (6), ldFor design drillable length (5), laFor reality
Drillable length (7), QtFor the explosive payload after adjustment, D is bore diameter, and ρ is explosive density.
S15. charge constitution data are sent to intelligent charge system, blasting agent mixing vehicle is moved according to bore position data intelligence
Move to relevant position, and according to the explosive payload (Q after the charge positions (9) after adjustment, adjustmentt) powder charge；
S16. complete after powder charge, line simultaneously prepares pinpoint blasting.
Described quick-fried area's three-dimensional modeling data is pinpoint blasting step slope top surface (1), domatic (2) and quick-fried area boundary line
(3) three-dimensional coordinate of each point on.
Described pinpoint blasting design system (13) output for drill hole information data, charge constitution data, drill hole information
Data include drilling numbering (n), bore position data (xn,yn,zn), dip angle of hole (4) and design drillable length (5), powder charge
Structured data includes all types of explosive loading positions (6) and explosive payload (Q).
Described dip angle of hole (4) is 60-90 °.
Described bore position data are the three-dimensional coordinate (x at drill mouth centern,yn,zn)。
Described charge positions (6) refer to distance of all types of explosive bottoms far from aperture in one borehole, before powder charge
Or whether check borehole length or explosive payload meet design requirement in powder charge process.
What the present invention was reached has the technical effect that：Overcome the shortcomings of in traditional pinpoint blasting work progress, realize rig row
Walk route planning, be automatically positioned, intelligence drilling, and the coal top plate data point reuse charge constitution that can be obtained according to drilling realizes fried
A small amount of workman's monitoring is only needed in being automatically positioned of medicine bulk mixing truck, intelligent powder charge, work progress, so as to reduce pinpoint blasting construction
Working strength, improves construction precision and operating efficiency, improves demolition effect, reduces production cost.
Brief description of the drawings
Fig. 1 is pinpoint blasting step threedimensional model schematic diagram of the invention；
Fig. 2 is the flow chart of the intelligent construction method of pinpoint blasting of the present invention；
Fig. 3 is the structural representation of the intelligent construction system of pinpoint blasting of the present invention；
Fig. 4 is embodiments of the invention pinpoint blasting step three-dimensional model diagram.
Embodiment
The embodiment of the present invention provides a kind of pinpoint blasting intelligent construction method, the implementation below in conjunction with accompanying drawing to the present invention
Mode is further described：
A kind of intelligent construction method of pinpoint blasting, including following part：
Quick-fried region measurement system (11)：For measuring pinpoint blasting step slope top surface (1), domatic (2) and quick-fried area boundary line
(3), and by quick-fried area's three-dimensional modeling data of measurement by communications network system (12) it is automatically transmitted to pinpoint blasting design system
(13)；
Communications network system (12)：For the data transfer between each system；
Pinpoint blasting design system (13)：For designing pinpoint blasting parameter, and export drill hole information data, charge constitution
Data, by communications network system (12), are sent respectively to intelligent hole-drilling system (14), intelligent charge system (15)；
Intelligent hole-drilling system (14)：Rig is set to be automatically positioned according to bore position data by programme path, adjust automatically is bored
Bar orientation and angle, intelligence drilling, and automatic identification coal-rock detection line, adjust drillable length；
Intelligent charge system (15)：Blasting agent mixing vehicle is automatically positioned according to charge constitution data by programme path, intelligence
Energy powder charge,
Step is as follows：
S11. using quick-fried region measurement system 11 measurement pinpoint blasting step slope top surface 1, domatic 2 and quick-fried area boundary line 3, obtain
The quick-fried area's three-dimensional modeling data of pinpoint blasting is obtained, described quick-fried area's three-dimensional modeling data is pinpoint blasting step slope top surface 1, domatic 2
And on quick-fried area boundary line 3 each point three-dimensional coordinate.As shown in table 1：
The quick-fried area's three-dimensional modeling data of the pinpoint blasting of table 1
S12. the data in table 1 are sent to pinpoint blasting design system 13 by communications network system 12.Communication network
The data transfer that system 12 is used between each system；Pinpoint blasting design system 13 is used to design pinpoint blasting parameter, and throwing is quick-fried
Broken data of the design system 13 in table 1 set up pinpoint blasting step threedimensional model, as shown in figure 4, and according to the ground in quick-fried area
Matter condition, pinpoint blasting design is carried out using pinpoint blasting design system 13, designs pinpoint blasting parameter, described pinpoint blasting
Parameter includes pitch-row, array pitch etc., and pitch-row is 12m in this example, and array pitch is 8m.Drill hole information data, charge constitution data are exported, are led to
Communications network system 12 is crossed, intelligent hole-drilling system 14, intelligent charge system 15 is sent respectively to；Drill hole information data include drilling
Numbering n, bore position data xn,yn,zn, dip angle of hole 4 and design drillable length 5, described dip angle of hole 4 is 60-90 °,
Described bore position data are the three-dimensional coordinate x at drill mouth centern,yn,zn.Charge constitution data include all types of explosive loadings
Position 6 and explosive payload Q；Described charge positions 6 refer to distance of all types of explosive bottoms far from aperture in one borehole, for filling
Whether check borehole length or explosive payload meet design requirement before medicine or in powder charge process.2, table 3 is shown in Table respectively：
The part drill hole information tables of data of table 2
The part charge constitution tables of data of table 3
S13. drill hole information data are sent to intelligent hole-drilling system 14, automatic station-keeping system, correlation is installed on rig
Sensor and control system form intelligent hole-drilling system 14, make rig automatically fixed by programme path according to bore position data
Position, adjust automatically drilling rod orientation and angle, intelligence drilling, and automatic identification coal-rock detection line, adjust drillable length, and record is actual
Drillable length 7.When such as boring first drilling A1 of first row, rig is automatically moved into coordinate points (773.75,885.97,142.18)
Near, with coordinate points (773.75,885.97,142.18) for drill mouth center, drilled with 65 ° of inclination angles, when being drilled into coal-rock detection line
Stop drilling, record actual borehole length 7 is 43.6m；
S14. when design drillable length 5 and actual borehole length 7 it is unequal when, by intelligent hole-drilling system 14 by actual coal top
The data of plate 8 are sent to pinpoint blasting design system 13, and charge constitution data are adjusted by pinpoint blasting design system 13.I.e. as the following formula
Adjust charge positions (6) and explosive payload (Q)：
Lt=L+ (la-ld)
Qt=Q+ π D2(la-ld)ρ/4
In formula, LtFor the charge positions after adjustment, L is charge positions (6), ldFor design drillable length (5), laFor reality
Drillable length (7), QtFor the explosive payload after adjustment, D is bore diameter, and ρ is explosive density；
Actual borehole length such as first drilling of first row is 43.6m, and drillable length 43.4 is designed more than it, and drilling is straight
Footpath D=0.31m, ammonium nitrate-fuel oil mixture density p=850kg/m3, the charge positions of ammonium nitrate-fuel oil mixture are adjusted to by 13.6m according to formula, filled
Dose is adjusted to 423.2kg；
S15. charge constitution data are sent to intelligent charge system 15, installation, which is automatically positioned, on blasting agent mixing vehicle is
System, explosive metering system and control system form intelligent charge system 15, enable blasting agent mixing vehicle according to charge constitution data
Be automatically positioned by programme path, intelligent powder charge.Blasting agent mixing vehicle is moved to relevant position, and root according to bore position data intelligence
According to the charge positions 9 after adjustment, explosive payload QtPowder charge.During such as first borehole charge of first row, blasting agent mixing vehicle intelligent mobile
To coordinate points (773.75,885.97,142.18), first to the built-in titania-mica 2489.5kg that drills, ammonium is then filled
Fried medicine 423.2kg, finally filling drilling；
S16. complete after powder charge, line simultaneously prepares pinpoint blasting.
Shown by field experiment, after the intelligent construction method of above-mentioned pinpoint blasting, pinpoint blasting greatly improved and sets
The construction precision of the links such as meter, drilling, powder charge, single hole positioning and powder charge time can reduce 5-8 minutes, significantly reduce work
Make intensity.
Claims (6)
1. a kind of intelligent construction method of pinpoint blasting, including following part：
Quick-fried region measurement system (11)：For measuring pinpoint blasting step slope top surface (1), domatic (2) and quick-fried area boundary line (3),
And quick-fried area's three-dimensional modeling data of measurement is automatically transmitted to pinpoint blasting design system (13) by communications network system (12)；
Communications network system (12)：For the data transfer between each system；
Pinpoint blasting design system (13)：For designing pinpoint blasting parameter, and export drill hole information data, charge constitution number
According to by communications network system (12), being sent respectively to intelligent hole-drilling system (14), intelligent charge system (15)；
Intelligent hole-drilling system (14)：Rig is automatically positioned according to bore position data by programme path, adjust automatically drilling rod side
Position and angle, intelligence drilling, and automatic identification coal-rock detection line, adjust drillable length；
Intelligent charge system (15)：Blasting agent mixing vehicle is set to be automatically positioned according to charge constitution data by programme path, intelligence is filled
Medicine,
It is characterized in that：Step is as follows：
S11. quick-fried region measurement system (11) measurement pinpoint blasting step slope top surface (1), domatic (2) and quick-fried area boundary line are utilized
(3) the quick-fried area's three-dimensional modeling data of pinpoint blasting, is obtained；
S12. quick-fried area's three-dimensional modeling data is transferred to pinpoint blasting design system (13), according to the geological conditions in quick-fried area, utilized
Pinpoint blasting design system (13) carries out pinpoint blasting design, output drill hole information data, charge constitution data；
S13. drill hole information data are sent to intelligent hole-drilling system (14), rig is moved to phase according to bore position data intelligence
Position is answered, and is drilled according to design dip angle of hole (4), record actual borehole length (7)；
S14. when design drillable length (5) it is unequal with actual borehole length (7) when, by intelligent hole-drilling system by actual coal top plate
(8) data are sent to pinpoint blasting design system, adjust charge constitution data using pinpoint blasting design system (13), that is, press
Formula adjustment charge positions (6) and explosive payload (Q)：
Lt=L+ (la-ld)
Qt=Q+ π D2(la-ld)ρ/4
In formula, LtFor the charge positions after adjustment, L is charge positions (6), ldFor design drillable length (5), laFor actual borehole
Length (7), QtFor the explosive payload after adjustment, D is bore diameter, and ρ is explosive density；
S15. charge constitution data are sent to intelligent charge system (15), blasting agent mixing vehicle is moved according to bore position data intelligence
Move to relevant position, and according to charge positions (9), the explosive payload (Q after adjustmentt) powder charge；
S16. complete after powder charge, line simultaneously prepares pinpoint blasting.
2. the intelligent construction method of a kind of pinpoint blasting as claimed in claim 1, it is characterised in that：Described quick-fried area's threedimensional model
Data are pinpoint blasting step slope top surfaces (1), on domatic (2) and quick-fried area boundary line (3) each point three-dimensional coordinate.
3. the intelligent construction method of a kind of pinpoint blasting as claimed in claim 1, it is characterised in that：Described pinpoint blasting design
System (13) output for drill hole information data, charge constitution data, drill hole information data include drilling numbering (n), drilling position
Put data (xn,yn,zn), dip angle of hole (4) and design drillable length (5), charge constitution data include all types of explosive loadings
Position (6) and explosive payload (Q).
4. the intelligent construction method of a kind of pinpoint blasting as claimed in claim 3, it is characterised in that：Described dip angle of hole (4)
For 60-90 °.
5. the intelligent construction method of a kind of pinpoint blasting as claimed in claim 3, it is characterised in that：Described bore position data
It is the three-dimensional coordinate (x at drill mouth centern,yn,zn)。
6. the intelligent construction method of a kind of pinpoint blasting as claimed in claim 1, it is characterised in that：Described charge positions (6)
Refer to distance of all types of explosive bottoms far from aperture in one borehole, for check borehole length before powder charge or in powder charge process
Or whether explosive payload meets design requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710456625.2A CN107144192B (en) | 2017-06-16 | 2017-06-16 | A kind of pinpoint blasting intelligence construction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710456625.2A CN107144192B (en) | 2017-06-16 | 2017-06-16 | A kind of pinpoint blasting intelligence construction method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107144192A true CN107144192A (en) | 2017-09-08 |
| CN107144192B CN107144192B (en) | 2018-08-14 |
Family
ID=59781537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710456625.2A Expired - Fee Related CN107144192B (en) | 2017-06-16 | 2017-06-16 | A kind of pinpoint blasting intelligence construction method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107144192B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107941106A (en) * | 2017-11-24 | 2018-04-20 | 中铁十局集团第四工程有限公司 | A kind of drilling and charge device and charging operation method for tunnel blasting excavation |
| CN109162690A (en) * | 2018-08-23 | 2019-01-08 | 北方爆破科技有限公司 | A kind of drilling machine intelligence control system |
| CN112253136A (en) * | 2020-10-27 | 2021-01-22 | 中铁十二局集团有限公司 | Intelligent excavation method for large-section tunnel of high-speed railway |
| CN113236223A (en) * | 2021-06-10 | 2021-08-10 | 安徽理工大学 | Intelligent design system and method for coal mine underground gas prevention and control drilling |
| CN114894052A (en) * | 2021-12-03 | 2022-08-12 | 本钢板材股份有限公司 | Accurate point setting method for open bench blasting |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1886635A (en) * | 2003-11-28 | 2006-12-27 | 澳瑞凯炸药技术有限公司 | Method of blasting multiple layers or levels of rock |
| CN101110067A (en) * | 2007-06-07 | 2008-01-23 | 李萍丰 | Intelligent analytical method and system for blasting operation |
| CN103216238A (en) * | 2012-12-28 | 2013-07-24 | 中国神华能源股份有限公司 | Open pit coal mine mining process |
| EP2660555A2 (en) * | 2012-05-04 | 2013-11-06 | CEBAR - DG Spólka z ograniczona odpowiedzialnoscia | A method of detaching a monolith from rock massif and a device for application of the method |
| CN103597161A (en) * | 2011-06-14 | 2014-02-19 | 山特维克矿山工程机械有限公司 | Method and arrangement for preparing a charging plan |
| EP2915950A1 (en) * | 2014-03-04 | 2015-09-09 | Sandvik Mining and Construction Oy | Apparatus and method for designing and modifying drilling pattern for bench drilling |
| CN106368706A (en) * | 2016-08-27 | 2017-02-01 | 肖双双 | Casting blast and pull shovel handling mining procedure |
-
2017
- 2017-06-16 CN CN201710456625.2A patent/CN107144192B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1886635A (en) * | 2003-11-28 | 2006-12-27 | 澳瑞凯炸药技术有限公司 | Method of blasting multiple layers or levels of rock |
| CN101110067A (en) * | 2007-06-07 | 2008-01-23 | 李萍丰 | Intelligent analytical method and system for blasting operation |
| CN103597161A (en) * | 2011-06-14 | 2014-02-19 | 山特维克矿山工程机械有限公司 | Method and arrangement for preparing a charging plan |
| EP2660555A2 (en) * | 2012-05-04 | 2013-11-06 | CEBAR - DG Spólka z ograniczona odpowiedzialnoscia | A method of detaching a monolith from rock massif and a device for application of the method |
| CN103216238A (en) * | 2012-12-28 | 2013-07-24 | 中国神华能源股份有限公司 | Open pit coal mine mining process |
| EP2915950A1 (en) * | 2014-03-04 | 2015-09-09 | Sandvik Mining and Construction Oy | Apparatus and method for designing and modifying drilling pattern for bench drilling |
| CN106368706A (en) * | 2016-08-27 | 2017-02-01 | 肖双双 | Casting blast and pull shovel handling mining procedure |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107941106A (en) * | 2017-11-24 | 2018-04-20 | 中铁十局集团第四工程有限公司 | A kind of drilling and charge device and charging operation method for tunnel blasting excavation |
| CN109162690A (en) * | 2018-08-23 | 2019-01-08 | 北方爆破科技有限公司 | A kind of drilling machine intelligence control system |
| CN112253136A (en) * | 2020-10-27 | 2021-01-22 | 中铁十二局集团有限公司 | Intelligent excavation method for large-section tunnel of high-speed railway |
| CN113236223A (en) * | 2021-06-10 | 2021-08-10 | 安徽理工大学 | Intelligent design system and method for coal mine underground gas prevention and control drilling |
| CN114894052A (en) * | 2021-12-03 | 2022-08-12 | 本钢板材股份有限公司 | Accurate point setting method for open bench blasting |
| CN114894052B (en) * | 2021-12-03 | 2023-11-07 | 本钢板材股份有限公司 | Accurate point setting method for open-air step blasting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107144192B (en) | 2018-08-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107144192B (en) | A kind of pinpoint blasting intelligence construction method | |
| CN107100663B (en) | A kind of accurate pumping method of coal mine gas | |
| CN105113987B (en) | Interbedding of soft and hard rocks coal seam concordant measurement while drilling directional drilling equipment and its construction method | |
| CN108930539A (en) | A method of it is controlled based on BIM Tunnel Overbreak & Underbreak | |
| CN104596371A (en) | Digitized surface blasting operation method | |
| CN207007177U (en) | A kind of drill jumbo fast positioning automatic measurement system | |
| CN107941106A (en) | A kind of drilling and charge device and charging operation method for tunnel blasting excavation | |
| CN112253136A (en) | Intelligent excavation method for large-section tunnel of high-speed railway | |
| CN110513043A (en) | A kind of vertical drilling process straightening control method based on automatic guide drilling tool | |
| CN111764818A (en) | Eccentric casing following drilling construction structure and method for anchoring engineering | |
| CN104763329B (en) | A kind of forward beam normotopia follower of drill jumbo | |
| CN207866127U (en) | A kind of drilling and charge device for tunnel blasting excavation | |
| CN108643830A (en) | The narrow body directional drilling machine of girdle high inclination-angle and drilling method | |
| AU2005206589A1 (en) | Automated drill string position survey | |
| CN109578058B (en) | Method for improving gas extraction concentration of extraction borehole through auxiliary drilling | |
| CN2854083Y (en) | Slop shothole drilling field positioning instrument | |
| CN109973011A (en) | A kind of boring method and drilling equipment improving bench blasting presplitting hole drill hole precision | |
| CN110295848B (en) | Blast hole bottom leveling drilling method | |
| CN106640084A (en) | Deep intelligent coal mining method based on GGD (Geology Geophysics Drilling) concept | |
| CN114963908B (en) | Tunnel excavation blasting blast hole positioning method | |
| CN115012814A (en) | Rock mass drilling parameter real-time acquisition drilling system and drilling method | |
| CN108138561A (en) | For the system and method for drilling plans generation | |
| CN103410513A (en) | Mechanical stopping process for hard-to-mine ore body | |
| CN102287203B (en) | Air drill working device | |
| CN107476762A (en) | A kind of drilling track accuracy control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180814 Termination date: 20210616 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |