CN112710203A - Control method for excavating overbreak and underbreak by underground rock engineering automation full-section drilling and blasting method - Google Patents
Control method for excavating overbreak and underbreak by underground rock engineering automation full-section drilling and blasting method Download PDFInfo
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- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/006—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries by making use of blasting methods
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
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Abstract
The invention discloses a control method for underground rock engineering automation full-section drilling and blasting excavation and overbreak, which comprises the steps of taking a plurality of groups of original rock samples to carry out sound wave detection to determine the wave velocity value C in a complete rock mass0(ii) a Based on the intelligent control of the multi-arm rock drill, a single drill rod is used for drilling to form an excitation source, and other blastholes pass through a sensor arranged in the drill rodRealizing the response detection of the vibration wave from the excitation source to form a plurality of detection paths; plotting the wave velocities C separatelyiDominant frequency FiAnd a maximum amplitude AiThree-dimensional cloud picture combined with wave velocity CiDominant frequency FiAnd a maximum amplitude AiThe three-dimensional cloud picture comprehensively judges the cross structural plane, and further judges the potential risk area of the current drilling and blasting area over-underexcavation. The method is used for full-automatic and full-section drilling and blasting construction, the drilling efficiency is ensured, meanwhile, the detection efficiency of the vibration waves between adjacent drill holes is intelligently improved, the calculation accuracy of the space scale parameters of the complex structural surface in the rock mass is improved, the blasting process is optimized, the explosive waste is reduced, and the blasting effect is improved.
Description
Technical Field
The invention relates to the technical field of underground rock engineering full-face blasting excavation processes, in particular to a control method for excavating overbreak and underbreak by an automatic full-face drilling and blasting method in an underground rock engineering.
Background
With the vigorous development of railway traffic, water conservancy and hydropower engineering and the like in China, the construction of various underground rock infrastructures such as traffic tunnels, hydraulic tunnels and the like is seen everywhere. The drilling and blasting method is used as a main method for excavation construction of underground rock engineering and is used for controlling the excavation outline shape of an underground chamber, and the full-automatic and full-section drilling and blasting excavation technology is widely popularized and applied at home and abroad. However, due to subjective factors of construction operation and objective conditions of surrounding rocks, the drilling and blasting construction often causes adverse phenomena of excessive excavation or insufficient excavation of the surrounding rocks, namely 'over-under excavation effect'.
In fact, when underground rock engineering adopts a drilling and blasting method for excavation, the phenomenon of over-underexcavation is inevitable, and if the phenomenon is not controlled, the surrounding rock excavation quality and the construction benefit are seriously influenced. The rock discharge amount of tunneling of the tunnel is increased by over-excavation, plain concrete needs to be sprayed to the over-excavated part, and whether an additional steel frame or a steel bar net needs to be additionally arranged is determined according to the over-excavation degree. Meanwhile, when the overexcavation is serious, the range of the blasting loosening ring is enlarged, the damage to rock mass outside the design boundary of the tunnel profile is increased, and the accident potential of the surrounding rock structure is greatly increased. When the underexcavation problem occurs, blasting or manual mechanical chiseling treatment is carried out according to the size of the underexcavation area and the properties of the surrounding rock of the underexcavation area. Therefore, no matter the over-excavation or the under-excavation is generated, the construction progress is influenced, and the cost control is not facilitated.
The smooth blasting technology is generally adopted to control the flatness of the excavation profile surface of the underground cavern at present, and because the rock mass internal structure surface is complicated and intricate, the intersection region of the excavation profile surface edge structure surface is the high-frequency region generated by the overbreak effect, the detection of the space distribution of the rock mass internal structure surface is an important means for controlling the overbreak effect. However, because the existing detection means has low efficiency, high cost and large construction disturbance, the blasting effect is often observed by manual naked eyes in actual engineering, and then blasting parameters are continuously adjusted so as to reduce the generation of overbreak and underexcavation. Obviously, the blasting effect is observed only by manual naked eyes, and the problem of over-under excavation is difficult to solve substantially.
Disclosure of Invention
The invention aims to solve the defects of the background technology, and provides a control method for excavating the overbreak and the underbreak by an automatic full-section drilling and blasting method in the underground rock engineering.
In order to achieve the aim, the invention provides a control method for excavating the overbreak and the underbreak by an automatic full-section drilling and blasting method of underground rock engineering, which is characterized by comprising the following steps:
s1: before rock drilling and hole drilling, numbering blastholes according to a cavern blasting blasthole arrangement design scheme;
s2: taking a plurality of groups of rock samples in the blasting excavation section to perform sound wave detection according to a relational expression C0＝Max{C1，C2，C3，…，CnDetermining the wave velocity value C in the intact rock mass0Wherein, CnThe wave velocity value of a single rock sample in the rock samples is taken, and n is the number of the taken rock samples;
s3: based on the intelligent control of the multi-arm rock drill, a plurality of different excitation sources and signal receiving holes are alternately generated; the multi-arm rock drill is used for drilling a plurality of blastholes, when one drill rod is used for drilling, the rest drill rods stop working, in the blastholes for drilling, drill rod drill bits continuously rub and vibrate with surrounding rocks to form vibration waves, the vibration waves are regarded as vibration source holes, and the blastholes for stopping drilling are regarded as signal receiving holes;
s4: in the drilling process, cross-hole detection is performed along the longitudinal direction and the radial direction of the face, response detection of vibration waves generated by an excitation source is realized through a sensor arranged in a drill rod, the time of transmitting the excitation source signals to each sensor and the vibration signals from the excitation source are collected, and the wave velocity C is calculatedi；
S5: the built-in sensor of the drill rod is connected with the information processing module through a wireless network, data obtained by a plurality of detection paths are automatically transmitted to the information processing module, and the wave velocity C is respectively drawniDominant frequency FiAnd a maximum amplitude AiA three-dimensional cloud picture;
s6: combined wave velocity CiDominant frequency FiAnd a maximum amplitude AiThe three-dimensional cloud picture judges the cross structural plane, judges the potential risk area of the current drilling and blasting area over-underexcavation, and predicts the internal structural plane of the rock mass of the next drilling and blasting areaDistribution characteristics, and provides control measures for the problem of over-short excavation and an optimization scheme for the blasting process;
s7: and repeating the steps S1-S6 until the chamber is penetrated.
Preferably, in the step 2), according to the blasting effect observation of the drilling and blasting area, n groups of original rock samples are taken again in different drilling and blasting areas for sound wave detection, wherein n is a natural number greater than 3.
Preferably, the number of the drill rods of the multi-arm rock drilling machine in the step 3) is determined according to the surrounding rock geological environment of the excavation cavern, sensors are arranged in drill bits of all the drill rods, and the sensors in the drill rods are connected with the information processing module through a wireless network, so that automatic processing of big data is realized, remote testing can also be realized, and casualties or equipment damage caused by accidents such as cave collapse and the like is avoided.
Preferably, the vibration source hole and the signal receiving hole in step 3) are not fixed hole positions, and the excitation source and the signal receiving hole are automatically switched as required to form a plurality of detection paths.
Preferably, the vibration signal in step 4) is a time-course threshold value of the vibration velocity generated by the signal receiving hole receiving from the excitation source, and the wave velocity of the vibration wave propagating in the rock in each detection path is calculated according to the following relation:
in the formula, CiIs the wave velocity at which the vibration wave propagates in the rock; l isiThe linear distance between the excitation source and the signal receiving hole drill bit; t isiI is the time required for the sensor to receive the vibration wave signal of the excitation source, and is a detection path; sjSetting the distance from the sensor to the drill bit in each drill rod, wherein j is the number of each drill rod; cDrill rodThe longitudinal wave velocity of the drill rod material.
Preferably, in the step 5), the midpoint of each detection path is taken as a point element, the wave velocity value is equal to the wave velocity value of the whole detection path, the conversion of the vibration signal from the time domain to the frequency domain is realized by adopting fast fourier transform, the main frequency and the maximum amplitude of each detection path are taken as elements, and a main frequency cloud picture, a maximum amplitude cloud picture and a three-dimensional wave velocity cloud picture are drawn.
Preferably, C is added in the step 5)iValue and C0Comparing the values to determine the density of the internal structural surface of the rock mass according to Ci＝(0.95～1)C0、Ci＝(0.8～0.95)C0、Ci＝(0.5～0.8)C0Performing classification processing when Ci＝(0.95～1)C0When the rock mass between holes is relatively complete, the rock mass between holes has no joint crack, and when C is reachedi＝(0.8～0.95)C0When the joint crack is contained in the hole, C is judged asi＝(0.5～0.8)C0And judging that the joints and cracks are contained among the holes and are dense.
Preferably, the method for judging the structural plane in step 6) is that the wave velocity C in the same region of the main frequency cloud picture, the maximum amplitude cloud picture and the three-dimensional wave velocity cloud pictureiDominant frequency FiAnd a maximum amplitude AiAnd if the structural surface is decreased and the decrease range is higher than the threshold value, the structural surface exists in the area.
Preferably, the cross part containing the structural surface is judged as a potential risk area of over-under excavation in the step 6), blast holes are additionally arranged along peripheral holes in the cross area of the structural surface, the over-under excavation problem of the current drilling and blasting area is solved, the distribution of the internal structural surface of the rock mass of the next drilling and blasting area can be presumed, the blast holes are supplemented purposefully or the arrangement scheme of drilling holes is adjusted, and the arrangement is optimized.
Compared with the prior art, the invention provides a control method for excavating the ultra-short excavation by the automatic full-section drilling and blasting method in the underground rock engineering. An excitation source is formed by drilling operation of a single drill rod, and vibration wave response detection excited by the excitation source is carried out on the rest blastholes through a built-in transducer without arranging a sounding probe and a receiving probe in the drill hole again for detection; the sensor is connected with the information processing module through a wireless network, so that remote testing can be realized, casualties or equipment damage caused by accidents such as cave collapse and the like can be avoided, data obtained by a plurality of detection paths are automatically transmitted to the information processing module, and a three-dimensional wave velocity cloud picture, a dominant frequency cloud picture and a maximum amplitude cloud picture are drawn; the potential risk area of the overburdened phenomenon is judged by combining a three-dimensional wave velocity cloud picture, a main frequency cloud picture and a maximum amplitude cloud picture, blast holes are additionally arranged along peripheral holes, the problem of overburdened and underburdened of the current drilling and blasting area is solved, the distribution characteristic of the rock internal structural surface of the next drilling and blasting area can be roughly inferred, the drilling and blasting area can be supplemented or the drilling arrangement scheme can be adjusted purposefully, optimal arrangement of drilling and blasting is achieved, explosives are saved, the blasting effect is improved, and meanwhile damage to rock masses outside the outline boundary of tunnel excavation can be reduced.
Drawings
FIG. 1 is a schematic flow chart of a control method for excavating an ultra-short excavation by an automatic full-face drilling and blasting method in an underground rock engineering according to the invention;
FIG. 2 is a schematic view of an embodiment of the present invention for radial detection of the response of the inter-hole oscillatory wave;
FIG. 3 is a schematic view of an embodiment of the present invention for longitudinal detection of the response of the shock waves between the holes;
FIG. 4 is a front view of a spatial network of a detection path responding to vibration waves between local holes of a drilling and blasting area in the invention;
FIG. 5 is a cross-hole rock wave velocity C of the surface containing the typical structural plane of FIG. 4iA cloud of values;
FIG. 6 is a cloud of dominant frequency values over the hole in the face of FIG. 4 with typical structures;
FIG. 7 is a cloud of the maximum inter-hole amplitude values of the face of FIG. 4 with the exemplary structure;
FIG. 8 is a schematic diagram of an embodiment of the break-over control scheme of the present invention.
In the figure: the multi-arm rock drilling machine comprises a multi-arm rock drilling machine 1, an A drill rod 20, a B drill rod 21, a C drill rod 22, a D drill rod 23, an E drill rod 24, a tunnel face 3, a sensor 4, a detection path 5, a structural face 6, an underexcavation area 7, an overexcavation area 8 and an information processing module 9.
Detailed Description
In order to make the technical scheme and the beneficial effects of the invention more clearly understood, the invention is further described in detail below with reference to the accompanying drawings and the embodiments.
As shown in fig. 1, an embodiment of the present invention introduces a control method for automated full-face drilling and blasting excavation and overbreak in underground rock engineering, which includes the following steps:
s1: before rock drilling and drilling, the blastholes are numbered according to a cavern blasting blasthole arrangement design scheme, and in the example, the blastholes are classified and numbered as follows: peripheral eyes (Z1-Z19), auxiliary eyes (F1-F14) and slotted eyes (T1-T6);
s2: taking multiple groups of original rock samples to perform sound wave detection according to the relation C0＝Max{C1，C2，C3，…，CnDetermining the wave velocity value C in the intact rock mass0Because the interior of the rock mass contains a structural surface, the wave velocity value obtained by sound wave detection is inevitably reduced, and C is obtained0The values are regarded as wave velocity values in the intact rock in the blasting excavation section, where CnThe wave velocity value of a single rock sample in the rock samples is taken, and n is the number of the taken rock samples; according to the observation of the blasting effect of each drilling and blasting area, n groups of original rock samples can be taken again in different drilling and blasting areas for sound wave detection, wherein n is a natural number more than 3;
s3: based on the intelligent control of the multi-arm rock drill 1, a plurality of different excitation sources and signal receiving holes are alternately generated;
that is, by using the characteristic that the multi-arm rock drill 1 can drill a plurality of blastholes simultaneously, in the drilling operation, one of the drill rods is programmed to continue the drilling operation, and the other drill rods stop the drilling operation, for example: in the present example, a five-arm rock drill 1 is used for drilling and drilling operations, which comprises an a drill rod 20, a B drill rod 21, a C drill rod 22, a D drill rod 23 and an E drill rod 24; when the C drill rod 22 is controlled to continue drilling operation, the drill bit continuously rubs and vibrates with surrounding rocks to excite vibration waves, the vibration waves are regarded as an excitation source, the A drill rod 20, the B drill rod 21, the D drill rod 23 and the E drill rod 24 are controlled to stop drilling operation, and blastholes corresponding to the stop drilling operation are regarded as signal receiving holes;
s4: in the automatic drilling process, cross-hole detection is carried out along the longitudinal direction and the radial direction of the tunnel face 3, response detection of vibration waves generated by an excitation source is realized through a sensor 4 arranged in a drill rod, and the response detection mainly comprises the time required by transmitting an excitation source signal to the sensor and the vibration signal from the excitation source;
when the drilling depth of the excitation source and the signal receiving hole is kept consistent, all drill holes are intersected and regarded as the excitation source, a plurality of detection paths along the radial direction of the face 3 are formed, and the wave velocity of the vibration wave in the rock in each detection path is calculated according to the following relational expression:
in the formula, CiIs the wave velocity at which the vibration wave propagates in the rock; l isiThe linear distance between the excitation source and the signal receiving hole drill bit; t isiI is the time required for the sensor to receive the vibration wave signal of the excitation source, and is a detection path 5; sjSetting the distance from the sensor to the drill bit in each drill rod, wherein j is the number of each drill rod; cDrill rodThe longitudinal wave velocity of the drill rod material can be subjected to on-site ultrasonic detection to obtain a specific value.
Taking the inter-hole vibration wave response detection of the local area of the vault as an example, as shown in fig. 2, when the drilling operation of the multi-arm rock drilling machine 1 reaches the same depth, if the auxiliary hole F12 is kept to continue the drilling operation as an excitation source, the other drill rods respectively detect the response of the vibration wave from the excitation source by using the built-in sensors 4 thereof, so as to obtain a plurality of detection paths 5 shown in fig. 4, and the corresponding path vibration wave response wave velocity value (C) is calculated according to the formulaF12-F1、CF12-F2、CF12-F3、CF12-F10、CF12-F11、CF12-Z1、CF12-Z2、CF12-Z3、CF12-Z4、CF12-Z17、CF12-Z18、CF12-Z19) (ii) a Similarly, if the drilling operation is continued with the auxiliary hole F11 being regarded as the excitation source, the response wave velocity value (C) of the plurality of probe paths 5 to the excitation source vibration wave is obtainedF11-F1、CF11-F2、CF11-F10、CF11-Z1、CF11-Z17、CF11-Z18、CF11-Z19) (ii) a If the drilling operation is continued with the auxiliary hole F3 being regarded as the excitation source, the excitation source is vibrated by the plurality of detection paths 5Dynamic wave response wave velocity value (C)F3-F2、CF3-Z2、CF3-Z3、CF3-Z4) (ii) a And the peripheral holes Z1, Z2, Z3, Z4, Z17, Z18 and Z19 are alternately used as excitation sources, so that the wave velocity value (C) of the response wave of the plurality of detection paths 5 to the vibration wave of the excitation sources can be obtainedZ17-Z18、CZ18-Z19、CZ19-Z1、CZ1-Z2、CZ2-Z3、CZ3-Z4)；
The propagation response of the vibration wave generated by the excitation source is detected along the longitudinal direction of the tunnel face 3 in a crossed manner, when the excitation source and the signal receiving hole maintain a certain depth difference, each drill hole is crossed and regarded as the excitation source, and a plurality of detection paths 5 along the longitudinal direction of the tunnel face 3 can be formed. For example, as shown in fig. 3, when the A, B, D, E drill rods of the multi-arm rock drilling machine 1 drill holes to the depth of M meters, the drilling operation is stopped, the drilling operation in the C-bore 22 is continued, and the C-bore is regarded as the excitation source, so that the response wave velocity value (C) of the multiple detection paths 5 to the excitation source vibration wave can be obtainedT2Nj-Z1Mj、CT2Nj-F1Mj、CT2Nj-F12Mj、CT2Nj-F14Mj、CT2Nj-F5Mj、CT2Nj-Z7Mj、CT2Nj-Z10Mj) Wherein Nj and Mj both represent the drilling depth of each drill rod along the longitudinal direction of the face;
meanwhile, recording vibration signals from an excitation source of a signal receiving hole of each detection path, namely a vibration speed time course threshold value, and obtaining a vibration speed time course curve; in the embodiment, the drill rod is made of rigid material, the longitudinal wave velocity is measured to be 5.9km/s, the design depth of the blast hole is 6 meters, radial and longitudinal detection circulation is carried out for 1 meter of each footage, 216 detection paths are finally formed, and 216C detection paths can be correspondingly obtainediValues, and a vibration velocity time course curve for 216 probe paths;
s5: the sensor 4 arranged in the drill rod is connected with the information processing module 9 through a wireless network, the data obtained by the detection paths 5 are automatically transmitted to the information processing module 9, and the wave velocity C is respectively drawniDominant frequency FiAnd a maximum amplitude AiA three-dimensional cloud picture;
s50: respectively taking the midpoint of each detection path as a point element, and drawing the wave velocity C, wherein the wave velocity value is equal to the wave velocity value of the whole detection pathiThree-dimensional cloud pictures, e.g. drawings5, in the corresponding interval of the two cross structural planes, the wave velocity is remarkably reduced, and the wave velocity CiThe wave velocity values of two structural surfaces in the three-dimensional cloud picture are obviously different and changed.
Can further convert C intoiValue and C0Comparing the values to determine the density of the internal structural surface of the rock mass according to Ci＝(0.95～1)C0、Ci＝(0.8～0.95)C0、Ci＝(0.5～0.8)C0Performing classification processing when Ci＝(0.95～1)C0When C is reached, it can be judged that the rock mass between holes is relatively complete and has no joint cracki＝(0.8～0.95)C0When C is in the range, it is judged that there are joint cracks between the poresi＝(0.5～0.8)C0In the mean time, it can be judged that the joint cracks exist between the holes and are dense.
S51: the conversion of the vibration signal from a time domain to a frequency domain is realized by adopting Fast Fourier Transform (FFT), and the main frequency F of each detection path is respectively takeniAnd a maximum amplitude AiRespectively plotting the dominant frequencies F for the elementsiAnd a maximum amplitude AiThree-dimensional cloud charts, as shown in fig. 6 and 7, in the corresponding section of the two cross structural planes, the excitation source generates vibration waves, and partial energy is consumed by passing through the structural planes, and the main frequency FiAnd a maximum amplitude AiAll will be reduced, dominant frequency FiCloud pattern and maximum amplitude AiObvious difference changes appear at two cross structural planes in the cloud picture.
S6: combined wave velocity CiDominant frequency FiAnd a maximum amplitude AiThe three-dimensional cloud picture is used for judging the potential risk area of the over-under excavation of the current drilling and blasting area, predicting the distribution characteristics of the internal structure surface of the rock mass of the next drilling and blasting area and providing control measures and an optimization scheme of the blasting process of the over-under excavation problem; as shown in FIG. 5, if the structural plane 6 between two adjacent holes Z19 and Z1 crosses the designed limit of the hole wall, the high-pressure explosive gas generated by the explosive explosion wedges into the structural plane 6 and spreads along the extension direction of the structural plane 6, and the crossing area of the two structural planes 6 is ruptured, and finally the overexcavation area 8 is formed. If the structural surface 6 between the two adjacent blast hole holes Z6 and Z7 crosses the design limit of the tunnel wall, the high-pressure explosion generated by the explosion of the explosiveThe generated gas is wedged into the structural surface 6 and spreads along the extension direction of the structural surface 6, and the cross area of the generated gas and the two structural surfaces 6 is cracked, so that the undercut area 7 is formed; in order to solve the problem of over-under excavation of the current drilling and blasting area, blast holes are required to be additionally arranged in the over-excavation area 8 and the under-excavation area 7 respectively along the peripheral holes before blasting based on the detection condition of the internal structural surface of the rock mass, so that the problem of over-under excavation is effectively controlled. As shown in fig. 8, the distribution characteristics of the rock internal structural surface of the next drilling and blasting area can be substantially inferred, so that the drilling holes can be supplemented or the drilling hole arrangement scheme can be adjusted for the next drilling and blasting area purposefully, the drilling hole optimized arrangement can be realized, the explosive can be saved, the blasting effect can be improved, and meanwhile, the damage to the rock mass outside the outline boundary of the tunnel excavation can be reduced.
S7: and repeating the steps S1-S6 until the chamber is penetrated.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (9)
1. The utility model provides a control method that automatic full section of underground rock engineering bores explosion method excavation and owes to dig which characterized in that: the method comprises the following steps:
s1: before rock drilling and hole drilling, numbering blastholes according to a cavern blasting blasthole arrangement design scheme;
s2: taking a plurality of groups of rock samples in the blasting excavation section to perform sound wave detection according to a relational expression C0＝Max{C1，C2，C3，…，CnDetermining the wave velocity value C in the intact rock mass0Wherein, CnThe wave velocity value of a single rock sample in the rock samples is taken, and n is the number of the taken rock samples;
s3: based on the intelligent control of the multi-arm rock drill, a plurality of different excitation sources and signal receiving holes are alternately generated; the multi-arm rock drill is used for drilling a plurality of blastholes, when one drill rod is used for drilling, the rest drill rods stop working, in the blastholes for drilling, drill rod drill bits continuously rub and vibrate with surrounding rocks to form vibration waves, the vibration waves are regarded as vibration source holes, and the blastholes for stopping drilling are regarded as signal receiving holes;
s4: in the drilling process, cross-hole detection is performed along the longitudinal direction and the radial direction of the face, response detection of vibration waves generated by an excitation source is realized through a sensor arranged in a drill rod, the time of transmitting the excitation source signals to each sensor and the vibration signals from the excitation source are collected, and the wave velocity C is calculatedi；
S5: the built-in sensor of the drill rod is connected with the information processing module through a wireless network, data obtained by a plurality of detection paths are automatically transmitted to the information processing module, and the wave velocity C is respectively drawniDominant frequency FiAnd a maximum amplitude AiA three-dimensional cloud picture;
s6: combined wave velocity CiDominant frequency FiAnd a maximum amplitude AiJudging a cross structural plane by the three-dimensional cloud picture, judging a potential risk area of the current drilling and blasting area under excavation, predicting the distribution characteristics of the internal structural plane of the rock mass of the next drilling and blasting area, and providing control measures and an optimization scheme of the blasting process of the under excavation problem;
s7: and repeating the steps S1-S6 until the chamber is penetrated.
2. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: and in the step 2), according to the blasting effect observation of the drilling and blasting area, n groups of original rock samples are taken again in different drilling and blasting areas for sound wave detection, wherein n is a natural number more than 3.
3. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: the number of the drill rods of the multi-arm rock drill in the step 3) is determined according to the surrounding rock geological environment of the excavation chamber, a sensor is arranged in each drill bit of each drill rod, and the sensor is connected with the information processing module through a wireless network.
4. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: in the step 3), the vibration source hole and the signal receiving hole are not fixed hole positions, and the excitation source and the signal receiving hole are automatically switched according to requirements to form a plurality of detection paths.
5. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: in the step 4), the vibration signal is a vibration speed time range value generated by the signal receiving hole receiving from the excitation source, and the wave speed of the vibration wave in each detection path in the rock is calculated according to the following relational expression:
in the formula, CiIs the wave velocity at which the vibration wave propagates in the rock; l isiThe linear distance between the excitation source and the signal receiving hole drill bit; t isiI is the time required for the sensor to receive the vibration wave signal of the excitation source, and is a detection path; sjSetting the distance from the sensor to the drill bit in each drill rod, wherein j is the number of each drill rod; cDrill rodThe longitudinal wave velocity of the drill rod material.
6. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: in the step 5), C is addediValue and C0Comparing the values to determine the density of the internal structural surface of the rock mass according to Ci＝(0.95～1)C0、Ci＝(0.8～0.95)C0、Ci＝(0.5～0.8)C0Performing classification processing when Ci＝(0.95～1)C0When the rock mass between holes is relatively complete, the rock mass between holes has no joint crack, and when C is reachedi＝(0.8～0.95)C0When the joint crack is contained in the hole, C is judged asi＝(0.5～0.8)C0And judging that the joints and cracks are contained among the holes and are dense.
7. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: and in the step 5), the midpoint of each detection path is taken as a point element, the wave velocity value is equal to that of the whole detection path, the conversion of the vibration signal from a time domain to a frequency domain is realized by adopting fast Fourier transform, the main frequency and the maximum amplitude of each detection path are taken as elements, and a main frequency cloud picture, a maximum amplitude cloud picture and a three-dimensional wave velocity cloud picture are drawn.
8. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: the method for judging the structural plane in the step 6) is that the wave speed C in the same area of the main frequency cloud picture, the maximum amplitude cloud picture and the three-dimensional wave speed cloud pictureiDominant frequency FiAnd a maximum amplitude AiAnd if the structural surface is decreased and the decrease range is higher than the threshold value, the structural surface exists in the area.
9. The automatic full-face drilling and blasting excavation control method for underground rock engineering according to claim 1, characterized in that: and 6) judging the intersection containing the structural surfaces as a potential risk area of overbreak and underexcavation, and additionally arranging blast holes along the peripheral holes in the area of the intersection of the structural surfaces.
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