CN115111982A - A powder charge platform truck and system for tunnel drilling and blasting method construction - Google Patents
A powder charge platform truck and system for tunnel drilling and blasting method construction Download PDFInfo
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- CN115111982A CN115111982A CN202210594382.XA CN202210594382A CN115111982A CN 115111982 A CN115111982 A CN 115111982A CN 202210594382 A CN202210594382 A CN 202210594382A CN 115111982 A CN115111982 A CN 115111982A
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- 238000005553 drilling Methods 0.000 title claims abstract description 314
- 238000005422 blasting Methods 0.000 title claims abstract description 55
- 238000010276 construction Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 46
- 239000000843 powder Substances 0.000 title claims description 10
- 239000002360 explosive Substances 0.000 claims abstract description 232
- 239000011435 rock Substances 0.000 claims abstract description 107
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000007781 pre-processing Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims abstract description 22
- 238000005474 detonation Methods 0.000 claims description 33
- 238000013461 design Methods 0.000 claims description 22
- 230000002093 peripheral effect Effects 0.000 claims description 20
- 238000005070 sampling Methods 0.000 claims description 4
- 230000006872 improvement Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
- 239000000839 emulsion Substances 0.000 description 6
- 238000005429 filling process Methods 0.000 description 6
- 238000009412 basement excavation Methods 0.000 description 5
- 239000003086 colorant Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010219 correlation analysis Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000012843 least square support vector machine Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000611 regression analysis Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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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
- 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
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
- F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
- F42D1/10—Feeding explosives in granular or slurry form; Feeding explosives by pneumatic or hydraulic pressure
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Abstract
The invention provides a charging trolley and a charging system for tunnel drilling and blasting construction, belongs to the field of tunnel construction equipment, and particularly relates to a charging trolley for tunnel drilling and blasting construction. Drilling data of the drill jumbo are obtained through the data communication module; the drilling data preprocessing module analyzes the drilling data to obtain the type of the drilling; analyzing the drilling data by a surrounding rock strength identification module to obtain the surrounding rock strength of the position of the drilling hole; the explosive filling parameter matching module analyzes and processes the drilling data and the surrounding rock strength to obtain explosive filling parameters of each drilling hole, and the control module controls the execution mechanism of the explosive filling trolley to fill explosives into each drilling hole according to the explosive filling parameters of each drilling hole. By adopting the explosive loading trolley, the mechanical operation capacity of the explosive loading trolley is improved, the automatic requirement of explosive loading in the tunnel drilling and blasting method construction process can be met, the experience dependence degree on technical personnel is reduced, and the improvement of the tunnel drilling and blasting method construction efficiency is facilitated.
Description
Technical Field
The invention provides a charging trolley and a charging system for tunnel drilling and blasting construction, belongs to the field of tunnel construction equipment, and particularly relates to a charging trolley for charging explosives during tunnel drilling and blasting construction.
Background
The tunnel is the key and key project for the construction of roads, railways and the like, and with the development and technical progress of railway construction, the tunnel excavation method is developed rapidly. Relatively common tunnel excavation methods include a drilling and blasting method, a shield method, and a rock drill method. The drilling and blasting method has strong adaptability to geological conditions and low excavation cost, and is particularly suitable for the construction of hard rock tunnels. With the application of mechanical construction equipment in the excavation process of the tunnel drilling and blasting method, the mechanical filling construction operation of the emulsion explosive becomes an important development direction of the drilling and blasting method construction in the future.
In the current tunnel drilling and blasting method construction operation, blasting operation guidance filing documents compiled in advance by technicians are mainly used, only a rough hole distribution scheme and emulsion explosive loading amounts of different types of holes are generally given in the documents, and in the actual operation process, field personnel are required to adjust the emulsion explosive loading scheme according to the actual surrounding rock strength, the drilling diameter and the blasting effect of the tunnel and manually guide explosive loading. The operation mode depends on the experience of technicians, has higher requirements on the experience of the technicians, and cannot meet the automatic requirement of explosive filling in the tunnel drilling and blasting method construction process.
Disclosure of Invention
The invention aims to provide a charging trolley and a charging system for tunnel drilling and blasting construction, which are used for solving the problems that emulsion explosive loading depends on manpower and cannot be automatically operated in tunnel drilling and blasting construction.
In order to achieve the purpose, the invention provides a charging trolley for tunnel drilling and blasting construction, which comprises a control module and an execution mechanism for charging explosives for each drill hole, wherein the control module is in control connection with the execution mechanism, and further comprises a data communication module for acquiring drill hole data, a drill hole data preprocessing module for acquiring the drill hole type according to the drill hole coordinates in the drill hole data, a surrounding rock strength identification module for determining the surrounding rock strength of the position of each drill hole according to the drill hole data, and an explosive charging parameter matching module for determining the explosive charging parameters of each drill hole according to the drill hole parameters and the surrounding rock strength; the drilling parameters comprise drilling diameter, drilling depth and drilling type;
the explosive filling parameter matching module stores corresponding relations among pre-obtained drilling parameters, surrounding rock strength and explosive filling parameters of corresponding drill holes;
the drilling preprocessing module is connected with the data communication module to acquire drilling coordinates; the surrounding rock strength identification module is connected with the drilling data preprocessing module or the data communication module to acquire drilling data; the explosive filling parameter matching module is connected with the drilling data preprocessing module and the surrounding rock strength identification module so as to obtain drilling parameters of each drill hole and the surrounding rock strength of the corresponding drill hole;
the control module is connected with the explosive loading parameter matching module to obtain the drilling coordinates and the explosive loading parameters of each drilling hole, and then the execution mechanism is controlled to load the explosive for each drilling hole according to the drilling coordinates and the explosive loading parameters of each drilling hole.
According to the charging trolley for the tunnel drilling and blasting construction, drilling data are obtained from the drilling trolley through the data communication module; the drilling data preprocessing module analyzes the drilling coordinates in the drilling data to obtain the drilling type, wherein the drilling type comprises peripheral holes positioned in a set range around the contour line of the tunnel, cut holes positioned in the middle of the cross section of the tunnel, auxiliary holes positioned in the middle of the peripheral holes and the cut holes and bottom plate holes positioned on the cross section of the tunnel and close to the ground; analyzing the drilling data by a surrounding rock strength identification module, and obtaining the surrounding rock strength of the position of the drilling hole according to the impact frequency, the drilling speed, the rotating speed, the propelling pressure, the impact pressure, the buffer pressure, the rotating pressure and the like of the drill jumbo in the drilling data; the explosive filling parameter matching module analyzes and processes the drilling parameters and the surrounding rock strength to obtain the explosive filling parameters of each drilling hole, and the control module controls the execution mechanism of the explosive filling trolley to fill the explosive for each drilling hole according to the explosive filling parameters of each drilling hole. By adopting the explosive loading trolley, the mechanical operation capacity of the explosive loading trolley is improved, the automatic requirement of explosive loading in the tunnel drilling and blasting method construction process can be met, the experience dependence degree on technical personnel is reduced, and the improvement of the tunnel drilling and blasting method construction efficiency is facilitated.
Furthermore, the trolley also comprises a data acquisition module connected with the execution mechanism in a sampling manner, and the control module is connected with the data acquisition module to acquire the filling pressure of the execution mechanism;
in the process that the execution mechanism fills explosives for each drill hole, the control module obtains real-time filling pressure through the data acquisition module, and the real-time filling pressure of the execution mechanism is controlled to reach the filling pressure in the explosive filling parameters through closed-loop control.
For realizing the closed-loop control of explosive loading in-process, the powder charge platform truck still includes the data acquisition module, the real-time loading pressure of explosive loading in-process actuating mechanism can be gathered to the data acquisition module, mode through pressure closed-loop control, load pressure and the explosive in real time and load the pressure comparison in the parameter, regard the difference between the two as the regulating variable, adjust the proportional valve according to the regulating variable, thereby make actuating mechanism's real-time loading pressure reach the loading pressure in the explosive loading parameter, improve the stability of explosive loading process, make the explosive load the result unanimous with the explosive loading parameter.
Further, the trolley further comprises a tunnel contour identification module, wherein the tunnel contour identification module is used for comparing the acquired actual contour of the tunnel with a pre-acquired design contour of the tunnel; if the actual contour of the tunnel is underexcavated, adjusting the corresponding relation between the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to increase the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters and the surrounding rock strength are the same; and if the actual contour of the tunnel is over-excavated, adjusting the corresponding relation between the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to reduce the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters are the same as the surrounding rock strength.
The charging trolley further comprises a tunnel contour recognition module, and the tunnel contour recognition module can compare and analyze the actual contour of the blasted tunnel with the theoretical contour of the tunnel which is made in advance, so that whether the explosive charging parameters in the previous cycle meet the construction requirements or not is judged. If the actual contour of the tunnel is underexcavated, adjusting the corresponding relation between the drilling data, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole, so as to ensure that the explosive loading amount or the explosive loading density in the prepared explosive loading parameters is increased when the same condition is met next time, and prevent the underexcavated condition from happening again; and if the actual contour of the tunnel is over excavated, adjusting the corresponding relation between the drilling data, the surrounding rock strength and the explosive filling parameters of the corresponding drill hole, so that the explosive filling amount or the explosive filling density in the prepared explosive filling parameters is reduced when the same condition is met next time, and the over excavation condition is prevented from happening again. Therefore, the tunnel contour recognition module can improve the reliability of the charge trolley for the construction requirement of the tunnel drilling and blasting method.
Further, the trolley further comprises a charging hole connecting line design module, wherein the charging hole connecting line design module is used for determining the detonation sequence among the drill holes according to the drill hole types and the explosive loading amount; the drilling type comprises peripheral holes positioned in a set range around a tunnel contour line, cut holes positioned in the middle of a tunnel section, auxiliary holes positioned in the middle area of the peripheral holes and the cut holes and bottom plate holes positioned on the tunnel section and close to the ground;
the explosive loading hole connecting line design module is connected with the drilling hole data preprocessing module to acquire drilling hole types and is also connected with the explosive loading parameter matching module to acquire explosive loading of each drilling hole;
the detonation sequence includes: firstly igniting the cut hole, then igniting the auxiliary holes, and then igniting the peripheral holes and the bottom plate holes; and when the drilling types are the same, the drilling with larger explosive loading is detonated firstly, and then the drilling with smaller explosive loading is detonated.
For the automatic ability of further improvement powder charge platform truck, the powder charge platform truck still includes powder charge hole line design module to according to the drilling type and the explosive loading of each drilling, determine the detonation order between each drilling, give the fuse line order of leading of connecting each drilling, thereby guarantee that final detonation order is: firstly igniting the cut hole, then igniting the auxiliary holes, and then igniting the peripheral holes and the bottom plate holes; and when the drilling types are the same, the drilling with larger explosive loading is detonated firstly, and then the drilling with smaller explosive loading is detonated.
Further, the trolley further comprises a data display module, wherein the data display module is connected with the control module to display drilling parameters of all drill holes, the surrounding rock strength at the positions of the drill holes, explosive filling parameters and the detonation sequence among the drill holes.
The powder charging trolley also comprises a data display module which is used for displaying the drilling data of each drill hole on the section of the tunnel, the surrounding rock strength of the position where the drill hole is located, the explosive filling parameters and the detonation sequence among the drill holes, so that an operator can be guided to carry out powder charging operation conveniently.
The invention also provides a charging system for tunnel drilling and blasting construction, which comprises a control module for connecting the charging trolley, a data communication module for acquiring drilling data, a drilling data preprocessing module for acquiring drilling types according to drilling coordinates in the drilling data, a surrounding rock strength identification module for determining the surrounding rock strength of the positions of the drilling holes according to the drilling data, and an explosive charging parameter matching module for determining explosive charging parameters of the drilling holes according to the drilling parameters and the surrounding rock strength; the drilling parameters comprise drilling diameter, drilling depth and drilling type;
the explosive filling parameter matching module stores corresponding relations among pre-obtained drilling parameters, surrounding rock strength and explosive filling parameters of corresponding drill holes;
the drilling preprocessing module is connected with the data communication module to acquire drilling coordinates; the surrounding rock strength identification module is connected with the drilling data preprocessing module or the data communication module to acquire drilling data; the explosive filling parameter matching module is connected with the drilling data preprocessing module and the surrounding rock strength identification module so as to obtain drilling parameters of each drill hole and the surrounding rock strength of the corresponding drill hole;
the control module is connected with the explosive filling parameter matching module to acquire the drilling coordinates and the explosive filling parameters of each drilling hole, and then the execution mechanism of the explosive filling trolley is controlled to fill the explosive for each drilling hole according to the drilling coordinates and the explosive filling parameters of each drilling hole.
Furthermore, the system also comprises a data acquisition module connected with the execution mechanism in a sampling manner, and the control module is connected with the data acquisition module to acquire the filling pressure of the execution mechanism;
in the process that the execution mechanism fills explosives for each drill hole, the control module obtains real-time filling pressure through the data acquisition module, and the real-time filling pressure of the execution mechanism is controlled to reach the filling pressure in the explosive filling parameters through closed-loop control.
Further, in the system, the system further comprises a tunnel contour identification module, wherein the tunnel contour identification module is used for comparing the acquired actual contour of the tunnel with a pre-acquired tunnel design contour; if the actual contour of the tunnel is underexcavated, adjusting the corresponding relation between the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to increase the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters and the surrounding rock strength are the same; and if the actual contour of the tunnel is over-excavated, adjusting the corresponding relation between the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to reduce the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters are the same as the surrounding rock strength.
Further, the system also comprises a charge hole connecting line design module, wherein the charge hole connecting line design module is used for determining the detonation sequence among the drill holes according to the drill hole types and the explosive charge; the drilling type comprises peripheral holes positioned in a set range around the contour line of the tunnel, cut holes positioned in the middle of the cross section of the tunnel, auxiliary holes positioned in the middle areas of the peripheral holes and the cut holes and bottom plate holes positioned on the cross section of the tunnel and close to the ground;
the explosive loading hole connecting line design module is connected with the drilling hole data preprocessing module to acquire drilling hole types and is also connected with the explosive loading parameter matching module to acquire explosive loading of each drilling hole;
the detonation sequence includes: firstly igniting the cut hole, then igniting the auxiliary holes, and then igniting the peripheral holes and the bottom plate holes; and when the drilling types are the same, the drilling with larger explosive loading is detonated firstly, and then the drilling with smaller explosive loading is detonated.
Further, the system also comprises a data display module, wherein the data display module is connected with the control module to display the drilling parameters of the drill holes, the surrounding rock strength at the positions of the drill holes, the explosive filling parameters and the detonation sequence among the drill holes.
Drawings
FIG. 1 is a block diagram of the charge system of an embodiment of the system of the present invention;
FIG. 2 is a block diagram of a flow chart of a method for controlling the loading of emulsion explosives on a dolly according to an embodiment of the invention;
FIG. 3 is a schematic diagram of the relationship between drilling parameters, loading parameters and detonation parameters in an embodiment of the trolley of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
The embodiment of the system is as follows:
the charging system for tunnel drilling and blasting construction can determine the type of each drill hole and the surrounding rock strength of the current tunnel section according to the drilling data, further provide an explosive filling scheme meeting the current tunnel construction requirement according to the drilling data and the surrounding rock strength by adopting an explosive filling parameter matching module, and then formulate a connecting line detonation scheme according to the explosive filling scheme. In the explosive filling process, carrying out explosive filling and line detonation according to an explosive filling scheme and a line detonation scheme; after blasting is finished, the tunnel profile after blasting is analyzed, so that the parameter adjustment is carried out on the explosive filling parameter matching module, and an explosive filling scheme which is more in line with construction requirements is worked out.
As shown in fig. 1, the charging system comprises a data communication module, a drilling data preprocessing module, a surrounding rock strength identification module, a surrounding rock strength-drilling parameter-explosive filling matching module, a control module, a charging hole connecting line designing module, a data acquisition module and a tunnel contour identification module.
The data communication module has wireless communication and wired communication functions, and can directly acquire drilling data from the drill jumbo in a wired or wireless communication mode or acquire the drilling data uploaded by the drill jumbo from an upper network through other external equipment. The drilling data comprise drilling parameters such as drilling diameter, drilling angle, drilling depth and drilling coordinates, and drilling parameters such as drilling frequency, drilling speed, rotation speed, propelling pressure, impact pressure, buffer pressure and rotation pressure when the drill jumbo drills each drill hole.
The drilling data preprocessing module is connected with the data communication module and used for receiving the drilling data acquired by the data communication module to analyze and process so as to obtain a drilling parameter table. The drilling parameter table comprises drilling parameters such as drilling serial number, drilling type, drilling depth, drilling diameter and drilling coordinates. The drilling type is determined according to the drilling coordinates and is divided into peripheral holes, cut holes, auxiliary holes and bottom plate holes. If the drilling coordinates are located on the contour line of the tunnel or within a set distance range from the contour line of the tunnel, the holes are peripheral holes; the drilling coordinates are located in the middle of the section of the tunnel, and the hole is a cut hole; the drilling coordinates are located in the area between the peripheral holes and the cut holes and close to the contour position of the tunnel, and the drilling coordinates are auxiliary holes; and if the drilling coordinates are located at the position, close to the ground, on the cross section of the tunnel, the drilling coordinates are the holes of the bottom plate. And, the drilling preprocessing module can also draw the tunnel section and the two-dimensional plane map of drilling on the section and the corresponding three-dimensional effect map to show in the data display module, make things convenient for constructor to look over.
The surrounding rock strength identification module is connected with the data communication module or the drilling data preprocessing module to acquire the drilling data of each drilling hole. The surrounding rock strength identification module is provided with a built-in surrounding rock strength identification model and used for analyzing and processing the drilling data to obtain the surrounding rock strength of the position of each drilling hole. The surrounding rock strength identification model reflects the mapping relation between the drilling data and the surrounding rock strength of the position of the corresponding drilling hole. The drilling parameters are used as input of a surrounding rock strength identification model, characteristic parameters of unit volume drilling energy consumption EDP and drilling process index DPI are obtained according to the drilling parameters, then rock parameters of single-axis compressive strength UCS and integrity coefficient Kv are obtained, and correlation analysis is performed on the characteristic parameters and the rock parameters by using a regression analysis model, so that surrounding rock strength of the position of each drilling hole on the tunnel section is obtained.
When the surrounding rock strength identification model is established, reference can be made to a Chinese patent document with publication number CN112761524A, and the rock mass quality detection evaluation method in the patent document can be used for establishing the surrounding rock strength identification model.
And the surrounding rock strength-drilling parameter-explosive filling matching module (hereinafter referred to as explosive filling parameter matching module) is used for giving a filling parameter table corresponding to each drilling hole according to the drilling data of each drilling hole and the surrounding rock strength of the position of each drilling hole and generating a filling parameter three-dimensional effect graph of each drilling hole. The loading parameter table comprises the loading amount (namely the loading amount of the explosive) corresponding to each drill hole, loading density, loading mode, loading speed, the return speed of a loading pipe, loading pressure and other parameters. The filling parameter three-dimensional effect graph comprises a schematic diagram of the filling effect of the explosive, and filling parameters can be displayed in the schematic diagram so as to guide an operator to carry out charging operation.
The explosive filling parameter matching module is internally stored with an explosive filling parameter matching model, the explosive filling parameter matching model reflects the corresponding relation among drilling parameters, surrounding rock strength and explosive filling parameters of corresponding drill holes, and the principle of the model is as follows: through drilling parameters, according to drilling depth, drilling angle and drilling diameter, clearly determine the rock volume that every drilling needs the blasting, wherein the rock volume that the undermining hole needs to explode is the biggest, and the rock that the auxiliary hole needs to explode is less, and the very little rock of one side only needs to explode in all holes, through country rock strength, clearly determine the explosive energy that every drilling needs, and the explosive loading of every drilling is calculated out to rethread explosive detonation parameter, and then determines and loads the parameter table. The loading parameter table comprises the loading amount (namely the loading amount of the explosive), the loading density, the loading speed, the return pipe speed of the loading pipe, the loading mode and the loading pressure. The loading mode comprises a fully coupled charge and a segmented charge.
Training and testing an explosive filling parameter matching model through a large amount of test data based on a least square support vector machine algorithm, and adopting a fitting degree R 2 And the MSE (mean square error) evaluates the accuracy of the model, so that a more accurate explosive filling parameter matching model is obtained. Degree of fitting R 2 The closer to 1, the smaller the root mean square error MSE, the higher the goodness of fit of the model and the higher the accuracy.
The control module is connected with the explosive filling parameter matching module to obtain explosive filling parameters of each drill hole. The control module also obtains borehole coordinates for each borehole. When the control module is connected with the execution mechanism of the explosive charging trolley, the control module matches the coordinates of the execution mechanism with the drill holes corresponding to the drill hole serial numbers by reading the coordinates of the execution mechanism, and controls the execution mechanism to charge the explosive according to the charging parameters of the drill holes in the charging parameter table.
The charge hole connecting line design module is used for making a connecting line and a detonation scheme of each drill hole according to the drill hole type and the filling parameters of each drill hole, and the scheme can be displayed in a two-dimensional plane graph and a three-dimensional effect graph in real time; and simultaneously, a charging hole connecting line and a detonation parameter table are given, wherein the table comprises a blasting fuse connecting line and a detonation sequence among all drill holes. The blasting personnel can finish the drilling blasting connection line according to the two-dimensional plane diagram, the three-dimensional effect diagram or the detonation parameter table.
The process of the tunnel section detonation is as follows: the middle cut hole is detonated first, then the auxiliary holes are detonated, and finally the peripheral holes and the bottom plate holes are detonated. And when the drilling types are the same, the drilling with large loading amount is detonated firstly, and then the drilling with small loading amount is detonated. Therefore, the charging hole connecting line design module can determine a detonation parameter table reflecting the detonation sequence according to the charging parameters and the drilling type.
The data display module comprises a two-dimensional display unit, a three-dimensional display unit and a data table display unit, wherein the units are mutually related, the data in one unit changes, and the data in the other two units change accordingly. The data display module is used for displaying a two-dimensional plane diagram and a three-dimensional effect diagram of the tunnel section and each drill hole on the tunnel section, displaying different surrounding rock strengths by adopting different colors in the diagrams, and also displaying drilling parameters and filling parameters of each drill hole, and fuse connection and detonation sequence among the drill holes.
The data acquisition module acquires real-time filling parameters in the explosive filling process through each sensor to form a drilling filling state monitoring table. Sensors such as flow sensors, pressure sensors, position sensors, temperature sensors, etc. are provided on the charging conduit. The real-time filling parameters are compared and analyzed with the explosive filling parameters in the control module, closed-loop control of the filling process is achieved, and meanwhile, the collected real-time filling parameters are stored in a filling parameter table, so that later-stage analysis is facilitated.
The tunnel contour identification module comprises a scanning interface, and the scanning interface is used for connecting the tunnel scanning device to directly acquire the tunnel contour parameters or connecting an upper network to acquire the tunnel contour parameters from the upper network. When the tunnel contour recognition module obtains the actual contour of the tunnel after blasting, the actual contour of the tunnel and the theoretical contour of the tunnel obtained in advance are compared and analyzed, so that the blasting effect formed by the explosive loading scheme of the previous cycle is judged, and then the explosive loading parameter matching model is adjusted, so that the explosive loading scheme which is more in line with the construction requirements is improved.
The modules can be independent system modules, work independently, and perform communication interaction between the modules through corresponding communication interfaces and data buses, and can be integrally installed according to the functions of the modules to realize the functions of the whole machine.
The charging system can be loaded on charging equipment without an information function, and the following automatic charging functions are realized: 1) drilling data of the drill jumbo are obtained through a data communication module; 2) the drilling data preprocessing module analyzes the drilling coordinates to obtain the drilling type; 3) analyzing the drilling parameters by a surrounding rock strength identification module to obtain the surrounding rock strength of the position of the drill hole; 4) the explosive filling parameter matching module analyzes and processes the drilling parameters and the surrounding rock strength to obtain explosive filling parameters of all drill holes; 5) processing the drilling data and the explosive filling parameters of the drill holes by a explosive filling hole connecting line design module to obtain connecting lines and an explosive firing sequence among the drill holes; 6) the control module controls an actuating mechanism of the explosive charging equipment to charge explosives into each drill hole according to the explosive charging parameters of each drill hole; 7) the control module collects real-time filling parameters in the explosive filling process through the data acquisition module, and performs closed-loop control on the explosive filling process; 8) acquiring the actual contour of the tunnel after blasting by a tunnel contour recognition module, comparing and analyzing the actual contour with the theoretical contour of the tunnel, and adjusting an explosive filling parameter matching model in an explosive filling parameter matching module if the situation of overbreak or underexcavation occurs; 9) and the data display module displays the drilling parameters, the filling parameters and the detonation sequence of each drill hole on the section of the tunnel in a table or two-dimensional or three-dimensional image mode.
By adopting the charging system for the tunnel drilling and blasting construction, the upgrading and reconstruction of the existing charging equipment can be realized, and the automation capacity of the charging equipment is improved, so that the self-adaptive control and the whole-process monitoring feedback of the explosive charging scheme are realized in the tunnel drilling and blasting construction process, the working capacity of the charging equipment is improved, and the tunnel construction efficiency is further improved.
The trolley embodiment is as follows:
the invention provides a charging trolley for tunnel drilling and blasting construction, which comprises a charging system in a system embodiment and an actuating mechanism for charging explosives for each drilled hole, wherein a control module in the charging system is connected with the actuating mechanism. With regard to the structure of the charging system, it is clear that it has already been described in the embodiments of the system and will not be described in detail here.
The operation of the charging trolley is explained by the method for controlling the loading of the emulsion explosive as shown in fig. 2, and the method comprises the following steps:
1) after the drilling of the rock drilling jumbo is finished, the data communication module of the powder charging jumbo performs data interaction with the rock drilling jumbo through the external equipment, so that drilling data are obtained, and the drilling data are sent to the drilling data preprocessing module to be processed.
2) The drilling data preprocessing module analyzes and processes the received drilling data to obtain a drilling parameter table, the drilling parameter table is sent to the explosive parameter filling matching module, and the drilling parameter table is sent to the data display module to be displayed. The drilling data preprocessing module is also used for carrying out data filtering on drilling parameters in the drilling data and sending the filtered drilling parameters to the surrounding rock strength identification module for surrounding rock strength identification. The drilling parameters are shown in table 1 below:
TABLE 1 drilling parameters table
3) And the surrounding rock strength identification module analyzes and processes the received drilling parameters to obtain the surrounding rock strength of the position of each drill hole. The surrounding rock strength identification module sends the surrounding rock strength to the explosive filling parameter matching module, and also sends the surrounding rock strength to the data display module to be distinguished and displayed by different colors.
4) And the explosive filling parameter matching module designs the explosive filling parameters of each drill hole according to the drill hole parameters and the surrounding rock strength parameters. Determining the volume of rock to be blasted in each drill hole according to the type, diameter, depth and coordinates of the drill hole, determining the explosive energy to be generated in each drill hole according to the surrounding rock strength and the volume of the rock to be blasted in each drill hole, calculating the explosive loading of the corresponding drill hole according to the explosive energy and the explosive detonation parameters, and determining other loading parameters according to the explosive loading. The explosive loading amount and the loading density are different, the required loading pressure is different, and the loading speed and the return speed of the explosive tube to be controlled are different. The packing density can be relatively high when the packing speed and the return speed of the charge tube are relatively low, so that the explosive can be sufficiently blasted when the explosive is detonated at a later stage.
The filling parameters for well No. 1 are shown in table 2 below:
table 2 filling parameter table
5) The control module obtains the drilling parameter table and the loading parameter table of each drilling hole, when the actuating mechanism is aligned to one drilling hole, the control module identifies the coordinates of the actuating mechanism, matches the coordinates of the actuating mechanism with the coordinates of the drilling hole, identifies the number of the drilling hole, and carries out explosive loading operation according to the loading parameters of the corresponding drilling holes. In the explosive loading operation process, real-time loading parameters are obtained through the data acquisition module, the real-time loading parameters are compared with the contents in the loading parameter table, and the control module corrects the working parameters of the actuating mechanism to realize closed-loop control of the explosive loading process.
6) After the explosive is filled, connecting the filled drill holes through the blasting fuse according to the detonation parameter table of each drill hole given by the explosive filling hole connecting line design module. The detonation parameters between each borehole are shown in figure 3. When blasting the tunnel section, detonate the middle cut hole first, detonate the auxiliary hole again, detonate peripheral hole and bottom plate hole at last. If the drilling types are the same, the hole with the largest explosive loading is detonated first, and then the hole with the smaller explosive loading is detonated.
7) After the first circulation is completed and before the second circulation charging is started, the control module acquires the actual contour of the tunnel after blasting through the tunnel contour recognition module and compares and analyzes the actual contour of the tunnel with the tunnel theoretical contour stored in advance. If the situation that the actual contour of the tunnel is underexcavated exists at a certain position, namely the rock is not exploded, the explosive blasting degree at the position is insufficient, and the explosive charging hole which is filled according to the explosive charging parameters of the drill hole relevant to the blasting at the position is insufficient to explode the rock during the blasting; if the overexcavation condition exists at a certain position of the actual contour of the tunnel, namely too much rock is exploded, the explosive blasting degree at the position is over high, and too much rock is exploded in the explosive hole filled according to the explosive filling parameters of the drill hole related to the blasting at the position.
Therefore, the explosive filling parameter matching model is adjusted according to the result of tunnel profile analysis and comparison, so that when the same conditions are met, namely the rock mass type is the same, the drilling parameter is the same, and the explosive detonation parameter is the same, filling parameters which better meet the construction requirements are worked out, and the adaptive adjustment of the explosive filling process is realized. And if the actual contour of the tunnel is underexcavated, adjusting the corresponding relation between the drilling data, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to increase the explosive loading amount or the explosive loading density in the explosive loading parameters in the next cycle of explosive loading process under the condition that the drilling data and the surrounding rock strength are the same.
Claims (10)
1. A powder charging trolley for tunnel drilling and blasting construction comprises a control module and an execution mechanism used for charging explosives for each drill hole, wherein the control module is in control connection with the execution mechanism; the drilling parameters comprise drilling diameter, drilling depth and drilling type;
the explosive filling parameter matching module stores corresponding relations among pre-obtained drilling parameters, surrounding rock strength and explosive filling parameters of corresponding drill holes;
the drilling preprocessing module is connected with the data communication module to acquire drilling coordinates; the surrounding rock strength identification module is connected with the drilling data preprocessing module or the data communication module to acquire drilling data; the explosive filling parameter matching module is connected with the drilling data preprocessing module and the surrounding rock strength identification module so as to obtain drilling parameters of each drill hole and the surrounding rock strength of the corresponding drill hole;
the control module is connected with the explosive loading parameter matching module to obtain the drilling coordinates and the explosive loading parameters of each drilling hole, and then the execution mechanism is controlled to load the explosive for each drilling hole according to the drilling coordinates and the explosive loading parameters of each drilling hole.
2. A charging trolley for tunnel drilling and blasting construction according to claim 1, further comprising a data acquisition module connected with the execution mechanism in a sampling manner, wherein the control module is connected with the data acquisition module to obtain the loading pressure of the execution mechanism;
in the process that the execution mechanism fills the explosives for each drill hole, the control module obtains real-time filling pressure through the data acquisition module, and the real-time filling pressure of the execution mechanism is controlled to reach the filling pressure in the explosive filling parameters through closed-loop control.
3. A charging trolley for tunnel drilling and blasting construction according to claim 2, characterized by further comprising a tunnel profile identification module, wherein the tunnel profile identification module is used for comparing the obtained actual profile of the tunnel with the pre-obtained design profile of the tunnel; if the actual contour of the tunnel is underexcavated, adjusting the corresponding relation between the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to increase the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters and the surrounding rock strength are the same; and if the actual contour of the tunnel is over-excavated, adjusting the corresponding relation between the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to reduce the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters are the same as the surrounding rock strength.
4. A charging trolley for tunnel drilling and blasting construction according to claim 3, further comprising a charging hole connecting line design module, wherein the charging hole connecting line design module is used for determining the detonation sequence between the drill holes according to the drill hole types and the explosive loading amount; the drilling type comprises peripheral holes positioned in a set range around a tunnel contour line, cut holes positioned in the middle of a tunnel section, auxiliary holes positioned in the middle area of the peripheral holes and the cut holes and bottom plate holes positioned on the tunnel section and close to the ground;
the explosive loading hole connecting line design module is connected with the drilling hole data preprocessing module to acquire drilling hole types and is also connected with the explosive loading parameter matching module to acquire explosive loading of each drilling hole;
the detonation sequence includes: firstly igniting the cut hole, then igniting the auxiliary holes, and then igniting the peripheral holes and the bottom plate holes; and when the drilling types are the same, the drilling with larger explosive loading is detonated firstly, and then the drilling with smaller explosive loading is detonated.
5. A charging trolley for tunnel drilling and blasting construction according to claim 4, further comprising a data display module, wherein the data display module is connected with the control module to display drilling parameters of each drilling hole, surrounding rock strength at the position of the drilling hole, explosive filling parameters and a detonation sequence among the drilling holes.
6. A charging system for tunnel drilling and blasting construction is characterized by comprising a control module, a data communication module, a drilling data preprocessing module, a surrounding rock strength identification module and an explosive charging parameter matching module, wherein the control module is used for connecting a charging trolley, the data communication module is used for acquiring drilling data, the drilling data preprocessing module is used for acquiring drilling types according to drilling coordinates in the drilling data, the surrounding rock strength identification module is used for determining the surrounding rock strength of positions where drilling holes are located according to the drilling data, and the explosive charging parameter matching module is used for determining explosive charging parameters of the drilling holes according to the drilling parameters and the surrounding rock strength; the drilling parameters comprise drilling diameter, drilling depth and drilling type;
the explosive filling parameter matching module stores corresponding relations among pre-obtained drilling parameters, surrounding rock strength and explosive filling parameters of corresponding drill holes;
the drilling preprocessing module is connected with the data communication module to acquire drilling coordinates; the surrounding rock strength identification module is connected with the drilling data preprocessing module or the data communication module to acquire drilling data; the explosive filling parameter matching module is connected with the drilling data preprocessing module and the surrounding rock strength identification module so as to obtain drilling parameters of each drill hole and the surrounding rock strength of the corresponding drill hole;
the control module is connected with the explosive filling parameter matching module to acquire the drilling coordinates and the explosive filling parameters of each drilling hole, and then the execution mechanism of the explosive filling trolley is controlled to fill the explosive for each drilling hole according to the drilling coordinates and the explosive filling parameters of each drilling hole.
7. The charging system for the tunnel drilling and blasting method construction as claimed in claim 6, further comprising a data acquisition module connected with the execution mechanism in a sampling manner, wherein the control module is connected with the data acquisition module to acquire the loading pressure of the execution mechanism;
in the process that the execution mechanism fills the explosives for each drill hole, the control module obtains real-time filling pressure through the data acquisition module, and the real-time filling pressure of the execution mechanism is controlled to reach the filling pressure in the explosive filling parameters through closed-loop control.
8. The charging system for tunnel drilling and blasting construction according to claim 7, further comprising a tunnel profile identification module for comparing the obtained actual profile of the tunnel with a pre-obtained design profile of the tunnel; if the actual contour of the tunnel is undermined, adjusting the corresponding relation among the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to increase the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters are the same as the surrounding rock strength; and if the actual contour of the tunnel is over-excavated, adjusting the corresponding relation between the drilling parameters, the surrounding rock strength and the explosive loading parameters of the corresponding drill hole so as to reduce the explosive loading amount or the explosive loading density in the explosive loading parameters under the condition that the drilling parameters are the same as the surrounding rock strength.
9. A charging system for tunnel drilling and blasting construction according to claim 8, further comprising a charging hole connecting line design module, wherein the charging hole connecting line design module is used for determining the detonation sequence between drill holes according to the drill hole types and the explosive charge; the drilling type comprises peripheral holes positioned in a set range around a tunnel contour line, cut holes positioned in the middle of a tunnel section, auxiliary holes positioned in the middle area of the peripheral holes and the cut holes and bottom plate holes positioned on the tunnel section and close to the ground;
the explosive loading hole connecting line design module is connected with the drilling hole data preprocessing module to acquire the drilling hole type and is also connected with the explosive quantity loading parameter matching module to acquire the explosive loading quantity of each drilling hole;
the detonation sequence includes: firstly igniting the cut hole, then igniting the auxiliary holes, and then igniting the peripheral holes and the bottom plate holes; and when the drilling types are the same, the drilling holes with larger explosive loading amount are detonated firstly, and then the drilling holes with smaller explosive loading amount are detonated.
10. A charging system for tunnel drilling and blasting construction according to claim 9, further comprising a data display module, wherein the data display module is connected with the control module to display drilling parameters of each drilling hole, surrounding rock strength at the position of the drilling hole, explosive loading parameters and a detonation sequence among the drilling holes.
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