Control system, method and equipment for automatic single-hole rock drilling of drill jumbo and medium

Abstract

The invention discloses a control system, method and equipment for automatic single-hole rock drilling of a drill jumbo and a medium. The system comprises an operation device and a monitoring device which are in wireless communication connection. The monitoring device is used for detecting working condition parameters when the drill jumbo works; the operation device is used for determining corresponding optimal rock drilling parameters as rock drilling operation parameters from a pre-established expert database according to rock drilling requirements and target rock conditions, and controlling the drill jumbo to perform single-hole full-automatic rock drilling operation according to the rock drilling operation parameters; the processor is also used for acquiring the working condition parameters detected by the sensors and determining whether the operation of the drill jumbo meets the drilling requirement based on the working condition parameters; and when the rock drilling requirements are not met, the rock drilling operation parameters are adjusted, and the drill jumbo is controlled to conduct single-hole full-automatic rock drilling operation according to the adjusted rock drilling operation parameters till the rock drilling requirements are met. According to the system, remote control of the drill jumbo and single-hole automatic drilling operation can be achieved, and the working efficiency of drilling operation is improved.

Description

Technical Field

[0001] The present invention relates to the field of rock drilling engineering control technology, and in particular to a control system, method, equipment and medium for single-hole automatic rock drilling by a rock drilling trolley. Background Art

[0002] In the current metallurgical mining industry, the 1354 drilling rig is a key rock drilling equipment, and its working efficiency and automation level directly affect the efficiency and safety of mining.

[0003] However, traditional rock drilling rig control systems generally have problems such as low automation, reliance on manual experience, and low work efficiency. In addition, during drilling operations, due to the complex working environment, rocks often hit the cables and the rigs often drag the cables when they move, which not only affects the stable transmission of control signals, but also easily leads to equipment failures, increasing maintenance costs and operational risks. Summary of the invention

[0004] In view of the above problems, the present invention provides a control system, method, equipment and medium for automatic single-hole rock drilling of a rock drilling rig, which can realize remote control of the rock drilling rig and single-hole automated rock drilling operations, so as to solve the problems existing in the prior art such as low degree of automation, low work efficiency, easy equipment failure, high maintenance cost, high operation risk, etc. to a certain extent.

[0005] In a first aspect, a control system for a single-hole automatic rock drilling of a rock drilling rig is provided, comprising:

[0006] An operating device, used to determine the corresponding optimal rock drilling parameters from a pre-established expert database as rock drilling operation parameters according to rock drilling requirements and target rock conditions, and control the rock drilling trolley to perform a single-hole fully automatic rock drilling operation according to the rock drilling operation parameters, wherein the expert database stores the corresponding optimal rock drilling parameters under different rock drilling requirements and different rock conditions;

[0007] A monitoring device, comprising a plurality of sensors installed at various working positions of the drilling rig, wherein the plurality of sensors are used to detect working parameters of the drilling rig during operation;

[0008] The operating device is wirelessly connected to the monitoring device, and the operating device is also used for:

[0009] The operating parameters detected by the multiple sensors are obtained, and based on the operating parameters, it is determined whether the operation of the rock drilling trolley meets the rock drilling requirements; when the rock drilling requirements are not met, the rock drilling operation parameters are adjusted, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters until the rock drilling requirements are met.

[0010] Optionally, the rock drilling requirements include a target drilling depth and a target drilling inclination angle, and the operating parameters include at least an actual drilling depth and an actual drilling inclination angle.

[0011] Optionally, the rock drilling operation parameters include at least: thrust pressure, thrust rate, impact pressure, impact frequency, rotation pressure, rotation speed, anti-stuck threshold and anti-stuck sensitivity of the rock drilling trolley.

[0012] Optionally, the operating device is also used for:

[0013] When the rock drilling trolley performs a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters to meet the rock drilling requirements, the corresponding optimal rock drilling parameters in the expert database are updated to the adjusted rock drilling operation parameters.

[0014] Optionally, when the expert database does not store the optimal rock drilling parameters corresponding to the rock drilling requirement or the target rock condition, the operating device is further used to:

[0015] Within the preset value ranges of the rock drilling parameters, a group of value combinations of the rock drilling parameters are arbitrarily selected as the rock drilling operation parameters.

[0016] Optionally, the monitoring device further includes:

[0017] A camera module, used for photographing the working environment of the drilling rig in real time;

[0018] The operating device is also used to obtain video data captured by the camera module and display the video data.

[0019] Optionally, the control system further includes:

[0020] Remote voice intercom device, used for real-time voice intercom between remote operators and on-site maintenance personnel.

[0021] In a second aspect, a control method for automatic single-hole rock drilling by a rock drilling trolley is provided, which is applicable to the control system as described in the first aspect, and the control method comprises:

[0022] Obtain drilling requirements and target rock conditions;

[0023] According to the rock drilling requirements and the target rock conditions, the corresponding optimal rock drilling parameters are determined from a pre-established expert database as rock drilling operation parameters, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the rock drilling operation parameters, wherein the expert database stores the corresponding optimal rock drilling parameters under different rock drilling requirements and different rock conditions;

[0024] Obtaining operating parameters of the rock drilling rig during operation;

[0025] Determining whether the operation of the rock drilling rig meets the rock drilling requirements based on the operating condition parameters;

[0026] When the rock drilling requirements are not met, the rock drilling operation parameters are adjusted, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters until the rock drilling requirements are met.

[0027] In a third aspect, an electronic device is provided, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the control method as described in the first aspect by executing the computer instructions.

[0028] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the control method as described in the first aspect.

[0029] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0030] The embodiment of the present invention provides a control system, method, device and medium for automatic rock drilling of a single hole by a rock drilling trolley, the system includes an operating device and a monitoring device, wherein the operating device can determine the corresponding optimal rock drilling parameters from a pre-established expert database as rock drilling operation parameters according to the rock drilling requirements and target rock conditions, and control the rock drilling trolley to perform single-hole fully automatic rock drilling according to the rock drilling operation parameters. At the same time, the monitoring device can detect the working condition parameters of the rock drilling trolley during operation, and send the monitored working condition parameters to the operating device through wireless communication. The operating device can use the working condition parameters sent by the monitoring device as feedback to determine whether the operation of the rock drilling trolley meets the rock drilling requirements. If the rock drilling requirements are not met, the rock drilling operation parameters can be adjusted until the operation of the rock drilling trolley meets the rock drilling requirements. The wireless communication connection of each device in the system can reduce the setting of cables, thereby solving the problems of poor signal stability, easy equipment failure, high maintenance cost, and high operation risk caused by redundant lines to a certain extent. At the same time, the entire rock drilling process has a higher degree of automation, reduces the dependence on manual experience, and improves work efficiency.

[0031] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0033] Figure 1 It is a structural block diagram of a control system for single-hole automatic rock drilling of a rock drilling trolley provided in an embodiment of the present invention;

[0034] Figure 2 The present invention provides a flow chart of a control method for single-hole automatic rock drilling by a rock drilling trolley. DETAILED DESCRIPTION

[0035] In order to better understand the above-mentioned technical scheme, the above-mentioned technical scheme will be described in detail below in combination with the accompanying drawings and specific implementation methods of the specification. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0036] Figure 1 : is a structural block diagram of a control system for a single-hole automatic rock drilling of a rock drilling trolley provided in an embodiment of the present invention, such as Figure 1 As shown, the control system 100 includes an operating device 10 and a monitoring device 20, and the operating device 10 and the monitoring device 20 are connected by wireless communication.

[0037] The operating device 10 is used to determine the corresponding optimal rock drilling parameters as rock drilling operation parameters from a pre-established expert database according to the rock drilling requirements and target rock conditions, and control the rock drilling trolley to perform a single-hole fully automatic rock drilling operation according to the rock drilling operation parameters. The expert database stores the corresponding optimal rock drilling parameters under different rock drilling requirements and different rock conditions.

[0038] The monitoring device 20 includes a plurality of sensors 21 installed at various working positions of the drilling rig. The plurality of sensors 21 are used to detect working parameters of the drilling rig during operation.

[0039] The operating device 10 is also used to obtain operating parameters detected by multiple sensors, and determine whether the operation of the rock drilling rig meets the rock drilling requirements based on the operating parameters; when the rock drilling requirements are not met, adjust the rock drilling operating parameters, and control the rock drilling rig to perform a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operating parameters until the rock drilling requirements are met.

[0040] Through the monitoring device, multiple sensors are used to monitor the working parameters, replacing the existing operation mode that relies on the experience of on-site personnel, avoiding the operation risks of on-site personnel, and improving the operation accuracy and reliability. At the same time, the operation device realizes the control of the single-hole fully automatic rock drilling operation of the rock drilling trolley, improving the automation degree and work efficiency of the rock drilling operation.

[0041] Optionally, the control system 100 further includes a remote wireless control device 30, and the operating device 10 and the monitoring device 20 are wirelessly connected via the remote wireless control device 30. In this embodiment, the remote wireless control device 30 may include a vehicle-mounted wireless signal transceiver, an on-site 5G CPE terminal, a vehicle-mounted network switch, an on-site and remote control console, etc. Through the remote wireless control device 30, using wireless network transmission technology, the original wired controller can be replaced with a wireless control console, solving the problems of redundant wires, inconvenient operation, and high failure rate of the wired control system.

[0042] It should be noted that, in this embodiment, the rock driller can input the rock drilling requirements and target rock conditions through the on-site control console or the remote control console in the remote wireless control device 30. The working device 10 can obtain the rock drilling requirements and target rock conditions input by the rock driller through the remote wireless control device 30.

[0043] Optionally, in this embodiment, the rock drilling operation parameters at least include:

[0044] (1) Thrust pressure refers to the force applied by the rock drill rig thruster to the rock drill or drill bit to maintain close contact between the drill bit and the rock and to push the drill bit into the rock. The thrust pressure should be adjusted according to the hardness and integrity of the rock and the type of drill bit. Harder rock requires greater thrust pressure, while softer rock can appropriately reduce the thrust pressure;

[0045] (2) The propulsion rate refers to the speed at which the drill bit advances in the rock. Controlling the propulsion rate is crucial to maintaining a stable drilling speed and avoiding problems such as overheating and excessive wear of the drill bit. The adjustment of the propulsion rate should take into account the rock crushing efficiency, the durability of the drill bit, and the construction efficiency. Under the premise of maintaining the stable operation of the drill bit, the propulsion rate should be increased as much as possible to improve the construction efficiency;

[0046] (3) Impact pressure refers to the impact force generated by the impact mechanism of the rock drill, which is used to break rocks. The impact pressure directly affects the rock breaking effect and drilling speed. The impact pressure should be adjusted according to the hardness and integrity of the rock. Harder rocks require greater impact pressure to break, while softer rocks can be appropriately reduced to avoid wasting energy;

[0047] (4) Impact frequency, also known as impact frequency, refers to the number of times the rock drill piston impacts per minute. It is an important indicator to measure the working efficiency and performance of the rock drill.

[0048] (5) Rotational pressure refers to the pressure generated by the torque and friction generated by the drilling rig during the rotation process. In rock drilling operations, the rotational pressure is mainly used to drive the drill rod and drill bit to rotate to break the rock. Appropriate rotational pressure can increase the drilling speed, reduce drill bit wear, and help maintain the straightness of the drill hole. The rotational pressure needs to be adjusted according to factors such as the hardness of the rock, the diameter and depth of the drill hole to ensure the safety and efficiency of the operation;

[0049] (6) Rotational speed refers to the rotation speed of the drill bit during the drilling process. The speed of rotation directly affects the efficiency of rock cutting and the roundness of the drill hole. The adjustment of the rotational speed should take into account the hardness of the rock, the type and diameter of the drill bit. Harder rocks and larger drill bit diameters require slower rotational speeds to maintain a stable cutting effect, while softer rocks and smaller drill bit diameters can appropriately increase the rotational speed to improve efficiency;

[0050] (7) Anti-stuck threshold refers to the critical condition or parameter value that can prevent the occurrence of drill jams during the rock drilling process. It is usually related to factors such as the performance of the drill, the physical properties of the rock, and the operating conditions. Setting a reasonable anti-stuck threshold can effectively prevent the occurrence of drill jams and improve work efficiency and safety. When the actual working state of the drill approaches or reaches the anti-stuck threshold, appropriate measures need to be taken to adjust or intervene to avoid the occurrence of drill jams.

[0051] (8) Anti-stuck sensitivity refers to the sensitivity of the drilling rig in monitoring and responding to the risk of stuck drill. It reflects the ability of the drilling rig to take prompt measures to intervene when signs of stuck drill are detected. High anti-stuck sensitivity helps the drilling rig to detect and respond to the risk of stuck drill in the first place and reduce the occurrence of stuck drill failures. This usually requires the drilling rig to have an advanced monitoring system and a fast response mechanism so that appropriate measures can be taken to intervene quickly when the risk of stuck drill occurs.

[0052] There are many parameters that need to be controlled by the rock drilling rig during the drilling process, which directly affect the efficiency, quality and safety of drilling. In addition to the above-mentioned main parameters, the rock drilling rig may also need to control some other parameters during the drilling process. The selection and adjustment of rock drilling operation parameters should be carried out according to specific construction requirements and rock conditions, and the present invention does not limit this. It should be noted that when selecting and adjusting rock drilling operation parameters, the operating procedures and safety specifications of the rock drilling rig must be followed to ensure the safety of construction personnel and the normal operation of equipment.

[0053] Optionally, the rock drilling requirements include a target drilling depth and a target drilling inclination angle, and the working condition parameters include at least an actual drilling depth and an actual drilling inclination angle.

[0054] In this embodiment, the working device 10 determines whether the operation of the rock drilling trolley meets the rock drilling requirements based on the working condition parameters, specifically including: determining whether the inclination difference between the actual drilling inclination angle and the target drilling inclination angle exceeds a predetermined inclination threshold, and whether the depth difference between the actual drilling depth and the target drilling depth exceeds a preset difference; if the inclination difference exceeds the predetermined inclination threshold, or the depth difference exceeds the preset difference, it is determined that the operation of the rock drilling trolley does not meet the rock drilling requirements. Otherwise, it is determined that the operation of the rock drilling trolley meets the rock drilling requirements.

[0055] Optionally, the working condition parameters may also include hydraulic oil level, hydraulic oil temperature and actual propulsion pressure. Hydraulic oil is the medium for transmitting energy in the hydraulic system, and sufficient hydraulic oil level is the basis for the normal operation of the hydraulic system. Too low a level will cause the oil pump to suck air, which will cause insufficient pressure in the hydraulic system, affecting the normal operation and drilling efficiency of the rock drilling equipment. Too high a level will increase the burden on the hydraulic pump, causing the pressure of the hydraulic oil in the system to increase accordingly, reducing the life of the hydraulic pump, etc. Therefore, maintaining an appropriate hydraulic oil level is one of the important measures to ensure the safety of rock drilling operations. The hydraulic oil temperature is one of the important indicators reflecting the operating status of the hydraulic system. By monitoring the oil temperature, the heat dissipation of the hydraulic system, the oil quality and the system load status can be understood. Propulsion pressure is one of the key parameters in rock drilling operations. It directly affects the rock drilling speed and rock drilling quality. By obtaining the actual propulsion pressure, it can be determined whether the actual propulsion pressure is within the preset target propulsion pressure value range, or whether it is within the propulsion pressure value range set by the operating device, so as to ensure that the rock drilling equipment operates in the best state, thereby improving the operating efficiency. This can not only shorten the construction period and reduce costs, but also improve the project quality and customer satisfaction.

[0056] Therefore, the working device 10 can understand the equipment operating status based on the detected working condition parameters such as hydraulic oil level, hydraulic oil temperature and actual propulsion pressure, ensure the normal operation of the hydraulic system, prevent equipment damage, ensure safe production and improve rock drilling efficiency. In this embodiment, the working condition parameters may also include other parameters related to rock drilling safety that can be detected by the sensor, and the present invention is not limited to this.

[0057] Since hydraulic rock drilling is a comprehensive synthesis of many actions such as impact, rotation, and propulsion, different rock conditions require different rock drilling operation parameters, each of which has a direct impact on the rock drilling efficiency, and each of which has complex matching requirements. The use of electronic technology to achieve combined matching and intelligent control of various parameters is the key to ensuring the best rock drilling efficiency. The operating device in this embodiment can determine the optimal rock drilling parameters corresponding to the rock drilling trolley under various typical rock conditions and various rock drilling requirements by testing a variety of typical rock drilling objects, thereby studying an intelligent control technology based on a PC intelligent control system that can automatically adjust the rock drilling operation parameters according to the rock drilling conditions, and establishing an expert database for the intelligent control system.

[0058] According to rock drilling theory and the characteristics of hydraulic rock drills, under homogeneous rock conditions, as rock drilling parameters such as thrust pressure and rotary pressure continue to increase, the advancement rate will increase accordingly, but when the thrust pressure and rotary pressure increase to a certain level, the advancement rate will no longer increase significantly. At the same time, according to stress wave theory, as the rock drilling depth increases, the stress wave will attenuate by 3-8% for every 1 meter of advancement, and the attenuation amplitude will also vary depending on the blasthole angle. Therefore, a large number of rock drilling tests are required to calibrate the rock drilling parameters, so as to determine the impact of the corresponding rock drilling parameters on the advancement speed under different rock drilling requirements and different rock conditions, and then determine the optimal rock drilling parameters based on the advancement speed.

[0059] Optionally, the operating device 10 is also used for:

[0060] When the rock drilling rig performs a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters to meet the rock drilling requirements, the corresponding optimal rock drilling parameters in the expert database are updated to the adjusted rock drilling operation parameters.

[0061] Through the above method, experience can be continuously accumulated in rock drilling operations and the data in the expert database can be improved so that the corresponding rock drilling parameters can be kept optimal under different rock drilling requirements and different rock conditions.

[0062] Optionally, when the expert database does not store optimal rock drilling parameters corresponding to the rock drilling requirements or target rock conditions, the operating device 10 is further used to:

[0063] Within the preset value ranges of various rock drilling parameters, a group of rock drilling parameter value combinations are arbitrarily selected as rock drilling operation parameters.

[0064] Since the expert database established by the experiment is limited after all, a large amount of data for different rock conditions needs to be supplemented during actual rock drilling. In order to meet the rock drilling requirements of various rock conditions as widely as possible, a wide amplitude range of values ​​can be set for each rock drilling parameter in advance, so that when there are rock drilling requirements or target rock conditions that are not stored in the expert database, a group of rock drilling parameter value combinations can be arbitrarily selected from the preset range of values ​​of each rock drilling parameter as the rock drilling operation parameter. At the same time, the operating device 10 can also store the rock drilling operation parameters, and the corresponding unstored rock drilling requirements and target rock conditions in the expert database. And the operating device 10 can also determine whether it is necessary to adjust a group of rock drilling operation parameters arbitrarily selected according to the working condition parameters fed back by the monitoring device 20, so that the final rock drilling effect meets the rock drilling requirements, and finally update the rock drilling operation parameters that meet the rock drilling requirements to the expert database. By continuously accumulating experience during the rock drilling operation, the data of the expert database can be supplemented and improved. Therefore, the expert database provided in this embodiment has the ability to be continuously supplemented and updated.

[0065] It should be noted that when it is determined based on the working condition parameters that the operation of the rock drilling trolley meets the rock drilling requirements, the working device 10 does not need to adjust the rock drilling operation parameters, and therefore does not need to update the optimal rock drilling parameters in the expert database.

[0066] In this embodiment, the operating device can also control the rock drilling trolley to perform a single-hole fully automatic rock drilling operation according to a preset anti-stuck rod strategy. The anti-stuck rod strategy in the rock drilling operation refers to a series of measures aimed at preventing and dealing with the problem of rod sticking (or drill sticking) that occurs during the rock drilling process. For example, rock drilling operation parameters such as anti-stuck threshold and anti-stuck sensitivity are set to achieve anti-stuck rod, thereby effectively reducing the risk of rod sticking during the rock drilling process and improving operation efficiency and safety.

[0067] Optionally, the monitoring device 20 further includes a camera module 22 for capturing the working environment of the drilling rig in real time. The working device 10 is also used to obtain video data captured by the camera module and display the video data. By providing the camera module, the working site situation can be monitored in real time to improve the safety and efficiency of the operation.

[0068] Optionally, the control system 100 further includes a remote voice intercom device 40 for real-time voice intercom between the remote operator and the on-site maintenance personnel. By providing the remote voice intercom device 40, instant communication between the remote operator and the on-site personnel is facilitated, thereby enhancing the operation coordination capability.

[0069] Based on the same inventive concept, the embodiment of the present invention also provides a control method for a single-hole automatic rock drilling vehicle, which is suitable for Figure 1 The control system. Figure 21 is a flow chart of a control method for automatic single-hole rock drilling by a rock drilling trolley provided in an embodiment of the present invention. Figure 2 As shown, the control method includes:

[0070] Step S201: Obtain rock drilling requirements and target rock conditions.

[0071] Step S202: According to the rock drilling requirements and target rock conditions, the corresponding optimal rock drilling parameters are determined from a pre-established expert database as rock drilling operation parameters, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the rock drilling operation parameters. The expert database stores the corresponding optimal rock drilling parameters under different rock drilling requirements and different rock conditions.

[0072] Step S203, obtaining the operating parameters of the drilling rig during operation.

[0073] Step S204: determine whether the operation of the rock drilling rig meets the rock drilling requirements based on the working condition parameters.

[0074] Step S205: When the rock drilling requirements are not met, the rock drilling operation parameters are adjusted, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters until the rock drilling requirements are met.

[0075] Optionally, when the expert database does not store optimal rock drilling parameters corresponding to the rock drilling requirements or target rock conditions, the control method further includes:

[0076] Within the preset value ranges of various rock drilling parameters, a group of rock drilling parameter value combinations are arbitrarily selected as rock drilling operation parameters.

[0077] Optionally, the control method further includes:

[0078] When the rock drilling rig performs a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters to meet the rock drilling requirements, the corresponding optimal rock drilling parameters in the expert database are updated to the adjusted rock drilling operation parameters.

[0079] Through the above method, experience can be continuously accumulated in rock drilling operations and the data in the expert database can be improved so that the corresponding rock drilling parameters can be kept optimal under different rock drilling requirements and different rock conditions.

[0080] The specific details of the above control method can be understood by referring to the corresponding descriptions and effects in the above control system embodiment, and will not be repeated here.

[0081] Based on the same inventive concept as the above control method, the present invention also provides an electronic device, which may include a processor and a memory, wherein the processor and the memory may be connected to each other through a bus or other means. The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components and other chips, or a combination of the above-mentioned various types of chips. The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the control method in the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, realizing the control of the single-hole automatic rock drilling of the rock drilling trolley in the above method embodiment.

[0082] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. The one or more modules are stored in the memory, and when executed by the processor, the execution is as follows: Figure 2 The control method in the illustrated embodiment.

[0083] For details of the above electronic equipment, please refer to Figure 2 The corresponding related descriptions and effects in the illustrated embodiments can be understood and will not be repeated here.

[0084] Based on the same inventive concept as the control method, the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and the computer program instructions are used to enable a computer to execute the control method in the above embodiment.

[0085] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0086] The technical solutions provided in the above embodiments of the present application have at least the following technical effects or advantages:

[0087] The embodiment of the present invention provides a control system, method, device and medium for automatic rock drilling of a single hole by a rock drilling trolley, the system includes an operating device and a monitoring device, wherein the operating device can determine the corresponding optimal rock drilling parameters from a pre-established expert database as rock drilling operation parameters according to the rock drilling requirements and target rock conditions, and control the rock drilling trolley to perform single-hole fully automatic rock drilling according to the rock drilling operation parameters. At the same time, the monitoring device can detect the working condition parameters of the rock drilling trolley during operation, and send the monitored working condition parameters to the operating device through wireless communication. The operating device can use the working condition parameters sent by the monitoring device as feedback to determine whether the operation of the rock drilling trolley meets the rock drilling requirements. If the rock drilling requirements are not met, the rock drilling operation parameters can be adjusted until the operation of the rock drilling trolley meets the rock drilling requirements. The wireless communication connection of each device in the system can reduce the setting of cables, thereby solving the problems of poor signal stability, easy equipment failure, high maintenance cost, and high operation risk caused by redundant lines to a certain extent. At the same time, the entire rock drilling process has a higher degree of automation, reduces the dependence on manual experience, and improves work efficiency.

[0088] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0089] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More specifically, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present invention.

[0090] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.

Claims

1. A control system for automatic single-hole rock drilling of a rock drilling trolley, characterized in that: include: An operating device, used to determine the corresponding optimal rock drilling parameters from a pre-established expert database as rock drilling operation parameters according to rock drilling requirements and target rock conditions, and control the rock drilling trolley to perform a single-hole fully automatic rock drilling operation according to the rock drilling operation parameters, wherein the expert database stores the corresponding optimal rock drilling parameters under different rock drilling requirements and different rock conditions; A monitoring device, comprising a plurality of sensors installed at various working positions of the drilling rig, wherein the plurality of sensors are used to detect working parameters of the drilling rig during operation; The operating device is wirelessly connected to the monitoring device, and the operating device is also used for: The operating parameters detected by the multiple sensors are obtained, and based on the operating parameters, it is determined whether the operation of the rock drilling trolley meets the rock drilling requirements; when the rock drilling requirements are not met, the rock drilling operation parameters are adjusted, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters until the rock drilling requirements are met.

2. The control system according to claim 1, characterized in that: The rock drilling requirements include a target drilling depth and a target drilling inclination angle, and the working condition parameters include at least an actual drilling depth and an actual drilling inclination angle.

3. The control system according to claim 1, characterized in that: The rock drilling operation parameters include at least: the thrust pressure, thrust rate, impact pressure, impact frequency, rotation pressure, rotation speed, anti-stuck threshold and anti-stuck sensitivity of the rock drilling trolley.

4. The control system according to claim 1, characterized in that: The operating device is also used for: When the rock drilling trolley performs a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters to meet the rock drilling requirements, the corresponding optimal rock drilling parameters in the expert database are updated to the adjusted rock drilling operation parameters.

5. The control system according to claim 1, characterized in that: When the expert database does not store the optimal rock drilling parameters corresponding to the rock drilling requirement or the target rock condition, the operating device is further used to: Within the preset value ranges of the rock drilling parameters, a group of value combinations of the rock drilling parameters are arbitrarily selected as the rock drilling operation parameters.

6. The control system according to claim 1, characterized in that: The monitoring device also includes: A camera module, used for photographing the working environment of the drilling rig in real time; The operating device is also used to obtain video data captured by the camera module and display the video data.

7. The control system according to claim 1, characterized in that: The control system further comprises: Remote voice intercom device, used for real-time voice intercom between remote operators and on-site maintenance personnel.

8. A method for controlling a single-hole automatic rock drilling of a rock drilling trolley, applicable to the control system according to any one of claims 1 to 7, characterized in that: The control method comprises: Obtain drilling requirements and target rock conditions; According to the rock drilling requirements and the target rock conditions, the corresponding optimal rock drilling parameters are determined from a pre-established expert database as rock drilling operation parameters, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the rock drilling operation parameters, wherein the expert database stores the corresponding optimal rock drilling parameters under different rock drilling requirements and different rock conditions; Obtaining operating parameters of the rock drilling rig during operation; Determining whether the operation of the rock drilling rig meets the rock drilling requirements based on the operating condition parameters; When the rock drilling requirements are not met, the rock drilling operation parameters are adjusted, and the rock drilling trolley is controlled to perform a single-hole fully automatic rock drilling operation according to the adjusted rock drilling operation parameters until the rock drilling requirements are met.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method as claimed in claim 8 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the control method of claim 8.

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