Coal mine drill boom angle adjusting method and system based on distributed control

Abstract

The invention relates to the technical field of drill boom control, and provides a coal mine drill boom angle adjusting method and system based on distributed control. The method comprises the following steps: arranging a particle detection device, and obtaining particle detection parameters; acquiring a joint node, and identifying a particle attitude interference interval of the joint node based on the particle detection parameter; constructing a corresponding reverse attitude adjustment interval; and a drilling task path is determined, a reverse attitude adjustment interval is taken as a constraint, distributed cooperative control optimization is carried out on joint nodes according to the task path, angle adjustment parameters are obtained and used for angle adjustment, and therefore the problems that when an existing coal mine drill arm works, coal dust and rock debris particles intrude into the joint parts, rotation retardation is caused, abrasion is aggravated and even jamming is caused, and the working efficiency is poor are solved. The technical problems of influence on drilling efficiency and equipment service life due to particle detection and distributed cooperative control in the prior art are solved, and the technical effects of preventing particles from invading joints, reducing joint abrasion and jamming risks and improving drilling efficiency and equipment operation reliability are achieved through particle detection and distributed cooperative control, construction of reverse attitude adjustment constraints, prevention of particles from invading the joints, reduction of joint abrasion and jamming risks and improvement of drilling efficiency and equipment operation reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drill boom control, in particular to a coal mine drill boom angle adjustment method and system based on distributed control. BACKGROUND

[0002] In coal mine drilling operations, the drill boom as the core actuator, the flexibility and reliability of its joint angle adjustment directly determines the drilling efficiency and equipment life. However, the underground coal seam environment is extremely complex, and a large amount of coal powder and rock debris particles are sprayed at high speed during drilling. These particles are extremely easy to invade the gaps of each rotating joint of the drill boom, causing joint rotation resistance, rapid wear rate, and even joint jamming failure. This not only forces frequent downtime maintenance, significantly reducing effective drilling time, but also greatly increases equipment wear and tear and safety hazards. Current drill boom control systems focus on path planning and end positioning accuracy, or on overall obstacle avoidance and force control, and lack effective response mechanisms for the specific and high-frequency disturbance factor of particle spraying generated during drilling. Especially when adjusting the angle of multiple joints, the existing scheme fails to fully consider the correlation between the physical path of particle invasion and the direction of joint movement, and cannot actively avoid the risk of particle invasion during adjustment, leading to accelerated wear of joint sealing components, contamination of lubricating medium, and ultimately causing joint jamming, servo system overload and other failures, which seriously affects drilling efficiency and increases the frequency of underground maintenance. SUMMARY

[0003] The present application provides a coal mine drill boom angle adjustment method and system based on distributed control, aiming to solve the technical problem that coal powder and rock debris particles invade the joint position during the operation of the existing coal mine drill boom, causing rotation resistance, accelerated wear, and even jamming, affecting drilling efficiency and equipment life.

[0004] The first aspect of the present application provides a coal mine drill boom angle adjustment method based on distributed control, the method comprising: setting a particle detection device, and acquiring drilling particle detection parameters according to the particle detection device, wherein the particle detection device is arranged on the drill boom, and the drilling particle detection parameters include particle direction vector, particle spatter intensity and particle spatter density; acquiring a plurality of joint nodes of the drill boom, identifying a plurality of particle posture disturbance intervals corresponding to the plurality of joint nodes based on the drilling particle detection parameters; constructing a plurality of reverse posture adjustment intervals corresponding to the plurality of particle posture disturbance intervals; determining a drilling task path of the drill boom, and performing distributed collaborative control optimization on the plurality of joint nodes of the drill boom according to the drilling task path with the plurality of reverse posture adjustment intervals as constraint conditions, to obtain a plurality of sets of angle adjustment parameters for angle adjustment of the plurality of joint nodes.

[0005] In another aspect of the present application, a coal mine drill boom angle adjustment system based on distributed control is provided, which comprises: a particle detection parameter acquisition module: a particle detection device is arranged, and a drilling particle detection parameter is obtained according to the particle detection device, wherein the particle detection device is arranged on a drill boom, and the drilling particle detection parameter includes a particle direction vector, a particle spatter intensity and a particle spatter density; an interference interval identification module: a plurality of joint nodes of the drill boom are obtained, and a plurality of particle posture interference intervals corresponding to the plurality of joint nodes are identified based on the drilling particle detection parameter; an adjustment interval construction module: a plurality of reverse posture adjustment intervals corresponding to the plurality of particle posture interference intervals are constructed; and a distributed collaborative control module: a drilling task path of the drill boom is determined, and the plurality of joint nodes of the drill boom are distributed and collaboratively controlled and optimized according to the drilling task path and under the constraint condition of the plurality of reverse posture adjustment intervals, so as to obtain a plurality of angle adjustment parameters for angle adjustment of the plurality of joint nodes.

[0006] One or more technical solutions provided in the present application have at least the following technical effects or advantages: The above-mentioned coal mine drill boom angle adjustment method based on distributed control first acquires relevant parameters of particles in the drilling process, including the direction, spatter intensity and density of the particles, by arranging a particle detection device on the drill boom. Then, based on these particle parameters, the intervals in which the plurality of joint nodes of the drill boom may be disturbed by particles during drilling are identified. Subsequently, these interference intervals are converted into reverse posture adjustment intervals to avoid particles entering the joint parts. Then, the drilling path of the drill boom is determined, and the angle adjustment of each joint node is optimized through distributed collaborative control under the restriction condition of the reverse posture adjustment interval, so as to obtain a plurality of angle adjustment parameters, thereby realizing accurate angle adjustment and ensuring drilling efficiency and long-term stable operation of the equipment.

[0007] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented in accordance with the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0009] Figure 1 FIG. 1 is a flowchart of a coal mine drill boom angle adjustment method based on distributed control in an embodiment.

[0010] Figure 2 Figure 1 is a schematic diagram of a coal mine drilling boom angle adjustment system based on distributed control according to an embodiment of the present application.

[0011] Figure 1 is a schematic diagram of a coal mine drilling boom angle adjustment system based on distributed control according to an embodiment of the present application. DETAILED DESCRIPTION

[0012] The present application provides a coal mine drilling boom angle adjustment method and system based on distributed control, which solves the technical problem that coal dust and rock debris particles invade the joint part during the operation of the existing coal mine drilling boom, causing rotation resistance, wear and tear, and even jamming, which affects the drilling efficiency and equipment life.

[0013] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0014] It should be noted that the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not have to be limited to those clearly listed steps or units, but can include other steps or modules that are not clearly listed or inherent to the process, method, product or device.

[0015] Embodiment one, as shown in the present application provides a coal mine drilling boom angle adjustment method based on distributed control, which comprises: Figure 1 setting a particle detection device, acquiring drilling particle detection parameters according to the particle detection device, wherein the particle detection device is arranged on the drilling boom, and the drilling particle detection parameters include particle direction vector, particle spatter intensity and particle spatter density.

[0016] ​In the embodiments of the present application, in order to better monitor the particles that may affect the joints of the drilling boom during drilling, a particle detection device is arranged on the coal mine drilling boom to ensure that relevant data of particles in the environment during drilling can be obtained in real time. When the coal mine drilling boom is working, the particle detection device will detect the drilling particles in real time and obtain drilling particle detection parameters, which include particle direction vector, particle spatter intensity and particle spatter density. Among them, the particle direction vector represents the movement direction of the spattered particles during drilling, which can be used to judge the path of the particles that may enter the joint part of the drilling boom, so that measures can be taken in advance to avoid particle interference; the particle spatter intensity represents the intensity of particle spatter, that is, the speed and energy with which the particles spatter out, and particles with high spatter intensity may cause more serious wear and blockage; the particle spatter density represents the concentration or distribution density of particles in a unit space, and higher particle density may mean that more particles exist near the drilling boom, increasing the risk of particles entering the joint. By detecting these particle parameters in real time, key data support can be provided for subsequent drilling boom angle adjustment to avoid particles entering the drilling boom joint, thereby improving drilling efficiency, reducing equipment wear and tear, and prolonging equipment service life.

[0017] Table 1: Drilling particle detection parameter example table As shown in Table 1 above, the drilling particle detection parameter example table shows the relevant parameters of drilling particle detection, including particle direction vector, particle spatter intensity, particle spatter density, and example values, units and physical meanings of each parameter, which provides support for particle monitoring and drilling boom angle adjustment during drilling.

[0018] Obtain a plurality of joint nodes of the drilling boom, and identify a plurality of particle posture interference intervals corresponding to the plurality of joint nodes based on the drilling particle detection parameters.

[0019] In one embodiment, a plurality of joint nodes on the drill arm are first acquired, which are key control points of the drill arm during the execution of the drilling task, usually located at each rotating part or connecting point of the drill arm. The motion state and angle adjustment of each joint node can be affected by particle interference during drilling, so detailed analysis of these nodes is necessary. Subsequently, based on the acquired drilling particle detection parameters, the spatial distribution of the drilling particles is analyzed, and combined with the direction, spatter intensity and spatter density of the particles in the global coordinate system, the particle spatial distribution corresponding to each local coordinate system can be converted. By analyzing the geometry projection of each local coordinate system, the particle attitude interference interval of each joint node can be quantified. These particle attitude interference intervals represent the spatial range of each joint node that is susceptible to particle interference during operation. Subsequent optimization of the angle adjustment of the drill arm can be based on these particle attitude interference intervals to avoid particles entering the joints, thereby improving the operation efficiency and equipment life.

[0020] Further, the present application provides a method for identifying a plurality of particle attitude interference intervals corresponding to the plurality of joint nodes based on the drilling particle detection parameters, comprising: defining a plurality of local coordinate systems of the plurality of joint nodes in a global coordinate system; based on the spatial distribution of the drilling particle detection parameters in the global coordinate system, converting to obtain a plurality of drilling particle spatial distributions corresponding to the plurality of local coordinate systems, wherein each drilling particle spatial distribution includes particle direction distribution, particle spatter intensity distribution and particle spatter density distribution in the corresponding local coordinate system; performing geometric projection analysis on the plurality of local coordinate systems according to the plurality of drilling particle spatial distributions, respectively, and quantitatively identifying a plurality of particle attitude interference intervals according to the geometric projection results.

[0021] Preferably, in the global coordinate system, in order to facilitate the control and analysis of multiple joint nodes, a corresponding local coordinate system is defined for each joint node, which is usually aligned with the rotation direction or motion axis of the joint node, that is, the position coordinates of the joint node in the global coordinate system are usually taken as the origin, and the axes of the global coordinate system are aligned to the local axes of the joint through a rotation matrix (such as Euler angles or quaternions) according to the initial installation angle of the joint, thereby obtaining multiple local coordinate systems of multiple joint nodes, which can make the motion behavior of the joint nodes in the respective coordinate systems better match the overall motion of the drilling arm. In addition, a homogeneous transformation matrix from the global coordinate system to the local coordinate system is constructed by combining the translation vector and the rotation matrix, which is used for subsequent parameter conversion. Subsequently, for the drilling particle detection parameters in the global coordinate system, the particle direction vector in the drilling particle detection parameters is converted to the local coordinate system through the rotation matrix (extracted from the homogeneous transformation matrix) to obtain the local particle direction distribution; the particle splash intensity and the particle splash density in the drilling particle detection parameters are combined with the local particle direction distribution to calculate the effective projection value (such as the component perpendicular to the joint surface) on the joint surface as the local particle splash intensity distribution and the local particle splash density distribution; the spatial distribution of the particles in the global coordinate system is mapped to the local coordinate system through the homogeneous transformation matrix to obtain the local spatial distribution. By integrating these local particle direction distribution, particle splash intensity distribution, particle splash density distribution, and local spatial distribution, multiple drilling particle spatial distributions corresponding to multiple local coordinate systems are obtained. Then, by calculating the intersection of the particles and the joint surface, the particle spatial distribution in the local coordinate system is projected onto the exposed surface or active area of the joint node, and then according to the projection result, the particle posture interference interval of each joint node is quantitatively identified by calculating the drilling particle interference risk index, which represents the spatial range in which the particles may interfere with the rotation of the joint during drilling, providing a scientific basis for subsequent angle adjustment and ensuring that each joint node operates within the optimal angle range during drilling, avoiding interference and wear caused by particles, and improving operation efficiency and equipment life.

[0022] Further, the present application provides geometric projection analysis of the plurality of local coordinate systems according to the plurality of drilling particle spatial distributions, the method comprising: obtaining joint physical parameters of the plurality of joint nodes in the plurality of local coordinate systems, the joint physical parameters including joint rotation angle range and exposed geometry; performing geometric projection analysis on the plurality of local coordinate systems according to the plurality of drilling particle spatial distributions to obtain an intersection spatial coordinate set based on the joint physical parameters, wherein the intersection is the intersection of the drilling particles and the exposed surface of the joint; recording the intersection spatial coordinate set as the geometric projection result output.

[0023] Optionally, in order to ensure that the drill arm can effectively cope with particle interference during drilling, first, the physical parameters of the multiple joint nodes of the drill arm in multiple local coordinate systems are collected, including the joint rotation angle range and the exposed geometry, wherein the joint rotation angle range is determined by the mechanical design of the joint and defines the maximum and minimum rotation angles that the joint can reach during movement; the exposed geometry describes the interaction area between the exposed surface of the joint and the particles, and common shapes are spheres, cylinders, cuboids, etc. Then, according to the spatial coordinates and particle direction distribution in the multiple drilling particle spatial distribution, the ray equation of each particle is constructed, the intersection spatial coordinates of the particle projected onto the exposed geometry are calculated by substituting the ray equation into the surface equation corresponding to the exposed geometry, and by summarizing these intersection spatial coordinates, a set of intersection spatial coordinates can be obtained, each intersection spatial coordinate in the set of intersection spatial coordinates represents a contact point between a particle and the surface of the exposed geometry of the joint, and the position and number of the intersection points will depend on the distribution of the particles, the rotation angle range of the joint and the geometry of the joint. Finally, the set of intersection spatial coordinates is recorded and output as the geometric projection result for further analysis of the particle interference risk to the joint and to help identify the possible particle interference interval, providing a basis for subsequent angle adjustment and optimization control.

[0024] Further, the present application provides a method for quantitatively identifying multiple particle posture interference intervals according to the geometric projection result, comprising: calculating the predicted drilling particle spatial distribution corresponding to each intersection point in the set of intersection spatial coordinates, including the predicted particle direction distribution, the predicted particle splashing intensity distribution and the predicted particle splashing density distribution under each intersection point; dividing the joint rotation angle range of each joint node into multiple angle intervals; calculating the drilling particle interference risk index of the multiple angle intervals, and identifying the angle interval greater than the preset interference risk threshold as the particle posture interference interval output, wherein the drilling particle interference risk index is obtained by weighted calculation of the direction-interference risk index, the intensity-interference risk index and the density-interference risk index.

[0025] Optionally, in order to more accurately identify the angle range of the drill arm joint node that may be disturbed by particles, for the calculated intersection point spatial coordinate set, the local particle direction distribution, the local particle splashing intensity distribution and the local particle splashing density distribution of the original point corresponding to each intersection point are obtained from the drilling particle spatial distribution, and these local data are taken as the predicted particle direction distribution, the predicted particle splashing intensity distribution and the predicted particle splashing density distribution under each intersection point. Subsequently, according to the rotation angle range of each joint node, the rotation range of the joint is divided into multiple angle intervals, each interval represents a sub-range of joint rotation, which is usually achieved by uniformly dividing the rotation angle range into several small intervals. By dividing the angle range, the control of angle adjustment can be refined, so as to accurately identify which rotation intervals will be disturbed by particles in the subsequent steps and take corresponding adjustment measures. Then, for each divided angle interval, the corresponding drilling particle disturbance risk index is calculated. In the calculation process, the direction-disturbance risk index, the intensity-disturbance risk index and the density-disturbance risk index of each angle interval are calculated first, and then the three indexes are weighted and fused to obtain the drilling particle disturbance risk index of each angle interval. Finally, according to the calculated drilling particle disturbance risk index, the relationship between the disturbance risk indexes of various angle intervals and the preset disturbance risk threshold value is compared. If the drilling particle disturbance risk index of a certain angle interval is greater than the preset disturbance risk threshold value, it means that the risk of the angle interval is too high, and at this time, the angle interval is marked as a particle posture disturbance interval. These angle intervals marked as particle posture disturbance intervals will be used as the basis for subsequent control and adjustment to ensure that the drill arm avoids or reduces the disturbance of particles to the joint during operation, and improves the accuracy of drilling operation and the stability of the equipment.

[0026] Further, the application provides a method for obtaining a direction-disturbance risk index, the direction-disturbance risk index being obtained by interference label identification on the predicted particle direction distribution, the interference label including axial interference, radial interference and oblique interference; wherein the risk index of the axial interference is greater than the risk index of the radial interference, and the risk index of the radial interference is greater than the risk index of the oblique interference.

[0027] Optionally, in the evaluation and calculation of the direction-interference risk index, interference label recognition is performed on the predicted particle direction distribution to obtain axial interference, radial interference and oblique interference. The axial interference refers to the particles splashing along the direction of the rotation axis of the joint, which is the most direct interference type because the particles directly splash along the direction of the joint movement, which is easy to cause the greatest interference and obstruction. By identifying the direction vectors in the predicted particle direction distribution, the number of particles belonging to axial interference can be determined. The radial interference refers to the particles splashing along the vertical direction of the rotation axis of the joint. Although the radial interference is not as direct as the axial interference, the particles will still collide with the joint surface with a relatively high probability. By identifying the direction vectors in the predicted particle direction distribution, the number of particles belonging to radial interference can be determined. The oblique interference refers to the direction of the particles splashing at a certain angle with the rotation axis of the joint, which usually contacts the joint surface at a small angle. The oblique interference usually has the smallest impact on the joint because the contact angle between the particles and the joint is small, and the interference risk is also low. By identifying the direction vectors in the predicted particle direction distribution, the number of particles belonging to oblique interference can be determined. Then, the number of particles of each type of interference is divided by the corresponding tolerance number of interference, and the several divisions are multiplied by the risk index corresponding to each type of interference, and all the products are added to obtain the final direction-interference risk index. The risk index of axial interference is the largest, followed by the risk index of radial interference, and then the risk index of oblique interference. These risk indexes are pre-set benchmark values according to expert decision and historical experience. The calculated direction-interference risk index will be used for subsequent angle adjustment optimization to avoid high-risk angle intervals and ensure that the drill arm can avoid particle interference to the greatest extent during drilling.

[0028] Further, the application provides that the intensity-interference risk index and the density-interference risk index are obtained by constructing an intensity-interference mapping function and a density-interference mapping function, and the intensity-interference mapping function and the density-interference mapping function are obtained by regression model training of historical sample data. The intensity-interference risk index is positively correlated with the particle splashing intensity, and the density-interference risk index is positively correlated with the particle splashing density.

[0029] Optionally, when the intensity-interference risk index and the density-interference risk index are calculated, an intensity-interference mapping function is constructed for the intensity-interference risk index, and a density-interference mapping function is constructed for the density-interference risk index. Both mapping functions are trained based on a regression model. Specifically, for the intensity-interference mapping function, a linear regression model is first constructed, and then the historical particle spatter intensity and the historical interference risk index in the historical sample data are input into the linear regression model. The least squares method is used to fit the historical sample data to solve the regression coefficients, so as to minimize the sum of squared errors between the actual data and the fitted curve. If the fitting result meets the error requirement and the intensity-interference risk index is positively correlated with the particle spatter intensity, the obtained linear regression equation is taken as the intensity-interference mapping function. Otherwise, the model structure is adjusted (such as a polynomial regression model), and the fitting is performed again. For the density-interference mapping function, the same fitting method is used until the fitting result meets the error requirement and the density-interference risk index is positively correlated with the particle spatter density. After the intensity-interference mapping function and the density-interference mapping function are constructed, the interference risk index of each intersection in each angle interval can be calculated based on the particle spatter intensity and the particle spatter density data. The average of the corresponding index is taken as the intensity-interference risk index and the density-interference risk index of each angle interval, which helps to identify which region of the particles will cause greater interference to the joint during drilling, so as to avoid or take appropriate protective measures during angle adjustment, improve drilling efficiency, and reduce equipment wear.

[0030] Constructing a plurality of reverse attitude adjustment intervals corresponding to the plurality of particle attitude interference intervals.

[0031] In one embodiment, in order to avoid particles entering the drill arm joint and affecting its operation, a plurality of reverse attitude adjustment intervals corresponding to a plurality of particle attitude interference intervals are constructed according to a plurality of joint rotation angle ranges. These reverse attitude adjustment intervals can ensure that the joint avoids the particle interference region when rotating, thereby improving drilling efficiency and reducing equipment wear.

[0032] Further, the present application provides a method for constructing a plurality of reverse attitude adjustment intervals corresponding to the plurality of particle attitude interference intervals, comprising: Obtaining a plurality of joint rotation angle ranges of a plurality of joint nodes; obtaining the reverse included angle of the plurality of particle attitude interference intervals in the plurality of joint rotation angle ranges to obtain a plurality of reverse attitude adjustment intervals.

[0033] Optionally, when constructing the plurality of reverse posture adjustment intervals of the plurality of particle posture interference intervals, the rotation angle range of each joint node of the drill arm is first obtained, for example, the rotation range of a certain joint node can be from -90 to 90°, and the rotation range of another joint can be from 0° to 180°. Then, for each joint rotation angle range, the angle complementary calculation is performed on the particle posture interference intervals belonging to the joint within the rotation angle range to obtain the reverse interval. Then, in each reverse interval, a certain buffer angle (such as ±5°) is expanded outside the interference interval boundary to avoid approaching the interference due to adjustment error, thereby obtaining a plurality of reverse posture adjustment intervals of a plurality of joint nodes, which represent the safe angle range to which the drill arm joint rotation needs to be adjusted to avoid particle interference, thereby reducing the interference of the particles on the joint and ensuring the efficient drilling operation and stable operation of the equipment.

[0034] determining a drilling task path of the drill arm, taking the plurality of reverse posture adjustment intervals as constraint conditions, and performing distributed collaborative control optimization on the plurality of joint nodes of the drill arm according to the drilling task path to obtain a plurality of sets of angle adjustment parameters for angle adjustment of the plurality of joint nodes.

[0035] In one embodiment, the drilling task path of the drill arm is obtained from the task distribution system, which refers to the path that the drill arm needs to move and adjust according to a specific route or trajectory during drilling, including the starting position, target position and drilling depth of the drill arm and other factors. Then, the plurality of reverse posture adjustment intervals are taken as constraint conditions to calculate the joint constraint solution space, and the angle optimal solution of the joint node is obtained by performing distributed collaborative control optimization on the solution set in the joint constraint solution space, and the angle optimal solution is grouped according to the joint node to form a plurality of sets of angle adjustment parameters. Then, the angle adjustment parameters are applied to the control system of the drill arm to adjust the angle of the joint node involved. By continuously adjusting and optimizing the angles of the joints of the drill arm, it is ensured that the drill arm can successfully complete the drilling task, while reducing the risk of particle interference and equipment failure.

[0036] Further, the present application provides a method for performing distributed collaborative control optimization on the plurality of joint nodes of the drill arm according to the drilling task path, which comprises: determining k key joint nodes of the plurality of joint nodes according to the drilling task path; obtaining k reverse posture adjustment intervals of the k key joint nodes; calculating the joint constraint solution space of the k key joint nodes with the k reverse posture adjustment intervals, obtaining k joint angle optimal solutions of the k key joint nodes through an optimization algorithm; and outputting the k joint angle optimal solutions as a plurality of sets of angle adjustment parameters.

[0037] Optionally, according to the determined drilling task path, the involved joint node numbers are extracted therefrom, and the nodes are extracted from the plurality of joint nodes as the k key joint nodes, and the k reverse posture adjustment intervals corresponding to the nodes are extracted from the plurality of reverse posture adjustment intervals. Subsequently, the reverse posture adjustment intervals of the k key joint nodes are merged as constraint conditions to calculate a complete joint constraint solution space. Then, an optimization algorithm is activated, which extracts angles from each reverse posture adjustment interval according to a priority probability in the joint constraint solution space. In this process, the candidate interval with the maximum priority probability is first located from the reverse posture adjustment intervals, and the angle in the drilling task path is compared with the candidate interval to select the angle with the minimum deviation. If the deviation meets the preset deviation size, the angle is taken as the optimal joint angle of the key joint node, otherwise, the comparison of the next candidate interval (second only to the previous candidate interval) is performed. This process continues until k optimal joint angles of the k key joint nodes are obtained, which can enable the drilling arm to run efficiently along the drilling task path and avoid particle interference. After obtaining the k optimal joint angles, the k optimal joint angles are corresponded with the joint nodes to form a plurality of sets of angle adjustment parameters, which are output as control signals for accurately adjusting the angles of the plurality of joint nodes of the drilling arm to ensure the smooth progress of the drilling task.

[0038] Further, the application provides a method for calculating a joint constraint solution space of k key joint nodes from k reverse posture adjustment intervals, each reverse posture adjustment interval including a plurality of candidate intervals, and each candidate interval including a priority probability; wherein the priority probability is directly proportional to an angle difference value, and the angle difference value is the difference between the selected candidate interval and the corresponding particle posture interference interval.

[0039] Optionally, in the constructed joint constraint solution space of the k key joint nodes, the reverse posture adjustment interval corresponding to each key joint node includes multiple candidate intervals, which represent multiple angle ranges that the joint can select, and are obtained by equally dividing the reverse posture adjustment interval. For these candidate intervals, priority probabilities are assigned to them, which are proportional to the angle difference. In the calculation, the absolute difference between the center angle of the candidate interval and the center angle of the particle interference interval is calculated first. The larger the difference, the smaller the overlap between the candidate interval and the particle interference interval, and the higher the possibility of avoiding particle interference. By dividing the angle absolute difference of each candidate interval by the sum of the angle absolute differences of all candidate intervals, the priority probability of each candidate interval is obtained. By calculating the priority probabilities of all candidate intervals, the candidate interval with a larger angle difference can be preferentially selected to improve the success rate of avoiding particle interference, thereby ensuring that the drill arm is efficient and safe during drilling.

[0040] In summary, the embodiments of the present application have at least the following technical effects: The embodiments of the present application first set a particle detection device, obtain drilling particle detection parameters from the particle detection device, wherein the particle detection device is arranged on the drill arm, and the drilling particle detection parameters include particle direction vector, particle spatter intensity and particle spatter density; then, a plurality of joint nodes of the drill arm are obtained, a plurality of particle posture interference intervals corresponding to the plurality of joint nodes are identified based on the drilling particle detection parameters; subsequently, a plurality of reverse posture adjustment intervals corresponding to the plurality of particle posture interference intervals are constructed; finally, a drilling task path of the drill arm is determined, and the plurality of reverse posture adjustment intervals are used as constraint conditions to perform distributed collaborative control optimization on the plurality of joint nodes of the drill arm according to the drilling task path, so as to obtain a plurality of angle adjustment parameters for angle adjustment of the plurality of joint nodes. These technical effects collectively solve the technical problem that coal powder and rock debris particles invade the joint position during the operation of the existing coal mine drill arm, causing rotation resistance, increased wear and even jamming, affecting drilling efficiency and equipment life. The technical effects of particle detection and distributed collaborative control, construction of reverse posture adjustment constraints, avoidance of particle invasion into the joint, reduction of joint wear and jamming risk, and improvement of drilling efficiency and equipment operation reliability are achieved.

[0041] Embodiment two, based on the same inventive concept as the distributed control-based coal mine drill arm angle adjustment method in the foregoing embodiments, like Figure 2As shown, the present application provides a coal mine drilling boom angle adjustment system based on distributed control, which comprises: a particle detection parameter acquisition module 11: a particle detection device is arranged, and drilling particle detection parameters are obtained according to the particle detection device, wherein the particle detection device is arranged on a drilling boom, and the drilling particle detection parameters include particle direction vector, particle spatter intensity and particle spatter density; an interference interval identification module 12: a plurality of joint nodes of the drilling boom are obtained, and a plurality of particle posture interference intervals corresponding to the plurality of joint nodes are identified based on the drilling particle detection parameters; an adjustment interval construction module 13: a plurality of reverse posture adjustment intervals corresponding to the plurality of particle posture interference intervals are constructed; a distributed collaborative control module 14: a drilling task path of the drilling boom is determined, and the plurality of reverse posture adjustment intervals are taken as constraint conditions, and the plurality of joint nodes of the drilling boom are subjected to distributed collaborative control optimization according to the drilling task path, so as to obtain a plurality of groups of angle adjustment parameters for angle adjustment of the plurality of joint nodes.

[0042] Further, the interference interval identification module 12 is further used to execute the following method: The plurality of joint nodes in the global coordinate system are defined as a plurality of local coordinate systems; based on the spatial distribution of the drilling particle detection parameters in the global coordinate system, a plurality of drilling particle spatial distributions corresponding to the plurality of local coordinate systems are converted, wherein each drilling particle spatial distribution includes particle direction distribution, particle spatter intensity distribution and particle spatter density distribution in the corresponding local coordinate system; the plurality of local coordinate systems are subjected to geometric projection analysis according to the plurality of drilling particle spatial distributions respectively, and a plurality of particle posture interference intervals are quantitatively identified according to the geometric projection results.

[0043] Further, the interference interval identification module 12 is further used to execute the following method: The joint physical parameters of the plurality of joint nodes in the plurality of local coordinate systems are obtained, and the joint physical parameters include joint rotation angle range and exposed geometric shape; the plurality of local coordinate systems are subjected to geometric projection analysis according to the plurality of drilling particle spatial distributions, and a set of intersection space coordinates based on the joint physical parameters are obtained, wherein the intersection is the intersection of the drilling particle and the exposed surface of the joint; the set of intersection space coordinates is recorded as the geometric projection result output.

[0044] Further, the interference interval identification module 12 is further used to execute the following method: The method comprises the following steps: calculating a predicted drilling particle spatial distribution corresponding to each intersection point in the set of intersection point space coordinates, including a predicted particle direction distribution, a predicted particle spatter intensity distribution, and a predicted particle spatter density distribution under each intersection point; dividing a joint rotation angle range of each joint node into a plurality of angle intervals; calculating a drilling particle interference risk index of the plurality of angle intervals, and identifying an angle interval greater than a preset interference risk threshold as a particle posture interference interval output; wherein the drilling particle interference risk index is obtained by weighted calculation of a direction-interference risk index, an intensity-interference risk index, and a density-interference risk index.

[0045] Further, the interference interval identification module 12 is also used to execute the following method: The direction-interference risk index is obtained by interference label identification on the predicted particle direction distribution, and the interference label includes axial interference, radial interference, and oblique interference; wherein the risk index of the axial interference is greater than that of the radial interference, and the risk index of the radial interference is greater than that of the oblique interference.

[0046] Further, the interference interval identification module 12 is also used to execute the following method: The intensity-interference risk index and the density-interference risk index are obtained by constructing an intensity-interference mapping function and a density-interference mapping function, and the intensity-interference mapping function and the density-interference mapping function are obtained by regression model training on historical sample data; wherein the intensity-interference risk index is positively correlated with particle spatter intensity, and the density-interference risk index is positively correlated with particle spatter density.

[0047] Further, the adjustment interval construction module 13 is also used to execute the following method: A plurality of joint rotation angle ranges of a plurality of joint nodes are obtained; and a reverse included angle of the plurality of particle posture interference intervals is obtained in the plurality of joint rotation angle ranges, to obtain a plurality of reverse posture adjustment intervals.

[0048] Further, the distributed collaborative control module 14 is also used to execute the following method: According to the drilling task path, k key joint nodes of the plurality of joint nodes are determined; k reverse posture adjustment intervals of the k key joint nodes are obtained; a joint constraint solution space of the k key joint nodes is calculated based on the k reverse posture adjustment intervals, and k joint angle optimal solutions of the k key joint nodes are obtained through an optimization algorithm; and the k joint angle optimal solutions are output as a plurality of sets of angle adjustment parameters.

[0049] Further, the distributed collaborative control module 14 is also used to execute the following method: Calculate a joint constraint solution space of the k key joint nodes according to the k inverse posture adjustment intervals, each of the k inverse posture adjustment intervals comprises a plurality of candidate intervals, and each candidate interval comprises a priority probability; wherein the priority probability is proportional to an angle difference value, and the angle difference value is a difference value between a selected candidate interval and a corresponding particle posture interference interval.

[0050] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The above describes a specific embodiment of the present application. The processes depicted in the drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or can be advantageous.

[0051] The above only describes the preferred embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0052] The specification and drawings are merely exemplary of the present application, and any and all modifications, variations, combinations or equivalents that fall within the scope of the present application are considered to be covered by the present application. Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the present application and its equivalent technology, the present application is intended to include these modifications and variations.

Claims

1. A method for adjusting the angle of a coal mine drill arm based on distributed control, characterized in that, The method includes: A particle detection device is set up, and drilling particle detection parameters are obtained according to the particle detection device. The particle detection device is set on the drill arm, and the drilling particle detection parameters include particle direction vector, particle splash intensity and particle splash density. Multiple joint nodes of the drill arm are obtained, and multiple particle posture interference intervals corresponding to the multiple joint nodes are identified based on the drilling particle detection parameters. Construct multiple reverse attitude adjustment intervals corresponding to the multiple particle attitude interference intervals; The drilling task path of the drill arm is determined. Using the multiple reverse attitude adjustment intervals as constraints, the multiple joint nodes of the drill arm are optimized through distributed collaborative control according to the drilling task path to obtain multiple sets of angle adjustment parameters, which are used to adjust the angles of the multiple joint nodes.

2. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 1, characterized in that, The method for identifying multiple particle posture interference intervals corresponding to the multiple joint nodes based on the drilling particle detection parameters includes: Define multiple local coordinate systems for the aforementioned joint nodes in the global coordinate system; Based on the spatial distribution of the drilling particle detection parameters in the global coordinate system, multiple drilling particle spatial distributions corresponding to the multiple local coordinate systems are obtained. Each drilling particle spatial distribution includes the particle orientation distribution, particle splash intensity distribution, and particle splash density distribution in the corresponding local coordinate system. Geometric projection analysis is performed on the multiple local coordinate systems according to the spatial distribution of the multiple drilling particles, and multiple particle attitude interference intervals are quantitatively identified based on the geometric projection results.

3. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 2, characterized in that, Geometric projection analysis is performed on the multiple local coordinate systems according to the spatial distribution of the multiple drilling particles, and the method includes: Obtain the joint physical parameters of the plurality of joint nodes in the plurality of local coordinate systems, wherein the joint physical parameters include the joint rotation angle range and the exposed geometry; Geometric projection analysis is performed on the multiple local coordinate systems according to the spatial distribution of the multiple drilling particles to obtain a set of spatial coordinates of intersection points based on the physical parameters of the joint, wherein the intersection point is the intersection point of the drilling particle and the exposed surface of the joint; The set of spatial coordinates of the intersection points is recorded as the output of the geometric projection result.

4. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 3, characterized in that, Based on geometric projection results, multiple particle posture interference regions are quantitatively identified. The methods include: Calculate the predicted spatial distribution of drilling particles corresponding to each intersection point in the set of spatial coordinates of the intersection points, including the predicted particle orientation distribution, the predicted particle splash intensity distribution, and the predicted particle splash density distribution under each intersection point; The range of joint rotation angles for each joint node is divided into multiple angle intervals; The drilling particle interference risk index is calculated for the multiple angle intervals. Angle intervals that are greater than the preset interference risk threshold are marked as particle attitude interference intervals and output. The drilling particle interference risk index is obtained by weighted calculation of direction-interference risk index, intensity-interference risk index, and density-interference risk index.

5. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 4, characterized in that, The direction-interference risk index is obtained by identifying interference tags on the predicted particle direction distribution. The interference tags include axial interference, radial interference, and oblique interference. Among them, the risk index of axial interference is greater than that of radial interference, and the risk index of radial interference is greater than that of oblique interference.

6. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 4, characterized in that, The intensity-interference risk index and the density-interference risk index are obtained by constructing an intensity-interference mapping function and a density-interference mapping function, which are obtained by training a regression model using historical sample data. The intensity-interference risk index is positively correlated with the particle splash intensity, and the density-interference risk index is positively correlated with the particle splash density.

7. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 4, characterized in that, The method for constructing multiple reverse attitude adjustment intervals corresponding to the multiple particle attitude interference intervals includes: Obtain the range of multiple joint rotation angles for multiple joint nodes; Within the range of joint rotation angles, the reverse angles of the multiple particle attitude interference intervals are obtained to obtain multiple reverse attitude adjustment intervals.

8. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 1, characterized in that, The method involves distributed collaborative control optimization of multiple joint nodes of the drill arm according to the drilling task path, including: Based on the drilling task path, determine k key joint nodes of the plurality of joint nodes; Obtain the k reverse attitude adjustment ranges of the k key joint nodes; The joint constraint solution space of the k key joint nodes is calculated using the k reverse attitude adjustment intervals, and the optimal solutions of the k joint angles of the k key joint nodes are obtained through optimization algorithms. The optimal solutions for the k joint angles are output as multiple sets of angle adjustment parameters.

9. The method for adjusting the angle of a coal mine drill arm based on distributed control as described in claim 8, characterized in that, The joint constraint solution space of the k key joint nodes is calculated using the k reverse attitude adjustment intervals. Each of the k reverse attitude adjustment intervals includes multiple candidate intervals, and each candidate interval includes a priority probability. The priority probability is proportional to the angle difference, which is the difference between the selected candidate interval and the corresponding particle attitude interference interval.

10. A coal mine drill arm angle adjustment system based on distributed control, characterized in that, The system is used to execute the coal mine drill arm angle adjustment method based on distributed control as described in any one of claims 1-9, and the system comprises: Particle detection parameter acquisition module: A particle detection device is set up to acquire drilling particle detection parameters based on the particle detection device. The particle detection device is set on the drill arm, and the drilling particle detection parameters include particle direction vector, particle splash intensity, and particle splash density. Interference zone identification module: acquires multiple joint nodes of the drill arm, and identifies multiple particle posture interference zones corresponding to the multiple joint nodes based on the drilling particle detection parameters; Adjustment range construction module: Constructs multiple reverse attitude adjustment ranges corresponding to the multiple particle attitude interference ranges; Distributed collaborative control module: Determines the drilling task path of the drill arm, uses the multiple reverse attitude adjustment intervals as constraints, and performs distributed collaborative control optimization on multiple joint nodes of the drill arm according to the drilling task path to obtain multiple sets of angle adjustment parameters for adjusting the angles of the multiple joint nodes.

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