A mining drill vehicle control system and method

Abstract

This invention discloses a mining drill rig control system and method in the field of engineering machinery control, including a main control system and an auxiliary control system. The main control system includes: a main control receiver, which receives main control signals and transmits them to a control module; the main control signals are transmitted by a main control transmitter; a sensing module, including a pressure sensor and an inclination sensor; the pressure sensor collects pressure signals from the mining drill rig and transmits them to the control module, and the inclination sensor collects angle data from the mining drill rig and transmits it to the control module; and a control module, which remotely controls the mining drill rig based on the main control signals. This invention achieves remote control of the mining drill rig by combining a main control system and an auxiliary control system. Furthermore, even when the main control system stops, the auxiliary control system can still be used for vehicle control to ensure the safe evacuation of the mining drill rig, thus improving overall safety.

Description

Technical Field

[0001] This invention relates to a control system and method for a mining drilling rig, belonging to the field of engineering machinery control technology. Background Technology

[0002] Mining drill rigs, also known as mining rock drilling rigs, are used for drilling production holes in underground mining operations and are the preferred equipment for sublevel caving mining processes without pillars. Mining operations are generally used in deep-hole drilling in non-explosive metal mines, drilling upward fan-shaped blast holes or upward parallel holes in return roadways. Due to the special requirements of upward construction, operation cannot be performed from the cab like ordinary drill rigs; it must be moved to a location with good visibility outside the machine.

[0003] Existing mining drilling rigs employ either a fixed control panel on the rig itself, with all operations conducted on-site, or an external wired or hydraulic control panel, allowing operation from outside the rig. Driving is performed by the driver from inside the cab; some rigs allow for standing operation, while others allow for sitting.

[0004] Hydraulic or wired control systems operate from relatively fixed positions, posing risks of construction in hazardous environments. Furthermore, prolonged use and frequent relocation can easily damage pipelines. Equipment transportation requires loading and unloading onto flatbed trucks; if personnel operate from the cab, there is a risk of tipping over. When traveling through narrow tunnels with high dust levels, visibility is limited, and driving, especially when turning, carries significant risks. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mining drill rig control system and method that can remotely control the mining drill rig.

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0007] In a first aspect, the present invention provides a mining drill rig control system, comprising a main control system and an auxiliary control system, wherein the main control system includes:

[0008] The main control receiver receives the main control signal and transmits it to the control module. The main control signal is sent by the main control transmitter.

[0009] The sensing module includes a pressure sensor and an inclination sensor. The pressure sensor collects the pressure signal of the mining drill rig and transmits it to the control module, and the inclination sensor collects the angle data of the mining drill rig and transmits it to the control module.

[0010] The control module remotely controls the mining drill rig based on the main control signal, and feeds back pressure signals and angle data to the display of the main control transmitter through the main control receiver for display.

[0011] The auxiliary control system includes an auxiliary control receiver, which receives auxiliary control signals and directly controls the mining drill rig for driving control and auxiliary action control. The auxiliary control signals are sent by the auxiliary control transmitter.

[0012] Furthermore, the main control signals include main pump start / stop signals, forward, backward, and rapid advance signals corresponding to the drilling control rod, large water, drilling positioning hole, reduced power drilling, and drilling signals corresponding to the drilling selector, and closing, guiding, opening, and thrust adjustment signals corresponding to the drill string holder.

[0013] Furthermore, the pressure signals include impact pressure signals, propulsion pressure signals, engine pump inlet pressure signals, rotary pump inlet pressure signals, and rotary load pressure signals, and the angle data includes rotation angle data and pitch angle data.

[0014] Furthermore, the control module is also used to feed back the main pump operation, sensor data, and fault information to the main control transmitter, and display them on the display attached to the main control transmitter.

[0015] Furthermore, the tilt sensor is a WG202 dual-axis tilt sensor, the control module is an IMCT5040 controller, the main control transmitter and main control receiver are TB400 remote controllers, and the auxiliary control transmitter and auxiliary control receiver are TP700 remote controllers.

[0016] Secondly, the present invention provides a method for controlling a mining drilling rig, comprising the following steps:

[0017] Receive main control signals;

[0018] Collect pressure signals and angle data from the mining drill rig;

[0019] The mining drill rig is remotely controlled based on the main control signal. The remote control includes main pump control, water circuit control, lubrication control, drilling control, drill bit clamp control, and rod connection / disconnection control.

[0020] The pressure signal and angle data are fed back to the display of the main control transmitter through the main control receiver for display.

[0021] It receives auxiliary control signals and directly controls the mining drill rig for driving control and auxiliary motion control.

[0022] Furthermore, the main pump control includes:

[0023] Determine whether the main pump motor is in a stopped state;

[0024] If the main pump motor is not stopped, check the lubricating oil level and lubricating air pressure. If the oil level and air pressure are established, the motor remains running. If the lubricating oil level is too low or the lubricating air pressure is not established, the timer will count for 5 minutes and then check the lubricating oil level and lubricating air pressure again. If they are still not established, the main pump motor will stop.

[0025] If the main pump motor is stopped, determine whether the switch status of the main control transmitter is in the zero position;

[0026] If the switch is in the zero position, the main pump motor is allowed to start; otherwise, the main pump motor is not allowed to start.

[0027] Determine whether the start switch is closed when the main pump motor starts. If it is closed, the main motor starts; otherwise, the main motor does not start.

[0028] Furthermore, the waterway control includes:

[0029] Water flow signals are detected using a water flow sensor;

[0030] If there is no water flow signal, the water pump motor will stop after a 4-second delay following the power failure of the water pump contactor.

[0031] If a water flow signal is detected, the signal is sent to the control module, which then controls the water pump motor to start and checks whether the main water switch is closed.

[0032] If the main water switch is closed, the main water switch solenoid valve will be energized to flush with a large flow of water.

[0033] If the main water switch is not closed, the system checks if the secondary water switch is closed. If the secondary water switch is closed, the solenoid valve of the secondary water switch is energized, and a small water flow is used for rinsing. If the secondary water switch is not closed, rinsing is not performed.

[0034] Furthermore, the lubrication control includes:

[0035] Determine if the main pump motor has stopped;

[0036] If the main pump motor has stopped, start the air compressor. Then the pulse pump solenoid valve will start and stop repeatedly for 1 second and 2 seconds. If the main pump motor has not stopped, the air compressor will not be started.

[0037] Determine if the lubricating oil level and oil pressure are not within the required range;

[0038] If the lubricating oil level or pressure does not meet the requirements, the lubrication fault light will illuminate and the fault information will be displayed; otherwise, no fault information will be displayed.

[0039] Furthermore, the pin chuck control includes:

[0040] Check if the clamping switch of the gripper is closed;

[0041] If the clamping switch of the holder is closed, the clamping solenoid valve of the drill bit clamping device is energized and the drill bit clamping device is clamped; otherwise, check whether the guide switch of the holder is closed.

[0042] If the clamp guide switch is closed, the chuck guide solenoid valve is energized and the chuck is guided; otherwise, check if the clamp open switch is closed.

[0043] If the detection clamp opening switch is closed, the pin clamp opening solenoid valve is energized, and the pin clamp opens; otherwise, no action is taken.

[0044] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0045] I. This invention achieves remote control of a mining drill rig by combining a main control system and an auxiliary control system. The main control system controls the main pump, water circuit, lubrication, drilling, drill bit clamping, and rod connection / unloading functions of the mining drill rig. The auxiliary control system controls the rig's movement and auxiliary actions, avoiding the risks associated with fixed hydraulic or wire-controlled operation in hazardous environments. Furthermore, prolonged use and frequent movement can easily damage pipelines. During equipment transport, loading and unloading onto flatbed trucks is necessary; if personnel operate from the cab, there is a risk of tipping over. Even when the main control system stops, the auxiliary control system can still control the movement, allowing the mining drill rig to be safely evacuated, thus improving overall safety.

[0046] Second, the main control system in this invention uses pressure sensors and tilt sensors to monitor and feed back impact pressure signals, propulsion pressure signals, engine pump inlet pressure signals, rotary pump inlet pressure signals and rotary load pressure signals, rotation angle data and pitch angle data in real time to the remote control personnel, thereby improving operational safety and avoiding certain risks when driving in tunnels, especially when turning, due to the narrow tunnels and high dust levels, which limit the operator's field of vision. Attached Figure Description

[0047] Figure 1 This is an overall block diagram of the mining drill rig control system provided in Embodiment 1 of the present invention;

[0048] Figure 2 This is a block diagram of the main control system provided in Embodiment 1 of the present invention;

[0049] Figure 3 This is a CAN bus communication structure diagram of the main control system provided in Embodiment 1 of the present invention;

[0050] Figure 4This is a flowchart of the main pump start-up control provided in Embodiment 2 of the present invention;

[0051] Figure 5 This is a water circuit control flowchart provided in Embodiment 2 of the present invention;

[0052] Figure 6 This is a lubrication control flowchart provided in Embodiment 2 of the present invention;

[0053] Figure 7 This is a flowchart of the control process for the pin catcher provided in Embodiment 2 of the present invention;

[0054] Figure 8 This is a block diagram of the auxiliary control system provided in Embodiment 1 of the present invention. Detailed Implementation

[0055] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0056] Example 1:

[0057] A mining drill rig control system, please refer to Figure 1 The control system includes a main control system and an auxiliary control system.

[0058] I. Main Control System

[0059] Please see Figure 2-3The main control system mainly includes a TB400 remote controller (including transmitter and receiver), an IMC T5040 controller, pressure sensors, and tilt sensors. Operation is performed by the transmitter of the TB400 remote controller. The transmitter and receiver of the main control system wirelessly transmit and receive data, and sensor data and fault information are displayed on the transmitter's attached display. The main control system controls the main pump, water circuit, lubrication, drilling, drill bit clamping, and unloading rod control. The control logic for these six parts is implemented by the IMC T5040 controller. The pressure sensors collect impact pressure, propulsion pressure, engine pump inlet pressure, rotary pump inlet pressure, and rotary load pressure. The pressure sensor signals are displayed not only on the TB400 remote control system's display but also on the vehicle's display screen. Pressure signals can also be acquired via CAN bus. In application, the tilt sensor sends data to the IMC T5040 controller via CAN bus. One sensor can acquire two sets of angle data: rotation and pitch. The angle signal can also be acquired via 4-20mA analog current signal output, or via a single-axis tilt sensor, which would require two tilt sensors. The tilt sensor uses the WG202 dual-axis tilt sensor, which employs a MEMS capacitor chip. Through filtering compensation, nonlinear correction, and temperature compensation technologies, the sensor maintains extremely high safety performance under various harsh working conditions.

[0060] The IMC T5040 controller is selected to implement various control logic and communication tasks. It features multiple standard electrical interfaces and can be flexibly configured according to the application. The controller uses a cast aluminum housing, and the external electrical wiring is connected to the controller via a 121-pin AMP waterproof connector. With an IP65 protection rating, it is suitable for the working environment of mining drilling rigs. Other controllers of other specifications or brands that meet the requirements can also be selected.

[0061] The main control system uses a controller as the central processor to receive and process data from various bus channels. Specifically: CAN1 receives the main pump start / stop signals from the receiver of the drilling remote controller, the forward, backward, and rapid advance signals from the drilling control lever, the large water flow, drilling positioning hole, reduced power drilling, and drilling signals from the drilling selector, the closing, guiding, and opening signals from the drill bit holder, and the thrust adjustment signal; it also receives the rotation and pitch angle signals from the tilt sensor. Simultaneously, the controller sends the main pump action, sensor data, and fault information to the remote controller and displays them on the display attached to the remote controller. CAN2 receives engine fault signals and displays the collected tilt sensor and rock drill parameters on the vehicle's display screen. The vehicle's display screen can also independently receive and display engine information and fault codes.

[0062] The specific logical functions are as follows:

[0063] 1. Main pump control

[0064] The main pump control system includes: the logic for judging the switch before the main motor starts; the logic for starting and stopping the main motor; and the logic for judging the motor operation after the lubricating oil level and pressure alarms are triggered during normal motor operation.

[0065] Before the main pump motor starts, the switch status on the remote control transmitter is logically judged, and the motor is allowed to start only when the switch is in the zero position; after the motor starts, other switches are no longer affected by the zero position of the switch and can be operated freely.

[0066] If the lubricating oil level is too low or the lubricating air pressure has not been established while the motor is running, the timer will start counting. After 5 minutes, if both the oil level and air pressure have been established, the motor will remain running; otherwise, the main pump motor will stop.

[0067] 2. Waterway control

[0068] The water circuit control system includes: water flow switch detection input, water circuit start signal output, water pump delay shutdown, and large and small water solenoid valve outputs.

[0069] When the flow switch detects the water flow signal, it sends the signal to the controller, which then controls the water pump motor to start. At this time, the remote control switch can be used to select the high water signal for a high water flow rinse, or the remote control switch can be used to select the low water signal for a low water flow rinse.

[0070] 3. Lubrication control

[0071] The lubrication control system includes: air compressor operation signal input, lubricating oil level and lubricating air pressure sensor signal reading, and lubrication pump start-stop frequency.

[0072] When the main motor starts, the air compressor motor also starts. Upon receiving the air compressor's operating signal, the controller activates the pulse pump solenoid valve, starting for 1 second and pausing for 2 seconds, repeating this cycle. Simultaneously, the controller reads the lubricating oil level and lubricating air pressure sensor signals and displays them on the remote control display and the crane control panel.

[0073] 4. Drilling control

[0074] The drilling control system includes: remote control drilling control rod Y-axis, drilling selector, thrust adjustment knob, forward and backward proportional solenoid valves, left and right rotation proportional solenoid valves of the rotary motor, rock drill impact pressure proportional solenoid valve, thrust pressure proportional solenoid valve, impact switch solenoid valve, and control of rock drill hydraulic reverse solenoid valve.

[0075] Drilling control includes forward and backward control of propulsion under drilling conditions (one of S179_2, S179_3, and S179_4 is energized), rock drill impact pressure control, rotary motor forward rotation control, propulsion pressure control, and impact switch solenoid valve control. S179_2, S179_3, and S179_4 represent three different positions of the borehole selection switch (located on the transmitter of the remote control). When the switch is set to the corresponding position of S179_2, the positioning hole is drilled; S179_3 is for reduced power drilling; and S179_4 is for full drilling.

[0076] Pushing the left handle of the remote control forward and backward corresponds to drilling forward and backward, and the drilling speed increases with the increase of the handle pushing amplitude; pressing the button on the top of the handle (S180A_5) will perform a slow drilling action; during normal drilling, if the controller detects that the pressure value of the B104 rotary pump port pressure sensor is greater than 80, the drilling will stop.

[0077] During drilling operations, when the selector switch is set to S181_3 or S181_4, the rotary motor rotates to the left (forward) and at different speeds.

[0078] When the controller receives the heartbeat signal from the remote control and is in drilling mode, it is adjusted using R100; and when in drilling mode, the impact switch solenoid valve controls Y156 (impact switch solenoid valve) to be energized.

[0079] Among them, the forward propulsion Y149A (forward propulsion solenoid valve), the backward propulsion Y149B (forward backward propulsion solenoid valve), the left rotation of the slewing motor Y102A (left rotation of the slewing motor solenoid valve), the right rotation of the slewing motor Y102B (right rotation of the slewing motor solenoid valve), the rock drill impact pressure Y101 (rock drill impact pressure solenoid valve), and the propulsion pressure Y150 (propulsion pressure solenoid valve) all adopt closed-loop PWM control.

[0080] Taking Y149A as an example: The following operation is only performed when Y149A has current output (i.e., when the target value is met); otherwise, all values ​​are 0. CC1 is the feedback current value. If CC1 is greater than Y149A (target value), it is decremented. The upper and lower limits are set to 2500 (approximately 300mA), which is the maximum adjustment value. Each program cycle decrements by 20, approximately 2.5mA. If CC1 is less than Y149A (target value), it is incremented. The estimated PWM output value corresponding to the target current value is the target value plus the adjustment value.

[0081] 5. Crimping device control

[0082] The control system for the locator includes the control of the locator opening solenoid valve, the locator clamping solenoid valve, and the locator guiding solenoid valve.

[0083] Drill string clamps, also known as drill string holders, are used to hold drill pipes to ensure reliable fixation of drill pipes during connection and disconnection, as well as during drilling.

[0084] 6. Receiving and unloading rod control

[0085] The control system for connecting and disconnecting the drill rod includes: remote control of the drilling control rod X-axis, drill string holder switch, flushing / rotation switch, forward and backward proportional solenoid valves, left and right proportional solenoid valves of the rotary motor, and control of the connecting rod rotation pressure selection solenoid valve.

[0086] Mining drill rigs require frequent drill pipe loading and unloading, making the synchronization of advance and rotation speeds crucial. Drill pipe loading and unloading control includes forward and backward control of the advance mechanism, forward and reverse rotation control of the rotary motor, advance pressure control, and drill pipe changing pressure selection control during drill pipe loading and unloading operations. Pushing the left handle of the remote control to the left corresponds to the drill pipe's forward movement and forward rotation (left turn), while pushing the left handle to the right corresponds to the drill pipe's backward movement and reverse rotation (right turn). Both left and right movements utilize closed-loop control to ensure that the rotation speed and advance speed are matched. Simultaneously, pushing the handle to the left or right corresponds to different rotation pressure values.

[0087] II. Auxiliary Control System

[0088] The auxiliary control system integrates two main functions: driving and auxiliary motion control. All actions are achieved through wireless command transmission between the transmitter and receiver of the TP700 remote control system. In this invention, the entire machine's movement can also be controlled via a hydraulic handle on the operator's cab.

[0089] The auxiliary control system mainly consists of a TP700 remote controller (including a transmitter and receiver), control panel handles and knobs. The auxiliary control system uses wireless remote control to control the machine's movement, roof lifting and lowering, outrigger extension and retraction, drum winding and unwinding, and the drilling unit's pitch, rotation, swing, and propulsion compensation movements.

[0090] Since there are no interlocking or logical requirements between the various actions, the receiver of the remote control is used to directly control the solenoid valve of the corresponding mechanism to achieve the following functions:

[0091] The left and right handles of the TP700 remote controller transmitter control the PWM solenoid valves corresponding to the left and right travel mechanisms of the mining drill rig, respectively. The speed is divided into fast and slow speeds, and can be infinitely adjusted within the fast and slow speed range. The transmitter toggle switch controls the solenoid valve actions of the left wheel forward / reverse, right wheel forward / reverse, high / low speed switching, left front outrigger extension, right front outrigger extension, rear outrigger extension, extension of the extension outrigger, cable reel winding, roof lifting, right upper center extension, right lower center extension, left lower center extension, thruster compensation extension, carriage clockwise / reverse rotation, carriage pitch extension, carriage translation extension, and bracket clockwise / reverse rotation.

[0092] Both the TB400 and TP700 remote control systems have an IP65 protection rating and their own frequency bands, ensuring no interference between them. They are suitable for dusty and humid working environments, such as those used in mining drilling rigs. The remote control signal is set to dual-band RF (433MHz - 470MHz): 433MHz band: 429.00-434.25MHz, 470MHz band: 470-486MHz. If one band is interfered with, frequency adjustment can be easily performed on the remote control. The dual-band setup provides long coverage distance and strong penetration, minimizing interference from other wireless signals.

[0093] Example 2:

[0094] Embodiment 2 of the present invention discloses a method for controlling a mining drill rig, comprising the following steps:

[0095] Receive main control signals;

[0096] Collect pressure signals and angle data from the mining drill rig;

[0097] The mining drill rig is remotely controlled based on the main control signal. The remote control includes main pump control, water circuit control, lubrication control, drilling control, drill bit clamp control, and rod connection / disconnection control.

[0098] The pressure signal and angle data are fed back to the display of the main control transmitter through the main control receiver for display.

[0099] It receives auxiliary control signals and directly controls the mining drill rig for driving control and auxiliary motion control.

[0100] Please combine Figure 4 The main pump control includes:

[0101] Determine whether the main pump motor is in a stopped state;

[0102] If the main pump motor is not stopped, check the lubricating oil level and lubricating air pressure. If the oil level and air pressure are established, the motor remains running. If the lubricating oil level is too low or the lubricating air pressure is not established, the timer will count for 5 minutes and then check the lubricating oil level and lubricating air pressure again. If they are still not established, the main pump motor will stop.

[0103] If the main pump motor is stopped, determine whether the switch status of the main control transmitter is in the zero position;

[0104] If the switch is in the zero position, the main pump motor is allowed to start; otherwise, the main pump motor is not allowed to start.

[0105] Determine whether the start switch is closed when the main pump motor starts. If it is closed, the main motor starts; otherwise, the main motor does not start.

[0106] Please combine Figure 5 Waterway control includes:

[0107] Water flow signals are detected using a water flow sensor;

[0108] If there is no water flow signal, the water pump motor will stop after a 4-second delay following the power failure of the water pump contactor.

[0109] If a water flow signal is detected, the signal is sent to the control module, which then controls the water pump motor to start and checks whether the main water switch is closed.

[0110] If the main water switch is closed, the main water switch solenoid valve Y110 will be energized to perform a large water flow flush.

[0111] If the main water switch is not closed, the small water switch is checked. If the small water switch is closed, the small water switch solenoid valve Y111 is energized to perform a small water flow flush. If the small water switch is not closed, no flushing is performed.

[0112] Please combine Figure 6 Lubrication control includes:

[0113] Determine if the main pump motor has stopped;

[0114] If the main pump motor has stopped, start the air compressor. Then the pulse pump solenoid valve will start and stop repeatedly for 1 second and 2 seconds. If the main pump motor has not stopped, the air compressor will not be started.

[0115] Determine if the lubricating oil level and oil pressure are not within the required range;

[0116] If the lubricating oil level or pressure does not meet the requirements, the lubrication fault light will illuminate and the fault information will be displayed; otherwise, no fault information will be displayed.

[0117] Please combine Figure 7 The control of the pin catcher includes:

[0118] Check if the clamping switch of the gripper is closed;

[0119] If the clamping switch of the holder is closed, the clamping solenoid valve Y354A of the drill bit clamping device is energized and the drill bit clamps; otherwise, check whether the holder guide switch is closed.

[0120] If the clamp guide switch is closed, the chuck guide solenoid valve Y353B is energized, and the chuck is guided; otherwise, check whether the clamp open switch is closed.

[0121] If the detection clamp opening switch is closed, the solenoid valves Y353A / Y354B for opening the pin clamp will be energized, and the pin clamp will open; otherwise, no action will be taken.

[0122] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0123] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0124] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0125] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0126] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A mining drill rig control system, characterized in that, It includes a main control system and an auxiliary control system, wherein the main control system includes: The main control receiver receives the main control signal and transmits it to the control module. The main control signal is sent by the main control transmitter. The sensing module includes a pressure sensor and an inclination sensor. The pressure sensor collects the pressure signal of the mining drill rig and transmits it to the control module, and the inclination sensor collects the angle data of the mining drill rig and transmits it to the control module. The control module remotely controls the mining drill rig based on the main control signal, and feeds back pressure signals and angle data to the display of the main control transmitter through the main control receiver for display. The auxiliary control system includes an auxiliary control receiver, which receives auxiliary control signals and directly controls the mining drill rig to perform driving control and auxiliary action control. The auxiliary control signals are sent by the auxiliary control transmitter. The main control system includes a TB400 remote controller, which includes the main control receiver and the main control transmitter. The main control system controls the main pump. For the main pump control, before the main pump motor starts, the switch status on the main control transmitter is logically judged, and the main pump motor is allowed to start only when the switch is in the zero position. After the main pump motor starts, other switches on the main control transmitter are no longer affected by the zero position of the switches. The auxiliary control system includes a TP700 remote controller, which includes an auxiliary control receiver and an auxiliary control transmitter. The auxiliary control receiver directly controls the solenoid valves of the corresponding mechanisms to realize the driving control and auxiliary action control of the mining drill rig. The TB400 and TP700 remote controllers each have their own frequency band range and do not interfere with each other. The remote control signal is set to dual frequency bands with different frequency band ranges. The main control signals include the main pump start / stop signal, the forward, backward and rapid advance signals corresponding to the drilling control rod, the large water, drilling positioning hole, reduced power drilling and drilling signals corresponding to the drilling selector, and the closing, guiding and opening signals and thrust adjustment signals corresponding to the drill string holder. The control module is also used to feed back the main pump's operation, sensor data, and fault information to the main control transmitter, and display them on the display attached to the main control transmitter.

2. The mining drill rig control system according to claim 1, characterized in that, The pressure signals include impact pressure signals, propulsion pressure signals, engine pump inlet pressure signals, rotary pump inlet pressure signals, and rotary load pressure signals; the angle data includes rotation angle data and pitch angle data.

3. The mining drill rig control system according to claim 1, characterized in that, The tilt sensor is a WG202 dual-axis tilt sensor, and the control module is an IMCT5040 controller.

4. A mining drill rig control method based on the mining drill rig control system according to any one of claims 1-3, characterized in that, Includes the following steps: Receive main control signal; Collect pressure signals and angle data from the mining drill rig: The mining drill rig is remotely controlled based on the main control signal. The remote control includes main pump control, water circuit control, lubrication control, drilling control, drill bit clamp control, and rod connection / disconnection control. The pressure signal and angle data are fed back to the display of the main control transmitter through the main control receiver for display. It receives auxiliary control signals and directly controls the mining drill rig for driving control and auxiliary motion control.

5. The mining drill rig control method according to claim 4, characterized in that, The main pump control includes: Determine whether the main pump motor is in a stopped state; If the main pump motor is not stopped, check the lubricating oil level and lubricating air pressure. If the oil level and air pressure are established, the motor remains running. If the lubricating oil level is too low or the lubricating air pressure is not established, the timer will count for 5 minutes and then check the lubricating oil level and lubricating air pressure again. If they are still not established, the main pump motor will stop. If the main pump motor is stopped, determine whether the switch status of the main control transmitter is in the zero position; If the switch is in the zero position, the main pump motor is allowed to start; otherwise, the main pump motor is not allowed to start. Determine whether the start switch is closed when the main pump motor starts. If it is closed, the main motor starts; otherwise, the main motor does not start.

6. The mining drill rig control method according to claim 4, characterized in that, The waterway control includes: The water flow sensor detects the water flow signal; if there is no water flow signal, the water pump motor stops after a 4-second delay following the power failure of the water pump contactor. If a water flow signal is detected, the signal is sent to the control module, which then controls the water pump motor to start and checks whether the main water switch is closed. If the main water switch is closed, the main water switch solenoid valve will be energized to flush with a large flow of water. If the main water switch is not closed, the system checks if the secondary water switch is closed. If the secondary water switch is closed, the solenoid valve of the secondary water switch is energized, and a small water flow is used for flushing. If the secondary water switch is not closed, flushing is not performed.

7. The mining drill rig control method according to claim 4, characterized in that, The lubrication control includes determining whether the main pump motor has stopped; If the main pump motor has stopped, start the air compressor. Then the pulse pump solenoid valve will start and stop repeatedly for 1 second and 2 seconds. If the main pump motor has not stopped, the air compressor will not be started. Determine if the lubricating oil level and oil pressure are not within the required range; If the lubricating oil level or pressure does not meet the requirements, the lubrication fault light will illuminate and the fault information will be displayed; otherwise, no fault information will be displayed.

8. The mining drill rig control method according to claim 4, characterized in that, The control of the SIM card includes: Check if the clamping switch of the gripper is closed; If the clamping switch of the holder is closed, the clamping solenoid valve of the drill bit clamping device is energized and the drill bit clamping device is clamped; otherwise, check whether the guide switch of the holder is closed. If the clamp guide switch is closed, the chuck guide solenoid valve is energized and the chuck is guided; otherwise, check if the clamp open switch is closed. If the detection clamp opening switch is closed, the pin clamp opening solenoid valve is energized, and the pin clamp opens; otherwise, no action is taken.

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