An intelligent identification method for periodic loading and unloading of drill rods for crawler-type fully hydraulic tunnel drilling rigs

Abstract

The present invention provides a method for periodic intelligent identification of drill rod loading and unloading of a crawler-type fully hydraulic tunnel drilling rig. The method comprises the following steps: assembling a front drill collar at the rear end of the drill bit of the drilling rig and assembling a rear drill collar on the front end drilling rig of a water injector, wherein both the front drill collar and the rear drill collar are provided with storage-type intelligent drilling-while-drilling monitoring probes. According to the measurement of the storage-type intelligent drilling-while-drilling monitoring probes, the intermediate drilling rod loading and unloading operations and the rear end drilling rod loading and unloading operations of the overall drilling rod mechanism are analyzed, and the posture features of the characteristic modes of the intermediate drilling rod loading, the intermediate drilling rod unloading, the rear end drilling rod loading and unloading are effectively obtained. The posture features of the characteristic modes of the intermediate drilling rod loading, the intermediate drilling rod unloading, the rear end drilling rod loading and unloading are periodically pattern recognized through the extracted posture features, thereby effectively improving the efficiency of footage monitoring and supervision during the underground drilling construction process in coal mines.

Description

Technical Field

[0001] The present invention relates to the technical field of crawler-type fully hydraulic tunnel drilling rigs for coal mines, and in particular to a method for intelligently identifying the periodicity of loading and unloading drill rods of crawler-type fully hydraulic tunnel drilling rigs. Background Art

[0002] Crawler-type fully hydraulic tunnel drill rigs for coal mines operate in two modes: mid-stage drill rod loading and unloading and rear-end drill rod loading and unloading. Rear-end drill rod loading and unloading requires manual periodic installation and removal of the water injector and rear-end drill rod, resulting in multiple steps and high labor intensity. Mid-stage drill rod loading and unloading eliminates the need for water injector installation and unloading and utilizes a rotary mechanism, reducing the number of steps and labor intensity. However, mid-stage drill rod loading and unloading is affected by the length of the drill rig's feed frame. For example, some drill rigs have a feed frame stroke of only 1 meter, while traditional drill rods are typically over 1.5 meters long, making mid-stage drill rod loading impractical.

[0003] Middle-loading and unloading drill rods is generally suitable for drilling rigs drilling in horizontal streams and drifts. Due to the width of the roadway, working behind the rig is inconvenient, so drill rods need to be loaded from the middle. Rear-loading drill rods is generally suitable for drilling rigs for cut-hole drilling and head-on drilling. The large working space behind the rig makes loading and unloading drill rods convenient, saving working time.

[0004] To address the issue of insufficient monitoring of drilling footage during underground coal mine drilling, mines currently rely on real-time video surveillance, manually accessing videos to verify workers' reports of drill rod counts. However, this method is time-consuming and labor-intensive, relies heavily on human input, and can only be used for spot checks when drilling projects are large. Therefore, the use of reliable and intelligent monitoring of drill rod footage using while-drilling equipment has become an urgent need. Summary of the Invention

[0005] Aiming at the problem of inadequate footage monitoring and supervision in the drilling construction process of underground coal mines in the prior art, the present invention provides a method for intelligently identifying the periodicity of loading and unloading drill rods of a crawler-type fully hydraulic tunnel drilling rig.

[0006] The present invention is achieved through the following technical solutions:

[0007] A method for intelligently identifying the periodicity of loading and unloading drill rods for a crawler-type fully hydraulic tunnel drilling rig comprises the following steps:

[0008] Step 1: assemble the front drill collar at the rear end of the drill bit of the drilling rig, and assemble the rear drill collar on the front end of the water injector on the drilling rig. When several drill rods are connected in sequence, they are connected to the front drill collar from the middle section of the drilling rig through the front clamp to form a middle drill rod installation mode; when several drill rods are connected in sequence, and one end is connected to the rear drill collar, the other end is connected to the front drill collar from the rear end of the drilling rig through the rotary mechanism, the rear clamp, and the front clamp in sequence to form a rear end drill rod installation mode;

[0009] Step 2: Analyze the middle and rear end loading and unloading drill rod operations, and extract posture features from the feature patterns of middle loading, middle unloading, rear end loading, and rear end unloading drill rods respectively;

[0010] Step 3, collecting the extracted posture features and establishing a posture feature database of drilling rig loading and unloading drill pipe;

[0011] Step 4: Perform periodic pattern recognition on the posture features of the middle drill rod installation, the middle drill rod removal, the rear end drill rod installation, and the rear end drill rod removal.

[0012] Preferably, in step 1, a storage-type intelligent monitoring while drilling probe is provided in both the front drill collar and the rear drill collar, and a water pressure sensor and a gyroscope are provided on the storage-type intelligent monitoring while drilling probe, wherein the water pressure sensor is externally mounted on the wall of the storage-type intelligent monitoring while drilling probe, and is used to detect the presence or absence of water pressure in the drill pipe and the magnitude of the water pressure value Y; the gyroscope is built into the storage-type intelligent monitoring while drilling probe, and is used to detect the angle ω of the front drill collar and the rear drill collar rotating around the axial direction of the drill pipe. y (t) is measured, where ω y (t) is the instantaneous sampling angular velocity of the probe built into the drill collar.

[0013] Furthermore, in step 2, the analysis method for the intermediate loading and unloading drill rod operation of the integral drill rod mechanism is as follows:

[0014] Feature extraction of the middle-mounted drill pipe operation posture:

[0015] Drilling: Water is passed through the drill pipe and there is water pressure. B =S, the front drill collar and the rear drill collar rotate clockwise around the axis of the drill pipe, Q=1, H=1;

[0016] Install drill pipe: stop water in drill pipe, no water pressure, Y B =W;

[0017] The rear drill collar rotates counterclockwise around the axis of the drill pipe by T1. Q = 0, H = -1;

[0018] The rear drill collar rotates clockwise around the axis of the drill pipe by T2. Q=0, H=1;

[0019] The front drill collar rotates clockwise around the axis of the drill pipe by T3. Q=1, H=1;

[0020] Feature extraction of intermediate drill pipe unloading operation posture:

[0021] Unloading drill pipe: No water in the drill pipe, no water pressure, Y B =W;

[0022] The rear drill collar rotates counterclockwise around the axis of the drill pipe by T1′. Q = -1, H = 0;

[0023] The rear drill collar rotates counterclockwise around the axis of the drill pipe by T2′. Q = -1, H = 0;

[0024] The front drill collar rotates clockwise around the axis of the drill pipe by T3′. Q=1, H=0;

[0025] Where, Y is the water pressure characteristic identifier; S and W represent the water pressure values; A is the front drill collar; B is the rear drill collar; Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

[0026] Furthermore, in step 2, the analysis method for the drill rod loading and unloading operation at the rear end of the integral drill rod mechanism is as follows:

[0027] Feature extraction of manual operation posture of rear-end drill pipe installation:

[0028] Drilling: Water is passed through the drill pipe and there is water pressure. B =S, the front drill collar and the rear drill collar rotate clockwise around the axis of the drill pipe, Q=1, H=1;

[0029] Install drill pipe: stop water in drill pipe, no water pressure, Y B =W;

[0030] The rear drill collar rotates counterclockwise around the axis of the drill pipe by T1. Q = 0, H = -1;

[0031] The front drill collar rotates clockwise around the axis of the drill pipe by T2. Q=1, H=0;

[0032] The rear drill collar rotates clockwise around the axis of the drill pipe by T3. Q=0, H=1;

[0033] Feature extraction of rear-end drill pipe unloading operation posture:

[0034] Unloading drill pipe: No water in the drill pipe, no water pressure, Y B =W;

[0035] The front drill collar rotates clockwise around the axis of the drill pipe by T1′. Q=1, H=0;

[0036] Where Y is the water pressure characteristic identifier; S and W represent the water pressure values; A is the front drill collar; B is the rear drill collar Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

[0037] Furthermore, in step 2, the extraction of the rear-end drill pipe operation posture feature adopts a mechanized mode as follows:

[0038] Feature extraction of rear-end drill pipe operation posture:

[0039] Drilling: Water is passed through the drill pipe and there is water pressure. B =S, the front drill collar and the rear drill collar rotate clockwise around the axis of the drill pipe, Q=1, H=1;

[0040] Install drill pipe: stop water in drill pipe, no water pressure, Y B =W;

[0041] The front drill collar rotates clockwise around the axis of the drill pipe by T1. Q=1, H=0;

[0042] The front drill collar rotates counterclockwise around the axis of the drill pipe by T2. Q = -1, H = 0; then the front drill collar rotates clockwise around the axis of the drill pipe by T3, Q=1, H=0;

[0043] The rear drill collar rotates clockwise around the axis of the drill pipe by T4. Q=0,H=1;or the front drill collar rotates counterclockwise around the axis of the drill pipe by T4, Q = -1, H = 0;

[0044] Where, Y is the water pressure characteristic identifier; S and W represent the water pressure values, where W>S; A is the front drill collar; B is the rear drill collar; Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

[0045] Furthermore, in step 4, the periodic pattern recognition method is as follows:

[0046] Step 41, create a matrix in, represents the column vector of the instantaneous sampling angular velocity of the front drill collar probe; represents the column vector of the instantaneous sampling angular velocity of the rear drill collar probe; N is the number of sampling times during the probe working time; Y B It is the mark of water pressure characteristics in the rear drill collar hole;

[0047] Step 42, dividing the established matrix into regions;

[0048] Step 43: performing disturbance filtering on the divided areas;

[0049] Step 44: pattern recognition.

[0050] Preferably, in step 42, Y B =W is used to divide the drilling stop area.

[0051] Preferably, in step 43, for the drilling stop area and The specific determination method is as follows: according to the rated speed of the drilling rig, the minimum angular velocity threshold value |ω is set. min |, when -|ω min |≤ω y (t)≤|ω min |When,ω y (t)=0.

[0052] Preferably, in step 44, the drilling stop area and The peak value of the data is extracted, and the posture feature identification position is determined according to the positive or negative value of the peak value, where Corresponding to the front drill collar posture feature identification position Q; Corresponding to the rear drill collar posture feature identification position.

[0053] Compared with the prior art, the present invention has the following beneficial technical effects:

[0054] The present invention provides a method for periodic intelligent identification of drill rod loading and unloading of a crawler-type fully hydraulic tunnel drilling rig. The method comprises the following steps: assembling a front drill collar at the rear end of the drill bit of the drilling rig and assembling a rear drill collar on the front end drilling rig of a water injector, wherein both the front drill collar and the rear drill collar are provided with storage-type intelligent drilling-while-drilling monitoring probes. According to the measurement of the storage-type intelligent drilling-while-drilling monitoring probes, the intermediate drilling rod loading and unloading operations and the rear end drilling rod loading and unloading operations of the overall drilling rod mechanism are analyzed, and the posture features of the characteristic modes of the intermediate drilling rod loading, the intermediate drilling rod unloading, the rear end drilling rod loading and unloading are effectively obtained. The posture features of the characteristic modes of the intermediate drilling rod loading, the intermediate drilling rod unloading, the rear end drilling rod loading and unloading are periodically pattern recognized through the extracted posture features, thereby effectively improving the efficiency of footage monitoring and supervision during the underground drilling construction process in coal mines.

[0055] Furthermore, intelligent drill rod drilling quantity identification avoids the concealment, false reporting, or omission of footage. No additional operation is required; only the front and rear drill collars need to be installed at the rear end of the drill bit and the front end of the water transformer, which does not affect the drilling efficiency of the drilling rig. Compared with video monitoring and manual supervision methods on the market, it is both highly intelligent and saves manpower and material resources. The operation posture feature pattern recognition algorithm is not limited to the cumulative tracking technology of trajectory length. Instead, when the drill rod length is known, it identifies the drill rod installation process and then performs intelligent statistics on the number of drill rods, thereby deducing the footage length. The algorithm is highly accurate, with an error generally less than ±2 drill rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic diagram of the drilling rig in the present invention;

[0057] Figure 2 This is a schematic diagram of the storage-type intelligent monitoring while drilling probe in the present invention;

[0058] Figure 3 is the characteristic curve of the periodic intermediate drill rod in the present invention;

[0059] Figure 4 is the characteristic curve of periodic intermediate unloading of drill rod in the present invention;

[0060] Figure 5 A characteristic curve of the periodic rear end drill pipe installation method in the present invention;

[0061] Figure 6 It is the characteristic curve of the second method of periodic rear end installation of drill pipe in the present invention;

[0062] Figure 7 This is the characteristic curve of the periodic rear end unloading drill pipe in the present invention.

[0063] In the figure: 1-front drill collar; 2-front clamp; 3-drill pipe; 4-rear clamp; 5-rotation mechanism; 6-rear drill collar; 7-water injector; 8-feed frame process; 9-water pressure sensor; 10-gyroscope; 11-storage-type drilling intelligent monitoring probe. DETAILED DESCRIPTION

[0064] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0065] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0066] The present invention is described in further detail below with reference to the accompanying drawings:

[0067] In one embodiment of the present invention, a method for intelligently identifying the periodicity of loading and unloading drill rods of a crawler-type fully hydraulic tunnel drilling rig is provided, comprising the following steps:

[0068] Step 1: assemble the front drill collar 1 at the rear end of the drill bit of the drilling rig, and assemble the rear drill collar 6 on the front end of the water injector 7 on the drilling rig. When several drill rods 3 are connected in sequence and connected to the front drill collar 1 from the middle section of the drilling rig through the front clamp 2, a middle drill rod installation mode is formed; when several drill rods 3 are connected in sequence, and one end is connected to the rear drill collar 6, the other end is connected to the front drill collar 1 from the rear end of the drilling rig through the rotary mechanism 5, the rear clamp 4, and the front clamp 2 in sequence, a rear drill rod installation mode is formed;

[0069] The length of the drill rods 3 connected in sequence corresponds to the drilling rig feed frame stroke 8, such as Figure 1 Specifically, the front drill collar 1 and the rear drill collar 6 are provided with a storage-type intelligent monitoring probe while drilling 11, the storage-type intelligent monitoring probe while drilling 11 is provided with a water pressure sensor 9 and a gyroscope 10, as Figure 2 As shown, the water pressure sensor 9 is externally mounted on the wall of the storage-type drilling intelligent monitoring probe 11, which is used to detect the presence of water pressure in the drill pipe and the magnitude of the water pressure value Y. To facilitate periodic graphical observation, if there is water pressure, the value Y = S = 1.5; if there is no water pressure, the value Y = W = 3.24. The rear probe is directly connected to the water injector. Therefore, the water pressure change is only measured by the rear probe water pressure sensor value Y B That's it.

[0070] The gyroscope 10 is built into a storage-type intelligent monitoring probe 11 for monitoring the angle ω of the front drill collar 1 and the rear drill collar 6 around the axial rotation of the drill pipe 3. y (t) is measured, where t represents the sampling time and T represents the sampling period. Figure 2 The center of the coordinate system in the figure looks toward the X-axis. The angle formed by clockwise rotation is positive, and the angle formed by counterclockwise rotation is negative. Indicates the instantaneous sampling angular velocity of the probe built into the drill collar (front). Indicates the instantaneous sampling angular velocity of the probe built into the drill collar (rear).

[0071] Step 2: Analyze the middle and rear end loading and unloading drill rod operations, and extract posture features from the feature patterns of middle loading, middle unloading, rear end loading, and rear end unloading drill rods respectively;

[0072] Among them, the front drill collar 1 rotates clockwise, that is, Note that Q = 1, the front drill collar 1 rotates counterclockwise, that is, Note that Q = -1, the front drill collar 1 is stationary, Note that Q=0, where Q is the posture feature identification position of the front drill collar 1.

[0073] The rear drill collar 6 rotates clockwise, i.e. Note that H = 1, the rear drill collar 6 rotates counterclockwise, that is, Note that H = -1, the rear drill collar 6 is stationary. Let H=0; H is the posture characteristic identification position of the rear drill collar 6.

[0074] If there is water pressure, the value is Y=S=1.5; if there is no water pressure, the value is Y=W=3.24; B It is the characteristic mark of the water pressure in the hole of the rear drill collar 6.

[0075] Specifically, the analysis method for the intermediate loading and unloading drill rod operation of the integral drill rod mechanism is as follows:

[0076] according to Figure 3 As shown in the figure, the feature extraction of the middle drill rod operation posture is as follows:

[0077] Drilling: Water is passed through the drill rod 3 and there is water pressure. B=1.5, the front drill collar 1 and the rear drill collar 6 rotate clockwise around the axis of the drill pipe, Q=1, H=1;

[0078] Install drill pipe: No water in drill pipe 3, no water pressure, Y B =3.24;

[0079] The rear drill collar 6 rotates counterclockwise T1 around the axial direction of the drill pipe 3. Q = 0, H = -1;

[0080] The rear drill collar 6 rotates clockwise T2 around the axial direction of the drill pipe 3. Q=0, H=1;

[0081] The front drill collar 1 rotates clockwise around the axis of the drill pipe 3 by T3. Q=1, H=1;

[0082] according to Figure 4 As shown in the figure, the feature extraction of the intermediate unloading drill pipe operation posture is as follows:

[0083] Unloading drill pipe: No water in drill pipe 3, no water pressure, Y B =3.24;

[0084] The rear drill collar 6 rotates counterclockwise around the axial direction of the drill pipe 3 by T1′. Q = -1, H = 0;

[0085] The rear drill collar 6 rotates counterclockwise around the axial direction of the drill pipe 3 by T2′. Q = -1, H = 0;

[0086] The front drill collar 1 rotates clockwise around the axial direction of the drill pipe 3 by T3′. Q=1, H=0;

[0087] Where, Y is the water pressure characteristic identifier; A is the front drill collar; B is the rear drill collar; Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

[0088] The analysis method for loading and unloading drill rods at the rear end of the integral drill rod mechanism is as follows:

[0089] according to Figure 5 As shown in the figure, the manual operation posture feature extraction of the rear end drill rod is as follows:

[0090] Drilling: Water is passed through the drill rod 3 and there is water pressure. B =1.5, the front drill collar 1 and the rear drill collar 6 rotate clockwise around the axis of the drill pipe, Q=1, H=1;

[0091] Install drill pipe: No water in drill pipe 3, no water pressure, Y B =3.24;

[0092] The rear drill collar 6 rotates counterclockwise T1 around the axial direction of the drill pipe 3. Q = 0, H = -1;

[0093] The front drill collar 1 rotates clockwise around the axis of the drill pipe 3 by T2. Q=1, H=0;

[0094] The rear drill collar 6 rotates clockwise T3 around the axial direction of the drill pipe 3. Q=0, H=1;

[0095] according to Figure 7 As shown in the figure, the feature extraction of the rear end unloading drill pipe operation posture is as follows:

[0096] Unloading drill pipe: No water in drill pipe 3, no water pressure, Y B =3.24;

[0097] The front drill collar 1 rotates clockwise T1′ around the axial direction of the drill pipe 3. Q=1, H=0;

[0098] Where, Y is the water pressure characteristic identifier; A is the front drill collar; B is the rear drill collar; Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

[0099] according to Figure 6 As shown in the figure, the extraction of the rear-end drill pipe operation posture feature adopts the mechanized mode as follows:

[0100] Feature extraction of rear-end drill pipe operation posture:

[0101] Drilling: Water is passed through the drill rod 3 and there is water pressure. B =1.5, the front drill collar 1 and the rear drill collar 6 rotate clockwise around the axis of the drill pipe, Q=1, H=1;

[0102] Install drill pipe: No water in drill pipe 3, no water pressure, Y B =3.24;

[0103] The front drill collar 1 rotates clockwise T1 around the axis of the drill pipe 3. Q=1, H=0;

[0104] The front drill collar 1 rotates counterclockwise around the axis of the drill pipe 3 by T2. Q = -1, H = 0; then the front drill collar 1 rotates clockwise around the axis of the drill pipe 3 by T3, Q=1, H=0;

[0105] The rear drill collar 6 rotates clockwise T4 around the axial direction of the drill pipe 3. Q=0,H=1;or the front drill collar 1 rotates counterclockwise around the axial direction of the drill pipe 3 by T4, Q = -1, H = 0;

[0106] Where, Y is the water pressure characteristic identifier; A is the front drill collar; B is the rear drill collar; Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

[0107] In the present invention Figures 3 to 7 Among them, ① is drilling; ② is stopping drilling; ③ is installing drill rods; ④ is drilling; ⑤ is removing drill rods; ⑥ is removing drill rods; ⑦ is removing drill rods.

[0108] Step 3: Collect the extracted posture features and establish a posture feature database for drilling rig loading and unloading drill pipes. The posture feature database is shown in Table 1.

[0109]

[0110] Table 1 Posture feature database

[0111] Step 4: Perform periodic pattern recognition on the posture features of the middle drill rod installation, the middle drill rod removal, the rear end drill rod installation, and the rear end drill rod removal.

[0112] Specifically, the periodic pattern recognition method is as follows:

[0113] Step 41, create a matrix in, represents the column vector of the instantaneous sampling angular velocity of the front drill collar probe; represents the column vector of the instantaneous sampling angular velocity of the rear drill collar probe; N is the number of sampling times during the probe working time; Y B It is the mark of water pressure characteristics in the rear drill collar hole; and Time synchronization must be met.

[0114] Step 42, divide the established matrix into regions, wherein Y B =W is used to divide the drilling stop area.

[0115] Step 43: performing disturbance filtering on the divided areas;

[0116] Specifically, eliminate interference from hardware and equipment operation, and and The specific determination method is as follows: according to the rated speed of the drilling rig, the minimum angular velocity threshold value |ω is set. min |, when -|ω min |≤ω y (t)≤|ω min |When,ω y (t)=0.

[0117] Step 44: pattern recognition.

[0118] Specifically, for areas where drilling is stopped and The peak value of the data is extracted, and the posture feature identification position is determined according to the positive or negative value of the peak value, where Corresponding to the front drill collar posture feature identification position Q; Corresponding to the rear drill collar posture feature identification position.

[0119] For the three feature modes of middle loading drill rod, middle unloading drill rod, and rear end loading drill rod, the posture of loading and unloading drill rod can be determined by matching the identified feature value H of the "stop drilling" area with the corresponding logical feature in the posture feature database.

[0120] For the two feature modes of rear-end drill rod loading A and rear-end drill rod unloading, the posture of loading and unloading drill rods can be determined by matching the identified "stop drilling" area feature value Q with the corresponding logical feature in the posture feature database.

[0121] In summary, the present invention provides a method for periodic intelligent identification of loading and unloading drill rods of a crawler-type fully hydraulic tunnel drilling rig, which is achieved by assembling a front drill collar at the rear end of the drill bit of the drilling rig and assembling a rear drill collar on the front end drilling rig of the water injector, wherein both the front drill collar and the rear drill collar are provided with storage-type intelligent drilling-down monitoring probes. According to the measurement of the storage-type intelligent drilling-down monitoring probes, the intermediate loading and unloading drill rod operations and the rear end loading and unloading drill rod operations of the overall drill rod mechanism are analyzed, and the posture features of the characteristic modes of the intermediate loading and unloading drill rods, the intermediate unloading drill rods, the rear end loading and unloading drill rods and the rear end unloading drill rods are effectively obtained. The posture features of the characteristic modes of the intermediate loading and unloading drill rods, the intermediate unloading drill rods, the rear end loading and unloading drill rods are periodically recognized through the extracted posture features, thereby effectively improving the efficiency of footage monitoring and supervision during the underground drilling construction process in coal mines.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A method for intelligently identifying the periodicity of loading and unloading drill rods for a crawler-type fully hydraulic tunnel drilling rig, characterized in that: The steps include: Step 1: assemble a front drill collar (1) at the rear end of the drill bit of the drilling rig, assemble a rear drill collar (6) on the front end of the water injector (7) on the drilling rig, when a plurality of drill rods (3) are connected in sequence and connected to the front drill collar (1) from the middle section of the drilling rig through the front clamp (2) to form a middle drill rod installation mode; when a plurality of drill rods (3) are connected in sequence, and one end is connected to the rear drill collar (6), the other end is connected to the front drill collar (1) from the rear end of the drilling rig through the rotary mechanism (5), the rear clamp (4), the front clamp (2) in sequence to form a rear end drill rod installation mode; In step 1, a storage-type intelligent monitoring probe while drilling (11) is provided in the front drill collar (1) and the rear drill collar (6), and a water pressure sensor (9) and a gyroscope (10) are provided on the storage-type intelligent monitoring probe while drilling (11), wherein the water pressure sensor (9) is externally arranged on the wall of the storage-type intelligent monitoring probe while drilling (11) and is used to detect the presence or absence of water pressure in the drill pipe and the size of the water pressure value Y; the gyroscope (10) is built into the storage-type intelligent monitoring probe while drilling (11) and is used to detect the angle ω of the axial rotation of the front drill collar (1) and the rear drill collar (6) around the drill pipe (3). y (t) is measured, where ω y (t) is the instantaneous sampling angular velocity of the probe built into the drill collar; Step 2: Analyze the middle and rear end loading and unloading drill rod operations, and extract posture features from the feature patterns of middle loading, middle unloading, rear end loading, and rear end unloading drill rods respectively; Step 3, collecting the extracted posture features and establishing a posture feature database of drilling rig loading and unloading drill pipe; Step 4, performing periodic pattern recognition on the posture features of the middle drill rod loading, middle drill rod unloading, rear end drill rod loading, and rear end drill rod unloading; In step 4, the periodic pattern recognition method is as follows: Step 41, create a matrix in, represents the column vector of the instantaneous sampling angular velocity of the front drill collar probe; represents the column vector of the instantaneous sampling angular velocity of the rear drill collar probe; N is the number of sampling times during the probe working time; YB is the water pressure characteristic position in the rear drill collar hole; Step 42, dividing the established matrix into regions; Step 43: performing disturbance filtering on the divided areas; Step 44, pattern recognition; In step 42, the drilling stop area where YB=W is divided; In step 43, for the and The specific determination method is as follows: according to the rated speed of the drilling rig, the minimum angular velocity threshold value |ω is set. min |, when -|ω min |≤ω y (t)≤|ω min |When,ω y (t) = 0; In step 44, the drilling stop area and The peak value of the data is extracted, and the posture feature identification position is determined according to the positive or negative value of the peak value, where Corresponding to the front drill collar posture feature identification position Q; Corresponding to the rear drill collar posture feature identification position.

2. The method for intelligently identifying the periodicity of loading and unloading drill rods for a crawler-type fully hydraulic tunnel drilling rig according to claim 1 is characterized in that: In step 2, the analysis method for the intermediate loading and unloading drill rod operation of the integral drill rod mechanism is as follows: Feature extraction of the middle-mounted drill pipe operation posture: Drilling: Water is passed through the drill rod (3) and there is water pressure. B =S, the front drill collar (1) and the rear drill collar (6) rotate clockwise around the axis of the drill pipe, Install the drill pipe: Stop the water in the drill pipe (3), there is no water pressure, Y B =W; The rear drill collar (6) rotates counterclockwise T1 around the axial direction of the drill pipe (3). Q = 0, H = -1; The rear drill collar (6) rotates clockwise T2 around the axis of the drill pipe (3). Q=0, H=1; The front drill collar (1) rotates clockwise T3 around the axis of the drill pipe (3). Q=1, H=1; Feature extraction of intermediate drill pipe unloading operation posture: Unloading drill pipe: Stop water in drill pipe (3), no water pressure, Y B =W; The rear drill collar (6) rotates counterclockwise T1′ around the axial direction of the drill pipe (3). Q = -1, H = 0; The rear drill collar (6) rotates counterclockwise T2′ around the axial direction of the drill pipe (3). Q = -1, H = 0; The front drill collar (1) rotates clockwise T3′ around the axial direction of the drill pipe (3). Q=1, H=0; Where, Y is the water pressure characteristic identifier; S and W represent the water pressure values; A is the front drill collar; B is the rear drill collar; Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

3. The method for intelligently identifying the periodicity of loading and unloading drill rods for a crawler-type fully hydraulic tunnel drilling rig according to claim 1 is characterized in that: In step 2, the analysis method for loading and unloading drill rods at the rear end of the integral drill rod mechanism is as follows: Feature extraction of manual operation posture of rear-end drill pipe installation: Drilling: Water is passed through the drill rod (3) and there is water pressure. B =S, the front drill collar (1) and the rear drill collar (6) rotate clockwise around the axis of the drill pipe, Q=1, H=1; Install the drill pipe: Stop the water in the drill pipe (3), there is no water pressure, Y B =W; The rear drill collar (6) rotates counterclockwise T1 around the axial direction of the drill pipe (3). Q = 0, H = -1; The front drill collar (1) rotates clockwise T2 around the axis of the drill pipe (3). Q=1, H=0; The rear drill collar (6) rotates clockwise T3 around the axial direction of the drill pipe (3). Q=0, H=1; Feature extraction of rear-end drill pipe unloading operation posture: Unloading drill pipe: Stop water in drill pipe (3), no water pressure, Y B =W; The front drill collar (1) rotates clockwise T1′ around the axial direction of the drill pipe (3). Q=1, H=0; Where Y is the water pressure characteristic identifier; S and W represent the water pressure values; A is the front drill collar; B is the rear drill collar Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. Indicates the sampling angular velocity of the probe tube built into the rear drill collar during the drilling process; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

4. The method for intelligently identifying the periodicity of loading and unloading drill rods for a crawler-type fully hydraulic tunnel drilling rig according to claim 3 is characterized in that: In step 2, the extraction of the rear-end drill pipe operation posture feature adopts the mechanized mode as follows: Feature extraction of rear-end drill pipe operation posture: Drilling: Water is passed through the drill rod (3) and there is water pressure. B =S, the front drill collar (1) and the rear drill collar (6) rotate clockwise around the axis of the drill pipe, Install the drill pipe: Stop the water in the drill pipe (3), there is no water pressure, Y B =W; The front drill collar (1) rotates clockwise T1 around the axis of the drill pipe (3). Q=1, H=0; The front drill collar (1) rotates counterclockwise T2 around the axial direction of the drill pipe (3). Q = -1, H = 0; then the front drill collar (1) rotates clockwise around the axis of the drill pipe (3) by T3, Q=1, H=0; The rear drill collar (6) rotates clockwise T4 around the axial direction of the drill pipe (3). Q=0, H=1; or the front drill collar (1) rotates counterclockwise around the axial direction of the drill pipe (3) by T4, Q = -1, H = 0; Where, Y is the water pressure characteristic identifier; S and W represent the water pressure values, where W>S; A is the front drill collar; B is the rear drill collar; Indicates the sampling angular velocity of the probe tube built into the front drill collar during the drilling process. (T) represents the sampling angular velocity during the drilling process of the probe tube built into the rear drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the front drill collar; Indicates the sampling angular velocity during the unloading process of the probe tube built into the rear drill collar; Q is the characteristic identification position of the front drill collar; H is the characteristic identification position of the rear drill collar; Y B It is the water pressure characteristic identification position of the rear drill collar hole; Q=0 or 1 or -1 is the front drill collar posture characteristic identification position; H=0 or 1 or -1 is the rear drill collar posture characteristic identification position.

Images