Automatic mesh laying control method, device and system for intelligent anchor drilling rig

Abstract

The present disclosure relates to a method, device and system for controlling automatic mesh laying of an intelligent anchor drilling rig, and relates to the field of automation technology. The method comprises: determining whether a mesh support frame in a mesh laying mechanism provided on the anchor drilling rig is located at an initial position when receiving a mesh laying start instruction; obtaining a target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position when the mesh support frame is located at the initial position, wherein the first motor parameter sequence comprises: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; controlling the motor in the mesh laying mechanism in accordance with the motor parameter information in the first motor parameter sequence in sequence to move the mesh support frame to the target position; controlling the mesh support frame to perform mesh laying processing, thereby realizing automatic mesh laying processing, improving the efficiency of automatic mesh laying, and reducing the cost of mesh laying.

Description

Technical Field

[0001] The present disclosure relates to the field of automation technology, and in particular to an automatic mesh laying control method, device and system for an intelligent anchor drilling rig. Background Art

[0002] At present, in the process of coal mining, before using anchor drilling rigs for excavation, it is necessary to support the excavated area, that is, to lay meshes above the excavated area to play a fixing and protective role.

[0003] In the related art, when laying the mesh, the mesh is manually transported and lifted from the ground to the area requiring support, and then the mesh is laid. This has high labor costs, high work intensity, low efficiency, and poor safety. Summary of the invention

[0004] The present invention provides an automatic mesh laying control method, device and system for an intelligent anchor drilling rig, so as to at least solve the problems of high labor cost, high work intensity, low efficiency and poor safety when laying mesh in the related art.

[0005] The first aspect of the present disclosure provides an automatic mesh laying control method for an intelligent anchor drilling rig, comprising: upon receiving a mesh laying start instruction, determining whether a mesh support frame in a mesh laying mechanism provided on the anchor drilling rig is located at an initial position; when the mesh support frame is located at the initial position, obtaining a target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position, wherein the first motor parameter sequence comprises: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; controlling and processing the motor in the mesh laying mechanism in sequence according to the motor parameter information in the first motor parameter sequence to move the mesh support frame to the target position; and controlling the mesh support frame to perform mesh laying processing.

[0006] As a first possible situation of an embodiment of the present disclosure, when a mesh-laying start instruction is received, determining whether a mesh support frame in a mesh-laying mechanism provided on the anchor drilling rig is located in an initial position includes: when the mesh-laying start instruction is received, acquiring current motor parameter information of the mesh-laying mechanism; when the current motor parameter information is consistent with the initial motor parameter information corresponding to the initial position, determining that the mesh support frame in the mesh-laying mechanism is located in the initial position; when the current motor parameter information is inconsistent with the initial motor parameter information corresponding to the initial position, determining that the mesh support frame in the mesh-laying mechanism is not in the initial position.

[0007] As a second possible scenario of the embodiment of the present disclosure, when the mesh support frame is located at the initial position, obtaining the target position of the mesh support frame and the first motor parameter sequence from the initial position to the target position, including: when the mesh support frame is located at the initial position, obtaining the peripheral spatial range of the anchor drilling rig; determining the target position of the mesh support frame according to the peripheral spatial range; determining at least one candidate motor parameter sequence from the initial position to the target position; and selecting, according to the peripheral spatial range, from the at least one candidate motor parameter sequence a candidate motor parameter sequence that matches the peripheral spatial range as the first motor parameter sequence.

[0008] As a third possible situation of an embodiment of the present disclosure, according to the surrounding spatial range, selecting a candidate motor parameter sequence matching the surrounding spatial range from the at least one candidate motor parameter sequence as the first motor parameter sequence, including: determining at least one motion spatial range according to the at least one candidate motor parameter sequence; obtaining a first motion spatial range in the at least one motion spatial range that is within the surrounding spatial range; and taking the candidate motor parameter sequence corresponding to the first motion spatial range as the first motor parameter sequence.

[0009] As a fourth possible situation of the embodiment of the present disclosure, the at least one intermediate position includes at least one of the following positions: a first intermediate position in which the sleeve mechanism connected to the mesh support frame is in a vertical state, and a second intermediate position in which the sleeve mechanism is extended forward; the motor in the mesh laying mechanism includes: a rotating motor for rotating the sleeve mechanism, a telescopic motor for telescopic control of the sleeve mechanism, a leveling motor for leveling the mesh support frame, and a lifting motor for lifting the sleeve mechanism; the motor parameter information at the first intermediate position includes: a first rotation angle, a first telescopic displacement and a first leveling angle; the motor parameter information at the second intermediate position includes: a second rotation angle, a second telescopic displacement and a second leveling angle; the motor parameter information at the target position includes: a first lifting displacement.

[0010] As a fifth possible situation of the embodiment of the present disclosure, the motors in the mesh laying mechanism are controlled and processed in sequence according to the motor parameter information in the first motor parameter sequence to move the mesh support frame to the target position, including: controlling and processing the rotating motor, the telescopic motor and the leveling motor according to the first rotation angle, the first telescopic displacement and the first leveling angle, respectively, until the mesh support frame reaches the first middle position; controlling and processing the rotating motor, the telescopic motor and the leveling motor according to the second rotation angle, the second telescopic displacement and the second leveling angle, respectively, until the mesh support frame reaches the second middle position; controlling and processing the lifting motor according to the first lifting displacement, until the mesh support frame reaches the target position.

[0011] As a sixth possible situation of the embodiment of the present disclosure, after controlling the mesh support frame to perform mesh laying, the method further includes: acquiring a second motor parameter sequence from the target position to the initial position; controlling the motor in the mesh laying mechanism in sequence according to the motor parameter information in the second motor parameter sequence to move the mesh support frame to the initial position.

[0012] The second aspect of the present disclosure provides an automatic mesh-laying control system for an intelligent anchor drilling rig, comprising: a controller and a mesh-laying mechanism arranged on the anchor drilling rig; wherein the mesh-laying mechanism comprises: a mesh support frame, a sleeve mechanism, a lifting mechanism and a base; wherein the base is fixed on the anchor drilling rig; the lifting mechanism is fixed on the base; the sleeve mechanism is connected to the lifting mechanism via a first rotating component; the mesh support frame is connected to the sleeve mechanism via a second rotating component; wherein the second rotating component is used to level the mesh support frame; the controller is respectively connected to the sleeve mechanism, the first rotating component, the second rotating component and the lifting mechanism, and is used to execute the automatic mesh-laying control method for the intelligent anchor drilling rig proposed in the embodiment of the first aspect of the present disclosure.

[0013] According to a third aspect of an embodiment of the present disclosure, there is provided an automatic mesh-laying control device for an intelligent anchor drilling rig, comprising: a determination module, for determining whether a mesh support frame in a mesh-laying mechanism arranged on the anchor drilling rig is located at an initial position upon receiving a mesh-laying start instruction; a first acquisition module, for acquiring a target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position when the mesh support frame is located at the initial position, wherein the first motor parameter sequence comprises: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; a first control module, for controlling and processing the motor in the mesh-laying mechanism in sequence according to the motor parameter information in the first motor parameter sequence, so as to move the mesh support frame to the target position; and a second control module, for controlling the mesh support frame to perform mesh-laying processing.

[0014] As a first possible situation of an embodiment of the present disclosure, the determination module is specifically used to, when receiving a net laying start instruction, obtain current motor parameter information of the net laying mechanism; when the current motor parameter information is consistent with the initial motor parameter information corresponding to the initial position, determine that the mesh support frame in the net laying mechanism is located at the initial position; when the current motor parameter information is inconsistent with the initial motor parameter information corresponding to the initial position, determine that the mesh support frame in the net laying mechanism is not in the initial position.

[0015] As a second possible situation of an embodiment of the present disclosure, the first acquisition module includes: an acquisition unit, a first determination unit, a second determination unit and a selection unit; the acquisition unit is used to acquire the surrounding space range of the anchor drilling rig when the mesh support frame is located at the initial position; the first determination unit is used to determine the target position of the mesh support frame according to the surrounding space range; the second determination unit is used to determine at least one candidate motor parameter sequence from the initial position to the target position; the selection unit is used to select a candidate motor parameter sequence that matches the surrounding space range from the at least one candidate motor parameter sequence according to the surrounding space range as the first motor parameter sequence.

[0016] As a third possible situation of an embodiment of the present disclosure, the selection unit is specifically used to determine at least one motion space range based on the at least one candidate motor parameter sequence; obtain a first motion space range in the at least one motion space range that is located within the surrounding space range; and use the candidate motor parameter sequence corresponding to the first motion space range as the first motor parameter sequence.

[0017] As a fourth possible situation of the embodiment of the present disclosure, the at least one intermediate position includes at least one of the following positions: a first intermediate position in which the sleeve mechanism connected to the mesh support frame is in a vertical state, and a second intermediate position in which the sleeve mechanism is extended forward; the motor in the mesh laying mechanism includes: a rotating motor for rotating the sleeve mechanism, a telescopic motor for telescopic control of the sleeve mechanism, a leveling motor for leveling the mesh support frame, and a lifting motor for lifting the sleeve mechanism; the motor parameter information at the first intermediate position includes: a first rotation angle, a first telescopic displacement and a first leveling angle; the motor parameter information at the second intermediate position includes: a second rotation angle, a second telescopic displacement and a second leveling angle; the motor parameter information at the target position includes: a first lifting displacement.

[0018] As a fifth possible situation of the embodiment of the present disclosure, the first control module is specifically used to control the rotating motor, the telescopic motor and the leveling motor according to the first rotation angle, the first telescopic displacement and the first leveling angle, respectively, until the mesh support frame reaches the first middle position; control the rotating motor, the telescopic motor and the leveling motor according to the second rotation angle, the second telescopic displacement and the second leveling angle, respectively, until the mesh support frame reaches the second middle position; control the lifting motor according to the first lifting displacement, until the mesh support frame reaches the target position.

[0019] As the sixth possible situation of the embodiment of the present disclosure, the device also includes: a second acquisition module, used to acquire a second motor parameter sequence from the target position to the initial position; and a third control module, used to control and process the motor in the laying mechanism in sequence according to the motor parameter information in the second motor parameter sequence to move the mesh support frame to the initial position.

[0020] According to the fourth aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the automatic mesh laying control method of the intelligent anchor drilling rig proposed in the embodiment of the first aspect of the present disclosure.

[0021] According to the fifth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of an electronic device, the electronic device can execute the automatic mesh laying control method of the intelligent anchor drilling rig proposed in the embodiment of the first aspect of the present disclosure.

[0022] According to the sixth aspect of the embodiments of the present disclosure, a computer program product is provided. When the computer program is executed by a processor of an electronic device, the electronic device can execute the automatic mesh laying control method of the intelligent anchor drilling rig proposed in the embodiments of the first aspect of the present disclosure.

[0023] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects:

[0024] When receiving a mesh-laying start instruction, it is determined whether a mesh support frame in a mesh-laying mechanism arranged on the anchor drilling rig is located at an initial position; when the mesh support frame is located at the initial position, a target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position are obtained, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; the motor in the mesh-laying mechanism is controlled and processed in sequence according to the motor parameter information in the first motor parameter sequence to move the mesh support frame to the target position; the mesh support frame is controlled to perform mesh-laying processing, thereby realizing automatic mesh-laying processing, improving automatic mesh-laying efficiency, and reducing mesh-laying costs.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0027] Figure 1 is a flow chart of an automatic mesh laying control method for an intelligent anchor drilling rig according to an exemplary embodiment;

[0028] Figure 2 is a flow chart of another automatic mesh laying control method for an intelligent anchor drilling rig according to an exemplary embodiment;

[0029] Figure 3 is a flow chart of another automatic mesh laying control method for an intelligent anchor drilling rig according to an exemplary embodiment;

[0030] Figure 4 is a flow chart of another automatic mesh laying control method for an intelligent anchor drilling rig according to an exemplary embodiment;

[0031] Figure 5 is a structural schematic diagram of an automatic net laying control system for an intelligent anchor drilling rig according to an exemplary embodiment;

[0032] Figure 6is a structural schematic diagram of an automatic mesh laying control device for an intelligent anchor drilling rig according to an exemplary embodiment;

[0033] Figure 7 It is a block diagram of an electronic device for automatic mesh laying control of an intelligent anchor drilling rig according to an exemplary embodiment. DETAILED DESCRIPTION

[0034] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure 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 data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0036] At present, in the process of coal mining, before using anchor drilling rigs for excavation, it is necessary to support the excavated area, that is, to lay meshes above the excavated area to play a fixing and protective role.

[0037] In the related art, when laying the mesh, the mesh is manually transported and lifted from the ground to the area requiring support, and then the mesh is laid. This has high labor costs, high work intensity, low efficiency, and poor safety.

[0038] The present disclosure mainly aims at the problems of high work intensity, low efficiency and poor safety of workers when laying mesh in the related technology, and proposes a method, device and system for controlling automatic mesh laying of intelligent anchor drilling rig. The method includes: when receiving the mesh laying start instruction, determining whether the mesh support frame in the mesh laying mechanism set on the anchor drilling rig is in the initial position; when the mesh support frame is in the initial position, obtaining the target position of the mesh support frame and the first motor parameter sequence from the initial position to the target position, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; controlling the motor in the mesh laying mechanism in accordance with the motor parameter information in the first motor parameter sequence in turn to move the mesh support frame to the target position; controlling the mesh support frame to perform mesh laying processing, thereby realizing automatic mesh laying processing, improving the efficiency of automatic mesh laying, and reducing the cost of mesh laying.

[0039] The following is a detailed description of the automatic mesh laying control method, device and system for the intelligent anchor drilling rig provided by the embodiments of the present disclosure in conjunction with the accompanying drawings.

[0040] Figure 1 The figure is a flow chart of an automatic mesh laying control method of an intelligent anchor drilling rig according to an exemplary embodiment.

[0041] It should be noted that the execution subject of the automatic mesh laying control method of the intelligent anchor drilling rig in the embodiment of the present disclosure may be an automatic mesh laying control device of the intelligent anchor drilling rig, and the automatic mesh laying control device of the intelligent anchor drilling rig may be an automatic mesh laying control system of the intelligent anchor drilling rig, or a controller in the automatic mesh laying control system of the intelligent anchor drilling rig. In the following embodiments, the automatic mesh laying control device of the intelligent anchor drilling rig is taken as an example as the controller in the automatic mesh laying control system of the intelligent anchor drilling rig.

[0042] like Figure 1 As shown, the automatic mesh laying control method of the intelligent anchor drilling rig may include the following steps 101-104.

[0043] In step 101, when a mesh laying start instruction is received, it is determined whether a mesh support frame in a mesh laying mechanism provided on the anchor drilling rig is located at an initial position.

[0044] In the disclosed embodiment, the automatic mesh laying control system of the intelligent anchor drilling rig includes: a controller and a mesh laying mechanism arranged on the anchor drilling rig; wherein the mesh laying mechanism includes: a mesh support frame, a sleeve mechanism, a lifting mechanism and a base. wherein the base is fixed on the anchor drilling rig; the lifting mechanism is fixed on the base; the sleeve mechanism is connected to the lifting mechanism through a first rotating component; the mesh support frame is connected to the sleeve mechanism through a second rotating component; wherein the second rotating component is used to perform leveling processing on the mesh support frame.

[0045] The automatic mesh laying control system of the intelligent anchor drilling rig may further include: a receiver, a main control box, and a human-machine interaction interface connected to the main control box. The receiver may be connected to the main control box; and the controller may be connected to the main control box. When the operator presses the start button on the remote control transmitter, the remote control transmitter transmits a mesh laying start instruction according to the pressing operation; after receiving the mesh laying start instruction, the receiver sends the mesh laying start instruction to the main control box; the main control box sends the mesh laying start instruction to the controller; when the controller receives the mesh laying start instruction sent by the main control box, it determines whether the mesh support frame in the mesh laying mechanism set on the anchor drilling rig is in the initial position.

[0046] In the embodiment of the present disclosure, the process of the controller executing step 101 may, for example, be as follows: when receiving a web-laying start instruction, obtaining current motor parameter information of the web-laying mechanism; when the current motor parameter information is consistent with the initial motor parameter information corresponding to the initial position, determining that the mesh support frame in the web-laying mechanism is located at the initial position; when the current motor parameter information is inconsistent with the initial motor parameter information corresponding to the initial position, determining that the mesh support frame in the web-laying mechanism is not located at the initial position.

[0047] In the disclosed embodiment, the sleeve mechanism, the first rotating component, the second rotating component and the lifting mechanism are respectively provided with corresponding motors, such as a telescopic motor, a rotating motor, a leveling motor and a lifting motor. Sensors are respectively provided on the above four motors, for example, an angle sensor is respectively provided on the rotating motor and the leveling motor; and a displacement sensor is respectively provided on the lifting motor and the telescopic motor. Among them, the four sensors are respectively used to measure the motor parameters of the corresponding motors.

[0048] The process of the controller acquiring the current motor parameter information of the web laying mechanism may be, for example, that the controller acquires the motor parameters collected by the above four sensors respectively, and uses the combination of the collected four motor parameters as the current motor parameter information of the web laying mechanism. The current motor parameter information may include: telescopic displacement data of the telescopic motor, lifting displacement data of the lifting motor, rotation angle data of the rotating motor, and leveling angle data of the leveling motor.

[0049] The initial motor parameter information corresponding to the initial position may also include the above four motor parameters. The controller may compare the values ​​of the four motor parameters included in the current motor parameter information with the values ​​of the four motor parameters included in the initial motor parameter information, and when all are consistent, determine that the current motor parameter information is consistent with the initial motor parameter information corresponding to the initial position.

[0050] In the disclosed embodiment, when the mesh support frame is located at the initial position, the mesh support frame can be located at the rear mesh hanging position of the anchor drilling rig. At this time, the controller can perform prompt processing to prompt the operator to install the mesh and steel belt on the mesh support frame.

[0051] In step 102, when the mesh support frame is located at the initial position, the target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position are obtained, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position.

[0052] In the disclosed embodiment, at least one intermediate position includes at least one of the following positions: a first intermediate position in which the sleeve mechanism connected to the mesh support frame is in a vertical state, and a second intermediate position in which the sleeve mechanism is extended forward. The motor in the mesh laying mechanism includes: a rotating motor for rotating the sleeve mechanism, a telescopic motor for telescopic control of the sleeve mechanism, a leveling motor for leveling the mesh support frame, and a lifting motor for lifting the sleeve mechanism; the motor parameter information at the first intermediate position includes: a first rotation angle, a first telescopic displacement, and a first leveling angle; the motor parameter information at the second intermediate position includes: a second rotation angle, a second telescopic displacement, and a second leveling angle; the motor parameter information at the target position includes: a first lifting displacement.

[0053] In step 103, the motor in the mesh laying mechanism is controlled and processed in sequence according to the motor parameter information in the first motor parameter sequence to move the mesh support frame to the target position.

[0054] In the disclosed embodiment, first, according to the motor parameter information of the first intermediate position, the controller controls the rotation of the rotating motor, the extension and retraction of the telescopic motor, and the leveling motor to level according to the first rotation angle, the first telescopic displacement and the first leveling angle, and the mesh support frame moves from the initial position to the first intermediate position; then, according to the motor parameter information of the second intermediate position, the controller controls the rotation of the rotating motor, the extension and retraction of the telescopic motor, and the leveling motor to level according to the second rotation angle, the second telescopic displacement and the second leveling angle, and the mesh support frame moves from the first intermediate position to the second intermediate position; finally, according to the motor parameter information of the target position, the controller controls the lifting motor to lift and lower according to the first lifting displacement, and the mesh support frame moves from the second intermediate position to the target position.

[0055] In the embodiment of the present disclosure, when the mesh support frame moves from the initial position to the first intermediate position, the rotating motor rotates to the first rotation angle, the telescopic motor moves to the first telescopic displacement, and the leveling motor reaches the first leveling angle; when the mesh support frame moves from the first intermediate position to the second intermediate position, the rotating motor rotates to the second rotation angle, the telescopic motor moves to the second telescopic displacement, and the leveling motor follows the rotating motor to change to the second leveling angle to maintain the horizontal state of the mesh support frame; when the mesh support frame moves from the second intermediate position to the target position, the states of the rotating motor, the telescopic motor and the leveling motor remain unchanged, and the lifting motor remains unchanged after moving to the first lifting displacement, at which time the mesh support reaches the target position.

[0056] In step 104, the mesh support frame is controlled to perform mesh laying processing.

[0057] Among them, after controlling the mesh support frame to perform the mesh laying process, the controller can also perform the following steps: obtaining a second motor parameter sequence from the target position to the initial position; controlling the motor in the mesh laying mechanism in turn according to the motor parameter information in the second motor parameter sequence to move the mesh support frame to the initial position.

[0058] In the disclosed embodiment, after the mesh support frame reaches the target position, the mesh is disengaged from the mesh support frame of the mesh laying mechanism, and the anchor drill anchors the mesh on the roof to complete the anchoring work; after the anchoring work is completed, the controller controls the mesh laying mechanism to move the mesh support frame back to the initial position, thereby completing an automatic mesh laying work cycle. The operator places the mesh again to enter the next automatic mesh laying work cycle.

[0059] The automatic mesh laying control method of the intelligent anchor drilling rig of the disclosed embodiment determines whether the mesh support frame in the mesh laying mechanism arranged on the anchor drilling rig is located at the initial position when receiving the mesh laying start instruction; when the mesh support frame is located at the initial position, obtains the target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; controls the motor in the mesh laying mechanism in accordance with the motor parameter information in the first motor parameter sequence in sequence to move the mesh support frame to the target position; controls the mesh support frame to perform mesh laying processing, thereby realizing automatic mesh laying processing, improving automatic mesh laying efficiency, and reducing mesh laying costs.

[0060] Figure 2 It is a flow chart of another automatic mesh laying control method of an intelligent anchor drilling rig according to an exemplary embodiment.

[0061] like Figure 2 As shown, the automatic mesh laying control method of the intelligent anchor drilling rig may include the following steps 201-207.

[0062] In step 201, when a mesh laying start instruction is received, it is determined whether a mesh support frame in a mesh laying mechanism provided on the anchor drilling rig is located at an initial position.

[0063] In step 202, when the mesh support frame is located at the initial position, the surrounding space range of the anchor drilling rig is obtained.

[0064] In the disclosed embodiment, the controller may obtain the surrounding spatial range of the anchor drilling machine by, for example, obtaining the farthest distance in each direction, and determining the surrounding spatial range according to the farthest distance in each direction, wherein each direction includes, for example, up, down, left, right, front, back, etc.

[0065] In step 203, the target position of the mesh support frame is determined according to the surrounding space range.

[0066] In the embodiment of the present disclosure, on the basis of the surrounding spatial range, the working position of the anchor drilling rig is determined according to the area in front of the anchor drilling rig that needs to be supported, thereby determining the target position of the mesh support frame.

[0067] In step 204 , at least one candidate motor parameter sequence from an initial position to a target position is determined.

[0068] In an embodiment of the present disclosure, the controller can determine at least one motion trajectory of the mesh support frame from an initial position to a target position; select from at least one motion trajectory a plurality of candidate motion trajectories in which the trajectory points of the mesh support frame can reach; for each candidate motion trajectory, select at least one intermediate position therefrom; and then determine motor parameter information of each intermediate position; and generate a candidate motor parameter sequence based on the motor parameter information of at least one intermediate position.

[0069] In step 205 , based on the surrounding spatial range, a candidate motor parameter sequence matching the surrounding spatial range is selected from at least one candidate motor parameter sequence as a first motor parameter sequence.

[0070] Among them, the process of the controller executing step 205 can, for example, be: determining at least one motion space range based on at least one candidate motor parameter sequence; obtaining a first motion space range located within the surrounding space range in at least one motion space range; and using the candidate motor parameter sequence corresponding to the first motion space range as the first motor parameter sequence.

[0071] In the embodiment of the present disclosure, at least one motion trajectory of the corresponding mesh support frame can be obtained based on at least one candidate motor parameter sequence, thereby obtaining at least one motion space range; based on the limitation of the surrounding space range, the motion space range located within the surrounding space range is selected, and this motion space range is determined as the first motion space range; the motor parameter sequence corresponding to the obtained first motion space range is used as the first motor parameter sequence.

[0072] In step 206, the motor in the mesh laying mechanism is controlled and processed in sequence according to the motor parameter information in the first motor parameter sequence to move the mesh support frame to the target position.

[0073] In step 207, the mesh support frame is controlled to perform mesh laying processing.

[0074] It should be noted that for the detailed description of steps 201, 206 and 207, reference may be made to the description in other embodiments of the present disclosure, and will not be described in detail here.

[0075] In summary, when receiving the mesh laying start instruction, it is determined whether the mesh support frame in the mesh laying mechanism arranged on the anchor drilling rig is located at the initial position; when the mesh support frame is located at the initial position, the surrounding space range of the anchor drilling rig is obtained; according to the surrounding space range, the target position of the mesh support frame is determined; at least one candidate motor parameter sequence from the initial position to the target position is determined; according to the surrounding space range, a candidate motor parameter sequence matching the surrounding space range is selected from at least one candidate motor parameter sequence as a first motor parameter sequence; the motor in the mesh laying mechanism is controlled and processed in sequence according to the motor parameter information in the first motor parameter sequence to move the mesh support frame to the target position; the mesh support frame is controlled to perform mesh laying processing, so that automatic mesh laying processing can be realized, the automatic mesh laying efficiency is improved, and the mesh laying cost is reduced.

[0076] Figure 3 It is a flow chart of another automatic mesh laying control method of an intelligent anchor drilling rig according to an exemplary embodiment.

[0077] like Figure 3 As shown, the automatic mesh laying control method of the intelligent anchor drilling rig may include the following steps 301-306.

[0078] In step 301, when a mesh laying start instruction is received, it is determined whether a mesh support frame in a mesh laying mechanism provided on the anchor drilling rig is located at an initial position.

[0079] In step 302, when the mesh support frame is located at the initial position, the target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position are obtained, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; the motor parameter information at the first intermediate position includes: a first rotation angle, a first telescopic displacement and a first leveling angle; the motor parameter information at the second intermediate position includes: a second rotation angle, a second telescopic displacement and a second leveling angle; the motor parameter information at the target position includes: a first lifting displacement.

[0080] In step 303, the rotation motor, the telescopic motor and the leveling motor are controlled and processed respectively according to the first rotation angle, the first telescopic displacement and the first leveling angle until the mesh support frame reaches the first intermediate position.

[0081] In the disclosed embodiment, there are two angle sensors, which respectively detect the angle information of the rotating motor and the leveling motor in real time; there are two displacement sensors, which respectively detect the displacement information of the telescopic motor and the lifting motor in real time; the controller can determine in real time whether the angle information of the rotating motor reaches the first rotating angle, whether the angle information of the leveling motor reaches the first leveling angle, and whether the telescopic displacement of the telescopic motor reaches the first telescopic displacement based on the data collected by the angle sensor and the displacement sensor. When the angle information of the rotating motor reaches the first rotating angle, the angle information of the leveling motor reaches the first leveling angle, and the telescopic displacement of the telescopic motor reaches the first telescopic displacement, it is determined that the mesh support frame reaches the first intermediate position.

[0082] In step 304, the rotation motor, the telescopic motor and the leveling motor are controlled and processed respectively according to the second rotation angle, the second telescopic displacement and the second leveling angle until the mesh support frame reaches the second intermediate position.

[0083] In the disclosed embodiment, on the basis of the controller controlling the rotating motor, the telescopic motor and the leveling motor according to the first rotation angle, the first telescopic displacement and the first leveling angle respectively, the controller controls the rotating motor to rotate, the telescopic motor to telescope and the leveling motor to level according to the second rotation angle, the second telescopic displacement and the second leveling angle; the controller can determine in real time whether the angle information of the rotating motor reaches the second rotation angle, whether the angle information of the leveling motor reaches the second leveling angle, and whether the telescopic displacement of the telescopic motor reaches the second telescopic displacement based on the data collected by the angle sensor and the displacement sensor. When the angle information of the rotating motor reaches the second rotation angle, the angle information of the leveling motor reaches the second leveling angle, and the telescopic displacement of the telescopic motor reaches the second telescopic displacement, it is determined that the mesh support frame reaches the second intermediate position.

[0084] In step 305, the lifting motor is controlled according to the first lifting displacement until the mesh support frame reaches the target position.

[0085] In the disclosed embodiment, on the basis that the controller controls the rotation motor, the telescopic motor and the leveling motor according to the second rotation angle, the second telescopic displacement and the second leveling angle respectively, the controller controls the lifting motor to rise and fall according to the first lifting displacement, and the controller can determine in real time whether the telescopic displacement of the lifting motor reaches the first lifting displacement based on the data collected by the displacement sensor. When the telescopic displacement of the lifting motor reaches the first lifting displacement, it is determined that the mesh support frame reaches the target position.

[0086] In step 306, the mesh support frame is controlled to perform mesh laying processing.

[0087] It should be noted that for the detailed description of steps 301, 302 and 306, reference may be made to the description in other embodiments of the present disclosure, and will not be described in detail here.

[0088] In summary, when receiving the mesh laying start instruction, it is determined whether the mesh support frame in the mesh laying mechanism arranged on the anchor drilling rig is located in the initial position; when the mesh support frame is located in the initial position, the target position of the mesh support frame and the first motor parameter sequence from the initial position to the target position are obtained, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; the motor parameter information at the first intermediate position includes: a first rotation angle, a first telescopic displacement and a first leveling angle; the motor parameter information at the second intermediate position includes: a second rotation angle, a second telescopic displacement and a second leveling angle leveling angle; the motor parameter information at the target position includes: a first lifting displacement; according to the first rotation angle, the first telescopic displacement and the first leveling angle, the rotating motor, the telescopic motor and the leveling motor are controlled and processed respectively, until the mesh support frame reaches the first middle position; according to the second rotation angle, the second telescopic displacement and the second leveling angle, the rotating motor, the telescopic motor and the leveling motor are controlled and processed respectively, until the mesh support frame reaches the second middle position; according to the first lifting displacement, the lifting motor is controlled and processed, until the mesh support frame reaches the target position; the mesh support frame is controlled to perform mesh laying processing, so as to realize automatic mesh laying processing, improve the automatic mesh laying efficiency, and reduce the mesh laying cost.

[0089] As another implementation method of the present disclosure, Figure 4 It is a flow chart of another automatic mesh laying control method of an intelligent anchor drilling rig according to an exemplary embodiment.

[0090] like Figure 4 As shown, the implementation process of the automatic mesh laying control method of the intelligent anchor drilling rig is as follows:

[0091] Before automatic mesh laying, determine the motor parameter information of the initial position of the mesh support frame; at this time, the angle sensor detects the angles of the rotating motor and the leveling motor as θ1 and θ2, the displacement sensor detects the displacement of the lifting motor as L1, and the displacement of the telescopic motor as L2; ​​the operator presses the start button of the remote control transmitter to send a mesh laying start instruction; the controller controls the movement of the rotating motor, the telescopic motor and the leveling motor and drives the mesh support frame to rotate to a horizontal position; the controller controls the rotating motor to continue rotating, the leveling motor and the rotating motor are linked to keep the mesh support frame horizontal, and the telescopic motor is extended and displaced by L3; the angle sensor detects the angles of the rotating motor and the leveling motor as θ3 and θ4, the displacement sensor detects the lifting displacement of the lifting motor as L4, and the controller controls the motor to stop moving; after reaching the target position, the automatic mesh laying work is completed.

[0092] In order to implement the above-mentioned embodiment, the embodiment of the present disclosure proposes an automatic mesh laying control system for an intelligent anchor drilling rig.

[0093] Figure 5 It is a schematic structural diagram of an automatic mesh laying control system for an intelligent anchor drilling rig according to an exemplary embodiment.

[0094] like Figure 5 As shown, the automatic mesh laying control system of the intelligent anchor drilling rig includes: a controller 1 and a mesh laying mechanism 2 arranged on the anchor drilling rig; wherein the mesh laying mechanism 2 includes: a mesh support frame 21, a sleeve mechanism 22, a lifting mechanism 23 and a base 24;

[0095] Among them, the base 24 is fixed on the anchor drilling rig; the lifting mechanism 23 is fixed on the base 24; the sleeve mechanism 22 is connected to the lifting mechanism 23 through the first rotating component 25; the mesh support frame 21 is connected to the sleeve mechanism 22 through the second rotating component 26; wherein the second rotating component 26 is used to level the mesh support frame; the controller 1 is respectively connected to the sleeve mechanism 22, the first rotating component 25, the second rotating component 26 and the lifting mechanism 23, and is used to execute the automatic mesh laying control method of the intelligent anchor drilling rig proposed in the first aspect of the embodiment of the present disclosure.

[0096] In the embodiment of the present disclosure, the controller is used to control the movement of the sleeve mechanism, the first rotating component, the second rotating component and the lifting mechanism, and thus control the intelligent anchor drilling rig to perform automatic mesh laying; the mesh laying mechanism is used to transport the mesh and the steel belt to the area that needs support in front of the anchor drilling rig; the mesh support frame is used to support the mesh; the sleeve mechanism is used for the horizontal movement of the mesh support frame; the lifting mechanism is used for the vertical movement of the mesh support frame; the base is used to connect the anchor drilling rig and the mesh laying mechanism; the first rotating component is used for rotating the sleeve mechanism; the second rotating component is used for leveling the mesh support frame.

[0097] In the embodiment of the present disclosure, the controller determines whether the mesh support frame is in the initial position after receiving the mesh laying start instruction, and controls the mesh laying mechanism to move after determining that the mesh support frame is in the initial position. The controller first controls the movement of the first rotating component to flip the mesh support frame to a horizontal state, and then controls the movement of the sleeve mechanism to keep the mesh support frame in a horizontal state and move from the first intermediate position to the second intermediate position, and then controls the movement of the lifting mechanism to move the mesh support frame from the second intermediate position to the target position. After the mesh laying mechanism completes the mesh laying work, the controller controls the mesh support frame to return to the initial position.

[0098] In summary, the automatic mesh laying control system of the intelligent anchor drilling rig of the embodiment of the present disclosure comprises: a controller and a mesh laying mechanism arranged on the anchor drilling rig; wherein the mesh laying mechanism comprises: a mesh support frame, a sleeve mechanism, a lifting mechanism and a base; wherein the base is fixed on the anchor drilling rig; the lifting mechanism is fixed on the base; the sleeve mechanism is connected to the lifting mechanism through a first rotating component; the mesh support frame is connected to the sleeve mechanism through a second rotating component; the controller is respectively connected to the sleeve mechanism, the first rotating component, the second rotating component and the lifting mechanism, and determines that the mesh support frame in the mesh laying mechanism arranged on the anchor drilling rig is in the mesh laying mechanism when receiving the mesh laying start command. whether the mesh support frame is located at the initial position; when the mesh support frame is located at the initial position, obtaining the target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; controlling the motor in the web laying mechanism in accordance with the motor parameter information in the first motor parameter sequence in sequence to move the mesh support frame to the target position; controlling the mesh support frame to perform web laying processing, thereby realizing automatic web laying processing, improving automatic web laying efficiency, and reducing web laying costs.

[0099] In order to implement the above-mentioned embodiment, the embodiment of the present disclosure proposes an automatic mesh laying control device for an intelligent anchor drilling rig.

[0100] Figure 6 It is a schematic structural diagram of an automatic mesh laying control device for an intelligent anchor drilling rig according to an exemplary embodiment.

[0101] Reference Figure 6 The intelligent anchor drilling rig automatic mesh laying control device 600 may include: a determination module 610, a first acquisition module 620, a first control module 630 and a second control module 640.

[0102] The determination module 610 is used to determine whether the mesh support frame in the mesh laying mechanism provided on the anchor drilling rig is located at the initial position upon receiving the mesh laying start instruction;

[0103] A first acquisition module 620 is used to acquire a target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position when the mesh support frame is located at the initial position, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position;

[0104] A first control module 630 is used to control the motor in the mesh laying mechanism in sequence according to the motor parameter information in the first motor parameter sequence, so as to move the mesh support frame to the target position;

[0105] The second control module 640 is used to control the mesh support frame to perform mesh laying processing.

[0106] In the embodiment of the present disclosure, the determination module 610 is specifically used to, when receiving a net laying start instruction, obtain current motor parameter information of the net laying mechanism; when the current motor parameter information is consistent with the initial motor parameter information corresponding to the initial position, determine that the mesh support frame in the net laying mechanism is located at the initial position; when the current motor parameter information is inconsistent with the initial motor parameter information corresponding to the initial position, determine that the mesh support frame in the net laying mechanism is not in the initial position.

[0107] In the embodiment of the present disclosure, the first acquisition module 620 includes: an acquisition unit, a first determination unit, a second determination unit and a selection unit; the acquisition unit is used to acquire the peripheral space range of the anchor drilling rig when the mesh support frame is located at the initial position; the first determination unit is used to determine the target position of the mesh support frame according to the peripheral space range; the second determination unit is used to determine at least one candidate motor parameter sequence from the initial position to the target position; the selection unit is used to select a candidate motor parameter sequence that matches the peripheral space range from the at least one candidate motor parameter sequence according to the peripheral space range as the first motor parameter sequence.

[0108] In an embodiment of the present disclosure, the selection unit is specifically used to determine at least one motion space range based on the at least one candidate motor parameter sequence; obtain a first motion space range in the at least one motion space range that is located within the surrounding space range; and use the candidate motor parameter sequence corresponding to the first motion space range as the first motor parameter sequence.

[0109] In the embodiment of the present disclosure, the at least one intermediate position includes at least one of the following positions: a first intermediate position in which the sleeve mechanism connected to the mesh support frame is in a vertical state, and a second intermediate position in which the sleeve mechanism is extended forward; the motor in the mesh laying mechanism includes: a rotating motor for rotating the sleeve mechanism, a telescopic motor for telescopic control of the sleeve mechanism, a leveling motor for leveling the mesh support frame, and a lifting motor for lifting the sleeve mechanism; the motor parameter information at the first intermediate position includes: a first rotation angle, a first telescopic displacement and a first leveling angle; the motor parameter information at the second intermediate position includes: a second rotation angle, a second telescopic displacement and a second leveling angle; the motor parameter information at the target position includes: a first lifting displacement.

[0110] In the disclosed embodiment, the first control module 630 is specifically used to control the rotating motor, the telescopic motor and the leveling motor according to the first rotation angle, the first telescopic displacement and the first leveling angle, respectively, until the mesh support frame reaches the first middle position; control the rotating motor, the telescopic motor and the leveling motor according to the second rotation angle, the second telescopic displacement and the second leveling angle, respectively, until the mesh support frame reaches the second middle position; control the lifting motor according to the first lifting displacement, until the mesh support frame reaches the target position.

[0111] In the embodiment of the present disclosure, the device also includes: a second acquisition module, used to acquire a second motor parameter sequence from the target position to the initial position; a third control module, used to control and process the motor in the laying mechanism in sequence according to the motor parameter information in the second motor parameter sequence, so as to move the mesh support frame to the initial position.

[0112] It should be noted that the automatic mesh laying control device of the intelligent anchor drilling rig in the embodiment of the present disclosure can execute the automatic mesh laying control method of the intelligent anchor drilling rig in the aforementioned embodiment. The automatic mesh laying control device of the intelligent anchor drilling rig can be an electronic device, and can also be configured in an electronic device to perform automatic mesh laying of the intelligent anchor drilling rig in the electronic device.

[0113] The electronic device may be a controller in an intelligent anchor drilling rig, which is not limited in the embodiments of the present disclosure.

[0114] It should be noted that, regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0115] The automatic mesh laying control device of the intelligent anchor drilling rig of the disclosed embodiment determines whether the mesh support frame in the mesh laying mechanism arranged on the anchor drilling rig is located at the initial position when receiving the mesh laying start instruction; when the mesh support frame is located at the initial position, obtains the target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; controls the motor in the mesh laying mechanism in accordance with the motor parameter information in the first motor parameter sequence in sequence to move the mesh support frame to the target position; controls the mesh support frame to perform mesh laying processing, thereby realizing automatic mesh laying processing, improving automatic mesh laying efficiency, and reducing mesh laying costs.

[0116] In order to implement the above embodiment, the embodiment of the present disclosure also proposes an electronic device.

[0117] The electronic device 200 includes:

[0118] Processor 220;

[0119] A memory 210 for storing instructions executable by a processor 220;

[0120] The processor 220 is configured to execute instructions to implement the automatic mesh laying control method of the intelligent anchor drilling rig as described above.

[0121] As an example, Figure 7 is a block diagram of an electronic device 200 for automatic net laying control of an intelligent anchor drilling machine according to an exemplary embodiment. Figure 7 As shown, the electronic device 200 may further include:

[0122] The memory 210 and the processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), the memory 210 stores a computer program, and when the processor 220 executes the program, the automatic mesh laying control method of the intelligent anchor drilling rig described in the embodiment of the present disclosure is implemented.

[0123] Bus 230 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0124] The electronic device 200 typically includes a variety of computer-readable media. These media can be any available media that can be accessed by the electronic device 200, including volatile and non-volatile media, removable and non-removable media.

[0125] The memory 210 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. The electronic device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 260 may be used to read and write non-removable, non-volatile magnetic media ( Figure 7 not shown, usually called a "hard drive"). Although Figure 7Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 230 via one or more data medium interfaces. The memory 210 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0126] A program / utility 280 having a set (at least one) of program modules 270 may be stored, for example, in the memory 210, such program modules 270 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 270 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0127] The electronic device 200 may also communicate with one or more external devices 290 (e.g., keyboards, pointing devices, displays 291, etc.), one or more devices that enable a user to interact with the electronic device 200, and / or any device that enables the electronic device 200 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 292. Furthermore, the electronic device 200 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 293. Figure 7 As shown, the network adapter 293 communicates with other modules of the electronic device 200 via the bus 230. It should be understood that although Figure 7 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0128] The processor 220 executes various functional applications and data processing by running the programs stored in the memory 210 .

[0129] It should be noted that the implementation process and technical principles of the electronic device of this embodiment refer to the aforementioned explanation of the automatic mesh laying control method of the intelligent anchor drilling rig in the embodiment of the present disclosure, and will not be repeated here.

[0130] The electronic device provided by the embodiment of the present disclosure determines whether a mesh support frame in a mesh laying mechanism arranged on a bolt drilling rig is located at an initial position when a mesh laying start instruction is received; when the mesh support frame is located at the initial position, obtains a target position of the mesh support frame and a first motor parameter sequence from the initial position to the target position, wherein the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; controls the motor in the mesh laying mechanism in sequence according to the motor parameter information in the first motor parameter sequence to move the mesh support frame to the target position; controls the mesh support frame to perform mesh laying processing, thereby realizing automatic mesh laying processing, improving automatic mesh laying efficiency, and reducing mesh laying costs.

[0131] In order to implement the above embodiments, the embodiments of the present disclosure also provide a computer-readable storage medium.

[0132] Among them, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device can execute the automatic net laying control method of the intelligent anchor drilling rig as described above.

[0133] In order to implement the above embodiments, the present disclosure also provides a computer program product. When the computer program is executed by a processor of an electronic device, the electronic device can execute the automatic mesh laying control method of the intelligent anchor drilling rig as described above.

[0134] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0135] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An automatic mesh laying control method for an intelligent anchor drilling rig, characterized in that: include: Upon receiving a net-laying start instruction, current motor parameter information of the net-laying mechanism is obtained, and whether a mesh support frame in the net-laying mechanism arranged on the anchor drilling rig is located at an initial position is determined according to the current motor parameter information, and when the current motor parameter information is consistent with the initial motor parameter information corresponding to the initial position, it is determined that the mesh support frame in the net-laying mechanism is located at the initial position; wherein the net-laying mechanism further comprises a sleeve mechanism and a lifting mechanism, the sleeve mechanism is connected to the lifting mechanism via a first rotating component, the mesh support frame is connected to the sleeve mechanism via a second rotating component, a telescopic motor is arranged on the sleeve mechanism, a rotating motor is arranged on the first rotating component, a leveling motor is arranged on the second rotating component, and a lifting motor is arranged on the lifting mechanism, and the current motor parameter information comprises telescopic displacement data of the telescopic motor, lifting displacement data of the lifting motor, rotation angle data of the rotating motor, and leveling angle data of the leveling motor; When the mesh support frame is located at the initial position, the farthest distance from the anchor drill to each direction is obtained, the peripheral space range of the anchor drill is determined according to each of the farthest distances, the target position of the mesh support frame is determined according to the peripheral space range, the motion trajectory of the mesh support frame from the initial position to the target position is determined, a plurality of candidate motion trajectories that the mesh support frame can reach are selected from the motion trajectories, for each candidate motion trajectory, at least one intermediate position is selected therefrom, and motor parameter information of each intermediate position is determined, and at least one candidate motor parameter sequence from the initial position to the target position is generated according to the motor parameter information of at least one intermediate position; and a motor parameter sequence that matches the peripheral space range is selected from the at least one candidate motor parameter sequence. A candidate motor parameter sequence, as a first motor parameter sequence from the initial position to the target position, the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; wherein the at least one intermediate position includes: a first intermediate position in which a sleeve mechanism connected to the mesh support frame is in a vertical state, and a second intermediate position in which the sleeve mechanism is extended forward, the motor parameter information at the first intermediate position includes a first rotation angle, a first telescopic displacement, and a first leveling angle, the motor parameter information at the second intermediate position includes a second rotation angle, a second telescopic displacement, and a second leveling angle, and the motor parameter information at the target position includes a first lifting displacement; According to the motor parameter information of the first intermediate position, the rotating motor, the telescopic motor and the leveling motor are controlled and processed respectively according to the first rotation angle, the first telescopic displacement and the first leveling angle, so that the mesh support frame moves from the initial position to the first intermediate position; according to the motor parameter information of the second intermediate position, the rotating motor, the telescopic motor and the leveling motor are controlled and processed respectively according to the second rotation angle, the second telescopic displacement and the second leveling angle, so that the mesh support frame moves from the first intermediate position to the second intermediate position; according to the motor parameter information of the target position, the lifting motor is controlled and processed according to the first lifting displacement until the mesh support frame reaches the target position; The mesh support frame is controlled to perform a mesh laying process.

2. The method according to claim 1, characterized in that Determining whether the mesh support frame in the mesh laying mechanism is located at an initial position according to the current motor parameter information, further comprising: When the current motor parameter information is inconsistent with the initial motor parameter information, it is determined that the mesh support frame in the mesh laying mechanism is not in the initial position.

3. The method according to claim 1, characterized in that: The step of selecting a candidate motor parameter sequence that matches the surrounding spatial range from the at least one candidate motor parameter sequence as a first motor parameter sequence from the initial position to the target position comprises: determining at least one motion space range based on the at least one candidate motor parameter sequence; Acquire a first motion space range in the at least one motion space range that is located in the peripheral space range; The candidate motor parameter sequence corresponding to the first motion space range is used as the first motor parameter sequence.

4. An intelligent anchor drilling rig automatic net laying control system, characterized in that: include: A controller and a net laying mechanism are arranged on the anchor drilling rig; wherein the net laying mechanism further comprises: a base; Wherein, the base is fixed on the anchor drilling rig; the lifting mechanism is fixed on the base; the second rotating component is used to level the mesh support frame; The controller is respectively connected to the sleeve mechanism, the first rotating component, the second rotating component and the lifting mechanism, and is used to execute the automatic net laying control method of the intelligent anchor drilling rig as described in any one of claims 1 to 3.

5. An automatic net laying control device for an intelligent anchor drilling rig, characterized in that: include: A determination module, configured to obtain current motor parameter information of the net laying mechanism upon receiving a net laying start instruction, determine whether a mesh support frame in the net laying mechanism arranged on the anchor drilling rig is located at an initial position according to the current motor parameter information, and determine that the mesh support frame in the net laying mechanism is located at the initial position when the current motor parameter information is consistent with the initial motor parameter information corresponding to the initial position; wherein the net laying mechanism further comprises a sleeve mechanism and a lifting mechanism, the sleeve mechanism is connected to the lifting mechanism via a first rotating component, the mesh support frame is connected to the sleeve mechanism via a second rotating component, a telescopic motor is arranged on the sleeve mechanism, a rotating motor is arranged on the first rotating component, a leveling motor is arranged on the second rotating component, and a lifting motor is arranged on the lifting mechanism, and the current motor parameter information comprises telescopic displacement data of the telescopic motor, lifting displacement data of the lifting motor, rotation angle data of the rotating motor, and leveling angle data of the leveling motor; The first acquisition module is used to obtain the farthest distance from the anchor drill to each direction when the mesh support frame is located at the initial position, determine the surrounding space range of the anchor drill according to each of the farthest distances, and determine the target position of the mesh support frame according to the surrounding space range; determine the motion trajectory of the mesh support frame from the initial position to the target position, select a plurality of candidate motion trajectories that the mesh support frame can reach from the motion trajectories, select at least one intermediate position from each candidate motion trajectory, and determine the motor parameter information of each intermediate position, and generate at least one candidate motor parameter sequence from the initial position to the target position according to the motor parameter information of at least one intermediate position; and select the one that is consistent with the surrounding space from the at least one candidate motor parameter sequence. A candidate motor parameter sequence for range matching, as a first motor parameter sequence from the initial position to the target position, the first motor parameter sequence includes: motor parameter information at at least one intermediate position from the initial position to the target position, and motor parameter information at the target position; wherein the at least one intermediate position includes: a first intermediate position in which a sleeve mechanism connected to the mesh support frame is in a vertical state, and a second intermediate position in which the sleeve mechanism is extended forward, the motor parameter information at the first intermediate position includes a first rotation angle, a first telescopic displacement, and a first leveling angle, the motor parameter information at the second intermediate position includes a second rotation angle, a second telescopic displacement, and a second leveling angle, and the motor parameter information at the target position includes a first lifting displacement; a first control module, for controlling and processing the rotating motor, the telescopic motor and the leveling motor respectively according to the motor parameter information of the first intermediate position, the first rotation angle, the first telescopic displacement and the first leveling angle, so that the mesh support frame moves from the initial position to the first intermediate position; for controlling and processing the rotating motor, the telescopic motor and the leveling motor respectively according to the motor parameter information of the second intermediate position, the second rotation angle, the second telescopic displacement and the second leveling angle, so that the mesh support frame moves from the first intermediate position to the second intermediate position; and for controlling and processing the lifting motor according to the first lifting displacement according to the motor parameter information of the target position, until the mesh support frame reaches the target position; The second control module is used to control the mesh support frame to perform mesh laying processing.

6. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the automatic mesh laying control method of the intelligent anchor drilling rig as described in any one of claims 1 to 3.

7. A computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the automatic mesh laying control method of the intelligent anchor drilling rig as described in any one of claims 1 to 3.

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