A blasthole positioning and real-time drilling depth determination based on drilling frame

Abstract

The present invention provides a method and system for locating blastholes and determining real-time drilling depth based on a drill frame. The method comprises: using the Beidou navigation satellite system to obtain the three-dimensional coordinates of the pile head and the middle of the drill frame, so as to determine the coordinates of the blasthole mouth and the drill frame angle; analyzing the drilling process of the drill rig, determining each sub-process of the drilling of the drill rig, so as to determine the real-time drill rod length; calculating and feeding back the current drilling depth according to the coordinates of the blasthole mouth, the drill frame angle and the real-time drill rod length; storing and outputting the coordinates of the blasthole mouth and the current drilling depth; adopting the above scheme, during the drilling process of the drill rig, the three-dimensional coordinates of the blasthole mouth are obtained in real time by using a satellite positioning device installed on the drill frame, and the real-time drilling depth is obtained in combination with the effective drilling process of the drill rod, which provides a basis for the design and optimization of blasting parameters and will be widely used in intelligent and digital mines in the future.

Description

Technical Field

[0001] The present invention belongs to the technical field of blasthole positioning and real-time drilling depth determination based on a drill frame, and in particular relates to a blasthole positioning and real-time drilling depth determination method and system based on a drill frame. Background Art

[0002] Measurement while drilling technology is the abbreviation of the technology that continuously measures and records the information about the borehole or drill bit while the drilling rig is drilling; among them, the parameters recorded by the measurement while drilling (drilling parameters) generally include time, blasthole location, drilling depth, etc.

[0003] The measurement while drilling technology gives the drill bit "eyes" and can determine the drilling information in real time. It has good application effects in blasthole arrangement, blasting parameter design, blasting parameter optimization, ore body contour delineation, underground structure support, advanced geological exploration, etc. Although the research on measurement while drilling technology in China is just in its infancy, the role of measurement while drilling cannot be underestimated. The measurement while drilling data can effectively, comprehensively and instantly feedback the key technical parameters related to blasting. Compared with the existing GPS, base station positioning, manual measurement of blasthole depth, etc., this technology can not only save a lot of manpower and material costs, but also help engineers make accurate and efficient design plans based on real-time data without affecting on-site production.

[0004] Since the drilling process of the drilling rig involves multiple sub-processes, the measurement data generated by non-drilling processes such as connecting and unloading rods, blowing holes, and idling are useless for rock mass parameter analysis; therefore, if you want to use the drill rig to obtain the while-drilling blasthole depth and blasthole mouth position parameters, the first prerequisite is to obtain accurate satellite three-dimensional position information of the top of the drill rig and its middle part, and based on this, feedback the blasthole mouth position and drill bit position to obtain real-time blasthole depth data.

[0005] At present, the location of blasthole mouths and real-time drilling depth at home and abroad are obtained through manual measurement based on GPS or self-built base stations. The real-time drilling depth is also obtained through manual measurement after the hole is formed, rather than the result of real-time automatic intelligent measurement. This leads to slow progress and low efficiency in engineering design.

[0006] Based on the technical problems existing in the working process of the above-mentioned drilling rig, there is no relevant solution yet; therefore, it is urgent to find an effective solution to solve the above-mentioned problems. Summary of the invention

[0007] The purpose of the present invention is to address the deficiencies in the above-mentioned technologies and to propose a method and system for blasthole positioning and real-time drilling depth determination based on a drill rig, aiming to solve the problems of blasthole positioning and real-time drilling depth determination of the existing drill rig.

[0008] The present invention provides a method for blasthole positioning and real-time drilling depth determination based on a drilling frame, the method comprising the following processes:

[0009] S1: Use the Beidou navigation satellite system to obtain the three-dimensional coordinates of the pile head and the middle of the drilling frame, so as to determine the coordinates of the blasthole mouth and the drilling frame angle A;

[0010] S2: Analyze the drilling process of the drilling rig, determine the various sub-processes of the drilling rig, and thus determine the real-time drill rod length;

[0011] S3: Calculate and feedback the current drilling depth according to the blasthole mouth coordinates, drilling frame angle and real-time drill rod length;

[0012] S4: Store and output the blast hole mouth coordinates and the current drilling depth.

[0013] Furthermore, in step S1:

[0014] The longitude, latitude and altitude of the locator on the pile head are determined by the differential Beidou navigation satellite system and the RTK positioning system, so as to obtain the three-dimensional coordinates of the pile head; the pile head is the starting end of the drilling rig;

[0015] The longitude, latitude and altitude of the locator in the middle of the drilling rack are obtained through the differential Beidou navigation satellite system and the RTK positioning system, so as to obtain the three-dimensional coordinates of the middle of the drilling rack; the middle of the drilling rack is any point between the two ends of the drilling rack;

[0016] The three-dimensional coordinates are displayed digitally.

[0017] Further, in step S1: the three-dimensional coordinates of the pile head are (X1, Y1, Z1), and the three-dimensional coordinates of the middle of the drill frame are (X2, Y2, Z2). The distance l between the pile head and the middle of the drill frame is calculated according to the three-dimensional coordinates of the pile head (X1, Y1, Z1) and the three-dimensional coordinates of the middle of the drill frame (X2, Y2, Z2); the three-dimensional coordinates of the blasthole orifice (X', Y', Z') can be converted according to the following formula:

[0018]

[0019]

[0020] Z'=Z1-cosα×L;

[0021]

[0022]

[0023] Where: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X', Y', Z' are the longitude, latitude and altitude of the bottom of the blasthole respectively; α is the inclination angle; β is the azimuth angle; R is the radius of the earth, which is 6378137m; L is the length of the drilling rig, in meters.

[0024] Further, in step S1: the three-dimensional coordinates of the pile head are (X1, Y1, Z1), and the three-dimensional coordinates of the middle of the drill frame are (X2, Y2, Z2); the distance l between the pile head and the middle of the drill frame is calculated according to the three-dimensional coordinates of the pile head (X1, Y1, Z1) and the three-dimensional coordinates of the middle of the drill frame ((X2, Y2, Z2); the drill frame angle A includes α and β, and α and β are converted by the following formulas respectively:

[0025]

[0026]

[0027] Where: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X', Y', Z' are the longitude, latitude and altitude of the borehole respectively; α is the inclination angle; β is the azimuth angle.

[0028] Further, the starting position of the drilling rig is the position of the blasthole mouth; in step S2, determining the real-time drill rod length d includes:

[0029] S21: First determine whether the drilling process of the drilling rig is an effective drilling process; the effective drilling process is the actual working process of the drilling rig drill rod;

[0030] Further, S22: when it is determined that the drilling process of the drilling rig is an effective drilling process, the real-time drill rod length d is calculated by the following formula:

[0031]

[0032] d = d1 + Δd;

[0033] Where, Δd is the penetration; d is the cumulative drilling depth; d1 is the drilling length at the last moment; D is the diameter of the drilling motor output shaft gear; N d_now 、N d_last They are the current scale value and the previous scale value of the drilling depth magnetic encoder respectively.

[0034] Further, in step S3, the three-dimensional coordinates of the pile head are (X1, Y1, Z1), and the three-dimensional coordinates of the middle of the drilling frame are (X2, Y2, Z2); the current drilling depth Z is calculated by the following formula:

[0035] Z=Z”-Z’;

[0036] Z" = Z1-cosα×(L+d);

[0037] Z'=Z1-cosα×L;

[0038]

[0039]

[0040] Where: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X″, Y″, Z″ are the longitude, latitude and altitude of the bottom of the blasthole respectively; α is the inclination angle; β is the azimuth angle; R is the radius of the earth; L is the length of the drill rig, in m; d is the drilling length.

[0041] Accordingly, the present invention also provides a blasthole positioning and real-time drilling depth determination system based on a drilling frame, the system specifically comprising:

[0042] The locators are installed at the pile head and the middle of the drilling rig, and can obtain the three-dimensional coordinates of the pile head and the middle of the drilling rig through the Beidou navigation satellite system;

[0043] The industrial computer is electrically connected to each locator respectively; the industrial computer can obtain the three-dimensional coordinates of each locator through the Beidou navigation satellite system, and calculate the coordinates of the blasthole mouth and the current drilling depth, and store and display them; the three-dimensional coordinates are displayed in the form of numbers and images.

[0044] Furthermore, the locator and the industrial computer are transmitted via TCP protocol; the pile head is the starting end of the drilling rack; the middle of the drilling rack is any point between the two ends of the drilling rack;

[0045] The industrial computer uses the differential Beidou navigation satellite system and the RTK positioning system to determine the longitude, latitude and altitude of the locator on the pile head, thereby obtaining the three-dimensional coordinates of the pile head;

[0046] The industrial computer uses the differential Beidou navigation satellite system and the RTK positioning system to obtain the longitude, latitude and altitude of the locator in the middle of the drilling rack, thereby obtaining the three-dimensional coordinates of the middle of the drilling rack;

[0047] The industrial computer calculates the coordinates of the blasthole mouth (X', Y', Z') and the drilling frame angle A through the three-dimensional coordinates of the pile head and the three-dimensional coordinates of the middle of the drilling frame.

[0048] Furthermore, the industrial computer is used to obtain the drilling parameters of the drilling rig, and analyze whether the drilling parameters change within the normal working range through data analysis software, and when the drilling parameters are judged to be effective drilling data, the real-time drill rod length d of the drilling rig is calculated.

[0049] Furthermore, the industrial computer also calculates and feeds back the current drilling depth in real time based on the blasthole mouth coordinates (X', Y', Z'), the drilling frame angle A and the real-time drill rod length d.

[0050] The present invention provides a method and system for blasthole positioning and real-time drilling depth determination based on a drill rig, so that during the drilling process of the drill rig, the three-dimensional coordinates of the blasthole mouth can be obtained in real time by using a satellite positioning device installed on the drill rig, and the real-time drilling depth can be obtained in combination with the effective drilling process of the drill rod, thereby providing a basis for the design and optimization of blasting parameters and will be widely used in future intelligent and digital mines.

[0051] The present invention provides a method and system for blasthole positioning and real-time drilling depth determination based on a drilling frame, which has the following technical effects:

[0052] First, it can accurately locate the blasthole mouth position and current drilling depth in real time. With the help of Beidou, differential algorithm, RTK and other technologies, the positioning error of the blasthole mouth position can be controlled within 2cm, and the real-time position and drilling depth delay can be within 100ms.

[0053] Second, it can save a lot of manpower and improve efficiency. The manual blasthole positioning in the prior art adds a lot of workload to engineering and technical personnel. The solution provided by the present invention can automatically obtain the position of the blasthole mouth and can obtain the drilling depth data in real time, thereby providing a basis for the design and optimization of blasting parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0055] The present invention will be further described below in conjunction with the accompanying drawings:

[0056] Figure 1 This is a flow chart of a method for blasthole positioning and real-time drilling depth determination based on a drill frame in an embodiment of the present invention;

[0057] Figure 2 A flowchart of blasthole positioning and real-time drilling depth determination of a drilling rig in an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of the blasthole location principle of the present invention;

[0059] Figure 4 It is a schematic diagram of a blasthole positioning and real-time drilling depth determination system based on a drill frame in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0061] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The meaning of "several" is one or more, unless otherwise clearly and specifically defined.

[0063] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] like Figures 1 to 3 As shown, the present invention provides a method for blasthole positioning and real-time drilling depth determination based on a drilling frame, and the method includes the following processes:

[0066] S1: The Beidou navigation satellite system is used to obtain the three-dimensional coordinates of the pile head and the middle of the drilling frame, so as to determine the coordinates of the blasthole orifice and the drilling frame angle;

[0067] S2: Analyze the drilling process of the drilling rig, determine the various sub-processes of the drilling rig, and thus determine the real-time drill rod length;

[0068] S3: Calculate and feedback the current drilling depth according to the blasthole mouth coordinates, drilling frame angle and real-time drill rod length;

[0069] S4: Store and output the blast hole mouth coordinates and the current drilling depth.

[0070] By adopting the above scheme, the three-dimensional coordinates of the blasthole mouth of the drill rig are obtained by using the Beidou navigation satellite system, and the real-time drilling depth is obtained in combination with the effective drilling process of the drill rod, providing a basis for the design and optimization of blasting parameters.

[0071] Preferably, in combination with the above scheme, Figures 1 to 3 As shown, in step S1:

[0072] The longitude, latitude and altitude of the locator on the pile head are determined by the differential Beidou navigation satellite system and the RTK positioning system (Real-time kinematic, real-time dynamic, carrier phase differential technology), so as to obtain the three-dimensional coordinates of the pile head; wherein the pile head is the starting end of the drilling rig;

[0073] The longitude, latitude and altitude of the locator in the middle of the drilling rig are obtained through the differential Beidou navigation satellite system and the RTK positioning system (Real-time kinematic, real-time dynamic, carrier phase differential technology), so as to obtain the three-dimensional coordinates of the middle of the drilling rig; wherein the middle of the drilling rig is any point between the two ends of the drilling rig;

[0074] The acquired three-dimensional coordinates of the pile head and the middle of the drilling frame are displayed digitally for easy reading.

[0075] Preferably, in combination with the above scheme, Figure 3 As shown, in step S1: the three-dimensional coordinates of the pile head are (X1, Y1, Z1), and the three-dimensional coordinates of the middle of the drill frame are (X2, Y2, Z2). According to the three-dimensional coordinates of the pile head (X1, Y1, Z1) and the three-dimensional coordinates of the middle of the drill frame (X2, Y2, Z2), the distance l between the pile head and the middle of the drill frame can be calculated. It should be noted that the distance between the two points can be calculated by the existing coordinate conversion, which will not be described in detail here; specifically, the three-dimensional coordinates of the blasthole orifice (X', Y', Z') can be converted according to the following formula:

[0076]

[0077]

[0078] Z'=Z1-cosα×L;

[0079]

[0080]

[0081] Wherein: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X', Y', Z' are the longitude, latitude and altitude at the mouth of the blasthole respectively; α is the inclination angle (i.e., the direction angle), which is the angle between the drill rig and OZ (vertical direction); β is the azimuth, i.e., the azimuth on the horizontal plane of the drill rig, calculated using the x and y coordinates, and the two angles determine the inclination of the drill rig in the xyx coordinate system; R is the radius of the earth, preferably 6378137m; L is the length of the drill rig, in m.

[0082] Preferably, in combination with the above scheme, Figure 3 As shown, in step S1: the three-dimensional coordinates of the pile head are (X1, Y1, Z1), and the three-dimensional coordinates of the middle of the drill frame are (X2, Y2, Z2); the distance l between the pile head and the middle of the drill frame is calculated according to the three-dimensional coordinates of the pile head (X1, Y1, Z1) and the three-dimensional coordinates of the middle of the drill frame (X2, Y2, Z2). It should be noted that the distance between the two points can be calculated by the existing coordinate conversion, which will not be described in detail here; the drill frame angle A includes α and β, wherein α and β are respectively converted by the following formulas:

[0083]

[0084]

[0085] Where: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X', Y', Z' are the longitude, latitude and altitude of the borehole respectively; α is the inclination angle; β is the azimuth angle.

[0086] Preferably, in combination with the above scheme, Figure 3 As shown, the starting position of the drilling rig is the position of the blasthole mouth; further, in step S2, determining the real-time drill rod length d includes:

[0087] S21: First determine whether the drilling process of the drilling rig is an effective drilling process; wherein the effective drilling process is the actual working process of the drilling rig drill rod, that is, the effective drilling process of the drill rod;

[0088] S22: When it is determined that the drilling process of the drilling rig is an effective drilling process, the real-time drill rod length d is calculated by the following formula:

[0089]

[0090] d = d1 + Δd;

[0091] Where, Δd is the penetration; d is the cumulative drilling depth; d1 is the drilling length at the last moment; D is the diameter of the drilling motor output shaft gear; N d_now 、N d_last They are the current scale value and the previous scale value of the drilling depth magnetic encoder respectively.

[0092] Preferably, in combination with the above scheme, Figure 3 As shown, in step S3, the three-dimensional coordinates of the pile head are (X1, Y1, Z 1) , the three-dimensional coordinates of the middle of the drilling frame (X2, Y2, Z2); the current drilling depth Z is calculated by the following formula:

[0093] Z=Z”-Z’;

[0094] Z" = Z1-cosα×(L+d);

[0095] Z'=Z1-cosα×L;

[0096]

[0097]

[0098] Wherein: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X", Y", Z" are the longitude, latitude and altitude of the bottom of the blasthole respectively; α is the inclination angle; β is the azimuth angle; R is the radius of the earth, preferably 6378137m; L is the length of the drill rig, in m; d is the drilling length.

[0099] Accordingly, in combination with the above scheme, Figure 4 As shown, the present invention also provides a blasthole positioning and real-time drilling depth determination system based on a drilling frame, and the system specifically includes:

[0100] The locators are installed at the pile head and the middle of the drilling rig, and can obtain the three-dimensional coordinates of the pile head and the middle of the drilling rig through the Beidou navigation satellite system;

[0101] The industrial computer is electrically connected to each locator respectively; the industrial computer can obtain the three-dimensional coordinates of each locator through the Beidou navigation satellite system, and calculate the coordinates of the blasthole mouth and the current drilling depth, and store and display them; the three-dimensional coordinates are displayed in the form of numbers and images.

[0102] Preferably, in combination with the above scheme, Figure 3 to Figure 4 As shown, the locator and the industrial computer are transmitted via TCP protocol; the pile head is the starting end of the drilling frame; the middle of the drilling frame is any point between the two ends of the drilling frame;

[0103] The industrial computer uses the differential Beidou navigation satellite system and RTK positioning system (Real-time kinematic, real-time dynamic, carrier phase differential technology) to determine the longitude, latitude and altitude of the locator on the pile head, thereby obtaining the three-dimensional coordinates of the pile head;

[0104] The industrial computer uses the differential Beidou navigation satellite system and the RTK positioning system (Real-time kinematic, real-time dynamic, carrier phase differential technology) to obtain the longitude, latitude and altitude of the locator in the middle of the drilling rack, thereby obtaining the three-dimensional coordinates of the middle of the drilling rack;

[0105] The industrial computer calculates the blasthole mouth coordinates (X', Y', Z') and the drilling frame angle A through the three-dimensional coordinates of the pile head and the three-dimensional coordinates of the middle of the drilling frame;

[0106] As an embodiment, the drilling frame angle A can be directly measured by an inclination sensor designed on the drilling frame; it can also be calculated by coordinates measured by a locator.

[0107] Specifically, in combination with the above scheme, Figure 3 As shown:

[0108] The three-dimensional coordinates of the pile head are (X1, Y1, Z 1) , the three-dimensional coordinates of the middle of the drill frame (X2, Y2, Z2), then the three-dimensional coordinates of the blasthole opening (X', Y', Z') can be converted according to the following formula:

[0109]

[0110]

[0111] Z'=Z1-cosα×L;

[0112]

[0113]

[0114] Where: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X', Y', Z' are the longitude, latitude and altitude of the blasthole mouth respectively; α is the inclination angle; β is the azimuth angle; R is the radius of the earth, preferably 6378137m; L is the length of the drilling frame, in meters;

[0115] Furthermore, the drilling rig angle A is calculated by the coordinates of the two points:

[0116] The drilling frame angle A includes α and β, and α and β are converted by the following formulas:

[0117]

[0118]

[0119] Where: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X', Y', Z' are the longitude, latitude and altitude of the blasthole mouth respectively; α is the inclination angle; β is the azimuth angle; l is the distance between the pile head of the drill rig and the middle of the drill rig.

[0120] Preferably, in combination with the above scheme, Figure 3 to Figure 4 As shown, the industrial computer is used to obtain the drilling parameters of the drilling rig, and analyze whether the drilling parameters change within the normal working range through data analysis software, and when the drilling parameters are judged to be effective drilling data, the real-time drill rod length d of the drilling rig is calculated;

[0121] The real-time drill pipe length d is calculated by the following formula:

[0122]

[0123] d = d1 + Δd;

[0124] Where, Δd is the penetration; d is the cumulative drilling depth; d1 is the drilling length at the last moment; D is the diameter of the drilling motor output shaft gear; N d_now 、N d_last They are the current scale value and the previous scale value of the drilling depth magnetic encoder respectively.

[0125] Preferably, in combination with the above scheme, Figure 3 to Figure 4 As shown, the industrial computer also calculates and feeds back the current drilling depth based on the blasthole mouth coordinates (X', Y', Z'), the drilling frame angle A and the real-time drill rod length d;

[0126] Specifically, the current drilling depth Z is calculated by the following formula:

[0127] Z=Z”-Z’;

[0128] Z" = Z1-cosα×(L+d);

[0129] Z'=Z1-cosα×L;

[0130]

[0131]

[0132] Where: (X1, Y1, Z1) and (X2, Y2, Z2) are the longitude, latitude and altitude obtained by the two locators respectively; X″, Y″, Z″ are the longitude, latitude and altitude of the bottom of the blasthole respectively; α is the inclination angle; β is the azimuth angle; R is the radius of the earth; L is the length of the drill rig, in m; d is the drilling length.

[0133] The present invention provides a method and system for blasthole positioning and real-time drilling depth determination based on a drill rig, so that during the drilling process of the drill rig, the three-dimensional coordinates of the blasthole mouth can be obtained in real time by using a satellite positioning device installed on the drill rig, and the real-time drilling depth can be obtained in combination with the effective drilling process of the drill rod, thereby providing a basis for the design and optimization of blasting parameters and will be widely used in future intelligent and digital mines.

[0134] The present invention provides a method and system for blasthole positioning and real-time drilling depth determination based on a drilling frame, which has the following technical effects:

[0135] First, it can accurately locate the blasthole mouth position and current drilling depth in real time. With the help of Beidou, differential algorithm, RTK and other technologies, the positioning error of the blasthole mouth position can be controlled within 2cm, and the real-time position and drilling depth delay can be within 100ms.

[0136] Second, it can save a lot of manpower and improve efficiency. The manual blasthole positioning in the prior art adds a lot of workload to engineering and technical personnel. The solution provided by the present invention can automatically obtain the position of the blasthole mouth and can obtain the drilling depth data in real time, thereby providing a basis for the design and optimization of blasting parameters.

[0137] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above-mentioned technical content without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any changes, modifications, equivalent changes and modifications made to the above embodiments based on the technology of the present invention without departing from the content of the technical solution of the present invention belong to the protection scope of the present technical solution.

Claims

1. A method for blasthole positioning and real-time drilling depth determination based on a drill frame, characterized in that: The method The process includes: S1: Use the Beidou navigation satellite system to obtain the three-dimensional coordinates of the pile head and the middle of the drilling frame, so as to determine the three-dimensional coordinates of the blasthole orifice and the drilling frame angle A; S2: Analyze the drilling process of the drilling rig, determine the various sub-processes of the drilling rig, and thus determine the real-time drill rod length; S3: Calculate and feed back the current drilling depth according to the three-dimensional coordinates of the blasthole opening, the drilling frame angle and the real-time drill rod length; S4: The three-dimensional coordinates of the blast hole orifice and the current drilling depth are stored and output; In step S1: the three-dimensional coordinates of the pile head are ( X 1 , Y 1 , Z 1 ), the three-dimensional coordinates of the middle part of the drilling frame ( X 2 , Y 2 , Z 2 ), according to the three-dimensional coordinates of the pile head ( X 1 , Y 1 , Z 1 ) and the three-dimensional coordinates of the middle of the drilling rig ( X 2 , Y 2 , Z 2 ) Calculate the distance between the pile head and the middle of the drilling rig l ; The drilling frame angle A includes α and β , α and β Calculated by the following formulas: ； ； Where: X 1 , Y 1 , Z 1 )and( X 2 , Y 2 , Z 2 ) are the longitude, latitude and altitude obtained by the two locators respectively; α is the inclination angle; β is the azimuth; l is the distance between the pile head and the middle of the drilling frame; The three-dimensional coordinates of the blast hole orifice ( X' , Y' , Z' ) can be converted according to the following formula: ； ； ； Where: X 1 , Y 1 , Z 1 )and( X 2 , Y 2 , Z 2 ) are the longitude, latitude and altitude obtained by the two locators respectively; X' , Y' , Z' are the longitude, latitude and altitude of the blasthole mouth respectively; α is the inclination angle; β is the azimuth; R is the radius of the Earth; L is the length of the drilling rig, in m; The starting position of the drilling rig is the position of the blasthole orifice; In step S2, the real-time drill pipe length is determined d include: S21: First determine whether the drilling process of the drilling rig is a valid drilling process; The effective drilling process is the actual working process of the drilling rig and drill rod; S22: When it is determined that the drilling process of the drilling rig is an effective drilling process, the real-time drill rod length d Calculated by the following formula: ； ； In the formula, Δ d For the footage; d is the cumulative drilling depth; d 1 is the drilling length at the last moment; D is the diameter of the drilling motor output shaft gear; N d_now , N d_last They are the current scale value and the previous scale value of the drilling depth magnetic encoder respectively.

2. The method according to claim 1, characterized in that In the step S1: The longitude, latitude and altitude of the locator on the pile head are determined by the differential Beidou navigation satellite system and the RTK positioning system, so as to obtain the three-dimensional coordinates of the pile head; the pile head is the starting end of the drilling rig; The longitude, latitude and altitude of the locator in the middle of the drilling rig are obtained by using the differential Beidou navigation satellite system and the RTK positioning system, so as to obtain the three-dimensional coordinates of the middle of the drilling rig; the middle of the drilling rig is any point between the two ends of the drilling rig; The three-dimensional coordinates are displayed digitally.

3. The method according to claim 1, characterized in that In the step S3, the three-dimensional coordinates of the pile head are ( X 1 , Y 1 , Z 1） , the three-dimensional coordinates of the middle part of the drilling frame ( X 2 , Y 2 , Z 2 The current drilling depth Z Calculated by the following formula: ； ； ； ； ； Where: X 1 , Y 1 , Z 1 )and( X 2 , Y 2 , Z 2 ) are the longitude, latitude and altitude obtained by the two locators respectively; X ", Y ", Z " are respectively the longitude, latitude and altitude of the bottom of the blasthole; α is the inclination angle; β is the azimuth; R is the radius of the Earth; L is the length of the drilling rig, in m; d Drilling length.

4. A blasthole positioning and real-time drilling depth determination system based on a drilling rig, characterized in that: The system comprises: The locators are installed at the pile head and the middle of the drilling rig, and can obtain the three-dimensional coordinates of the pile head and the middle of the drilling rig through the Beidou navigation satellite system; An industrial computer is electrically connected to each locator respectively; the industrial computer can obtain the three-dimensional coordinates of each locator through the Beidou navigation satellite system, and calculate the three-dimensional coordinates of the blasthole mouth and the current drilling depth, and store and display them; the three-dimensional coordinates are displayed in digital and image form; The positioning instrument and the industrial computer are transmitted via TCP protocol; the pile head is the starting end of the drilling frame; the middle of the drilling frame is any point between the two ends of the drilling frame; The industrial computer determines the longitude, latitude and altitude of the locator on the pile head by using the differential Beidou navigation satellite system and the RTK positioning system, thereby obtaining the three-dimensional coordinates of the pile head; The industrial computer uses the differential Beidou navigation satellite system and the RTK positioning system to obtain the longitude, latitude and altitude of the locator in the middle of the drilling rig, thereby obtaining the three-dimensional coordinates of the middle of the drilling rig; The industrial computer calculates the three-dimensional coordinates of the blasthole opening through the three-dimensional coordinates of the pile head and the three-dimensional coordinates of the middle of the drilling frame ( X' , Y' , Z' ) and drilling stand angle A ; The three-dimensional coordinates of the pile head are ( X 1 , Y 1 , Z 1） , the three-dimensional coordinates of the middle part of the drilling frame ( X 2 , Y 2 , Z 2 ); The drilling frame angle A includes α and β , α and β Calculated by the following formulas: ； ； Where: X 1 , Y 1 , Z 1 )and( X 2 , Y 2 , Z 2 ) are the longitude, latitude and altitude obtained by the two locators respectively; X' , Y' , Z' are the longitude, latitude and altitude of the blasthole mouth respectively; α is the inclination angle; β is the azimuth; l is the distance between the pile head and the middle of the drilling frame; The three-dimensional coordinates of the blast hole orifice ( X' , Y' , Z' ) can be converted according to the following formula: ； ； ； Where: X 1 , Y 1 , Z 1 )and( X 2 , Y 2 , Z 2 ) are the longitude, latitude and altitude obtained by the two locators respectively; X' , Y' , Z' are the longitude, latitude and altitude of the blasthole mouth respectively; α is the inclination angle; β is the azimuth; R is the radius of the Earth; L is the length of the drilling rig, in m; The industrial computer is used to obtain the drilling parameters of the drilling rig, and analyze whether the drilling parameters change within the normal working range through data analysis software, and calculate the real-time drill rod length of the drilling rig when the drilling parameters are judged to be effective drilling data. d ; The real-time drill pipe length d Calculated by the following formula: ； ； In the formula, Δ d For the footage; d is the cumulative drilling depth; d 1 is the drilling length at the last moment; D is the diameter of the drilling motor output shaft gear; N d_now , N d_last They are the current scale value and the previous scale value of the drilling depth magnetic encoder respectively.

5. The system according to claim 4, characterized in that The industrial computer also calculates the coordinates of the blast hole mouth ( X' , Y' , Z' ), the drilling rig angle A and the real-time drill rod length d Calculate and provide real-time feedback on the current drilling depth; The current drilling depth Z Calculated by the following formula: ； ； ； ； ； Where: X 1 , Y 1 , Z 1 )and( X 2 , Y 2 , Z 2 ) are the longitude, latitude and altitude obtained by the two locators respectively; X ", Y ", Z " are respectively the longitude, latitude and altitude of the bottom of the blasthole; α is the inclination angle; β is the azimuth; R is the radius of the Earth; L is the length of the drilling rig, in m; d Drilling length.

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