Intelligent drilling device and control method for real-time monitoring of drilling angle and depth

Abstract

The present invention relates to the technical field of drilling construction, and specifically to an intelligent drilling device and control system for real-time monitoring of drilling angle and depth. The drilling rig is provided with a high-precision positioning module, a hydraulic sensor and an angle sensor; the high-precision positioning module transmits the spatial coordinates of the marked positions of various components of the drilling rig to the data storage module, and the data storage module transmits the data to the data processing module to monitor and determine the motion trajectory of the drilling rig according to the preset threshold and real-time data, and the data processing module transmits the deviation exceeding the threshold to the early warning module to issue an adjustment alarm, and the response module issues a fine-tuning instruction to the drilling rig. The present invention determines the relative position relationship between the drilling rig and the hole to be drilled through the high-precision positioning module, so that the drill bit can automatically align with the hole to be drilled according to the designed drilling angle, which reduces the labor intensity of the technicians and ensures the qualified rate of the drilling angle.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling construction, and in particular to an intelligent drilling device and a control method for real-time monitoring of drilling angle and depth. Background Art

[0002] Drilling construction refers to the use of drilling equipment to drill cylindrical holes that meet the drilling angle and depth requirements. It is often used in tunnel support, slope protection, landslide control and other fields.

[0003] At present, there are two main methods of drilling construction, namely manual drilling construction method and drilling trolley construction method. The manual drilling construction method refers to the technicians carrying out drilling construction through handheld drilling equipment. This construction method requires technicians to determine the actual drilling angle through auxiliary angle measuring devices or experience. The vibration and impact of the drilling rig during the drilling process can easily lead to deviations in the drilling angle and bending of the drilling. The drilling qualification rate is difficult to strictly guarantee, and the efficiency of drilling construction is low, and the construction process is time-consuming and laborious. The drilling trolley construction method refers to the technicians carrying out mechanized drilling construction by manipulating the trolley. This construction method does not require technicians to hold drilling equipment, reduces the physical requirements of technicians, and greatly improves the drilling efficiency. However, this method still cannot achieve automatic alignment of the drilling hole position. The drilling process cannot completely avoid the vibration and impact of the drilling rig, which leads to deviations in the drilling angle, and the drilling qualification rate still needs to be improved. In summary, the above two drilling construction methods cannot achieve automatic alignment of the drilling hole position, and the drilling angle deviation and drilling bending problems cannot be completely avoided during the drilling process. The quality of drilling construction needs to be further improved. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention discloses an intelligent drilling device and control method for real-time monitoring of drilling angle and depth. With the help of sensor technology and control system principles, the drilling rig equipment can be automatically aligned with the drilling hole position, and the drilling angle, depth and other parameters of the whole drilling construction process can be monitored in real time. The drilling angle deviation occurring during the drilling process can be discovered in time and active adjustments can be made to realize the automation and intelligence of the whole drilling construction process and improve the drilling construction quality and efficiency.

[0005] The present invention adopts the following technical solution

[0006] The intelligent drilling device for real-time monitoring of drilling angle and depth of the present invention comprises a high-precision positioning module, a hydraulic sensor, a rotation angle sensor, a data storage module, a data processing module, an early warning module, a response module, and a drilling rig; the drilling rig is provided with a high-precision positioning module, a hydraulic sensor and a rotation angle sensor; the high-precision positioning module transmits the spatial coordinates of the marked positions of each component in the drilling rig to the data storage module, and each marked position includes a spatial position located at the first hydraulic mechanical arm, a spatial position of the first rotary joint, a spatial position of the second rotary joint, and a spatial position of the third rotary joint;

[0007] The data storage module transmits the data to the data processing module, which monitors and determines the movement trajectory of the drilling equipment according to the preset threshold and real-time data. The data processing module transmits the deviation exceeding the threshold to the early warning module to issue an adjustment alarm, and the response module issues a fine-tuning instruction to the drilling equipment.

[0008] The intelligent drilling device for real-time monitoring of drilling angle and depth of the present invention comprises a drill rod, a drilling rig, a first hydraulic mechanical arm, a connecting flange, a first rotating module, an L-shaped mechanical arm, a second rotating module, a second hydraulic mechanical arm, a third rotating module, a third hydraulic mechanical arm, and a base;

[0009] The first hydraulic mechanical arm is provided with a plurality of outwardly extending supporting arms, and the plurality of outwardly extending supporting arms are provided with reserved holes, and the reserved holes are used to install the drilling rig and the drill rod;

[0010] The first hydraulic mechanical arm is connected to the driving end of the first rotating module through a connecting flange; the first rotating module is connected to one end of the L-shaped mechanical arm through a connecting flange, and the other end of the L-shaped mechanical arm is connected to the driving end of the second rotating module through a connecting flange;

[0011] The second rotating module is connected to one end of the second hydraulic mechanical arm through a connecting flange, and the other end of the second hydraulic mechanical arm is connected to the driving end of the third rotating module through a connecting flange; the third rotating module is connected to one end of the third hydraulic mechanical arm through a connecting flange, and the other end of the third hydraulic mechanical arm is fixedly connected to the base.

[0012] According to the intelligent drilling device for real-time monitoring of drilling angle and depth according to claim 1 or 2, it is characterized in that: the first rotation module, the second rotation module, and the third rotation module are respectively provided with angle sensors; the high-precision positioning modules are respectively located on the base and the outwardly extending arm of the first hydraulic mechanical arm; and the second hydraulic mechanical arm and the third hydraulic mechanical arm are respectively provided with hydraulic sensors.

[0013] The control method of the intelligent drilling device for real-time monitoring of drilling angle and depth according to any one of claims 1 to 3 is characterized in that the control steps are as follows:

[0014] Step 1: Arrange three fixed control points at the construction site to establish a spatial coordinate system for the construction site; preset the spatial coordinates, drilling angle, and drilling depth of the hole to be drilled for the drilling equipment;

[0015] Step 2: Install the drilling equipment at the construction site. The high-precision positioning module on the drilling equipment records the initial spatial coordinates of points A, B, C, and D on the drilling equipment.

[0016] The hydraulic sensors and the rotation angle sensors on the drilling equipment record the initial hydraulic values ​​and the initial relative rotation angle values ​​of the oil cylinders in the first hydraulic mechanical arm and the second hydraulic mechanical arm in the drilling equipment, and transmit the initial hydraulic value and the initial relative rotation angle value data to the data storage module; the data processing module calculates and analyzes the relative position relationship of the holes to be drilled by the drilling equipment, and the optimization algorithm gives the extension and rotation scheme of the first hydraulic mechanical arm and the second hydraulic mechanical arm in the drilling equipment;

[0017] The calculated expansion and rotation scheme is sent to the drilling equipment by the response module, and the drilling equipment makes corresponding actions so that the drill bit in the drilling equipment is aligned with the hole to be drilled according to the designed drilling angle.

[0018] Step 3: Drilling operation: During the drilling operation, the high-precision positioning module records the spatial coordinates of the marked positions A, B, and C in the drilling equipment in real time, and transmits the coordinate data to the data storage module. The data processing module calculates and determines the real-time drilling angle, drilling depth, and drilling speed of the drill rod according to the spatial coordinates of the marked positions A, B, and C in the drilling equipment.

[0019] Step 4: Based on the drilling process in step 3, the data processing module monitors the drilling angle, drilling depth and drilling speed of the drill rod in real time during the entire drilling process, and calculates and determines the real-time drilling angle deviation;

[0020] If the drilling angle deviation exceeds the threshold, the early warning module issues an adjustment alarm and the response module makes micro-adjustments to the drilling equipment;

[0021] If the drilling depth reaches the designed drilling depth, the early warning module will issue a stop drilling command, and the response module will issue a command to the drilling rig to stop drilling;

[0022] If the penetration speed of the drill pipe exceeds the preset threshold range, the early warning module will issue a warning alarm. At this time, the technicians need to pay attention and take corresponding measures.

[0023] The control method of the intelligent drilling device for real-time monitoring of drilling angle and depth of the present invention, in the construction site spatial coordinate system established in the first step, the high-precision positioning module records the spatial coordinates of the marked positions A and C in the drilling equipment at any time t (t≥0), that is, (x A (t),y A (t),z A (t))、(x C (t),y C (t),z C (t));

[0024] The data processing module calculates and determines the drilling angle θ(t) at the above moment; namely, the elevation angle θ 仰 (t) and the deflection angle θ 偏 The expression of (t) is as follows:

[0025]

[0026] Among them, θ 仰 (t) is the angle between the drilling depth direction and the xoy plane at that moment, called the elevation angle, with the positive direction of the oblique z axis as positive; θ 偏 (t) is the angle between the projection of the drilling depth direction on the xoy plane and the positive direction of the x-axis at that moment, called the deflection angle, with the counterclockwise direction as the positive direction;

[0027] The data processing module calculates and determines the drilling depth h at that moment 深 (t) is expressed as follows:

[0028]

[0029] Among them, (x A (0),y A (0),z A (0)) and (x C (0),y C (0),z C (0)) are the spatial coordinates of the marked positions A and C at the initial moment;

[0030] The data processing module calculates and determines the drilling speed v at that moment 深 (t) is expressed as follows:

[0031]

[0032] The control method of the intelligent drilling device for real-time monitoring of drilling angle and depth of the present invention, the drilling angle deviation is the deviation angle Δθ(t) between the actual drilling angle and the designed drilling angle at any time t (t≥0), and the data processing module is calculated and determined by the following formula:

[0033] Δθ(t)=arccos[cosθ 仰 (t)cosθ 偏 (t)·cosθ 设仰 cosθ 设偏 +cosθ 仰 (t)sinθ 偏 (t)·cosθ 设仰 sinθ 设偏 +sinθ 仰 (t)sinθ 设仰 ],Δθ(t)≥0where θ 设仰 and θ 设偏 It is the elevation and deflection angle of the designed drilling angle.

[0034] The control method of the intelligent drilling device for real-time monitoring of drilling angle and depth of the present invention, the third step sets the drilling angle deviation allowable value to be Δθ 容许 ,

[0035] The data processing module calculates the drilling angle deviation Δθ(t) at any monitoring time. If the drilling angle deviation exceeds the threshold, that is, Δθ(t) ≥ Δθ 容许 , the data processing module uses the optimization algorithm to give the optimal micro-adjustment plan for the extension and rotation of each hydraulic mechanical arm in the drilling equipment.

[0036] The control method of the intelligent drilling device for real-time monitoring of drilling angle and depth described in the present invention, the data storage module is used to record the data information collected by the high-precision positioning module, hydraulic sensor, and angle sensor, and the data processing module is used to monitor variable data and drilling equipment adjustment records.

[0037] Beneficial Effects

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] 1. The present invention determines the relative position relationship between the drilling equipment and the hole to be drilled through a high-precision positioning module, and the built-in optimization algorithm of the data processing module provides an adjustment plan for the drilling equipment, and the drilling equipment makes an adjustment action, so that the drill bit can automatically align with the hole to be drilled according to the designed drilling angle, thereby reducing the labor intensity of technicians and ensuring the qualified rate of drilling angles.

[0040] 2. In the present invention, the high-precision positioning module can record the spatial coordinates of the marked position in the drilling equipment in real time, and then the data processing module analyzes and obtains the real-time drilling angle, drilling depth and drilling speed of the entire drilling construction process, thereby realizing real-time monitoring of the entire drilling construction process and ensuring the quality of the construction process.

[0041] 3. In the present invention, the early warning module can timely detect the angle deviation occurring during the drilling construction process and issue an alarm. The drilling rig equipment makes active adjustments according to the adjustment plan given by the built-in optimization algorithm, thereby improving the qualified rate of the drilling angle and realizing the automation and intelligent management of the entire drilling construction process.

[0042] 4. In the present invention, the data storage module stores the monitoring variable data and drilling equipment adjustment records of the entire drilling construction process, and makes a complete digital record of the entire drilling construction process. The specific details of the drilling construction can be reproduced from the above data after the construction, and it also provides important data resources for the future optimization of the process of automated drilling construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the intelligent drilling device and control system for real-time monitoring of drilling angle and depth;

[0044] Figure 2 for Figure 1 Schematic diagram of drilling equipment and key parameters;

[0045] Figure 3 It is a schematic diagram of drilling angle and drilling depth;

[0046] Figure 4 Schematic diagram of drilling angle deviation.

[0047] Symbols in the figure: high-precision positioning module 1, hydraulic sensor 2, angle sensor 3, data storage module 4, data processing module 5, early warning module 6, response module 7, drilling equipment 8, drill rod 81, drilling rig 82, first hydraulic mechanical arm 83, connecting flange 84, first rotary joint 85, L-shaped mechanical arm 86, second rotary joint 87, second hydraulic mechanical arm 88, third rotary joint 89, third hydraulic mechanical arm 810, base 811. DETAILED DESCRIPTION

[0048] In order to make the purpose and technical solution of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1As shown, the present invention discloses an intelligent drilling device and control system for real-time monitoring of drilling angle and depth, including four high-precision positioning modules 1, two hydraulic sensors 2, three rotation angle sensors 3, data storage module 4, data processing module 5, early warning module 6, response module 7, and drilling equipment 8. The drilling equipment 8 includes a drill rod 81, a drilling machine 82, a first hydraulic mechanical arm 83, a connecting flange 84, a first rotating joint 85, an L-shaped mechanical arm 86, a second rotating joint 87, a second hydraulic mechanical arm 88, a third rotating joint 89, a third hydraulic mechanical arm 810, and a base 811. The drilling rig 82 is fixed on the outrigger arm of the first hydraulic mechanical arm 83, and the drill rod 81 passes through the reserved hole of the outrigger arm of the first hydraulic mechanical arm 83 and is installed on the drilling rig 82; the first rotating joint 85 connects the first hydraulic mechanical arm 83 and the L-shaped mechanical arm 86 through the connecting flange 84, so that the first hydraulic mechanical arm 83 can rotate 360 ​​degrees around the L-shaped mechanical arm 86; the second rotating joint 87 connects the L-shaped mechanical arm 86 and the second hydraulic mechanical arm 88 through the connecting flange 84, so that the L-shaped mechanical arm 86 can rotate 360 ​​degrees around the second hydraulic mechanical arm 88; the third rotating joint 89 connects the second hydraulic mechanical arm 88 and the third hydraulic mechanical arm 810 through the connecting flange 84, so that the second hydraulic mechanical arm 88 can rotate 360 ​​degrees around the third hydraulic mechanical arm 810; the third hydraulic mechanical arm 810 is fixedly connected to the base 811, and the base 811 can be fixed on a mobile trolley or a ground foundation through a connecting flange.

[0050] Furthermore, the four high-precision positioning modules 1 are respectively fixedly installed on the outer surfaces of the three outrigger arm structures of the first hydraulic mechanical arm 83 and the outer surface of the third hydraulic mechanical arm 810 structure, and the three high-precision positioning modules 1 installed on the first hydraulic mechanical arm 83 should be kept on the same straight line, and the high-precision positioning module 1 installed on the third hydraulic mechanical arm 810 should be as close to the base 811 as possible. The high-precision positioning module 1 is used to record the real-time spatial coordinates of the marked positions A, B, C and D of the drilling equipment 8, wherein the spatial coordinates of the marked positions A, B and C are used to determine the real-time drilling angle, drilling depth and drill rod penetration speed of the drilling equipment 8, and the marked position D is recorded as the base point of the drilling equipment 8, which is used to determine the real-time spatial coordinates of the drilling equipment 8, thereby determining the relative position relationship between the drilling equipment 8 and the hole to be drilled, as the input data required by the built-in optimization algorithm of the data processing module 5.

[0051] Furthermore, the two hydraulic sensors 2 convert the telescopic length of the telescopic part of the mechanical arm by recording the cylinder hydraulic values ​​of the second hydraulic mechanical arm 88 and the third hydraulic mechanical arm 810, and the three rotation angle sensors 3 respectively record the relative rotation angle values ​​of the first rotation joint 85, the second rotation joint 87 and the third rotation joint 89 as the input data required for the built-in optimization algorithm of the data processing module 5.

[0052] Furthermore, the intelligent drilling device and control method disclosed in the present invention include the following steps:

[0053] The first step is construction preparation:

[0054] Before drilling construction, technicians arrange at least three representative fixed control points at the construction site to establish a spatial coordinate system for the construction site. The high-precision positioning module 1 also gives real-time spatial coordinates based on this coordinate system. In addition, technicians input the spatial coordinates of all holes to be drilled and their corresponding designed drilling angles and drilling depths into the system.

[0055] The second step is drilling positioning:

[0056] The drilling equipment 8 arrives at the construction site and starts working. The high-precision positioning module 1 records the initial spatial coordinates of the marked positions A, B, C and D of the drilling equipment 8. The hydraulic sensor 2 and the angle sensor 3 record the initial hydraulic value and the initial relative angle value of the cylinder of each hydraulic mechanical arm in the drilling equipment 8, and transmit the collected data to the data storage module 4. The data processing module 5 calculates and analyzes the relative position relationship between the drilling equipment 8 and the hole to be drilled, and the built-in optimization algorithm gives the extension and rotation scheme of each hydraulic mechanical arm in the drilling equipment 8. The response module 7 sends a command to the drilling equipment 8, and each hydraulic mechanical arm and rotating joint in the drilling equipment 8 makes corresponding actions, so that the drill bit 81 in the drilling equipment 8 is aligned with the hole to be drilled according to the designed drilling angle.

[0057] The third step is drilling construction:

[0058] After the drilling is positioned, the drilling rig 8 controls the first hydraulic mechanical arm 83 to perform a propulsion movement, thereby operating the drilling rig 82 to carry out the drilling work; during the drilling construction process, the high-precision positioning module 1 records the spatial coordinates of the marked positions A, B, and C points in the drilling equipment 8 in real time, and transmits the coordinate data to the data storage module 4. The data processing module 5 calculates and determines the real-time drilling angle, drilling depth, and drill rod penetration speed based on the spatial coordinates of the marked positions A, B, and C points in the drilling equipment 8.

[0059] Step 4: Intelligent monitoring of the entire drilling process:

[0060] During the drilling construction process, the data processing module 5 monitors the drilling angle, drilling depth and drill rod penetration speed in real time throughout the drilling process, and calculates and determines the real-time drilling angle deviation. If the drilling angle deviation exceeds the threshold, the early warning module 6 will issue an adjustment alarm, and the response module 7 will issue an instruction to the drilling rig equipment 8, and the drilling equipment 8 will make corresponding fine adjustments so that the drilling rig drill bit 81 continues to drill according to the designed drilling angle orientation; if the drilling depth reaches the designed drilling depth, the early warning module 6 will issue a stop drilling alarm, and the response module 7 will issue an instruction to the drilling rig equipment 8 to stop the drilling work in time; if the drill rod penetration speed exceeds the reasonable range, the early warning module 6 will issue a warning alarm to remind technicians that the drilling rig may encounter complex geological conditions such as hard rock formations and should pay attention.

[0061] like Figure 2 As shown, the present invention stipulates that the distance between the top end of the drill rod 81 and the rotation center axis of the first rotation joint 85 is L1, the distance between the rotation center axis of the first rotation joint 85 and the rotation plane of the second rotation joint 87 is L2, the distance between the rotation plane of the second rotation joint 87 and the rotation center axis of the third rotation joint 89 is L3, the distance between the longitudinal center axis of the drill rod 81 and the rotation plane of the first rotation joint 85 is L4, the distance between the rotation plane of the first rotation joint 85 and the rotation center axis of the second rotation joint 87 is L5, the distance between the rotation center axis of the second rotation joint 87 and the rotation plane of the third rotation joint 89 is L6, and the distance between the rotation plane of the third rotation joint 89 and the marked position D is L7; the relative rotation angle of the first rotation joint 85 is θ1, the relative rotation angle of the first rotation joint 87 is θ2, and the relative rotation angle of the first rotation joint 89 is θ3. The built-in optimization algorithm in the data processing module 5, that is, according to the relative position of the base point in the drilling equipment 8 and the position of the hole to be drilled and the motion coordination relationship between all the above variables, the spatial coordinates of the marked positions A, B, C and D points in the drilling equipment 8 collected by the system, the hydraulic pressure values ​​of the cylinders of the second hydraulic mechanical arm 88 and the third hydraulic mechanical arm 810, the relative rotation angle values ​​of the first rotary joint 85, the second rotary joint 87 and the third rotary joint 89, solve and give the optimal solution for the extension and rotation of each hydraulic mechanical arm in the drilling equipment 8. The output variables in this solution include the relative rotation angle change Δθ1 of the first rotary joint 85, the relative rotation angle change Δθ2 of the second rotary joint 87, the relative rotation angle change Δθ3 of the third rotary joint 89, the extension amount ΔL3 of the second hydraulic mechanical arm 88, and the extension amount ΔL7 of the third hydraulic mechanical arm 810.

[0062] Furthermore, in the construction site spatial coordinate system established in the first step, the high-precision positioning module 1 records the spatial coordinates of the marked positions A and C in the drilling equipment 8 at any time t (t≥0), which are (x A (t),y A (t),z A(t))、(x C (t),y C (t),z C (t)), the data processing module 5 can calculate and determine the drilling angle θ(t) at that moment (divided into elevation angle θ 仰 (t) and the deflection angle θ 偏 (t)) is:

[0063]

[0064] Among them, θ 仰 (t) is the angle between the drilling depth direction and the xoy plane at that moment, called the elevation angle, with the positive direction of the oblique z axis as positive; θ 偏 (t) is the angle between the projection of the drilling depth direction on the xoy plane and the positive direction of the x-axis, called the deflection angle, with the counterclockwise direction as the positive direction.

[0065] The data processing module 5 can calculate and determine the drilling depth h at that moment 深 (t) is:

[0066]

[0067] Among them, (x A (0), y A (0), z A (0)) and (x C (0), y C (0), z C (0)) are the spatial coordinates of the marker positions A and C at the initial moment.

[0068] The data processing module 5 can calculate and determine the drilling speed v at that moment 深 (t) is:

[0069]

[0070] Furthermore, the real-time spatial coordinates (x B (t),y B (t),z B (t)), replace the real-time spatial coordinates of point C (x C (t),y C (t),z C(t)), another set of real-time monitoring parameters in the drilling construction process can be obtained. The data processing module 5 analyzes the relative error of the two sets of monitoring parameter values ​​and sets the relative error limit of the monitoring parameters to 2%. If the calculated relative error of the two sets of monitoring parameters is lower than the limit of 2%, it means that the accuracy of the monitoring parameters meets the requirements. If the calculated relative error of the two sets of monitoring parameters exceeds the limit of 2%, it means that the accuracy of the monitoring parameters is unqualified. It is necessary to check whether the installation of the high-precision positioning module 1 is loose, or whether the positioning module system is working abnormally.

[0071] Furthermore, the drilling angle deviation is the deviation angle Δθ(t) between the actual drilling angle and the designed drilling angle at any time t (t≥0), and the data processing module 5 is calculated and determined by the following formula:

[0072] Δθ(t)=arccos[cosθ 仰 (t)cosθ 偏 (t)·cosθ 设仰 cosθ 设偏 +cosθ 仰 (t)sinθ 偏 (t)·cosθ 设仰 sinθ 设偏 +sinθ 仰 (t)sinθ 设仰 ],Δθ(t)≥0where,θ 设仰 and θ 设偏 is the elevation and deflection angle of the designed drilling angle, θ 仰 (t) and θ 偏 (t) has the same meaning as defined above.

[0073] Furthermore, the allowable value of drilling angle deviation is specified as Δθ 容许 The data processing module 5 can calculate the drilling angle deviation Δθ(t) at any monitoring time according to the above method. If the drilling angle deviation exceeds the threshold, that is, Δθ(t)≥Δθ 容许 , the data processing module 5 uses the built-in optimization algorithm to give the optimal micro-adjustment plan for the extension and rotation of each hydraulic mechanical arm in the drilling equipment 8, the early warning module 6 issues an adjustment alarm, and the response module 7 sends a command to the drilling equipment 8. The drilling equipment 8 controls each hydraulic mechanical arm and the rotating joint to make corresponding adjustment actions, so that the drilling rig drill bit 81 continues to drill according to the designed drilling angle and orientation.

[0074] According to the above optimization algorithm, the optimization variables include: the relative rotation angle change Δθ1 of the first rotation joint 85, the relative rotation angle change Δθ2 of the second rotation joint 87, the relative rotation angle change Δθ3 of the third rotation joint 89, the extension amount ΔL3 of the second hydraulic mechanical arm 88, and the extension amount ΔL7 of the third hydraulic mechanical arm 810.

[0075] The spatial coordinates of point A, the marked position on the first robot arm, remain stationary, the motion coordination relationship of each robot arm, and the adjusted drilling angle deviation is lower than the threshold as constraints. A nonlinear multi-objective optimization model is established with minimizing the adjusted drilling angle deviation as the objective function, and the model is solved to obtain the optimal posture micro-adjustment scheme.

[0076] Furthermore, the data storage module 4 not only stores all data information collected by the high-precision positioning module 1, the hydraulic sensor 2 and the angle sensor 3, but also saves the monitoring variable data of the entire construction process and the drilling equipment adjustment records provided by the data processing module 5, and makes a complete digital record of the entire process of drilling construction. The specific details of the drilling construction can be reproduced by the above data after construction.

[0077] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A control method for an intelligent drilling device using real-time monitoring of drilling angle and depth, characterized in that: The drilling device comprises a high-precision positioning module, a hydraulic sensor, an angle sensor, a data storage module, a data processing module, an early warning module, a response module, and a drilling rig; the drilling rig is provided with a high-precision positioning module, a hydraulic sensor, and an angle sensor; the high-precision positioning module transmits the spatial coordinates of the marked positions of various components of the drilling rig to the data storage module, the data storage module transmits the data to the data processing module to monitor and determine the motion trajectory of the drilling rig according to the preset threshold and real-time data, the data processing module transmits the deviation exceeding the threshold to the early warning module to issue an adjustment alarm, and the response module issues a fine-tuning instruction to the drilling rig; The drilling rig equipment includes a drill rod, a drilling rig, a first hydraulic mechanical arm, a connecting flange, a first rotating module, an L-shaped mechanical arm, a second rotating module, a second hydraulic mechanical arm, a third rotating module, a third hydraulic mechanical arm, and a base; The first hydraulic mechanical arm is provided with a plurality of outwardly extending supporting arms, and the plurality of outwardly extending supporting arms are provided with reserved holes, and the reserved holes are used to install the drilling rig and the drill rod; The first hydraulic mechanical arm is connected to the driving end of the first rotating module through a connecting flange; the first rotating module is connected to one end of the L-shaped mechanical arm through a connecting flange, and the other end of the L-shaped mechanical arm is connected to the driving end of the second rotating module through a connecting flange; The second rotating module is connected to one end of the second hydraulic mechanical arm through a connecting flange, and the other end of the second hydraulic mechanical arm is connected to the driving end of the third rotating module through a connecting flange; the third rotating module is connected to one end of the third hydraulic mechanical arm through a connecting flange, and the other end of the third hydraulic mechanical arm is fixedly connected to the base; The first rotating module, the second rotating module and the third rotating module are respectively provided with rotation angle sensors; the high-precision positioning modules are respectively located on the base and the outwardly extending arm of the first hydraulic mechanical arm; the second hydraulic mechanical arm and the third hydraulic mechanical arm are respectively provided with hydraulic sensors; The control method is as follows: Step 1: Arrange three fixed control points at the construction site to establish a spatial coordinate system for the construction site; preset the spatial coordinates, drilling angle, and drilling depth of the hole to be drilled for the drilling equipment; Step 2: Install the drilling equipment at the construction site. The high-precision positioning module on the drilling equipment records the initial spatial coordinates of points A, B, C, and D on the drilling equipment. The hydraulic sensors and the rotation angle sensors on the drilling equipment record the initial hydraulic values ​​and the initial relative rotation angle values ​​of the oil cylinders in the first hydraulic mechanical arm and the second hydraulic mechanical arm in the drilling equipment, and transmit the initial hydraulic value and the initial relative rotation angle value data to the data storage module; the data processing module calculates and analyzes the relative position relationship of the holes to be drilled by the drilling equipment, and the optimization algorithm gives the extension and rotation scheme of the first hydraulic mechanical arm and the second hydraulic mechanical arm in the drilling equipment; The calculated expansion and rotation scheme is sent to the drilling equipment by the response module, and the drilling equipment makes corresponding actions so that the drill bit in the drilling equipment is aligned with the hole to be drilled according to the designed drilling angle. Step 3: Drilling operation: During the drilling operation, the high-precision positioning module records the spatial coordinates of the marked positions A, B, and C in the drilling equipment in real time, and transmits the coordinate data to the data storage module. The data processing module calculates and determines the real-time drilling angle, drilling depth, and drilling speed of the drill rod according to the spatial coordinates of the marked positions A, B, and C in the drilling equipment. Step 4: Based on the drilling process in step 3, the data processing module monitors the drilling angle, drilling depth and drilling speed of the drill rod in real time during the entire drilling process, and calculates and determines the real-time drilling angle deviation; If the drilling angle deviation exceeds the threshold, the early warning module issues an adjustment alarm and the response module makes micro-adjustments to the drilling equipment; If the drilling depth reaches the designed drilling depth, the early warning module will issue a stop drilling command, and the response module will issue a command to the drilling rig to stop drilling; If the penetration speed of the drill pipe exceeds the preset threshold range, the early warning module will issue a warning alarm; In the construction site spatial coordinate system established in the first step, the high-precision positioning module records the spatial coordinates of the marked positions A and C in the drilling equipment at any time t (t ≥ 0), namely (x A (t),y A (t),z A (t))、(x C (t),y C (t),z C (t)); The data processing module calculates and determines the drilling angle θ(t) at the above moment; namely, the elevation angle θ 仰 (t) and the deflection angle θ 偏 The expression of (t) is as follows: 0≤θ 偏 ≤2π Among them, θ 仰 (t) is the angle between the drilling depth direction and the xoy plane at that moment, called the elevation angle, with the positive direction of the oblique z axis as positive; θ 偏 (t) is the angle between the projection of the drilling depth direction on the xoy plane and the positive direction of the x-axis at that moment, called the deflection angle, with the counterclockwise direction as the positive direction; The data processing module calculates and determines the drilling depth h at that moment 深 (t) is expressed as follows: The data processing module calculates and determines the drilling speed v at that moment 深 (t) is expressed as follows: Among them, (x A (0),y A (0),z A (0)) and (x C (0),y C (0),z C (0)) are the spatial coordinates of the marked positions A and C at the initial moment; The drilling angle deviation is the deviation angle Δθ(t) between the actual drilling angle and the designed drilling angle at any time t (t≥0), and the data processing module is calculated and determined by the following formula: Δθ(t)=arccos[cosθ 仰 (t)cosθ 偏 (t)·cosθ 设仰 cosθ 设偏 +cosθ 仰 (t)sinθ 偏 (t)·cosθ 设仰 sinθ 设偏 +sinθ 仰 (t)sinθ 设仰 ],Δθ(t)≥0where θ 设仰 and θ 设偏 It is the elevation and deflection angle of the designed drilling angle.

2. The control method of the intelligent drilling device for real-time monitoring of drilling angle and depth according to claim 1 is characterized in that: The third step sets the drilling angle deviation allowable value to be Δθ 容许 , The data processing module calculates the drilling angle deviation Δθ(t) at any monitoring time. If the drilling angle deviation exceeds the threshold, that is, Δθ(t) ≥ Δθ 容许 , the data processing module uses the optimization algorithm to give the optimal micro-adjustment plan for the extension and rotation of each hydraulic mechanical arm in the drilling equipment.

3. The control method of the intelligent drilling device for real-time monitoring of drilling angle and depth according to claim 1 is characterized in that: The data storage module is used to record the data information collected by the high-precision positioning module, hydraulic sensor, and angle sensor, and the data processing module is used to monitor variable data and drilling equipment adjustment records.

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