A rock drilling rig and its drill arm deflection compensation method
By combining neural network models and analytical methods with finite element analysis, a drill arm deflection compensation model for rock drilling rigs was established, which solved the problem of high cost of drill arm deflection compensation, realized low-cost and efficient borehole positioning, and improved construction quality and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
- Filing Date
- 2022-02-15
- Publication Date
- 2026-05-26
AI Technical Summary
Existing rock drilling rigs are costly and unstable in the process of drill arm deflection compensation, making it difficult to achieve accurate borehole positioning, which affects construction quality and efficiency.
By employing a neural network model combined with analytical methods and finite element analysis, a drill arm deflection compensation model is established by acquiring the borehole position and deflection deformation. This model controls the drill arm end to accurately reach the predetermined borehole position, reducing hardware requirements and computational workload.
It achieves low-cost and efficient drill arm deflection compensation, improves the automatic positioning accuracy of the drill arm, and reduces the equipment cost and operational complexity of the rock drilling rig.
Smart Images
Figure CN116641648B_ABST
Abstract
Description
Technical Field
[0001] This invention provides a rock drilling rig and a method for compensating the deflection of its drill arm, belonging to the field of tunnel boring equipment, and particularly relates to a method for compensating the deflection of the end of the drill arm when the rock drilling rig is drilling blast holes. Background Technology
[0002] During tunnel excavation, a rock drilling rig is typically used to drill blast holes in the tunnel cross-section, and then explosives are loaded into these holes for blasting to excavate the tunnel. The rock drilling rig consists of a controller and a drill arm. Automatic drill arm positioning is the core function of the rock drilling rig. If the drill arm cannot accurately reach the predetermined blast hole positions for excavation, the drilled blast holes may not meet construction requirements, affecting construction quality and reducing efficiency.
[0003] Based on its structure and materials, the drill arm can be simplified as a rigid body. Kinematic analysis of this rigid body allows us to obtain the motion of each joint on the drill arm, thus controlling its movement to the borehole location. However, in reality, the drill arm is affected by gravity, resulting in significant vertical deformation, specifically deflection at its end. This deflection leads to substantial positioning errors, preventing the drill arm's end from accurately reaching the intended borehole location. Consequently, the drill arm's automatic positioning function struggles to meet construction requirements.
[0004] Existing deflection compensation methods typically require high-precision testing equipment and significant manpower on-site for collecting large amounts of test data, followed by complex calculations to achieve deflection compensation. For example, Chinese patent document CN113021408A discloses a method and device for compensating boom deflection and a method and device for controlling the boom. This method requires iterative adjustment of the joint angle until the deviation between the preset target position and the actual achievable position meets preset conditions. This method has high requirements for the real-time performance of the actual position of the drill arm end and the compensation algorithm, and involves a large amount of computation and high hardware requirements, resulting in high equipment cost and poor stability of the rock drilling rig. Therefore, for rock drilling rigs, there is an urgent need for a simple, efficient, and low-cost drill arm deflection compensation system and method. Summary of the Invention
[0005] The purpose of this invention is to provide a rock drilling rig and a method for compensating for the deflection of its drill arm, in order to solve the problem of high cost of the rock drilling rig caused by drill arm deflection compensation.
[0006] To achieve the above objectives, the present invention provides a method for compensating for the deflection of the drill arm of a rock drilling rig, comprising the following steps:
[0007] 1) Obtain the location of each blast hole;
[0008] 2) Input the borehole position into the pre-acquired drill arm deflection compensation model to obtain the target position of the corresponding borehole;
[0009] 3) Use the target point as the control target for the drill arm to control the drill arm to reach the corresponding blast hole position;
[0010] The drill arm deflection compensation model is obtained by the following method: obtaining the deflection deformation of the drill arm at each borehole position, adding the corresponding deflection deformation to the borehole position to obtain the target point corresponding to the borehole position; using each borehole position and the corresponding target point as a training set, and training the drill arm deflection compensation model through a neural network model.
[0011] This invention obtains a drill arm deflection compensation model by acquiring the locations of blast holes and their corresponding target points, and then training the model using a neural network. During drilling on the rock drilling rig, the locations of each blast hole are input into the model, and the corresponding target points are output. The drill arm movement is controlled based on these target points, allowing the drill arm tip to reach the predetermined blast hole location. This invention reduces computational load and hardware requirements, thereby lowering the cost of the rock drilling rig.
[0012] Furthermore, in the above method, the deflection deformation of the drill arm at each borehole position is obtained by the following method: based on the obtained borehole position, the joint motion of each joint in the drill arm is calculated when the end of the drill arm reaches the borehole position; a three-dimensional model of the drill arm is established, and the position of each moving component in the three-dimensional model of the drill arm is determined according to the joint motion; finite element analysis is performed on the three-dimensional model of the drill arm to calculate the deflection deformation of the drill arm at each borehole position.
[0013] By establishing a three-dimensional model of the drill arm and using finite element analysis, the deflection deformation of the drill arm at each borehole location can be calculated without the need for high-precision measuring equipment, which is low-cost and highly efficient.
[0014] Furthermore, in the above method, the analytical method is used to calculate the joint motion of each joint in the drill arm when the end of the drill arm reaches the blast hole position.
[0015] By employing analytical geometry or mathematical analysis methods, the motion process of the joints in the drill arm is mathematically calculated, and the amount of joint motion of each joint during the motion process is determined, which facilitates implementation.
[0016] Furthermore, in the above method, the neural network model is a BP neural network model.
[0017] A BP neural network model is used to establish a drill arm deflection compensation model, which is highly efficient.
[0018] Furthermore, in the above method, in step 1), the position of each blast hole is obtained through the blast hole location map, which includes at least the blast hole coordinates.
[0019] The location of each blast hole can be obtained by using a blast hole location map commonly used in engineering practice, which is simple and easy to operate.
[0020] The present invention also provides a rock drilling rig, including a drill arm for drilling blast holes on the cross section to be excavated and a controller for controlling the movement of the drill arm, and an error compensation module for error compensation of the drill arm deflection. The error compensation module has a drill arm deflection compensation model pre-stored in it, and the controller is communicatively connected to the error compensation module.
[0021] The error compensation module obtains the position of each borehole and inputs the borehole position into the drill arm deflection compensation model to obtain the target position of the corresponding borehole; the controller obtains the target position from the error compensation module and uses it as the control target of the drill arm to control the drill arm to reach the corresponding borehole position.
[0022] The drill arm deflection compensation model is obtained by the following method: obtaining the deflection deformation of the drill arm at each borehole position, adding the corresponding deflection deformation to the borehole position to obtain the target point corresponding to the borehole position; using each borehole position and the corresponding target point as a training set, and training the drill arm deflection compensation model through a neural network model.
[0023] Furthermore, in the aforementioned trolley, the deflection deformation of the drill arm at each borehole position is obtained through the following method: based on the obtained borehole position, the joint motion of each joint in the drill arm is calculated when the end of the drill arm reaches the borehole position; a three-dimensional model of the drill arm is established, and the position of each moving component in the three-dimensional model of the drill arm is determined based on the joint motion; finite element analysis is performed on the three-dimensional model of the drill arm to calculate the deflection deformation of the drill arm at each borehole position.
[0024] Furthermore, in the aforementioned trolley, the analytical method is used to calculate the joint motion of each joint in the drill arm when the end of the drill arm reaches the blast hole position.
[0025] Furthermore, in the aforementioned trolley, the neural network model is a BP neural network model.
[0026] Furthermore, the aforementioned trolley also includes a cross-section design module for generating borehole location maps according to construction requirements. The error compensation module is communicatively connected to the cross-section design module to obtain the borehole location maps, thereby obtaining the borehole positions of each borehole. The borehole location maps include at least the borehole coordinates. Attached Figure Description
[0027] Figure 1 This is a structural block diagram of the trolley in an embodiment of the present invention;
[0028] Figure 2 This is a diagram showing the location of the blast holes on the section to be excavated in the embodiment of the trolley of the present invention. Detailed Implementation
[0029] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
[0030] Method Implementation Examples:
[0031] This invention provides a method for compensating for the deflection of the drill arm of a rock drilling rig, mainly applied to the drilling process of a rock drilling rig in tunnel engineering. The method includes the following steps:
[0032] 1) Obtain the position of each blast hole.
[0033] 2) Input the borehole position into the pre-acquired drill arm deflection compensation model to obtain the target position of the corresponding borehole.
[0034] 3) Use the corresponding blast hole target as the control target of the drill arm to control the drill arm to reach the corresponding blast hole position.
[0035] In this embodiment, the cross-section design module of the rock drilling rig designs the layout of blast holes on the cross-section to be excavated, obtaining a blast hole location map and a blast hole location table. Then, the location of each blast hole is determined based on the blast hole location map and the blast hole location table. The blast hole location map and the blast hole location table correspond to each other; the blast hole location map includes the coordinates of the blast holes in the cross-section to be excavated, and the blast hole location table includes the position and orientation of all blast holes relative to the rock drilling rig. Alternatively, the blast hole locations can also be obtained through actual measurement by experienced technicians.
[0036] The drill arm deflection compensation model is obtained through the following method:
[0037] Based on the borehole positions designed in the cross-section design module, the joint motion of each joint when the drill arm reaches each borehole position is calculated analytically. For the analytical method, please refer to the review of kinematic modeling and solution methods for robotic arms by Leng Shu, Wu Ke, et al., published in the Journal of Astronautics, Vol. 40, No. 11.
[0038] A 3D model of the drill arm is created in SolidWorks. Based on the motion of each joint, the positions of the moving components in the 3D model are adjusted to reflect the pose of the drill arm's end pointing towards the borehole. Preprocessing is performed in Hypermesh to create a finite element mesh for the drill arm. Then, material information is set, and fixed constraints and gravitational acceleration are applied. Finally, finite element calculations are performed in Abaqus to obtain the deflection deformation at the drill arm's end. Then, the corresponding deflection deformation is added to the borehole location to obtain the target point corresponding to that borehole position.
[0039] The locations of each borehole and its corresponding target point are used as the training and testing sets, respectively. A backpropagation (BP) neural network model is used for training and testing to obtain the drill arm deflection compensation model. During training and testing, the input is the borehole location, and the output is the target point corresponding to the borehole location.
[0040] In existing technologies, the following two methods are used to compensate for the deflection at the end of the drill arm of a rock drilling rig:
[0041] Method 1: Use a total station to measure the position and orientation of the drill arm end, thereby obtaining the deflection data of the drill arm end at different borehole locations. Then, establish the correspondence between the borehole location and the deflection of the drill arm end through data fitting.
[0042] Method 2: At the construction site, mathematical calculations are used to continuously adjust the angles of each joint in the drill arm through iterative adjustments until the end of the drill arm can reach the preset blast hole position.
[0043] Compared to method one, this invention eliminates the need for significant investment in manpower, resources, and site costs; compared to method two, it eliminates the need for multiple iterative calculations, reduces computational load, lowers equipment requirements, and thus reduces the cost of the rock drilling rig.
[0044] Example of a trolley:
[0045] This invention provides a rock drilling rig, including a drill arm for drilling blast holes on a cross-section to be excavated and a controller for controlling the movement of the drill arm. The drill arm includes multiple joint assemblies and structural components. The controller controls the joint assemblies and structural components, thereby controlling the movement of the drill arm. Figure 1 As shown, the rock drilling rig also includes a cross-section design module and an error compensation module for compensating for the drill arm deflection. The error compensation module stores the drill arm deflection compensation model in advance. The controller, the cross-section design module and the error compensation module are connected to each other through an internal bus.
[0046] When drilling blast holes, the drill arm deflection compensation method described in the method embodiment is used. The implementation of this method is further described through the following steps:
[0047] 1) Based on the tunnel construction requirements, the borehole locations are designed in the cross-section design module to obtain the borehole location map and borehole location table, thereby obtaining the borehole positions.
[0048] Hole location diagram as follows Figure 2 As shown, with Figure 2Taking borehole D24 as an example, the table in the upper right corner shows the position and angle of borehole D24 in the section to be excavated, where H is the angle between borehole D24 and the XOZ plane, and V is the angle between borehole D24 and the YOZ plane. The XOY plane is the horizontal plane where the rock drilling rig is located, and the Z-axis is perpendicular to the XOY plane.
[0049] 2) The error compensation module receives the borehole position and inputs it into the drill arm deflection compensation model to obtain the target position of the corresponding borehole.
[0050] 3) The controller obtains the target position of each blast hole from the error compensation module, uses the target position of the corresponding blast hole as the control target of the drill arm, controls the movement of each joint in the drill arm, so that the drill arm reaches the corresponding blast hole position, and realizes the automatic positioning function of the drill arm.
[0051] This invention enables drill arm deflection compensation for rock drilling rigs, improves the automatic positioning accuracy of the drill arm, and provides technical support for fully automated operation of fully computerized rock drilling rigs. Compared with existing technologies, this invention does not require high-precision testing equipment, resulting in lower cost and higher efficiency.
Claims
1. A method of drill arm deflection compensation for a drill jumbo, characterized in that, Includes the following steps: 1) Obtain the location of each blast hole; 2) Input the borehole position into the pre-acquired drill arm deflection compensation model to obtain the target position of the corresponding borehole; 3) Use the target point as the control target for the drill arm to control the drill arm to reach the corresponding blast hole position; The drill arm deflection compensation model is obtained by the following method: based on the obtained borehole position, the joint motion of each joint in the drill arm is calculated when the end of the drill arm reaches the borehole position; a three-dimensional model of the drill arm is established, and the position of each moving component in the three-dimensional model of the drill arm is adjusted according to the joint motion to make it present the pose when the end of the drill arm points to the borehole position. Finite element analysis was performed on the three-dimensional model of the drill arm to calculate the deflection deformation of the drill arm at each borehole position. The corresponding deflection deformation was added to the borehole position to obtain the target point corresponding to that borehole position. The borehole positions and the corresponding target points were used as training sets to train the drill arm deflection compensation model through a neural network model.
2. The drill boom deflection compensation method of claim 1, wherein, The specific method for performing finite element analysis on the three-dimensional model of the drill arm and calculating the deflection deformation of the drill arm at each borehole position is as follows: establish the finite element mesh of the drill arm, then set the material information of the drill arm, apply fixed constraints and gravitational acceleration, and finally perform finite element calculation to obtain the deflection deformation at the end of the drill arm.
3. The drill boom deflection compensation method of claim 1, wherein, The analytical method was used to calculate the joint motion of each joint in the drill arm when the end of the drill arm reached the blast hole position.
4. The drill boom deflection compensation method of claim 3, wherein, The neural network model is a BP neural network model.
5. The drill boom deflection compensation method of claim 4, wherein, In step 1), the location of each blast hole is obtained through the blast hole location map, which includes at least the blast hole coordinates.
6. A jumbo comprising a drill boom for drilling blast holes in a section to be excavated and a controller for controlling the movement of the drill boom, characterised in that, It also includes an error compensation module for error compensation of drill arm deflection, wherein the error compensation module pre-stores a drill arm deflection compensation model, and the controller is communicatively connected to the error compensation module; The error compensation module obtains the position of each borehole and inputs the borehole position into the drill arm deflection compensation model to obtain the target position of the corresponding borehole; the controller obtains the target position from the error compensation module and uses it as the control target of the drill arm to control the drill arm to reach the corresponding borehole position. The drill arm deflection compensation model is obtained by the following method: based on the obtained borehole position, the joint motion of each joint in the drill arm is calculated when the end of the drill arm reaches the borehole position; a three-dimensional model of the drill arm is established, and the position of each moving component in the three-dimensional model of the drill arm is adjusted according to the joint motion to make it present the pose when the end of the drill arm points to the borehole position. Finite element analysis was performed on the three-dimensional model of the drill arm to calculate the deflection deformation of the drill arm at each borehole position. The corresponding deflection deformation was added to the borehole position to obtain the target point corresponding to that borehole position. The borehole positions and the corresponding target points were used as training sets to train the drill arm deflection compensation model through a neural network model.
7. A jumbo according to claim 6, characterised in that, The specific method for performing finite element analysis on the three-dimensional model of the drill arm and calculating the deflection deformation of the drill arm at each borehole position is as follows: establish the finite element mesh of the drill arm, then set the material information of the drill arm, apply fixed constraints and gravitational acceleration, and finally perform finite element calculation to obtain the deflection deformation at the end of the drill arm.
8. The jumbo according to claim 6, characterized in that The analytical method was used to calculate the joint motion of each joint in the drill arm when the end of the drill arm reached the blast hole position.
9. A jumbo according to claim 8, characterised in that, The neural network model is a BP neural network model.
10. A jumbo according to claim 9, characterised in that, It also includes a cross-section design module for generating borehole location maps according to construction requirements. The error compensation module is communicatively connected to the cross-section design module to obtain the borehole location maps and thus obtain the location of each borehole. The borehole location maps include at least the borehole coordinates.