Rock drilling jumbo and method of controlling it

Abstract

The application discloses a control method of a rock drilling rig, wherein the rock drilling rig comprises a propulsion encoder and a controller; the propulsion encoder is used for detecting a propulsion position of a drill rod of the rock drilling rig; and the controller is used for data interaction with the propulsion encoder. The control method comprises the following steps: the controller receives position data of the propulsion encoder; the controller judges whether the position data is used for accumulation to historical hole number data and / or historical hole depth data according to an impact state of the rock drilling rig; and the controller judges whether to store a combination of the position data and the historical hole number data and / or the historical hole depth data according to the impact state of the rock drilling rig. The application has the beneficial effect of providing a rock drilling rig and a control system thereof, which can improve the accuracy of output drilling hole number and meters.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, and more specifically, to a rock drilling rig and its control method. Background Technology

[0002] The underground drilling rig uses an electric system to drive the hydraulic system for drilling operations in the well. It operates in a virtually zero-discharge, purely mechanized manner, which greatly improves personnel safety, significantly reduces the labor intensity of traditional hand-held pneumatic drills, and also significantly improves the efficiency of underground drilling operations.

[0003] In related technologies, such as Chinese patent document CN217424346U, a depth detection device for a rock drilling rig is provided. This device discloses a propulsion encoder installed on the rock drilling rig. The propulsion encoder is connected to the rollers via a transmission mechanism. When the rock drill moves, it drives the pull rope to move synchronously, which in turn causes the rollers to rotate. The propulsion encoder synchronously records the rotational angular displacement of the rollers, and outputs the depth parameter, i.e., the drilling depth in meters, after being converted by a program. The purpose of depth detection is achieved by recording the displacement of the pull rope. While the displacement of the pull rope can record the meters during normal rock drilling, underground mining operations are complex and prone to entanglement. Summary of the Invention

[0004] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0005] Some embodiments of this application propose a rock drilling rig and its control method to solve the technical problems mentioned in the background section above.

[0006] As a first aspect of this application, some embodiments of this application provide a control method for a rock drilling rig, comprising: wherein the rock drilling rig includes: a feed encoder for detecting the advance position of the drill rod of the rock drilling rig; a controller for data interaction with the feed encoder; the control method includes: the controller receiving position data from the feed encoder; the controller determining whether the position data is used to accumulate historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig; and the controller determining whether to store the combination of the position data and historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig.

[0007] Furthermore, the controller determines whether the position data is used to accumulate historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig, including: the controller receiving position data from the propulsion encoder; the controller obtaining the impact start position L1 and current position L2 of the drill rod based on the position data from the propulsion encoder; and the controller determining whether to store the combination of position data and historical hole count data and / or historical hole depth data based on the numerical relationship between the impact start position L1 and the current position L2.

[0008] Furthermore, the controller determines whether to store the combination of position data and historical borehole count data based on the numerical relationship between the impact start position L1 and the current position L2. The determination conditions include: whether L1+A>L2; where A is the dynamic spacing threshold set by the user.

[0009] Furthermore, A is a constant greater than zero.

[0010] Furthermore, the impact state of the rock drilling rig includes the impact time T of the rock drilling rig; the control method includes: the controller receiving time data from the propulsion encoder; the controller determining whether the position data is used to accumulate to the historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig; and the controller determining whether to store the combination of position data and historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig.

[0011] Furthermore, determining whether the location data is stored in combination with the historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig includes: determining whether T>B; where B is a dynamic time interval threshold set by the user.

[0012] Furthermore, B is a constant greater than zero.

[0013] As a second aspect of this application, some embodiments of this application provide a rock drilling rig that uses the aforementioned control method for rock drilling rigs. The rock drilling rig includes: a feed encoder for detecting the advance position of the drill rod; a controller for data interaction with the feed encoder; a human-machine interface device for user operation to set or display data; and the controller transmits historical hole count data and / or historical hole depth data to the human-machine interface device via a first bus.

[0014] Furthermore, the rock drilling rig also includes: a data terminal for establishing a communication connection with the human-machine interface device; the human-machine interface device transmits historical hole count data and / or historical hole depth data to the data terminal.

[0015] Furthermore, the human-computer interaction device transmits historical hole count data and / or historical hole depth data to the data terminal via a second bus.

[0016] The beneficial effect of this application is that it provides a rock drilling rig and its control system that improves the accuracy of output borehole count and meter reading.

[0017] More specifically, some embodiments of this application may produce the following specific beneficial effects:

[0018] By determining whether the location data is used to accumulate historical hole count and / or historical hole depth data, and whether to store the combination of location data and historical hole count and / or historical hole depth data based on the impact state of the rock drilling rig, the controller can determine the drilling meter in real time, improve the accuracy of meter determination, and reduce labor costs.

[0019] At the same time, storing data based on the above judgments helps reduce the amount of data stored and facilitates subsequent transmission to the data terminal. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0021] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0022] In the attached diagram:

[0023] Figure 1 This is a schematic diagram showing the connection between a rock drilling rig and a data terminal according to one embodiment of this application;

[0024] Figure 2 This is a schematic block diagram of a rock drilling rig signal architecture according to an embodiment of this application;

[0025] Figure 3 This is a schematic block diagram of the signal architecture of a rock drilling rig according to an embodiment of this application via a corresponding bus;

[0026] Figure 4 This is a schematic block diagram of a rock drilling rig control architecture according to an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of the main steps of a rock drilling rig control method according to an embodiment of this application;

[0028] Figure 6 This is a flowchart illustrating historical borehole depth data according to one embodiment of this application;

[0029] Figure 7 It is to achieve Figure 6A flowchart illustrating the process of historical borehole count data within historical borehole depth data.

[0030] Explanation of reference numerals in the attached figures

[0031] 100. Rock drilling rig;

[0032] 110. Propel the encoder;

[0033] 120. Controller;

[0034] 130. Human-computer interaction devices;

[0035] 140, ECM;

[0036] 150, J1939;

[0037] 160. First bus;

[0038] 170. Second bus;

[0039] 180. Current transformer;

[0040] 190. Voltage transmitter;

[0041] 200. Data terminal;

[0042] 210. Communication terminal;

[0043] 220. Data transmission module. Detailed Implementation

[0044] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0045] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0046] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0047] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0048] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0049] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] like Figure 1 and Figure 2 As shown, a rock drilling rig 100 of one embodiment of this application mainly includes a propulsion encoder 110, a controller 120, a human-machine interaction device 130, a data terminal 200, a current transformer 180, and a voltage transmitter 190.

[0051] Specifically, the push encoder 110 is used to detect the push position of the drill rod of the drilling rig 100; the controller 120 is used to interact with the push encoder 110; the human-machine interface device 130 is used for user operation to set or display data; the communication terminal is used to establish a communication connection with the human-machine interface device 130; and the controller 120 transmits historical hole count data and / or historical hole depth data to the data terminal 200.

[0052] The engine ECM 140 communicates with the controller 120 via J1939 150 or other buses.

[0053] like Figure 2 As shown, the controller 120 transmits historical hole count data and / or historical hole depth data to the human-machine interaction device 130 via the first bus 160; the human-machine interaction device 130 transmits historical hole count data and / or historical hole depth data to the data terminal 200.

[0054] The human-computer interaction device 130 can also transmit historical hole count data and / or historical hole depth data to the data terminal 200 via a wireless network; or via a mobile data terminal 200 such as a mobile phone, laptop, or tablet computer, through the second bus 170. The data terminal 200 can be a Tbox 4G module or other communication modules.

[0055] The current transformer 180 is used to monitor the current in the circuit, and the voltage transmitter 190 is used to detect the voltage in the circuit.

[0056] like Figure 3As shown, the engine ECM 140 communicates with the controller 120 via J1939 150. The engine ECM 140 can also communicate with the controller 120 via other buses.

[0057] The controller 120 receives data from the propulsion encoder 110, the current transformer 180, and the voltage transmitter 190. The controller 120 transmits the data to the human-machine interface device 130 via the first bus 160. The human-machine interface device 130 directly sends the data to a mobile phone application, such as via Bluetooth or NFC; alternatively, it can send the data to the data transmission module 220 via the second bus 170.

[0058] like Figure 4 As shown, the rock drilling rig 100 described above adopts the following control method:

[0059] S310: Controller 120 receives position data from propulsion encoder 110.

[0060] S320: The controller 120 determines whether the position data is used to accumulate to the historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig 100.

[0061] S330: The controller 120 determines whether to store the combination of location data and historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig 100.

[0062] like Figure 5 As shown, the specific steps by which the S330 controller 120 determines whether to store location data combined with historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig 100 include:

[0063] S331: Controller 120 receives position data from propulsion encoder 110.

[0064] S332: The controller 120 obtains the impact start position L1 and current position L2 of the drill rod based on the position data of the feed encoder 110;

[0065] S333: The controller 120 determines whether to store the combination of position data and historical hole count data and / or historical hole depth data based on the numerical relationship between the impact start position L1 and the current position L2.

[0066] After the rock drilling rig 100 is powered on, the feed encoder 110 retains its initial value, which is the impact start position L1. When drilling the second hole, the corresponding impact start position L1 is the position shown by the feed encoder 110 when the rock drilling rig 100 started drilling the first hole, and so on. If the working surface of the rock drilling rig 100 is relatively flat, the corresponding impact start position can also be the initial value retained by the feed encoder 110.

[0067] Generally speaking, the propulsion encoder 110 is a component propulsion encoder 110. After the rock drilling rig 100 is powered off and then powered on again, the value of the propulsion encoder 110 is the same as the value of the propulsion encoder 110 before the power failure.

[0068] Historical borehole depth data includes current borehole depth data and cumulative borehole depth data. Cumulative borehole depth data equals the sum of the original borehole depth data and the current borehole depth data. That is, the current borehole depth data is obtained by removing the original borehole depth data from the cumulative borehole depth data.

[0069] The cumulative hole depth data from the moment the rock drilling rig 100 is powered on until its power is cut off is the current cumulative hole depth data. The cumulative hole depth data can be set to 0 after each power outage; alternatively, the cumulative hole depth data can be left unreset for a certain period after a power outage. For example, on the same day, the cumulative hole depth data after the rock drilling rig 100 is powered on will be the initial cumulative hole depth data for the next time it is powered on.

[0070] When the rock drilling rig 100 is in operation, the mining conditions are complex, especially during tunnel excavation, and different geological conditions are encountered. The line of sight of the rock drilling rig 100 is obstructed during operation, and manual judgment is delayed, which will lead to inaccurate meter readings and is not conducive to the operator's workload statistics.

[0071] Meanwhile, during the operation of the rock drilling rig 100, there may be unstable rock areas or loose rocks that are prone to falling. When there is gravel, it needs to be cleaned, and this may be done repeatedly using the drill rod. When loose rocks are present, the operator may use the drill rod to pry them up. Some holes, after being drilled by the rock drilling rig 100, may be found to be in unsuitable locations and will be abandoned. During all these processes, the feed encoder 110 will generate rising edge signals. If the drilling meters are judged solely based on these signals, the drilling depth will be significantly inaccurate.

[0072] The controller 120 determines whether to store the combination of position data and historical hole count data based on the numerical relationship between the impact start position L1 and the current position L2. The determination conditions include: whether L1+A>L2; where A is the dynamic spacing threshold set by the user.

[0073] The impact state of the rock drilling rig 100 includes the impact time T of the rock drilling rig 100; the control method includes: the controller 120 receiving time data from the propulsion encoder 110; the controller 120 determining whether the position data is used to accumulate to the historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig 100; and the controller 120 determining whether to store the combination of position data and historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig 100.

[0074] Determining whether the location data is stored based on the impact time T of the rock drilling rig 100 includes: determining whether T>B; where B is a user-set dynamic time interval threshold and B is a constant greater than zero.

[0075] The impact time T of the rock drilling rig 100 is the time data obtained by the controller 120 based on the rising or falling edge data of the push encoder 110. It can be the continuous impact time T1, in which case T1>B1, where B1 is the dynamic threshold of the continuous impact time; or it can be the impact time interval T2 between the current impact and the previous impact, in which case T2>B2, where B2 is the dynamic threshold of the time interval between the current impact and the previous impact set by the user. Both the current impact and the previous impact in the "impact time interval T2 between the current impact and the previous impact" must meet the requirement that the continuous impact time T1>B1.

[0076] Continuous impact time: The continuous impact signal is received continuously. This value is slightly longer than the time of the vibrating clamp (forced air impact to remove the drill bit). Under the rock drill protection, such as a forced high impact, it will not exceed 3 seconds. Therefore, in order to prevent misjudgment, the continuous impact time of drilling is set to 5 seconds by default.

[0077] The user-defined dynamic time interval threshold B can be one or more. If there are multiple thresholds, the user-defined dynamic time interval threshold B can be different.

[0078] As a specific solution, the steps of the control method for historical hole depth data of the 100 drilling rig are as follows: Figure 6 As shown.

[0079] The specific steps are as follows:

[0080] S410: Controller 120 reads the cumulative hole depth data and the current hole depth data H0.

[0081] S420: Controller 120 determines whether the rock drilling rig 100 is in an impact state, specifically by determining whether the propulsion encoder 110 has a rising edge. If not, return to step S410; if yes, proceed to step S430.

[0082] S430: Controller 120 records the current position L2 by pushing encoder 110.

[0083] S440: Controller 120 determines whether the historical hole count data has changed; if yes, proceed to step S450; if no, proceed to step S460.

[0084] S450: Controller 120 stores the cumulative hole depth data, sets the current hole depth data to 0, sets the hole number change flag to 0, and returns to S410 to continue the next process.

[0085] S460: Controller 120 determines whether (L2-L1) is greater than H0. If not, return to step S420; if yes, proceed to step S470. The difference between L2 and L1 is actually the drill bit position, which needs to be compared with H0. If the difference is greater than H0, it is the hole depth.

[0086] S470: The controller 120 combines the stored position data with the current hole depth data, and updates the current hole depth data to L2; the cumulative hole depth data is also updated accordingly.

[0087] When the drilling rig 100 is advancing normally to drill a new hole, the current hole depth data is the difference between the current position L2 and the impact start position L1, i.e., L2-L1. The current hole depth data is a dynamically changing value. To distinguish it, if the current hole depth data H0 changes according to the current position L2, the updated current hole depth data can also be called the current actual hole depth.

[0088] Specifically, the current actual hole depth is affected by the current position L2 and the current hole depth data HO. That is, when the drill rod position exceeds the current hole depth data, the current actual hole depth is the difference between the current drill rod position L2 and the impact start position L1, that is, the updated current hole depth data HO is equal to the current actual hole depth; when the drill rod position does not exceed the current hole depth data HO, the current actual hole depth is still the value of the current hole depth data HO.

[0089] The cumulative hole depth data equals the sum of the original hole depth data and the current hole depth data. That is, the current hole depth data H0 is obtained by removing the original hole depth data from the cumulative hole depth data. Therefore, when the number of holes remains unchanged, a change in the current hole depth data H0 will also result in a change in the cumulative hole depth data.

[0090] S480: Controller 120 determines that the impact time T of the drilling rig 100 is greater than or equal to B1 and that the drilling rig 100 exhibits a falling edge signal. If yes, proceed to step S390; otherwise, return to step S420. When the feed encoder 110 exhibits a falling edge signal, controller 120 returns to step S410. At this point, the current hole depth data HO is the actual hole depth data, i.e., the updated current hole depth data.

[0091] S490: Controller 120 stores the updated current hole depth data.

[0092] As a specific solution, the steps for controlling the historical hole count data of the rock drilling rig are as follows: Figure 6 As shown.

[0093] The specific steps taken by the S440 controller 120 to determine whether the historical hole count data has changed are as follows:

[0094] S441: Initialization state.

[0095] S441: Controller 120 determines whether the rock drilling rig 100 has a rising edge signal. If not, return to step S441; if yes, proceed to step S443.

[0096] S443: Controller 120 receives position data from propulsion encoder 110; controller 120 obtains the impact start position L1 and current position L2 of drill pipe based on the position data of propulsion encoder 110.

[0097] S444: Controller 120 determines L1+A>L2, T≥B1 and T>B2, where A is the dynamic spacing threshold set by the user. If at least one of the three conditions is negative, return to step S341; if all three conditions are positive, proceed to step S345.

[0098] S445: Controller 120 increments the hole count by 1, and the historical hole count data changes.

[0099] When the tunneling trolley is drilling, it is also necessary to store other parameters of the on-board equipment. When there is no drilling, the following data is recorded every three minutes. When drilling, other parameters of the equipment are stored with the end of each hole as a marker, such as motor hours, rock drill impact hours, alarm count, etc.

[0100] Both B1 and B2 are user-defined dynamic time interval thresholds and are constants greater than zero.

[0101] When the rock drilling rig 100 is drilling, the feed encoder 110 will produce a rising edge signal. However, the appearance of a rising edge signal in the feed encoder 110 does not necessarily mean that the rock drilling rig 100 is drilling.

[0102] In areas with unstable rock, borehole collapse is prone to occur after drilling. Therefore, once the borehole reaches a certain depth (e.g., 5 meters), the drill bit needs to be retracted to a certain position (e.g., 2 meters deep) before impact and advancement are initiated. This involves repeatedly moving the drill bit back and forth within the borehole to clear away collapsed debris and stabilize the borehole walls. Generally, in this case, the value of A is set to 0.5 meters. Since L1 + A ≤ L2 during borehole cleaning, the data from this cleaning process is not included in the borehole length calculation.

[0103] Therefore, the appearance of a rising edge signal on the push encoder 110 cannot be used as a condition for the drilling rig 100 to drill a new hole. L1+A>L2 indicates that the drill rod is close to the borehole opening.

[0104] When L1+A>L2, and it is determined that T1≥B1 and T2>B2, it is determined that the rock drilling rig 100 is drilling a new hole at this time.

[0105] There is a certain risk of loose rocks falling from the rock face, so some operators use a rock drilling rig 100 to remove them, which is called a prying and anchoring operation. Prying and anchoring occurs in two scenarios: First, the drill rod is still relatively deep in the hole, i.e., L1+A≤L2. In this case, the controller 120 will not accumulate the corresponding position data into the historical hole count data. Second, the drill rod has retreated to a position closer to the hole opening, i.e., L1+A>L2. However, because the impact time interval and continuous impact time are less than the user-set dynamic time interval threshold, i.e., T1<B1 and T2≤B2, in this case, if the current position L2 is less than or equal to the current hole depth H0, the current hole depth value remains unchanged; if the current position L2 is greater than the current hole depth H0, the current hole depth data is updated to the value of L2.

[0106] The number of drilled holes and the total number of holes drilled by the rock drilling rig 100 can be achieved using the method described above. Effective counting of the number of holes drilled by the rock drilling rig 100 is achieved by comparing the current position L2 with the impact start position L1, and by comparing the continuous impact time and impact interval with a user-set threshold. Simultaneously, when the continuous impact time exceeds the set value and a falling edge signal appears on the rock drilling rig 100's push encoder 110, the controller 120 stores the data. That is, the controller 120 only stores the number of holes and / or hole depth data, reducing the storage of process data and the amount of data transmitted. This facilitates data transmission from the controller 120 to the data terminal 200, such as the data transmission module 220 or a communication terminal 210 like a mobile phone software.

[0107] In the generated hole depth count, some holes have a shallow depth, below the set value, and need to be manually removed. This simplifies the generated data and makes it easier for users to manually remove them.

[0108] Of course, the meter limit for discarded holes can also be compared with the dynamic spacing threshold set by the user, and the controller 120 can determine whether it is a new hole.

[0109] Meanwhile, the current transformer 180 and voltage transmitter 190 are connected for communication. The energy consumption of the drill rod during the drilling process can be obtained through the controller 120. If abnormal situations occur during the drilling process of the rock drilling rig 100, such as anchor prying or hole washing, although the data is statistically analyzed in the transmitted data, the energy consumption per meter can be calculated by effectively counting the meters, which can be used to assess the operator's skill level.

[0110] The rock drilling rig can also collect fault codes such as high engine ECM 140 coolant temperature and high hydraulic pressure via buses like J1939 150, and collect other alarm data such as hydraulic oil temperature and transmission temperature through onboard sensors. The backend system can then calculate the frequency of each fault for further analysis.

[0111] In this application, the rising edge state or falling edge signal of the rock drilling rig 100 is the rising edge or falling edge signal that drives the encoder.

Claims

1. A control method for a rock drilling rig, wherein, Rock drilling rigs include: A push encoder is used to detect the push position of the drill rod of the rock drilling rig; The controller is used to interact with the propulsion encoder. Its features are: The control method includes: The controller receives the position data from the propulsion encoder; The controller determines whether the position data is used to accumulate to the historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig. The controller determines whether to store the combination of the location data and the historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig. The controller determines whether to store the combination of the location data and the historical hole count data and / or historical hole depth data based on the impact state of the rock drilling rig, including: The controller obtains the impact start position L1 and current position L2 of the drill rod based on the position data of the propulsion encoder; The controller determines whether to store the combination of the position data and the historical hole count data and / or historical hole depth data based on the numerical relationship between the impact start position L1 and the current position L2. The controller determines whether to store the combination of the position data and the historical hole count data based on the numerical relationship between the impact start position L1 and the current position L2. The determination conditions include: determining whether L1+A>L2. Where A is the dynamic spacing threshold set by the user; The impact state of the rock drilling rig includes the impact time T of the rock drilling rig. The control method further includes: The controller receives the time data from the propulsion encoder; The controller determines whether the position data is used to accumulate to the historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig. The controller determines whether to store the combination of the location data and the historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig. The step of determining whether the location data stores a combination of the location data and the historical hole count data and / or historical hole depth data based on the impact time T of the rock drilling rig includes: determining whether T>B; Where B is the dynamic time interval threshold set by the user.

2. The control method for the rock drilling rig according to claim 1, characterized in that: A is a constant greater than zero.

3. The control method for the rock drilling rig according to claim 1, characterized in that: B is a constant greater than zero.

4. A rock drilling rig, wherein the rock drilling rig uses the control method of the rock drilling rig according to any one of claims 1 to 3, wherein, The rock drilling rig includes: A push encoder is used to detect the push position of the drill rod of the rock drilling rig; The controller is used to interact with the propulsion encoder. Human-computer interaction devices are used by users to set or display data. Its features are: The controller transmits the historical hole count data and / or historical hole depth data to the human-machine interaction device via a first bus.

5. The rock drilling rig according to claim 4, wherein the rock drilling rig further comprises: A data terminal is used to establish a communication connection with a human-computer interaction device. Its features are: The human-computer interaction device transmits the historical hole count data and / or historical hole depth data to the data terminal.

6. The rock drilling rig according to claim 5, characterized in that, The rock drilling rig also includes: The human-computer interaction device transmits the historical hole count data and / or historical hole depth data to the data terminal via the second bus.

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