A four-arm high-efficiency rock-breaking drill with efficient intelligent identification control

Abstract

The present invention provides a four-arm high-efficiency rock-breaking drill with efficient intelligent identification control, including: a detection module, which is used to detect the rock parameters of each arm working area of ​​the four-arm rock-breaking drill based on the front-end detection sensor, and determine the rock characteristics of the corresponding working area based on the rock parameters; an equipment control module, which is used to simulate the rock-breaking and rock-drilling process of each arm based on the rock characteristics, determine the optimal rock-drilling parameters of each arm, and perform adaptive parameter adjustment on each arm based on the optimal rock-drilling parameters; a monitoring and feedback module, which is used to adjust the results to control the parallel operation of the four arms of the four-arm rock-breaking drill, and independently and dynamically optimize the parameters of each arm based on the real-time rock status and equipment status of each working area. The efficient operation of the four-arm rock-breaking drill is ensured, energy consumption is reduced, resources are saved, and the control accuracy and intelligence of the four-arm rock-breaking drill are also improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and in particular to a four-arm high-efficiency rock breaking drill with high-efficiency intelligent identification control. Background Art

[0002] The four-arm high-efficiency rock-breaking rock drill is a mechanical equipment specially used for crushing and drilling rocks in mines, tunnels and other projects. It has four operating arms and can crush and drill rocks in multiple directions at the same time to improve operating efficiency;

[0003] At present, when rock breaking and rock drilling machines are performing rock breaking and rock drilling operations, most of them set the operating parameters and directly perform rock breaking and rock drilling operations on rocks with different rock characteristics. The operating parameters of the equipment cannot be adaptively adjusted according to the rock characteristics of different areas, which leads to high energy consumption. At the same time, it is not conducive to improving the operating efficiency and the accuracy of rock breaking and rock drilling, resulting in a waste of energy and resources.

[0004] Therefore, in order to overcome the above-mentioned defects, the present invention provides a four-arm high-efficiency rock breaking rock drill with efficient intelligent identification control. Summary of the invention

[0005] The present invention provides a four-arm high-efficiency rock breaking drill with efficient intelligent identification and control, which is used to obtain rock parameters of each arm's working area respectively through a front-end detection sensor, and analyze the rock parameters to achieve accurate and effective determination of the rock characteristics of each arm's working area, thereby providing a basis for adjusting the working parameters of each arm. Secondly, the rock breaking and drilling process of one arm is simulated through the rock characteristics, and the optimal rock drilling parameters of each arm are locked according to the simulation results, so as to achieve adaptive adjustment of the operating parameters of each arm according to the optimal rock drilling parameters, thereby ensuring the efficiency and accuracy of the rock breaking and drilling of each arm. Finally, the adjusted four-arm rock breaking drill is controlled to achieve rock breaking and drilling operations on the rocks in the corresponding working area, and in the rock breaking and drilling process, the parameters of each arm are independently and dynamically optimized according to the real-time rock state and equipment state, thereby ensuring the efficient operation of the four-arm rock breaking drill, reducing energy consumption while saving resources, and also improving the control accuracy and intelligence of the four-arm rock breaking drill.

[0006] The present invention provides a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, comprising:

[0007] A detection module, for detecting rock parameters of a working area of ​​each arm of the four-arm rock breaking drill respectively based on a front-end detection sensor, and determining rock characteristics of the corresponding working area based on the rock parameters;

[0008] The equipment control module is used to simulate the rock breaking and drilling process of each arm based on rock characteristics, determine the optimal drilling parameters of each arm, and adaptively adjust the parameters of each arm based on the optimal drilling parameters;

[0009] The monitoring and feedback module is used to control the parallel operation of the four arms of the four-arm rock breaking drill based on the adjustment results, and to independently and dynamically optimize the parameters of each arm based on the real-time rock status and equipment status of each working area.

[0010] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control and a detection module comprises:

[0011] An equipment self-checking unit, used to determine the required sensors based on the rock breaking and rock drilling business standards, and to perform equipment self-checking on the front-end detection sensors of the four-arm rock breaking and rock drilling machine based on the required sensors;

[0012] An equipment control unit, used to calibrate the front-end detection sensor according to the service standard of the required sensor based on the equipment self-test result, and to distribute control the front-end detection sensor of each arm of the four-arm rock breaking drill to perform multi-dimensional parameter detection on the rock in the corresponding working area based on the calibration result;

[0013] The parameter determination unit is used to perform object differentiation and aggregation on the multi-dimensional parameter detection results of each working area based on the data source, and obtain the rock parameters of each arm working area based on the object differentiation and aggregation.

[0014] Preferably, a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, a rock parameter determination unit, comprises:

[0015] The parameter sorting subunit is used to extract the regional identification of each arm working area, and associate and bind the working area with the rock parameters based on the regional identification;

[0016] Data return subunit, used for:

[0017] Based on the correlation binding results, the rock parameters are discretized according to the time series to obtain discrete sample points, and the discrete sample points are quantized into discrete digital signals based on the quantization level;

[0018] The discrete digital signal is encoded based on the service standard of the data interface, and the encoded discrete digital signal is transmitted back to the host computer based on the data interface.

[0019] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control and a detection module comprises:

[0020] An indicator determination unit, used to determine multiple detection branch services for rocks based on the rock detection process, and determine the analysis indicator corresponding to each detection branch service based on the operation protocols of the multiple detection branch services;

[0021] The system construction unit is used to construct a rock characteristic analysis system corresponding to each detection branch business based on the analysis indicators, and map the rock parameters of each arm working area to the corresponding rock characteristic analysis system for analysis in turn;

[0022] The rock property determination unit is used to determine the basic rock parameters of each working area based on the analysis results, and obtain the rock properties of each arm working area based on the basic rock parameters.

[0023] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, a rock property determination unit, comprises:

[0024] The result acquisition subunit is used to acquire the rock characteristics of each arm working area and the regional label of each arm working area, and associate and encapsulate the rock characteristics and the regional label;

[0025] The result recording subunit is used to construct a rock breaking and drilling record table, and record the rock characteristics and area labels of each arm working area in the rock breaking and drilling record table based on the associated encapsulation results.

[0026] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, equipment control module, comprises:

[0027] Scene building unit, used for:

[0028] Based on the computer, the discrete structural elements of each working area are constructed according to the rock parameters and rock characteristics of each arm working area, and the discrete structural elements are positionally associated based on the structural relationship between the rocks;

[0029] Based on the position association results, a background data monitoring thread is configured for each discrete structural element, and a virtual rock scene of each arm working area is obtained based on the allocation results;

[0030] Simulation unit for:

[0031] Based on the computer, a lower limit is assigned to the initial parameters of the virtual four-arm rock breaking drill according to the theoretical state parameter interval, and each arm of the virtual four-arm rock breaking drill is controlled to independently break and drill the virtual rock scene based on the lower limit assignment result;

[0032] Based on the control results, the state parameter change of each discrete structural element under the action of the virtual four-arm rock breaking drill is obtained in real time according to the background data monitoring thread, and the rock structure stability coefficient in the working area of ​​each arm is determined based on the state parameter change;

[0033] The optimal drilling parameters determination unit is used for:

[0034] Based on the rock structure stability coefficient, a feedback adjustment mechanism for the virtual four-arm rock-breaking drill is constructed, and based on the feedback adjustment mechanism, the operating parameters of each arm of the virtual four-arm rock-breaking drill are independently and dynamically iteratively adjusted based on the result assigned by the lower limit according to the theoretical state parameter interval;

[0035] When it is determined based on the independent dynamic iterative adjustment result that the rock structure stability coefficient reaches the rock drilling and breaking degree, the feedback adjustment mechanism is jumped out, and the parameters corresponding to the current dynamic iterative adjustment are determined as the optimal rock drilling parameters of each arm.

[0036] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, equipment control module, comprises:

[0037] A parameter acquisition unit, used to acquire the optimal rock drilling parameters of each arm and determine the adapter components corresponding to the optimal rock drilling parameters;

[0038] Parameter adaptive adjustment unit, used for:

[0039] Determine the performance indicators of the adapter components based on the equipment type and working environment of the four-arm rock drill, and quantify the performance indicators accordingly based on the optimal rock drilling parameters;

[0040] The parameters of each arm are adaptively adjusted based on the quantification results.

[0041] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, equipment control module, comprises:

[0042] a monitoring unit, for controlling each arm of the four-arm rock breaking and rock drilling machine to perform rock breaking and rock drilling measurement operations in a corresponding actual working environment based on the adaptive adjustment result, and collecting a real-time video stream of each arm in the actual working environment based on the control result;

[0043] Measurement unit for:

[0044] Determine the state change of the rock under the four-arm rock breaking drill and the real-time operating state of each arm in the four-arm rock breaking drill based on the real-time video stream, and determine the current rock breaking and drilling executable force of the four-arm rock breaking drill based on the state change and the real-time operating state;

[0045] The confidence level of the optimal rock drilling parameters is determined based on the rock breaking and rock drilling executability and the service standard, and when the confidence level is greater than a preset threshold, it is determined that the adaptive adjustment of the parameters of each arm is qualified.

[0046] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, monitoring and feedback module, comprises:

[0047] Task issuing unit, used for:

[0048] Based on the management terminal, a rock breaking and drilling task is issued to the four-arm rock breaking and drilling machine, and based on the main control center, the rock breaking and drilling task is analyzed to obtain the structural characteristics of the rock breaking and drilling task;

[0049] Based on the structural characteristics and the working attributes of each arm in the four-arm rock breaking and rock drilling machine, the responsibilities of the rock breaking and rock drilling tasks are divided to obtain the processing tasks of each arm, and the processing tasks of each arm are distributed and sent to the independent control center of each arm based on the deployable threads;

[0050] Control unit for:

[0051] Determine the task nodes included in the corresponding processing task based on the independent control center, and perform logical association on the task nodes based on the time sequence;

[0052] Based on the execution logic association result, each arm of the four-arm rock breaking drill is controlled to perform initial point positioning in the corresponding working area, and based on the initial point positioning result, the four arms of the four-arm rock breaking drill are controlled to perform parallel operation according to the execution logic association result.

[0053] Preferably, a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, monitoring and feedback module, comprises:

[0054] Real-time monitoring unit for:

[0055] Based on the control results, the rock parameters of each arm of the four-arm rock drill and the current rock section in the corresponding working area are obtained in real time, and the rock parameters are compared with the upper rock parameters to determine the relative basic parameter change amplitude of the current rock section;

[0056] At the same time, the operating state parameters of each arm when performing the rock breaking and drilling operation of the current rock formation section are obtained, and the load value of each arm is determined based on the operating state parameters;

[0057] The independent dynamic optimization unit is used to determine the optimization amount of the operating state parameters of the corresponding working arm based on the amplitude of the relative basic parameter change when the load value exceeds the current set load value, and independently and dynamically optimize the operating state parameters of the corresponding working arm based on the optimization amount.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] 1. The rock parameters of each arm's working area are obtained through the front-end detection sensor, and the rock parameters are analyzed to accurately and effectively determine the rock characteristics of each arm's working area, thereby providing a basis for adjusting the working parameters of each arm. Secondly, the rock breaking and drilling process of one arm is simulated through the rock characteristics, and the optimal drilling parameters of each arm are locked according to the simulation results, so as to realize adaptive adjustment of the operating parameters of each arm according to the optimal drilling parameters, ensuring the efficiency and accuracy of the rock breaking and drilling of each arm. Finally, the adjusted four-arm rock breaking drill is controlled to realize rock breaking and drilling operations on the rocks in the corresponding working area. In the process of rock breaking and drilling, the parameters of each arm are independently and dynamically optimized according to the real-time rock status and equipment status, ensuring the efficient operation of the four-arm rock breaking drill, reducing energy consumption and saving resources, and also improving the control accuracy and intelligence of the four-arm rock breaking drill.

[0060] 2. The minimum structural unit of each working area is determined by computer according to the rock parameters and rock characteristics of each arm working area, and the minimum structural unit is positionally associated according to the structural relationship between rocks, which provides convenience for building virtual scenes. At the same time, after the position association, a background data monitoring thread is configured for each discrete structural element to achieve effective acquisition of the final virtual rock scene, which is convenient for determining the structural state change of each discrete structural element of the four-arm rock breaking drill when it is working according to the background data monitoring thread. Secondly, the initial parameters of the virtual four-arm rock breaking drill are set according to the theoretical state parameter range, and After the determination is completed, a simulated rock breaking and drilling operation is performed, and during the rock breaking and drilling operation, the change in state parameters of each discrete structural element is monitored through the background data monitoring thread, so that the rock structure stability coefficient in the working area of ​​each arm can be effectively obtained according to the change in state parameters. Finally, a feedback adjustment mechanism of the virtual four-arm rock breaking drill is constructed according to the rock structure stability coefficient, so that the operating parameters of each arm can be independently and dynamically iteratively adjusted according to the feedback adjustment mechanism, and finally the optimal drilling parameters of each arm are locked, which ensures the efficient operation of the four-arm rock breaking drill, and at the same time ensures the efficiency and accuracy of the rock breaking and drilling of each arm.

[0061] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0062] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0064] Figure 1 It is a structural diagram of a four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control in an embodiment of the present invention;

[0065] Figure 2 It is a structural diagram of a detection module in a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control in an embodiment of the present invention;

[0066] Figure 3 It is a structural diagram of an equipment control module in a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0068] Embodiment 1:

[0069] This embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, such as Figure 1 As shown, including:

[0070] A detection module, for detecting rock parameters of a working area of ​​each arm of the four-arm rock breaking drill respectively based on a front-end detection sensor, and determining rock characteristics of the corresponding working area based on the rock parameters;

[0071] The equipment control module is used to simulate the rock breaking and drilling process of each arm based on rock characteristics, determine the optimal drilling parameters of each arm, and adaptively adjust the parameters of each arm based on the optimal drilling parameters;

[0072] The monitoring and feedback module is used to control the parallel operation of the four arms of the four-arm rock breaking drill based on the adjustment results, and to independently and dynamically optimize the parameters of each arm based on the real-time rock status and equipment status of each working area.

[0073] In this embodiment, the front-end monitoring sensor is pre-set and arranged at the front end of each arm of the four-arm rock breaking drill to detect the rock condition.

[0074] In this embodiment, the working area of ​​each arm refers to the position of the rock where each working arm is located, that is, the rock area where each working arm needs to break and drill rocks.

[0075] In this embodiment, the rock parameters refer to the color, hardness parameter, thickness parameter, etc. of the rock in the working area of ​​each arm.

[0076] In this embodiment, the rock properties refer to the specific hardness of the rock, the width of the gaps between the rocks, the brittleness of the rock, etc.

[0077] In this embodiment, the simulation of the rock breaking and drilling process of each arm based on the rock characteristics is performed on the simulation software in the computer.

[0078] In this embodiment, the optimal rock drilling parameters refer to the optimal working parameters corresponding to each arm when performing rock breaking and rock drilling determined according to the simulation results, that is, the rock breaking and rock drilling operations can be effectively performed, and at the same time, there is no useless energy consumption in the four-arm rock breaking drill.

[0079] In this embodiment, performing adaptive parameter adjustment on each arm refers to configuring the operating parameters of each arm according to the optimal rock drilling parameters of each arm, thereby ensuring that each arm can smoothly perform corresponding rock breaking and rock drilling operations.

[0080] In this embodiment, the real-time rock state refers to the rock hardness and other conditions at the current rock section.

[0081] In this embodiment, the device status refers to the current operating status of the four-arm rock breaking drill, such as whether it is overloaded.

[0082] In this embodiment, independent dynamic optimization refers to adjusting parameters of the working arm that needs to be adjusted separately, and the normal operation of other working arms is not affected during the adjustment process.

[0083] The working principle and beneficial effects of the above technical solution are as follows: the rock parameters of the working area of ​​each arm are respectively obtained through the front-end detection sensor, and the rock parameters are analyzed to achieve accurate and effective determination of the rock characteristics of the working area of ​​each arm, thereby providing a basis for adjusting the working parameters of each arm; secondly, the rock breaking and drilling process of one arm is simulated through the rock characteristics, and the optimal rock drilling parameters of each arm are locked according to the simulation results, so as to achieve adaptive adjustment of the operating parameters of each arm according to the optimal rock drilling parameters, thereby ensuring the efficiency and accuracy of the rock breaking and drilling of each arm; finally, the adjusted four-arm rock breaking drill is controlled to achieve rock breaking and drilling operations on the rocks in the corresponding working area, and in the rock breaking and drilling process, the parameters of each arm are independently and dynamically optimized according to the real-time rock status and equipment status, thereby ensuring the efficient operation of the four-arm rock breaking drill, reducing energy consumption and saving resources, and also improving the control accuracy and intelligence of the four-arm rock breaking drill.

[0084] Embodiment 2:

[0085] Based on Example 1, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, such as Figure 2 As shown, the detection module includes:

[0086] An equipment self-checking unit, used to determine the required sensors based on the rock breaking and rock drilling business standards, and to perform equipment self-checking on the front-end detection sensors of the four-arm rock breaking and rock drilling machine based on the required sensors;

[0087] An equipment control unit, used to calibrate the front-end detection sensor according to the service standard of the required sensor based on the equipment self-test result, and to distribute control the front-end detection sensor of each arm of the four-arm rock breaking drill to perform multi-dimensional parameter detection on the rock in the corresponding working area based on the calibration result;

[0088] The parameter determination unit is used to perform object differentiation and aggregation on the multi-dimensional parameter detection results of each working area based on the data source, and obtain the rock parameters of each arm working area based on the object differentiation and aggregation.

[0089] In this embodiment, the rock breaking and drilling business standards are known in advance and are used to characterize the execution standards and monitoring requirements for the rock breaking and drilling industry.

[0090] In this embodiment, the service standard is used to characterize the working conditions and operating parameters corresponding to each sensor.

[0091] In this embodiment, multi-dimensional parameter detection refers to collecting data at different angles of the rocks in the corresponding working area through the adapted front-end detection sensor.

[0092] In this embodiment, object differentiation and aggregation refers to differentiating the data in the multi-dimensional parameter detection results according to the data source, in order to determine the specific detection results corresponding to different objects.

[0093] The working principle and beneficial effects of the above technical solution are: by performing equipment self-inspection on the front-end detection sensor of the four-arm rock breaking drill, and calibrating the front-end detection sensor after the equipment self-inspection passes, the accuracy and reliability of the detected rock parameters are ensured; secondly, after the equipment is calibrated, the front-end detection sensor of each arm is distributedly controlled to perform parameter detection of different dimensions on the rocks in the corresponding working area, ensuring the comprehensiveness of the obtained rock parameters; finally, the multi-dimensional parameter detection results of the same working area are summarized to achieve accurate and effective determination of the rock parameters of each working area, thereby providing parameter support for controlling the four-arm rock breaking drill.

[0094] Embodiment 3:

[0095] On the basis of Example 2, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, and a rock parameter determination unit, including:

[0096] The parameter sorting subunit is used to extract the regional identification of each arm working area, and associate and bind the working area with the rock parameters based on the regional identification;

[0097] Data return subunit, used for:

[0098] Based on the correlation binding results, the rock parameters are discretized according to the time series to obtain discrete sample points, and the discrete sample points are quantized into discrete digital signals based on the quantization level;

[0099] The discrete digital signal is encoded based on the service standard of the data interface, and the encoded discrete digital signal is transmitted back to the host computer based on the data interface.

[0100] In this embodiment, the area identification refers to a marking symbol that can distinguish the working area of ​​each arm.

[0101] In this embodiment, the discrete sample points refer to those obtained by discretely processing the rock parameters according to the time series (ie, the time development sequence), that is, the specific rock parameters corresponding to each moment.

[0102] The working principle and beneficial effects of the above technical solution are: by determining the regional identification of the working area of ​​each arm, the working area is associated with the rock parameters through the regional identification, thereby ensuring the orderliness of the data; secondly, the associated rock parameters are discretized to convert the analog signal into a discrete digital signal, thereby facilitating the transmission of the detected rock parameters; finally, the discrete digital signal is encoded, and the data is transmitted back to the host computer after the encoding is completed, ensuring that the collected rock parameters can be accurately and effectively transmitted to the control and analysis terminal, thereby facilitating the determination of the optimal participating parameters of each arm in the four-arm rock breaking drill, thereby improving the control accuracy and intelligence of the four-arm rock breaking drill.

[0103] Embodiment 4:

[0104] On the basis of Example 1, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, and a detection module, including:

[0105] An indicator determination unit, used to determine multiple detection branch services for rocks based on the rock detection process, and determine the analysis indicator corresponding to each detection branch service based on the operation protocols of the multiple detection branch services;

[0106] The system construction unit is used to construct a rock characteristic analysis system corresponding to each detection branch business based on the analysis indicators, and map the rock parameters of each arm working area to the corresponding rock characteristic analysis system for analysis in turn;

[0107] The rock property determination unit is used to determine the basic rock parameters of each working area based on the analysis results, and obtain the rock properties of each arm working area based on the basic rock parameters.

[0108] In this embodiment, the rock detection process is pre-set and is used to characterize the items and detection steps for rock detection.

[0109] In this embodiment, the multiple detection score services refer to all items of rock detection determined through the rock detection process.

[0110] In this embodiment, the operation protocol is known in advance and is used to characterize the detection requirements and analysis rules corresponding to services with different detection scores.

[0111] In this embodiment, the basic rock parameters refer to the rock hardness parameters, crack width parameters, etc. of each working area.

[0112] The working principle and beneficial effects of the above technical solution are: by determining multiple rock detection branch businesses according to the rock detection process, and locking the analysis indicators of each detection branch business according to the operation protocols of the multiple detection branch businesses, secondly, constructing a rock characteristic analysis system according to the analysis indicators, and realizing accurate and reliable rock characteristic analysis of the rock parameters of each arm working area through the rock characteristic analysis system, and finally, locking the rock characteristics of each arm working area according to the basic rock parameters obtained according to the analysis results, so as to facilitate the determination of the optimal rock drilling parameters of each arm according to the rock characteristics, which provides convenience and guarantee for the adaptation of the working parameters of the four-arm rock breaking drill.

[0113] Embodiment 5:

[0114] On the basis of Example 4, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, and a rock property determination unit, including:

[0115] The result acquisition subunit is used to acquire the rock characteristics of each arm working area and the regional label of each arm working area, and associate and encapsulate the rock characteristics and the regional label;

[0116] The result recording subunit is used to construct a rock breaking and drilling record table, and record the rock characteristics and area labels of each arm working area in the rock breaking and drilling record table based on the associated encapsulation results.

[0117] In this embodiment, the region label refers to a marking symbol that indicates the identity of the working region of each arm.

[0118] The working principle and beneficial effects of the above technical solution are: by acquiring the rock characteristics and corresponding regional labels of each arm working area, the rock characteristics and regional labels of each working area are locked, which is convenient for tracing the rock characteristics of each working area; secondly, the associated encapsulation results are recorded in the constructed rock breaking and drilling record table, so as to facilitate the effective recording of rock characteristics of different working areas and the retrieval of corresponding data in subsequent analysis.

[0119] Embodiment 6:

[0120] Based on Example 1, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, such as Figure 3 As shown, the device control module includes:

[0121] Scene building unit, used for:

[0122] Based on the computer, the discrete structural elements of each working area are constructed according to the rock parameters and rock characteristics of each arm working area, and the discrete structural elements are positionally associated based on the structural relationship between the rocks;

[0123] Based on the position association results, a background data monitoring thread is configured for each discrete structural element, and a virtual rock scene of each arm working area is obtained based on the allocation results;

[0124] Simulation unit for:

[0125] Based on the computer, a lower limit is assigned to the initial parameters of the virtual four-arm rock breaking drill according to the theoretical state parameter interval, and each arm of the virtual four-arm rock breaking drill is controlled to independently break and drill the virtual rock scene based on the lower limit assignment result;

[0126] Based on the control results, the state parameter change of each discrete structural element under the action of the virtual four-arm rock breaking drill is obtained in real time according to the background data monitoring thread, and the rock structure stability coefficient in the working area of ​​each arm is determined based on the state parameter change;

[0127] The optimal drilling parameters determination unit is used for:

[0128] Based on the rock structure stability coefficient, a feedback adjustment mechanism for the virtual four-arm rock breaking drill is constructed, and based on the feedback adjustment mechanism, the operating parameters of each arm in the virtual four-arm rock breaking drill are independently and dynamically iteratively adjusted based on the result assigned by the lower limit according to the theoretical state parameter interval;

[0129] When it is determined based on the independent dynamic iterative adjustment result that the rock structure stability coefficient reaches the rock drilling and breaking degree, the feedback adjustment mechanism is jumped out, and the parameters corresponding to the current dynamic iterative adjustment are determined as the optimal rock drilling parameters of each arm.

[0130] In this embodiment, the rock properties refer to the specific hardness of the rock, the width of the gaps between the rocks, the brittleness of the rock, etc.

[0131] In this embodiment, the rock parameters refer to the color, hardness parameter, thickness parameter, etc. of the rock in the working area of ​​each arm.

[0132] In this embodiment, the discrete structural element refers to the rock block structure corresponding to each arm working area constructed according to rock parameters and rock characteristics.

[0133] In this embodiment, the structural relationship refers to the relative position relationship between different discrete structural elements.

[0134] In this embodiment, the background data monitoring thread refers to a strategy for monitoring the real-time operation status of each discrete structural element.

[0135] In this embodiment, the theoretical state parameter interval is known in advance and is used to characterize the value interval range of the working parameter of each arm in the four-arm rock breaking rock drill.

[0136] In this embodiment, the state parameter change refers to the specific value obtained by monitoring the state changes of different rocks in the virtual rock scene under the action of the virtual four-arm rock breaking drill through the background data monitoring thread, and is obtained by comparing the monitoring values ​​at adjacent moments.

[0137] In this embodiment, the rock structure stability coefficient is used to characterize the magnitude of the structural change of the rock under the action of the virtual four-arm rock breaking drill. The smaller the magnitude of the structural change, the larger the value of the rock structure stability coefficient.

[0138] In this embodiment, independent dynamic iterative adjustment refers to real-time dynamic optimization of the operating parameters of each arm in the virtual four-arm rock breaking drill according to the feedback adjustment mechanism without affecting the operating status of other mechanical arms.

[0139] The working principle and beneficial effects of the above technical solution are: the minimum structural unit of each working area is determined by a computer according to the rock parameters and rock characteristics of each arm working area, and the minimum structural unit is positionally associated according to the structural relationship between the rocks, which provides convenience for building a virtual scene. At the same time, after the position association, a background data monitoring thread is configured for each discrete structural element to achieve effective acquisition of the final virtual rock scene, which is convenient for determining the structural state changes of each discrete structural element of the four-arm rock breaking drill when it is working according to the background data monitoring thread. Secondly, the initial parameters of the virtual four-arm rock breaking drill are determined according to the theoretical state parameter interval. The settings are performed, and after the settings are completed, the rock breaking and drilling operations are simulated. During the rock breaking and drilling operations, the change in state parameters of each discrete structural element is monitored through the background data monitoring thread, so that the rock structure stability coefficient in the working area of ​​each arm can be effectively obtained according to the change in state parameters. Finally, a feedback adjustment mechanism of the virtual four-arm rock breaking drill is constructed according to the rock structure stability coefficient, so that the operating parameters of each arm can be independently and dynamically iteratively adjusted according to the feedback adjustment mechanism, and finally the optimal drilling parameters of each arm are locked, which ensures the efficient operation of the four-arm rock breaking drill, and at the same time ensures the efficiency and accuracy of the rock breaking and drilling of each arm.

[0140] Embodiment 7:

[0141] On the basis of Example 1, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, and the equipment control module includes:

[0142] A parameter acquisition unit, used to acquire the optimal rock drilling parameters of each arm and determine the adapter components corresponding to the optimal rock drilling parameters;

[0143] Parameter adaptive adjustment unit, used for:

[0144] Determine the performance indicators of the adapter components based on the equipment type and working environment of the four-arm rock drill, and quantify the performance indicators accordingly based on the optimal rock drilling parameters;

[0145] The parameters of each arm are adaptively adjusted based on the quantification results.

[0146] In this embodiment, the adapter component refers to the structural component corresponding to the four-arm rock breaking drill when performing the corresponding operation.

[0147] In this embodiment, the performance indicator is a measurement basis for characterizing the working status of the adaptation component.

[0148] In this embodiment, quantifying the performance indicators based on the optimal rock drilling parameters means determining the operating parameter values ​​of each performance indicator according to the obtained optimal rock drilling parameters, thereby ensuring that each arm of the four-arm rock breaking drill can operate effectively.

[0149] The working principle and beneficial effects of the above technical solution are: by determining the adapter component corresponding to the optimal rock drilling parameters of each arm, and determining the performance indicators of the adapter component according to the equipment type and working environment of the four-arm rock breaking drill, and finally, quantifying the performance indicators of the adapter component through the determined optimal rock drilling parameters, and realizing adaptive adjustment of the parameters of each arm, thereby ensuring the efficiency and accuracy of the rock breaking and drilling of each arm, and ensuring the efficient operation of the four-arm rock breaking drill.

[0150] Embodiment 8:

[0151] On the basis of Example 1, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, and the equipment control module includes:

[0152] a monitoring unit, for controlling each arm of the four-arm rock breaking and rock drilling machine to perform rock breaking and rock drilling measurement operations in a corresponding actual working environment based on the adaptive adjustment result, and collecting a real-time video stream of each arm in the actual working environment based on the control result;

[0153] Measurement unit for:

[0154] Determine the state change of the rock under the four-arm rock breaking drill and the real-time operating state of each arm in the four-arm rock breaking drill based on the real-time video stream, and determine the current rock breaking and drilling executable force of the four-arm rock breaking drill based on the state change and the real-time operating state;

[0155] The confidence level of the optimal rock drilling parameters is determined based on the rock breaking and rock drilling executability and the service standard, and when the confidence level is greater than a preset threshold, it is determined that the adaptive adjustment of the parameters of each arm is qualified.

[0156] In this embodiment, the real-time video stream refers to the specific monitoring video corresponding to each arm working in the corresponding actual working environment.

[0157] In this embodiment, the state change refers to the structural change of the rock under the four-arm rock breaking drill and the change in stability.

[0158] In this embodiment, the rock breaking and rock drilling executable capability refers to the degree to which the four-arm rock breaking and rock drilling machine can complete the rock breaking and rock drilling tasks.

[0159] In this embodiment, the confidence level is used to characterize the feasibility of the optimal rock drilling parameters, that is, to characterize the probability that the optimal rock drilling parameters are actually effective.

[0160] In this embodiment, the preset threshold is set in advance and is a standard used to measure whether the confidence level meets the minimum requirement and can be adjusted.

[0161] The working principle and beneficial effect of the above technical solution are: by controlling each arm of the four-arm rock breaking drill to perform rock breaking and drilling actual measurement operations in the corresponding actual working environment after adaptive adjustment, and obtaining a real-time video stream of each arm in the actual working environment during the measurement, it is convenient to lock the state change of the rock and the real-time operation state of each arm through the real-time video stream, so as to effectively determine the current rock breaking and drilling executable capacity of the four-arm rock breaking drill, and finally, according to the rock breaking and drilling executable capacity, effectively judge the parameter adaptation qualification degree of the four-arm rock breaking drill, thereby ensuring the efficient operation of the four-arm rock breaking drill and improving the control accuracy and intelligence of the four-arm rock breaking drill.

[0162] Embodiment 9:

[0163] Based on Example 1, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, and a monitoring and feedback module, including:

[0164] Task issuing unit, used for:

[0165] Based on the management terminal, a rock breaking and drilling task is issued to the four-arm rock breaking and drilling machine, and based on the main control center, the rock breaking and drilling task is analyzed to obtain the structural characteristics of the rock breaking and drilling task;

[0166] Based on the structural characteristics and the working attributes of each arm in the four-arm rock breaking and rock drilling machine, the responsibilities of the rock breaking and rock drilling tasks are divided to obtain the processing tasks of each arm, and the processing tasks of each arm are distributed and sent to the independent control center of each arm based on the deployable threads;

[0167] Control unit for:

[0168] Determine the task nodes included in the corresponding processing task based on the independent control center, and perform logical association on the task nodes based on the time sequence;

[0169] Based on the execution logic association result, each arm of the four-arm rock breaking drill is controlled to perform initial point positioning in the corresponding working area, and based on the initial point positioning result, the four arms of the four-arm rock breaking drill are controlled to perform parallel operation according to the execution logic association result.

[0170] In this embodiment, the structural feature refers to the composition of the rock breaking and drilling tasks.

[0171] In this embodiment, the working attributes refer to the rock breaking and drilling force and operating performance of each arm of the four-arm rock breaking drill.

[0172] In this embodiment, the deployable thread is a strategy for targeted distribution of processing tasks, and is used to distribute the processing tasks of each arm to the independent control center of each arm, wherein the independent control center is the control terminal of each arm.

[0173] In this embodiment, the task node refers to the processing steps included in the processing task.

[0174] In this embodiment, the initial point positioning refers to determining the working starting point of each arm in the corresponding working area.

[0175] The working principle and beneficial effects of the above technical solution are: issuing rock breaking and drilling tasks to the four-arm rock breaking drill through the management terminal, and parsing the rock breaking and drilling tasks through the main control center in the four-arm rock breaking drill, so as to realize the division of responsibilities for the rock breaking and drilling tasks according to the parsing results, and ensure that each arm gets the corresponding processing task, and secondly, issuing the obtained processing task of each arm to the corresponding independent control center, so as to realize locking the execution logic association of the corresponding processing task through the independent control center, and finally, controlling the four-arm rock breaking drill to perform initial point positioning and parallel rock breaking and drilling operations in the corresponding working area according to the execution logic association, thereby ensuring the efficient operation of the four-arm rock breaking drill, reducing energy consumption and saving resources.

[0176] Embodiment 10:

[0177] Based on Example 1, this embodiment provides a four-arm high-efficiency rock breaking rock drill with high-efficiency intelligent identification control, and a monitoring and feedback module, including:

[0178] Real-time monitoring unit for:

[0179] Based on the control results, the rock parameters of each arm of the four-arm rock drill and the current rock section in the corresponding working area are obtained in real time, and the rock parameters are compared with the upper rock parameters to determine the relative basic parameter change amplitude of the current rock section;

[0180] At the same time, the operating state parameters of each arm when performing the rock breaking and drilling operation of the current rock formation section are obtained, and the load value of each arm is determined based on the operating state parameters;

[0181] The independent dynamic optimization unit is used to determine the optimization amount of the operating state parameters of the corresponding working arm based on the amplitude of the relative basic parameter change when the load value exceeds the current set load value, and independently and dynamically optimize the operating state parameters of the corresponding working arm based on the optimization amount.

[0182] In this embodiment, rock parameters refer to the rock state of the current rock layer section, including parameters such as the hardness and brittleness of the current rock.

[0183] In this embodiment, the upper rock parameters refer to parameters such as the hardness and brittleness of the rock at the previous processing position. The purpose is to determine the change in the rock parameters at the current position relative to the previous position, so as to facilitate the adjustment of the operating status parameters of the working arm.

[0184] In this embodiment, the relative basic parameter change amplitude refers to the difference between the rock parameters of the current rock layer section and the upper rock parameters.

[0185] In this embodiment, the optimization amount refers to a specific value for adjusting the operating state parameters of the working arm.

[0186] The working principle and beneficial effects of the above technical scheme are as follows: by determining the rock parameters of the current rock section of each arm during the working process, and comparing the rock parameters with the upper rock parameters, the relative basic parameter change amplitude of the current rock section is determined; secondly, the operating state parameters of each arm when performing rock breaking and drilling operations on the current rock section are obtained, and the load value of each arm is locked according to the operating state parameters; finally, when the load value exceeds the current set load value, the optimization amount of the operating state parameters of the corresponding working arm is determined according to the relative basic parameter change amplitude, and independent dynamic optimization of the working arm that needs parameter adjustment is achieved, ensuring the efficient operation of the four-arm rock breaking drill, reducing energy consumption and saving resources, and also improving the control accuracy and intelligence of the four-arm rock breaking drill.

[0187] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A four-arm high-efficiency rock-breaking rock drill with high-efficiency intelligent identification control, characterized in that: include: A detection module, for detecting rock parameters of a working area of ​​each arm of the four-arm rock breaking drill respectively based on a front-end detection sensor, and determining rock characteristics of the corresponding working area based on the rock parameters; The equipment control module is used to simulate the rock breaking and drilling process of each arm based on rock characteristics, determine the optimal drilling parameters of each arm, and adaptively adjust the parameters of each arm based on the optimal drilling parameters; A monitoring and feedback module, which is used to control the parallel operation of the four arms of the four-arm rock-breaking drill based on the adjustment results, and to independently and dynamically optimize the parameters of each arm based on the real-time rock status and equipment status of each working area; Among them, the equipment control module includes: Scene building unit, used for: Based on the computer, the discrete structural elements of each working area are constructed according to the rock parameters and rock characteristics of each arm working area, and the discrete structural elements are positionally associated based on the structural relationship between the rocks; Based on the position association results, a background data monitoring thread is configured for each discrete structural element, and a virtual rock scene of each arm working area is obtained based on the allocation results; Simulation unit for: Based on the computer, a lower limit is assigned to the initial parameters of the virtual four-arm rock breaking drill according to the theoretical state parameter interval, and each arm of the virtual four-arm rock breaking drill is controlled to independently break and drill the virtual rock scene based on the lower limit assignment result; Based on the control results, the state parameter change of each discrete structural element under the action of the virtual four-arm rock breaking drill is obtained in real time according to the background data monitoring thread, and the rock structure stability coefficient in the working area of ​​each arm is determined based on the state parameter change; The optimal drilling parameters determination unit is used for: Based on the rock structure stability coefficient, a feedback adjustment mechanism for the virtual four-arm rock-breaking drill is constructed, and based on the feedback adjustment mechanism, the operating parameters of each arm of the virtual four-arm rock-breaking drill are independently and dynamically iteratively adjusted based on the result assigned by the lower limit according to the theoretical state parameter interval; When it is determined based on the independent dynamic iterative adjustment result that the rock structure stability coefficient reaches the rock drilling and breaking degree, the feedback adjustment mechanism is jumped out, and the parameters corresponding to the current dynamic iterative adjustment are determined as the optimal rock drilling parameters of each arm.

2. A four-arm high-efficiency rock-breaking drill with high-efficiency intelligent identification control according to claim 1, characterized in that: Detection module, including: An equipment self-checking unit, used to determine the required sensors based on the rock breaking and rock drilling business standards, and to perform equipment self-check on the front-end detection sensors of the four-arm rock breaking and rock drilling machine based on the required sensors; An equipment control unit, used to calibrate the front-end detection sensor according to the service standard of the required sensor based on the equipment self-test result, and to distribute control the front-end detection sensor of each arm of the four-arm rock breaking drill to perform multi-dimensional parameter detection on the rock in the corresponding working area based on the calibration result; The parameter determination unit is used to perform object differentiation and aggregation on the multi-dimensional parameter detection results of each working area based on the data source, and obtain the rock parameters of each arm working area based on the object differentiation and aggregation.

3. A four-arm high-efficiency rock-breaking drill with high-efficiency intelligent identification control according to claim 2, characterized in that: A parameter determination unit, comprising: The parameter sorting subunit is used to extract the regional identification of each arm working area, and associate and bind the working area with the rock parameters based on the regional identification; Data return subunit, used for: Based on the correlation binding results, the rock parameters are discretized according to the time series to obtain discrete sample points, and the discrete sample points are quantized into discrete digital signals based on the quantization level; The discrete digital signal is encoded based on the service standard of the data interface, and the encoded discrete digital signal is transmitted back to the host computer based on the data interface.

4. The four-arm high-efficiency rock breaking drill with high-efficiency intelligent identification control according to claim 1 is characterized in that: Detection module, including: An indicator determination unit, used to determine multiple detection branch services for rocks based on the rock detection process, and determine the analysis indicator corresponding to each detection branch service based on the operation protocols of the multiple detection branch services; The system construction unit is used to construct a rock characteristic analysis system corresponding to each detection branch business based on the analysis indicators, and map the rock parameters of each arm working area to the corresponding rock characteristic analysis system for analysis in turn; The rock property determination unit is used to determine the basic rock parameters of each working area based on the analysis results, and obtain the rock properties of each arm working area based on the basic rock parameters.

5. A four-arm high-efficiency rock-breaking drill with high-efficiency intelligent identification control according to claim 4, characterized in that: Rock property determination unit, including: The result acquisition subunit is used to acquire the rock characteristics of each arm working area and the regional label of each arm working area, and associate and encapsulate the rock characteristics and the regional label; The result recording subunit is used to construct a rock breaking and drilling record table, and record the rock characteristics and area labels of each arm working area in the rock breaking and drilling record table based on the associated encapsulation results.

6. The four-arm high-efficiency rock-breaking drill with high-efficiency intelligent identification control according to claim 1 is characterized in that: Equipment control module, including: A parameter acquisition unit, used to acquire the optimal rock drilling parameters of each arm and determine the adapter components corresponding to the optimal rock drilling parameters; Parameter adaptive adjustment unit, used for: Determine the performance indicators of the adapter components based on the equipment type and working environment of the four-arm rock drill, and quantify the performance indicators accordingly based on the optimal rock drilling parameters; The parameters of each arm are adaptively adjusted based on the quantification results.

7. A four-arm high-efficiency rock-breaking drill with high-efficiency intelligent identification control according to claim 1, characterized in that: Equipment control module, including: a monitoring unit, for controlling each arm of the four-arm rock breaking and rock drilling machine to perform rock breaking and rock drilling actual measurement operations in a corresponding actual working environment based on the adaptive adjustment result, and collecting a real-time video stream of each arm in the actual working environment based on the control result; Measuring unit for: Determine the state change of the rock under the four-arm rock breaking drill and the real-time operating state of each arm in the four-arm rock breaking drill based on the real-time video stream, and determine the current rock breaking and drilling executable force of the four-arm rock breaking drill based on the state change and the real-time operating state; The confidence level of the optimal rock drilling parameters is determined based on the rock breaking and rock drilling executability and the service standard, and when the confidence level is greater than a preset threshold, it is determined that the adaptive adjustment of the parameters of each arm is qualified.

8. The four-arm high-efficiency rock-breaking drill with high-efficiency intelligent identification control according to claim 1 is characterized in that: Monitoring and feedback modules, including: Task issuing unit, used for: Based on the management terminal, a rock breaking and drilling task is issued to the four-arm rock breaking and drilling machine, and based on the main control center, the rock breaking and drilling task is analyzed to obtain the structural characteristics of the rock breaking and drilling task; Based on the structural characteristics and the working attributes of each arm in the four-arm rock breaking and rock drilling machine, the responsibilities of the rock breaking and rock drilling tasks are divided to obtain the processing tasks of each arm, and the processing tasks of each arm are distributed and sent to the independent control center of each arm based on the deployable threads; Control unit for: Determine the task nodes included in the corresponding processing task based on the independent control center, and perform logical association on the task nodes based on the time sequence; Based on the execution logic association result, each arm of the four-arm rock breaking drill is controlled to perform initial point positioning in the corresponding working area, and based on the initial point positioning result, the four arms of the four-arm rock breaking drill are controlled to perform parallel operation according to the execution logic association result.

9. The four-arm high-efficiency rock breaking drill with high-efficiency intelligent identification control according to claim 1 is characterized in that: Monitoring and feedback modules, including: Real-time monitoring unit for: Based on the control results, the rock parameters of each arm of the four-arm rock drill and the current rock section in the corresponding working area are obtained in real time, and the rock parameters are compared with the upper rock parameters to determine the relative basic parameter change amplitude of the current rock section; At the same time, the operating state parameters of each arm when performing the rock breaking and drilling operation of the current rock formation section are obtained, and the load value of each arm is determined based on the operating state parameters; The independent dynamic optimization unit is used to determine the optimization amount of the operating state parameters of the corresponding working arm based on the amplitude of the relative basic parameter change when the load value exceeds the current set load value, and independently and dynamically optimize the operating state parameters of the corresponding working arm based on the optimization amount.

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