An integrally cast axe rock drilling test system

Abstract

The present invention provides an integral cast axe rock drilling test system, the system comprising a test setting module, an operation control module, a data acquisition module, a wear analysis module and a performance evaluation module; the test setting module is used to set the test parameters of the integral cast axe rock drilling process according to the test environment; the operation control module is used to perform the operation control of the integral cast axe rock drilling test process according to the test parameters; the data acquisition module is used to obtain the laser scanning data of the integral cast axe after the rock drilling test is completed; the wear analysis module is used to establish a three-dimensional wear model of the integral cast axe after the rock drilling test according to the laser scanning data; the performance evaluation module is used to analyze the three-dimensional wear model and output the evaluation result of the integral cast axe used in the test environment; the present invention simplifies the test process and improves the accuracy of performance evaluation of the rock drilling device in the actual application environment by combining laser scanning and three-dimensional modeling technology.

Description

Technical Field

[0001] The invention relates to the technical field of performance testing systems for impact mechanical products, and in particular to an integrally cast axe rock drilling testing system. Background Art

[0002] With the development of mining and construction industries, rock drilling devices have been widely used in fields such as tunnel excavation, ore mining, submarine engineering and building demolition; however, rock drilling devices often face complex geological conditions and high-intensity working environments during actual use, which makes the axe part prone to wear; axe wear not only affects the rock drilling efficiency, but also increases the maintenance cost and downtime of the equipment; therefore, how to accurately evaluate the wear of the axe of the rock drilling device, find out the cause of wear, and formulate corresponding maintenance and optimization strategies has become the focus of attention in the industry; in the prior art, although some solutions for rock drilling device performance testing have been proposed, these solutions are often complex in system and cumbersome in testing process, and it is impossible to quickly and accurately obtain the application effect of the rock drilling device in specific scenarios; in addition, these solutions have limitations in data collection and analysis, and it is difficult to fully reflect the actual wear of the hammer head.

[0003] According to the related disclosed technical solutions, the technology with publication number CN107543734A proposes a test system for the performance of a hydraulic rock drill, including a drop hammer, a calibration bench, a strain gauge, a measuring rod, a temperature sensor, a first pressure sensor, a pump station, an AD board, a second pressure sensor, a thrust cylinder, a flow meter, a hydraulic rock drill, a strain gauge, a waveform storage analyzer, a microcomputer, a printer, a rock simulation device and a horizontal bench, wherein the calibration bench is vertically arranged on the rock, the drop hammer is suspended on the right side of the calibration bench, the temperature sensor, the first pressure sensor, the pump station, the AD board, the second pressure sensor, the flow meter, the strain gauge, the waveform storage analyzer, the microcomputer and the printer are electrically connected to each other, the thrust cylinder, the hydraulic rock drill and the rock simulation device are fixed on the horizontal bench with studs from left to right in sequence, and the temperature sensor, the first pressure sensor, the pump station and the flow meter are connected in parallel with the hydraulic rock drill; although the scheme provides a set of operable measurement technologies, it is unable to measure the application effect and performance of the rock drilling device in a specific application scenario. Summary of the invention

[0004] The purpose of the present invention is to propose an integrally cast axe rock drilling test system in view of the existing deficiencies.

[0005] The present invention adopts the following technical solution:

[0006] A system for testing rock drilling with an integral cast axe, the system comprising a test setting module, an operation control module, a data acquisition module, a wear analysis module and a performance evaluation module; the test setting module is used to set test parameters of the rock drilling process with an integral cast axe according to a test environment; the operation control module is used to perform operation control of the rock drilling test process with an integral cast axe according to the test parameters; the data acquisition module is used to obtain laser scanning data of the integral cast axe after the rock drilling test is completed; the wear analysis module is used to establish a three-dimensional wear model of the integral cast axe after the rock drilling test according to the laser scanning data; the performance evaluation module is used to analyze the three-dimensional wear model and output an evaluation result of the integral cast axe used in the test environment;

[0007] The test setting module includes an environment selection unit and a parameter preset unit; the environment selection unit is used to provide predefined test environment options; the parameter preset unit is used to automatically load corresponding test parameters according to the selected test environment; the test parameters are manually adjusted and set according to the specific needs of the user;

[0008] The operation control module includes an operation execution unit, a real-time monitoring unit and a safety control unit; the operation execution unit is used to control the integral cast axe to perform rock drilling operations according to the test parameters; the real-time monitoring unit is used to monitor various test parameters during the test process; the safety control unit is used to provide corresponding safety measures when abnormal test parameters are detected during the test process;

[0009] The data acquisition module includes a laser scanning unit and a data recording unit; the laser scanning unit is used to perform high-precision three-dimensional scanning on the integrally cast axe to obtain detailed laser scanning data; the data recording unit is used to store and manage the collected laser scanning data;

[0010] Furthermore, the wear analysis module includes a three-dimensional modeling unit and a wear data acquisition unit; the three-dimensional modeling unit is used to establish a three-dimensional wear model of the integral cast axe after the test according to the laser scanning data, and the wear data acquisition unit is used to acquire relevant information of the integral cast axe after wear according to the three-dimensional wear model, and the relevant information of the integral cast axe after wear includes wear area identification information and wear volume information;

[0011] Furthermore, the three-dimensional modeling unit completes the establishment of the three-dimensional wear model in the following manner:

[0012] S41: Acquire three-dimensional point cloud data of the integrally cast axe according to the laser scanning data;

[0013] S42: performing smoothing and sharpening processing on each point in the three-dimensional point cloud data;

[0014] S43: converting the point cloud data processed in step S42 into a polygonal mesh, and performing smoothing processing on the edges of the polygonal mesh to create a three-dimensional wear model;

[0015] Furthermore, the wear data acquisition unit establishes a three-dimensional complete model of the integral cast axe before testing, and compares the three-dimensional complete model with the three-dimensional wear model to detect geometric changes on the surface of the integral cast axe, thereby identifying the wear area of ​​the three-dimensional wear model; and obtains the wear volume by calculating the volume difference between the three-dimensional complete model and the three-dimensional wear model;

[0016] Further, the performance evaluation module includes a wear cause identification unit, a wear degree determination unit, a test improvement unit and an evaluation result output unit; the wear cause identification unit is used to identify the main cause of wear of the integral cast axe; the wear degree determination unit is used to evaluate the wear degree of the integral cast axe; the test improvement unit is used to provide the user with modification suggestions for the test parameters according to the main cause of wear; the evaluation result output unit is used to output a comprehensive wear evaluation report to the user;

[0017] A method for testing rock drilling with an integrally cast axe is applied to a system for testing rock drilling with an integrally cast axe. The method comprises the following steps:

[0018] S1: Select a test environment from the predefined test environment options and load the corresponding test parameters;

[0019] S2: Controlling the integrally cast axe to perform rock drilling operations according to the loaded test parameters, and monitoring various test parameters during the test in real time;

[0020] S3: After the rock drilling test is completed, the integral cast axe is scanned in high precision 3D to obtain laser scanning data;

[0021] S4: Establish a three-dimensional wear model based on laser scanning data;

[0022] S5: Identify the cause of wear and evaluate the degree of wear based on the three-dimensional wear model, provide suggestions for changing the test parameters, and output a comprehensive wear assessment report.

[0023] The beneficial effects achieved by the present invention are:

[0024] The present invention acquires three-dimensional point cloud data of an integrally cast axe through laser scanning, creates a three-dimensional wear model based on the three-dimensional point cloud data, and performs smoothing and sharpening processing during the creation of the three-dimensional wear model, thereby highlighting the morphological characteristics of the wear, and providing reliable data support for the subsequent evaluation of the causes of wear; the causes of wear are analyzed through the wear morphological characteristics of the three-dimensional wear model, and the degree of wear is evaluated in combination with the wear volume and detailed wear characteristics, thereby providing a comprehensive and accurate performance evaluation of the integrally cast axe. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0026] Figure 1 It is a schematic diagram of the overall module of the present invention.

[0027] Figure 2 It is a schematic diagram of the flow chart of the integrally cast axe rock drilling test method of the present invention.

[0028] Figure 3 It is a schematic diagram of the workflow of the three-dimensional modeling unit of the present invention.

[0029] Figure 4 This is a schematic diagram of an application scenario of the system of the present invention in an aquatic testing environment.

[0030] Figure 5 It is a schematic diagram of a scene when the integrally cast axe of the present invention is not worn.

[0031] Figure 6 It is a schematic diagram of the scene of the integrally cast axe of the present invention being worn after testing.

[0032] Figure 7 It is a schematic diagram of assembling the integrally cast axe of the present invention. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with its embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention; for those skilled in the art, other systems, methods and / or features of the present embodiment will become apparent after reviewing the following detailed description; it is intended that all such additional systems, methods, features and advantages are included in this specification; included within the scope of the present invention and protected by the appended claims; additional features of the disclosed embodiments are described in the following detailed description, and these features will be apparent from the following detailed description.

[0034] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] Embodiment 1:

[0036] like Figure 1 As shown, this embodiment provides an integral cast axe rock drilling test system, the system comprising a test setting module, an operation control module, a data acquisition module, a wear analysis module and a performance evaluation module; the test setting module is used to set the test parameters of the integral cast axe rock drilling process according to the test environment; the operation control module is used to perform the operation control of the integral cast axe rock drilling test process according to the test parameters; the data acquisition module is used to obtain the laser scanning data of the integral cast axe after the rock drilling test is completed; the wear analysis module is used to establish a three-dimensional wear model of the integral cast axe after the rock drilling test according to the laser scanning data; the performance evaluation module is used to analyze the three-dimensional wear model and output the evaluation result of the integral cast axe used in the test environment;

[0037] The test setting module includes an environment selection unit and a parameter preset unit; the environment selection unit is used to provide predefined test environment options; the parameter preset unit is used to automatically load corresponding test parameters according to the selected test environment; the test parameters are manually adjusted and set according to the specific needs of the user;

[0038] Furthermore, the system can be applied in various practical scenarios such as tunnel excavation, ore mining and water areas; Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the application scenario of this system in the water test environment is demonstrated;

[0039] The operation control module includes an operation execution unit, a real-time monitoring unit and a safety control unit; the operation execution unit is used to control the integral cast axe to perform rock drilling operations according to the test parameters; the real-time monitoring unit is used to monitor various test parameters during the test process; the safety control unit is used to provide corresponding safety measures when abnormal test parameters are detected during the test process;

[0040] The data acquisition module includes a laser scanning unit and a data recording unit; the laser scanning unit is used to perform high-precision three-dimensional scanning on the integrally cast axe to obtain detailed laser scanning data; the data recording unit is used to store and manage the collected laser scanning data;

[0041] Furthermore, the wear analysis module includes a three-dimensional modeling unit and a wear data acquisition unit; the three-dimensional modeling unit is used to establish a three-dimensional wear model of the integral cast axe after the test according to the laser scanning data, and the wear data acquisition unit is used to acquire relevant information of the integral cast axe after wear according to the three-dimensional wear model, and the relevant information of the integral cast axe after wear includes wear area identification information and wear volume information;

[0042] Further, such as Figure 3 As shown, the three-dimensional modeling unit completes the establishment of the three-dimensional wear model in the following manner:

[0043] S41: Acquire three-dimensional point cloud data of the integrally cast axe according to the laser scanning data;

[0044] S42: performing smoothing and sharpening processing on each point in the three-dimensional point cloud data;

[0045] S43: converting the point cloud data processed in step S42 into a polygonal mesh, and performing smoothing processing on the edges of the polygonal mesh to create a three-dimensional wear model;

[0046] Furthermore, the smoothing and sharpening process for each point in the three-dimensional point cloud data is as follows:

[0047] S421: Select an initial point p from an edge position in the three-dimensional point cloud data i , and obtain its neighborhood point set, calculate the normal vector of the point by fitting the plane through the PCA method, and calculate the normal vectors of all the neighborhood points of the point;

[0048] S422: Calculate the angle between the normal vectors of the point and all its neighboring points and the average value:

[0049]

[0050]

[0051] Among them, θ ij is the angle between the normal vector of point i and a point j in its neighborhood, is the normal vector of the point i, is the normal vector of a neighboring point j of point i, is the average of the angles between the normal vectors of point i and all its neighboring points, E(i) is the set of all neighboring points of point i, and N E(i)is the total number of all points in the set E(i);

[0052] S423: According to The size of determines whether to smooth or sharpen the point i. The specific determination method is as follows:

[0053] S4231: When When the point is smoothed, the smoothed point p i 'satisfy:

[0054]

[0055] Among them, W i is the normalization coefficient, w ij is the smoothing weight of point i and a point j in its neighborhood, p j is the coordinate of a neighborhood point j of point i; for w ij satisfy:

[0056]

[0057] Among them, σ1 is the smoothing weight adjustment coefficient, which is set by pre-experimental setting and has a value range of [0.1, 0.5];

[0058] For W i satisfy:

[0059] W i =∑ j∈E(i) w ij ;

[0060] S4232: When When the point is sharpened, the point p after sharpening is i 'satisfy:

[0061]

[0062] Among them, p i is the coordinate of point i, w i is the sharpening weight of point i, k represents the magnification length of one unit, which is used to control

[0063] Point i The distance moved along its normal vector, its unit is consistent with the unit of the point cloud data; for w i satisfy:

[0064]

[0065] Among them, σ2 is the sharpening weight adjustment coefficient, which is set by pre-experimental setting and has a value range of [0.1, 0.5];

[0066] S424: The point p processed in the previous step i Replace the origin p i Put it into the 3D point cloud data, and repeat the above operation for other points in the 3D point cloud data until all points in the 3D point cloud data are smoothed or sharpened;

[0067] By smoothing or sharpening each point in the 3D point cloud data by taking the average normal vector angle between each point and its neighborhood, on the one hand, noise can be effectively removed and small surface fluctuations can be smoothed, thereby maintaining the continuity and smoothness of the overall surface; on the other hand, edge and angular features can be retained and enhanced to ensure that important geometric features are not blurred, thereby generating a high-quality 3D wear model, providing reliable basic data support for subsequent further analysis and processing of the 3D wear model, and improving the accuracy and reliability of the model;

[0068] Furthermore, in step S43, the edges of the polygonal meshes are smoothed by a Laplace smoothing algorithm, and non-overlapping triangular meshes are generated by a triangulation algorithm, thereby creating a three-dimensional wear model; the Laplace smoothing algorithm and the triangulation algorithm are both prior arts and will not be described in detail herein;

[0069] Furthermore, the wear data acquisition unit establishes a three-dimensional complete model of the integrally cast axe before testing, and compares the three-dimensional complete model with the three-dimensional wear model to detect the geometric changes on the surface of the integrally cast axe, thereby identifying the wear area of ​​the three-dimensional wear model; and obtains the wear volume by calculating the volume difference between the three-dimensional complete model and the three-dimensional wear model.

[0070] Embodiment 2:

[0071] This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them;

[0072] The present embodiment provides an integral cast axe rock drilling test system, the system comprising a test setting module, an operation control module, a data acquisition module, a wear analysis module and a performance evaluation module; the test setting module is used to set the test parameters of the integral cast axe rock drilling process according to the test environment; the operation control module is used to perform the operation control of the integral cast axe rock drilling test process according to the test parameters; the data acquisition module is used to obtain the laser scanning data of the integral cast axe after the rock drilling test is completed; the wear analysis module is used to establish a three-dimensional wear model of the integral cast axe after the rock drilling test according to the laser scanning data; the performance evaluation module is used to analyze the three-dimensional wear model and output the evaluation result of the integral cast axe used in the test environment;

[0073] Further, the performance evaluation module includes a wear cause identification unit, a wear degree determination unit, a test improvement unit and an evaluation result output unit; the wear cause identification unit is used to identify the main cause of wear of the integral cast axe; the wear degree determination unit is used to evaluate the wear degree of the integral cast axe; the test improvement unit is used to provide the user with modification suggestions for the test parameters according to the main cause of wear; the evaluation result output unit is used to output a comprehensive wear evaluation report to the user;

[0074] Furthermore, the wear cause identification unit identifies the wear cause of the hammer head of the rock drilling device as follows:

[0075] S51: extracting wear morphological features from the wear area of ​​the three-dimensional wear model; the wear morphological features include but are not limited to surface morphology, depth distribution and other features;

[0076] S52: Obtain historical data corresponding to wear morphological features and wear causes from historical rock drilling test data, and organize the historical data into a feature-label format as a training set, and establish and train a wear recognition model; in the feature-label format, the feature is the wear morphological feature, and the label is the wear cause;

[0077] S53: inputting the wear morphological features extracted from the three-dimensional wear model into the wear recognition model, thereby obtaining the main causes of wear;

[0078] Furthermore, the wear degree determination unit completes the evaluation of the wear degree of the hammer head of the rock drilling device through the following formula:

[0079]

[0080] Where L is the wear degree evaluation value of the hammer head. The larger L is, the more serious the wear degree is. M is the wear volume, k i is the detail wear characteristic index of the i-th point in the three-dimensional point cloud data without smoothing and sharpening, n is the total number of points in the three-dimensional point cloud data, and K is a preset normalization constant used to adjust the influence of the detail wear characteristic on the overall wear degree. In this embodiment,

[0081] For k i satisfy:

[0082]

[0083] In the previous process of establishing the 3D wear model, in order to highlight the morphological characteristics of wear, the 3D point cloud data was smoothed and sharpened, thus ignoring some detail features to a certain extent; in order to make up for this deficiency, the wear degree judgment unit introduced the detail wear feature index in the 3D point cloud data that was not smoothed and sharpened, thereby making up for the loss of detail wear features in the hammer wear degree assessment and ensuring the comprehensiveness of the assessment; thus, the morphological characteristics of wear can be highlighted as a whole, the main causes of wear can be accurately obtained, and the comprehensiveness of the wear degree assessment can be guaranteed, so that the actual wear condition of the hammer of the rock drilling device can be more accurately reflected, and a more detailed and reliable assessment report can be provided to the user;

[0084] like Figure 2 As shown, this embodiment also provides a method for testing rock drilling with an integrally cast axe, the method comprising the following steps:

[0085] S1: Select a test environment from the predefined test environment options and load the corresponding test parameters;

[0086] S2: Controlling the integrally cast axe to perform rock drilling operations according to the loaded test parameters, and monitoring various test parameters during the test in real time;

[0087] S3: After the rock drilling test is completed, the integral cast axe is scanned in high precision 3D to obtain laser scanning data;

[0088] S4: Establish a three-dimensional wear model based on laser scanning data;

[0089] S5: Identify the cause of wear and evaluate the degree of wear based on the three-dimensional wear model, provide suggestions for changing the test parameters, and output a comprehensive wear assessment report.

[0090] Embodiment three:

[0091] This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them;

[0092] In this embodiment, the test improvement unit completes the modification of the test parameters in the following manner:

[0093] S541: for each wear cause, all test parameters are sorted according to their influence on the wear cause according to prior knowledge; for a certain wear cause, the test parameter with a smaller sorting sequence number has a greater influence on the wear cause;

[0094] S542: For each test parameter, determine a standard use range of each test parameter according to equipment design specifications, etc.;

[0095] S543: Obtain the main causes of wear in the current test process and complete the suggested changes to various test parameters in the following manner:

[0096] For each test parameter execute:

[0097]

[0098] Among them, A 1l is the change value of the first test parameter, and in the case of A 1l During the calculation process, A is always satisfied. l,min ≤A 1l ≤A l,max , where A l,min is the minimum boundary value of the standard use range of the first test parameter, A l,max A is the maximum boundary value of the standard use range of the first test parameter; l is the original parameter value of the lth test parameter, ρ is the scaling factor that can be adjusted by the user to control the adjustment amplitude of the test parameter; μ is the unit adjustment direction factor, which is used to determine the adjustment direction and amplitude of the test parameter, and its value range is [-1,1] and μ≠0; μ is a positive value, which means that the value of the test parameter in the positive direction needs to be increased or raised to reduce wear, and μ is a negative value, which means that the value of the test parameter in the negative direction needs to be reduced or lowered to reduce wear; v l is the ranking ordinal number of the lth test parameter for the wear cause; m is the total number of test parameter types;

[0099] S544: organizing and integrating the modified values ​​of various test parameters as modification suggestions for the test parameters;

[0100] Further, the test parameters include but are not limited to parameters related to the rock drilling force, frequency and direction adjustment during the rock drilling process of the integral cast axe;

[0101] Further, the evaluation result output unit outputs a comprehensive wear evaluation report including the main causes of wear of the hammer head of the rock drilling device, an evaluation of the degree of wear and suggested changes to the test parameters;

[0102] By dynamically adjusting the test parameters based on real-time wear data to generate suggested changes to the test parameters, the system can instantly adjust the operation mode and specifically solve the wear problems of the integral cast axe rock drilling device during actual use; this ability to analyze and understand the causes of wear enables the system to not only prevent potential future wear, but also significantly reduce the costs caused by downtime maintenance. In addition, through the user-adjustable scaling factor ρ, the user can fine-tune the test parameters according to the current working conditions and performance goals, such as energy efficiency ratio and efficiency of rock drilling operations, so that the equipment operation is more in line with actual needs; the implementation of this test improvement unit ensures that the equipment maintains efficient operation while extending its service life and optimizing the overall cost-effectiveness.

[0103] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. An integrally cast axe rock drilling test system, characterized in that: The system comprises a test setting module, an operation control module, a data acquisition module, a wear analysis module and a performance evaluation module; the test setting module is used to set the test parameters of the rock drilling process of the integral cast axe according to the test environment; the operation control module is used to perform the operation control of the rock drilling test process of the integral cast axe according to the test parameters; the data acquisition module is used to obtain the laser scanning data of the integral cast axe after the rock drilling test is completed; the wear analysis module is used to establish a three-dimensional wear model of the integral cast axe after the rock drilling test according to the laser scanning data; the performance evaluation module is used to analyze the three-dimensional wear model and output the evaluation result of the integral cast axe used in the test environment; The test setting module includes an environment selection unit and a parameter preset unit; the environment selection unit is used to provide predefined test environment options; the parameter preset unit is used to automatically load corresponding test parameters according to the selected test environment; the test parameters are manually adjusted and set according to the specific needs of the user; The operation control module includes an operation execution unit, a real-time monitoring unit and a safety control unit; the operation execution unit is used to control the integral cast axe to perform rock drilling operations according to the test parameters; the real-time monitoring unit is used to monitor various test parameters during the test process; the safety control unit is used to provide corresponding safety measures when abnormal test parameters are detected during the test process; The data acquisition module includes a laser scanning unit and a data recording unit; the laser scanning unit is used to perform high-precision three-dimensional scanning on the integrally cast axe to obtain detailed laser scanning data; the data recording unit is used to store and manage the collected laser scanning data; The wear analysis module includes a three-dimensional modeling unit and a wear data acquisition unit; the three-dimensional modeling unit is used to establish a three-dimensional wear model of the integral cast axe after the test according to the laser scanning data, and the wear data acquisition unit is used to acquire relevant information of the integral cast axe after wear according to the three-dimensional wear model, and the relevant information of the integral cast axe after wear includes wear area identification information and wear volume information; The three-dimensional modeling unit completes the establishment of the three-dimensional wear model in the following manner: S41: Acquire three-dimensional point cloud data of the integrally cast axe according to the laser scanning data; S42: performing smoothing and sharpening processing on each point in the three-dimensional point cloud data; S43: converting the point cloud data processed in step S42 into a polygonal mesh, and performing smoothing processing on the edges of the polygonal mesh to create a three-dimensional wear model; The smoothing and sharpening process for each point in the three-dimensional point cloud data is as follows: S421: Select an initial point from an edge position in the three-dimensional point cloud data , and obtain its neighborhood point set, calculate the normal vector of the point by fitting the plane through the PCA method, and calculate the normal vectors of all the neighborhood points of the point; S422: Calculate the angle between the normal vectors of the point and all its neighboring points and the average value: ； ； in, For this point A point in its neighborhood The normal vector angle of For this point The normal vector of For point A neighboring point of The normal vector of For point The average of the angles between the normal vectors of all its neighboring points, For point The set of all neighboring points of For collection The total number of points in ; S423: According to The size of the point determines whether to smooth or sharpen it The specific determination method is as follows: S4231: When When the point is smoothed, the smoothed point satisfy: ； in, is the normalization coefficient, For point A point in its neighborhood The smoothing weight of For point A neighboring point The coordinates of satisfy: ； in, is the smoothing weight adjustment coefficient, which is set by pre-experimental setting and has a value range of ; for satisfy: ； S4232: When , the point is sharpened at this time, and the point after sharpening is satisfy: ； in, For point The coordinates of For point The sharpening weight, Indicates the magnified length of one unit, used for control points The distance moved along its normal vector, its unit is consistent with the unit of the point cloud data; satisfy: ； in, is the sharpening weight adjustment coefficient, which is set by pre-experimental setting and has a value range of ; S424: The points processed in the previous step Replace the origin Put it into the 3D point cloud data, and repeat the above operation for other points in the 3D point cloud data until all points in the 3D point cloud data are smoothed or sharpened.

2. The integrally cast axe rock drilling test system according to claim 1, characterized in that: The wear data acquisition unit establishes a three-dimensional complete model of the integrally cast axe before testing, and compares the three-dimensional complete model with the three-dimensional wear model to detect geometric changes on the surface of the integrally cast axe, thereby identifying the wear area of ​​the three-dimensional wear model; The wear volume is obtained by calculating the volume difference between the 3D complete model and the 3D wear model.

3. The integrally cast axe rock drilling test system according to claim 1, characterized in that: The performance evaluation module includes a wear cause identification unit, a wear degree determination unit, a test improvement unit and an evaluation result output unit; the wear cause identification unit is used to identify the main causes of wear of the integral cast axe; the wear degree determination unit is used to evaluate the degree of wear of the integral cast axe; the test improvement unit is used to provide users with suggestions for changing test parameters based on the main causes of wear; and the evaluation result output unit is used to output a comprehensive wear evaluation report to the user.

4. A method for testing rock drilling with an integrally cast axe, the method using the integrally cast axe rock drilling testing system according to claim 3, characterized in that: The method comprises the following steps: S1: Select a test environment from the predefined test environment options and load the corresponding test parameters; S2: Controlling the integrally cast axe to perform rock drilling operations according to the loaded test parameters, and monitoring various test parameters during the test in real time; S3: After the rock drilling test is completed, the integral cast axe is scanned in high precision 3D to obtain laser scanning data; S4: Establish a three-dimensional wear model based on laser scanning data; S5: Identify the cause of wear and evaluate the degree of wear based on the three-dimensional wear model, provide suggestions for changing the test parameters, and output a comprehensive wear assessment report.

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