Method and device for controlling the posture maintenance of the propulsion beam of a rock drilling rig

Abstract

The present invention provides a method and device for controlling the posture maintenance of a propulsion beam of a drilling rig, which includes: obtaining status information and initial posture information of the drill arm of the drilling rig; determining the DH parameters of the drill arm according to the status information of the drill arm; determining initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam; repeating the following steps until the boom of the drilling rig moves to a target point within a preset range of a target hole position: obtaining swing angle data and pitch angle data of the boom in real time; determining flip adjustment angle data, pitch adjustment angle data and swing adjustment angle data; adjusting the angle of the propulsion beam according to the flip adjustment angle data, pitch adjustment angle data and swing adjustment angle data. The present invention can improve the hole alignment accuracy of the drilling rig during drilling, avoid the drilling rig from interfering with the tunnel rock wall and terminating the movement, and increase the service life of the drilling rig.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method and device for controlling the posture maintenance of a propulsion beam of a rock drilling rig. Background Art

[0002] Drilling and blasting is a common method of tunnel construction, and a rock drill rig is the excavation equipment used in tunnel construction using the drill rig method. During the construction process, the rock drill rig controls the drill boom to adjust the position and direction of the drill bit, so as to reach the desired position on the tunnel face and drill to form a blasthole.

[0003] Traditionally, the control method for a drilling rig involves the operator adjusting each joint of the drill boom sequentially based on experience, continuously fine-tuning the joints when the drill bit's position or direction deviates. To reduce the difficulty of drilling the hole, a double triangular cylinder can be installed on the drill boom. This allows the propulsion beam to maintain its orientation during the boom's swing and pitch, allowing the operator to adjust the drill rod's position without affecting its direction. However, this double triangular cylinder has a complex mechanical structure and adds hydraulic components, which increases the boom's deadweight. This increased deadweight can lead to greater deflection, reduced hole-alignment accuracy, and increased fatigue and wear of structural components.

[0004] In recent years, with the advancement of science and technology and the integration of disciplines, several technologies for maintaining the direction of the propeller beam of a drilling rig have emerged. However, existing methods do not consider propeller beam rotation. If the propeller beam flips, the method will fail. The propeller beam's rotation angle may change uncontrollably, causing the rock drill on the propeller beam to interfere with other components. This is especially true when drilling peripheral holes, where the rock drill is prone to interfering with the tunnel rock wall and suspending movement. Summary of the Invention

[0005] An embodiment of the present invention provides a method for controlling the posture maintenance of a drilling rig propulsion beam, which is used to improve the hole alignment accuracy of the drilling rig during drilling, prevent the drilling rig from interfering with the tunnel rock wall and causing the movement to stop, and extend the life of the drilling rig. The method includes:

[0006] Obtaining status information and initial posture information of the drill boom of the drilling rig; the drill boom includes a boom and a propulsion beam; the status information is the status information after the angle data of all joints of the drill boom return to zero degrees; the initial posture information is the relative position relationship of each joint in the boom and the propulsion beam at a preset time before the boom moves to a target point within a preset range of the target hole location;

[0007] Determine the DH parameters of the drill arm according to the state information of the drill arm;

[0008] According to the DH parameters of the drill arm and the initial posture information of the drill arm, the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam are determined;

[0009] Repeat the following steps until the boom of the drilling rig moves to the target point within the preset range of the target hole:

[0010] Obtain the swing angle data and pitch angle data of the boom in real time;

[0011] Determine the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data according to the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom;

[0012] The angle of the propulsion beam is adjusted according to the flip adjustment angle data, the pitch adjustment angle data and the swing adjustment angle data.

[0013] An embodiment of the present invention provides a drilling rig propulsion beam posture maintenance control device for improving the drilling accuracy of the drilling rig during drilling, preventing the drilling rig from interfering with the tunnel rock wall and causing the drilling rig to stop moving, and extending the life of the drilling rig. The device includes:

[0014] An acquisition module is configured to acquire status information and initial posture information of a drill boom of a drilling rig; the drill boom includes a boom and a propulsion beam; the status information is information obtained after the angle data of all joints of the drill boom return to zero degrees; the initial posture information is the relative positional relationship of each joint in the boom and the propulsion beam at a preset time before the boom moves to a target point within a preset range of a target hole location;

[0015] A DH parameter determination module is used to determine the DH parameters of the drill arm according to the state information of the drill arm;

[0016] An initial data determination module is used to determine the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam according to the DH parameters of the drill arm and the initial posture information of the drill arm;

[0017] The execution module is used to repeatedly execute the following steps until the boom of the drilling rig moves to a target point within a preset range of the target hole position:

[0018] Obtain the swing angle data and pitch angle data of the boom in real time;

[0019] Determine the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data according to the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom;

[0020] The angle of the propulsion beam is adjusted according to the flip adjustment angle data, the pitch adjustment angle data and the swing adjustment angle data.

[0021] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned method for controlling the posture maintenance of the propulsion beam of the drilling rig is implemented.

[0022] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned method for controlling the posture maintenance of the propulsion beam of a drilling rig.

[0023] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned drilling rig propulsion beam posture maintenance control method is implemented.

[0024] In an embodiment of the present invention, by acquiring the state information and initial posture information of the drill arm of the rock drilling rig; the drill arm includes a boom and a propulsion beam; the state information is the state information after the angle data of all joints of the drill arm return to zero degrees; the initial posture information is: the relative position relationship of each joint in the boom and the propulsion beam at a preset time before the boom moves to the target point within the preset range of the target hole position; the DH parameters of the drill arm are determined according to the state information of the drill arm; the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam are determined according to the DH parameters of the drill arm and the initial posture information of the drill arm; the following steps are repeated until the boom of the rock drilling rig moves to the target point within the preset range of the target hole position: the swing angle data of the boom is acquired in real time The present invention also provides a method for adjusting the tilting angle of the propulsion beam and the pitching angle data of the rock drilling rig, so as to improve the hole alignment accuracy of the rock drilling rig, avoid terminating the movement due to interference between the rock drilling rig and the tunnel rock wall, and prolong the service life of the rock drilling rig. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0026] Figure 1Flowchart of a drilling rig posture maintaining control method according to an embodiment of the present invention;

[0027] Figure 2 Schematic diagram of a drilling rig posture maintaining control system according to an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of maintaining the posture of a propulsion beam during movement of a drill arm in an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the movement process of the drilling rig in an embodiment of the present invention;

[0030] Figure 5 This is a structural diagram of a rock drilling rig posture maintaining control device according to an embodiment of the present invention;

[0031] Figure 6 Schematic diagram of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0033] In the description of this specification, the terms "include", "including", "have", "contain", etc. are all open terms, which mean including but not limited to. The descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", etc. mean that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The order of steps involved in each embodiment is used to schematically illustrate the implementation of the present application, and the order of steps therein is not limited and can be appropriately adjusted as needed.

[0034] The existing technology provides a drilling rig posture maintenance control method that only controls the pitch and swing angles of the propeller beam to maintain the drill rod's direction (up and down pitch, left and right swing). This method does not control the propeller beam's rotation. Although it maintains the drill rod's direction, it cannot maintain the rock drill's rotation angle. During boom movement, the rock drill is prone to interfering with the tunnel rock wall and stalling. Moreover, when the propeller beam's rotation angle changes, the pitch and swing control methods must be modified.

[0035] In response to the shortcomings of the existing technology, the present invention proposes a method for controlling the posture maintenance of a drilling rig to solve the problems of high difficulty in hole alignment, uncontrolled flipping angle of the propulsion beam, and easy interference of the rock drill. The method improves the hole alignment accuracy of the drilling rig during drilling, avoids the drilling rig interfering with the tunnel rock wall and suspending movement, and increases the service life of the drilling rig. Figure 1 FIG. 1 is a flow chart of a method for controlling the attitude maintenance of a drilling rig according to an embodiment of the present invention. Figure 1 As shown, the method may include:

[0036] Step 101, obtaining status information and initial posture information of the drill boom of the drilling rig; the drill boom includes a boom and a propeller beam; the status information is the status information after the angle data of all joints of the drill boom return to zero degrees; the initial posture information is the relative position relationship of each joint in the boom and the propeller beam at a preset time before the boom moves to a target point within a preset range of the target hole location;

[0037] Step 102, determining the DH parameter of the drill arm according to the state information of the drill arm;

[0038] Step 103: determining initial flip angle data, initial pitch angle data, and initial swing angle data of the propulsion beam according to the DH parameters of the drill boom and the initial posture information of the drill boom;

[0039] Step 104, repeat the following steps until the boom of the drilling rig moves to a target point within a preset range of the target hole position:

[0040] Step 105: Acquire the swing angle data and pitch angle data of the boom in real time;

[0041] Step 106, determining the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data based on the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom;

[0042] Step 107 : adjusting the angle of the propulsion beam according to the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data.

[0043] This method for controlling the posture maintenance of the propulsion beam of a rock drilling rig achieves full posture control (angles in three directions) of the propulsion beam. During boom movement, it can maintain both the rock drill (drill rod) orientation (up and down pitch, left and right swing) and the rock drill's tilt angle, effectively preventing interference between the boom and the tunnel rock wall. This invention addresses existing drilling rig problems such as the difficulty of drilling holes, uncontrolled propulsion beam tilt angles, and the tendency for rock drills to interfere. It offers the advantages of high control efficiency and a wide range of applications.

[0044] First, you can activate the full-posture hold control mode for the propulsion beam. Once activated, this mode takes effect and simultaneously records the state and initial posture information of the drill boom. The drill boom consists of the boom and propulsion beam. The state information is the angle data of all the boom joints after returning to zero degrees. The initial posture information is the relative position of each joint in the boom and propulsion beam at a preset time before the boom moves to the target point within the preset range of the target hole location.

[0045] In step 101, initial posture information of the drill boom of the drilling rig is acquired. This information may be acquired using an angle sensor mounted on the boom. The initial posture information may include the relative positional relationships of each joint in the boom. This initial posture information serves as a reference for subsequent posture maintenance. To improve posture maintenance and hole alignment accuracy, other methods can be used to acquire the initial posture information of the drill boom of the drilling rig, which will not be further described here.

[0046] To improve data acquisition accuracy, in one embodiment, real-time acquisition of boom swing angle data and boom pitch angle data may include: acquiring boom swing angle signals and boom pitch angle signals from angle sensors mounted on the boom in real time; and determining boom swing angle data and boom pitch angle data based on the boom swing angle signals and boom pitch angle signals. The angle sensors are used to acquire the angle of each rotating joint of the robotic arm in real time.

[0047] In step 102 , the DH parameters of the propulsion beam are determined according to the state information of the drill arm. For example, the DH parameters of the manipulator arm are constructed according to the position of the rotary joint.

[0048] In one embodiment, determining the initial flip angle data, initial pitch angle data, and initial swing angle data of the propulsion beam based on the DH parameters of the drill arm and the initial posture information of the drill arm can include: generating a rotation matrix based on the DH parameters of the drill arm and the initial posture information of the drill arm; and determining the initial flip angle data, initial pitch angle data, and initial swing angle data of the propulsion beam based on the rotation matrix. The full posture information of the rock drill (rotation matrix) is generated from the recorded initial state of the drill arm movement and converted into corresponding initial flip angle data Rx, initial pitch angle data Ry, and initial swing angle data Rz. The DH parameters represent the structural information of the manipulator arm. For a specific manipulator arm, it is fixed, while the joint angle changes during movement. The DH parameters and the joint angle are combined to obtain the initial state of the propulsion beam.

[0049] In one embodiment, the rotation matrix is:

[0050]

[0051] Among them, α i is the connecting rod torsion angle in DH parameters; θi is the joint angle in the initial posture information of the drill arm.

[0052] Use the connecting rod torsion angle α in the DH parameter i (α i It is related to the structure of the robotic arm. During the movement of the robotic arm, α i is constant) and the joint angle θ i (The θ in this paper i Specifically, the rotation matrix represented by R1-R5) is:

[0053]

[0054] The rotation matrix corresponding to the DH parameters of the boom swing is T1, the rotation matrix corresponding to the DH parameters of the boom pitch is T2, the rotation matrix corresponding to the DH parameters of the propulsion beam flip is T3, the rotation matrix corresponding to the DH parameters of the propulsion beam pitch is T4, and the rotation matrix corresponding to the DH parameters of the propulsion beam swing is T5. The propulsion beam rotation matrix is ​​T g =T1*T2*T3*T4*T5=f(R1,R2,R3,R4,R5), T can be obtained from R1, R2, R3, R4, R5 g .

[0055] The rotation matrix expressed in Euler angles Rx, Ry, and Rz is:

[0056]

[0057] Can be T g Get Rx, Ry, and Rz.

[0058] In one embodiment, before obtaining the initial posture information of the propulsion beam of the drilling rig, the method may further include: obtaining a wireless signal carrying an instruction to start maintaining the posture of the propulsion beam of the drilling rig, which is sent by a user in the form of a wireless remote control.

[0059] After determining the initial flip, pitch, and swing angle data for the propulsion beam, the boom can be controlled to swing and pitch using a wireless remote control, gradually bringing the drill bit closer to the target hole location. The boom of the drilling rig can be moved to a target point within a preset range of the target hole location. The boom's swing and pitch angle data are acquired in real time, and the flip, pitch, and swing adjustment angles are determined based on the initial flip, pitch, and swing angle data of the propulsion beam, as well as the boom's swing and pitch angle data.

[0060] In one embodiment, determining the flip adjustment angle data, pitch adjustment angle data, and swing adjustment angle data based on the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom may include: determining the flip adjustment angle data based on the initial flip angle data of the propulsion beam; determining the pitch adjustment angle data based on the initial pitch angle data of the propulsion beam and the pitch angle data of the boom; and determining the swing adjustment angle data based on the initial swing angle data of the propulsion beam and the swing angle data of the boom. During the movement of the boom, the boom swing angle data R1 and pitch angle data R2 may be collected in real time, the flip adjustment angle data R3 may be determined based on the initial flip angle data Rx, the pitch adjustment angle data R4 may be determined based on the initial pitch angle data Ry and the pitch angle data R2, and the swing adjustment angle data R5 may be determined based on the initial swing angle data Rz and the swing angle data R1, wherein the calculation formulas may be R3=Rx, R4=Ry-R2, and R5=Rz-R1. According to R3, R4 and R5, the propulsion beam flip, pitch and swing joint angle instructions are issued.

[0061] In one embodiment, adjusting the angle of the propulsion beam according to the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data may include: determining the opening data of the hydraulic valve of the propulsion beam according to the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data; generating an electrical signal according to the opening data; and using the electrical signal to control the hydraulic valve of the propulsion beam to adjust the angle of the propulsion beam so that the propulsion beam maintains its initial posture.

[0062] The propulsion beam flip angle closed-loop controller, propulsion beam pitch angle closed-loop controller and propulsion beam swing angle closed-loop controller can be pre-set. Each closed-loop controller receives the corresponding target angle instruction, outputs the electrical signal corresponding to the hydraulic valve opening after passing through the position loop and speed loop, drives the solenoid valve to operate, and enables the three joints to move to the required angle.

[0063] Figure 2 Schematic diagram of a drilling rig posture maintenance control system according to an embodiment of the present invention (the embodiment of the present invention is not affected by the position and number of movable joints, and the robotic arm can be configured with movable joints at several positions; Figure 2 The drilling rig has one drill arm, but the embodiment of the present invention is also applicable to a drilling rig equipped with multiple drill arms), such as Figure 2As shown, in one embodiment, the present invention also proposes a drilling rig posture maintenance control system, including: a joint data acquisition module, which includes a plurality of angle sensors for real-time acquisition of the angle of each rotating joint of the propulsion beam; a posture maintenance decision module, which records the initial state of the drill arm movement and generates a propulsion beam angle control instruction during the movement; a joint movement closed-loop control module, which controls the propulsion beam joint movement to a specified angle; a wireless remote control, which provides a propulsion beam full posture maintenance control activation button and a boom swing and pitch control handle.

[0064] Figure 3 FIG. 1 is a schematic diagram showing the posture maintenance of the propulsion beam during the movement of a drill arm in an embodiment of the present invention. Figure 3 As shown in the figure, the working process of the attitude maintenance control system of the drilling rig is as follows: (1) Activate the full attitude maintenance control mode of the propulsion beam: After activation, the full attitude maintenance control mode of the propulsion beam takes effect, and at the same time, the attitude maintenance decision module records the initial state of the drill arm movement (the current angle of each rotating joint). (2) Generate the full attitude information of the propulsion beam: Construct the propulsion beam DH parameters according to the position of the rotating joint, generate the full attitude information of the rock drill (rotation matrix) from the recorded initial state of the drill arm movement, and convert it into the corresponding target flip angle Rx, target pitch angle Ry, and target swing angle Rz. (3) Boom movement: Use a wireless remote control to control the swing and pitch of the boom so that the drill bit position gradually approaches the target hole position. (4) Attitude maintenance decision: During the movement of the boom, the boom swing angle R1 and pitch angle R2 are collected in real time, and the propulsion beam flip, pitch and swing joint angle instructions (R3, R4, R5) are issued, where R3 = Rx, R4 = Ry-R2, and R5 = Rz-R1. (5) Joint motion closed-loop control: The joint motion closed-loop control module has built-in propulsion beam flip angle closed-loop controller, propulsion beam pitch angle closed-loop controller and propulsion beam swing angle closed-loop controller. Each closed-loop controller receives the corresponding target angle instruction, and after passing through the position loop and speed loop, it outputs the electrical signal corresponding to the hydraulic valve opening, drives the solenoid valve to operate, so that the three joints can move to the required angle.

[0065] The wireless remote control provides push-beam full attitude hold control activation buttons and boom swing and pitch control handles.

[0066] Figure 4 FIG. 1 is a schematic diagram of the movement process of the drilling rig in an embodiment of the present invention, as shown in FIG. Figure 4 As shown in the figure, in the initial position, the propulsion beam is basically perpendicular to the tunnel face, and the rock drill is flipped to the inside of the tunnel. When the boom is controlled to move the propulsion beam upward, the propulsion beam can still remain perpendicular to the tunnel face, and the rock drill can still remain tilted to the inside of the tunnel.

[0067] Use the connecting rod torsion angle α in the DH parameter i (α iIt is related to the structure of the robotic arm. During the movement of the robotic arm, α i is constant) and the joint angle θ i (The θ in this paper i Specifically, the rotation matrix represented by R1-R5) is:

[0068]

[0069] The rotation matrix corresponding to the DH parameters of the boom swing is T1, the rotation matrix corresponding to the DH parameters of the boom pitch is T2, the rotation matrix corresponding to the DH parameters of the propulsion beam flip is T3, the rotation matrix corresponding to the DH parameters of the propulsion beam pitch is T4, and the rotation matrix corresponding to the DH parameters of the propulsion beam swing is T5. The propulsion beam rotation matrix is ​​T g =T1*T2*T3*T4*T5=f(R1,R2,R3,R4,R5), T can be obtained from R1, R2, R3, R4, R5 g .

[0070] The rotation matrix expressed in Euler angles Rx, Ry, and Rz is:

[0071]

[0072] Can be T g Get Rx, Ry, and Rz.

[0073] In an embodiment of the present invention, the state information and initial posture information of the drill arm of the rock drilling rig are obtained; the drill arm includes a boom and a propulsion beam; the state information is the state information after the angle data of all joints of the drill arm return to zero degrees; the initial posture information is: the relative position relationship of each joint in the boom and the propulsion beam at a preset time before the boom moves to the target point within the preset range of the target hole position; the DH parameters of the drill arm are determined according to the state information of the drill arm; the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam are determined according to the initial posture information of the drill arm; the following steps are repeated until the boom of the rock drilling rig moves to the target point within the preset range of the target hole position: the swing angle data and pitch angle data of the boom are obtained in real time Degree data; determine the flip adjustment angle data, pitch adjustment angle data and swing adjustment angle data according to the DH parameters of the drill arm, the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom; adjust the angle of the propulsion beam according to the flip adjustment angle data, the pitch adjustment angle data and the swing adjustment angle data. Compared with the prior art technology of maintaining the propulsion beam direction of the drilling rig without considering the flipping of the propulsion beam, the embodiment of the present invention can improve the hole alignment accuracy of the drilling rig during drilling, avoid the drilling rig from interfering with the tunnel rock wall and terminating the movement, and increase the service life of the drilling rig.

[0074] The present invention also provides a rock drilling rig propulsion beam posture maintenance control device, as described in the following embodiments. Because the principles of this device are similar to those of the rock drilling rig propulsion beam posture maintenance control method, the implementation of this device can refer to the implementation of the rock drilling rig propulsion beam posture maintenance control method, and any repetitions will not be repeated.

[0075] Figure 5 FIG. 1 is a schematic diagram of a rock drilling rig propulsion beam posture maintaining control device according to an embodiment of the present invention. Figure 5 As shown, the drilling rig propulsion beam posture maintaining control device may include:

[0076] Acquisition module 501 is used to obtain status information and initial posture information of the drill boom of the rock drilling rig; the drill boom includes a boom and a propeller beam; the status information is the status information after the angle data of all joints of the drill boom return to zero degrees; the initial posture information is the relative position relationship of each joint in the boom and the propeller beam at a preset time before the boom moves to a target point within a preset range of the target hole location;

[0077] A DH parameter determination module 502 is configured to determine the DH parameters of the drill boom according to the state information of the drill boom;

[0078] An initial data determination module 503 is used to determine initial flip angle data, initial pitch angle data, and initial swing angle data of the propulsion beam according to the DH parameters of the drill boom and the initial posture information of the drill boom;

[0079] Execution module 504 is configured to repeatedly execute the following steps until the boom of the drilling rig moves to a target point within a preset range of the target hole position:

[0080] Obtain the swing angle data and pitch angle data of the boom in real time;

[0081] Determine the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data according to the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom;

[0082] The angle of the propulsion beam is adjusted according to the flip adjustment angle data, the pitch adjustment angle data and the swing adjustment angle data.

[0083] In one embodiment, the execution module 504 is specifically configured to:

[0084] Real-time acquisition of boom swing angle signals and boom pitch angle signals collected by the angle sensor installed on the boom;

[0085] According to the boom swing angle signal and the boom pitch angle signal, the boom swing angle data and the boom pitch angle data are determined respectively.

[0086] In one embodiment, the initial data determination module 503 is specifically configured to:

[0087] Generate a rotation matrix based on the DH parameters of the drill arm and the initial posture information of the drill arm;

[0088] The initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam are determined according to the rotation matrix.

[0089] In one embodiment, the rotation matrix is:

[0090]

[0091] Among them, α i is the connecting rod torsion angle in DH parameters; θ i is the joint angle in the initial posture information of the drill arm.

[0092] In one embodiment, the execution module 504 is specifically configured to:

[0093] Determine flip adjustment angle data based on initial flip angle data of the propulsion beam;

[0094] Determine the pitch adjustment angle data according to the initial pitch angle data of the propulsion beam and the pitch angle data of the boom;

[0095] The swing adjustment angle data is determined based on the initial swing angle data of the propulsion beam and the swing angle data of the boom.

[0096] In one embodiment, the execution module 604 is specifically configured to:

[0097] Determining the opening data of the hydraulic valve of the propulsion beam according to the roll adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data;

[0098] Generate an electrical signal according to the opening data;

[0099] The hydraulic valve of the propulsion beam is controlled by an electric signal to adjust the angle of the propulsion beam so that the propulsion beam maintains its initial posture.

[0100] In one embodiment, the system further includes a wireless signal acquisition module configured to:

[0101] Acquire a wireless signal sent by a user through wireless remote control to carry an instruction to start and maintain the posture of the propulsion beam of the drilling rig.

[0102] To sum up, in the embodiment of the present invention, an acquisition module is used to obtain the state information and initial posture information of the drill arm of the rock drilling rig; the drill arm includes a boom and a propulsion beam; the state information is the state information after the angle data of all joints of the drill arm return to zero degrees; the initial posture information is: the relative position relationship of each joint in the boom and the propulsion beam at a preset time before the boom moves to the target point within the preset range of the target hole position; the DH parameter determination module is used to determine the DH parameters of the drill arm according to the state information of the drill arm; the initial data determination module is used to determine the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam according to the DH parameters of the drill arm and the initial posture information of the drill arm; the execution module is used to repeatedly execute the following steps until the boom of the rock drilling rig moves to the target hole position Target point within a preset range: real-time acquisition of boom swing angle data and pitch angle data; determination of flip adjustment angle data, pitch adjustment angle data and swing adjustment angle data based on initial flip angle data of the propulsion beam, initial pitch angle data of the propulsion beam, initial swing angle data of the propulsion beam, swing angle data of the boom and pitch angle data of the boom; adjustment of the angle of the propulsion beam based on the flip adjustment angle data, pitch adjustment angle data and swing adjustment angle data. Compared with the prior art technology of maintaining the propulsion beam direction of the drilling rig without considering the flipping of the propulsion beam in a double triangular oil cylinder on the drill arm or without considering the flipping of the propulsion beam, the embodiment of the present invention can improve the hole alignment accuracy of the drilling rig during drilling, avoid the interference between the drilling rig and the tunnel rock wall and the cessation of movement, and increase the service life of the drilling rig.

[0103] The beneficial effects of the embodiments of the present invention are: a method and device for controlling the full posture maintenance of the propulsion beam of a rock drilling rig are proposed, which realizes the maintenance control of the full posture (angles in three directions) of the propulsion beam, solves the problems of high difficulty in hole alignment of existing rock drilling rigs, uncontrolled flipping angle of the propulsion beam, and easy interference of the rock drill, and has the advantages of high control efficiency and a wide range of applications.

[0104] An embodiment of the present invention further provides a computer device, Figure 6 Schematic diagram of a computer device in an embodiment of the present invention, wherein the computer device 600 includes a memory 610, a processor 620, and a computer program 630 stored in the memory 610 and executable on the processor 620. When the processor 620 executes the computer program 630, the above-mentioned drilling rig posture maintenance control method is implemented.

[0105] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which implements the above-mentioned drilling rig posture maintenance control method when executed by a processor.

[0106] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned drilling rig posture maintenance control method is implemented.

[0107] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program service systems. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program service system implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0108] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program business systems according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as combinations of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0111] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling the posture maintenance of a propulsion beam of a drilling rig, characterized in that: include: Acquiring status information and initial posture information of a drill boom of a rock drilling rig; the drill boom includes a boom and a propulsion beam; The state information is the state information after the angle data of all joints of the drill arm return to zero degrees; the initial posture information is the relative position relationship of each joint in the boom and the propulsion beam at a preset time before the boom moves to the target point within the preset range of the target hole position; Determine the DH parameters of the drill arm according to the state information of the drill arm; According to the DH parameters of the drill arm and the initial posture information of the drill arm, the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam are determined; Repeat the following steps until the boom of the drilling rig moves to the target point within the preset range of the target hole: Obtain the swing angle data and pitch angle data of the boom in real time; Determine the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data according to the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom; The angle of the propulsion beam is adjusted according to the flip adjustment angle data, the pitch adjustment angle data and the swing adjustment angle data.

2. The method according to claim 1, wherein Real-time acquisition of boom swing angle data and pitch angle data, including: Real-time acquisition of boom swing angle signals and boom pitch angle signals collected by the angle sensor installed on the boom; According to the boom swing angle signal and the boom pitch angle signal, the boom swing angle data and the boom pitch angle data are determined respectively.

3. The method according to claim 1, wherein According to the DH parameters of the drill boom and the initial posture information of the drill boom, the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam are determined, including: Generate a rotation matrix based on the DH parameters of the drill arm and the initial posture information of the drill arm; The initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam are determined according to the rotation matrix.

4. The method according to claim 3, wherein The rotation matrix is: Among them, α i is the connecting rod torsion angle in DH parameters; θ i is the joint angle in the initial posture information of the drill arm.

5. The method according to claim 1, wherein Determine the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data based on the initial flip angle data, the initial pitch angle data, and the initial swing angle data of the propulsion beam and the swing angle data and the pitch angle data of the boom, including: Determine flip adjustment angle data based on initial flip angle data of the propulsion beam; Determine the pitch adjustment angle data according to the initial pitch angle data of the propulsion beam and the pitch angle data of the boom; The swing adjustment angle data is determined based on the initial swing angle data of the propulsion beam and the swing angle data of the boom.

6. The method according to claim 1, wherein According to the flip adjustment angle data, the pitch adjustment angle data and the swing adjustment angle data, the angle of the propulsion beam is adjusted, including: Determining the opening data of the hydraulic valve of the propulsion beam according to the roll adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data; Generate an electrical signal according to the opening data; The hydraulic valve of the propulsion beam is controlled by an electric signal to adjust the angle of the propulsion beam so that the propulsion beam maintains its initial posture.

7. The method according to claim 1, wherein Before obtaining the initial posture information of the propulsion beam of the drilling rig, the following steps are also included: Acquire a wireless signal sent by a user through wireless remote control to carry an instruction to start and maintain the posture of the propulsion beam of the drilling rig.

8. A rock drilling rig propulsion beam posture maintaining control device, characterized in that: include: An acquisition module, configured to acquire status information and initial posture information of a drill boom of a rock drilling rig; the drill boom includes a boom and a propulsion beam; The state information is the state information after the angle data of all joints of the drill arm return to zero degrees; the initial posture information is the relative position relationship of each joint in the boom and the propulsion beam at a preset time before the boom moves to the target point within the preset range of the target hole position; A DH parameter determination module is used to determine the DH parameters of the drill arm according to the state information of the drill arm; An initial data determination module is used to determine the initial flip angle data, initial pitch angle data and initial swing angle data of the propulsion beam according to the DH parameters of the drill arm and the initial posture information of the drill arm; The execution module is used to repeatedly execute the following steps until the boom of the drilling rig moves to a target point within a preset range of the target hole position: Obtain the swing angle data and pitch angle data of the boom in real time; Determine the flip adjustment angle data, the pitch adjustment angle data, and the swing adjustment angle data according to the initial flip angle data of the propulsion beam, the initial pitch angle data of the propulsion beam, the initial swing angle data of the propulsion beam, the swing angle data of the boom, and the pitch angle data of the boom; The angle of the propulsion beam is adjusted according to the flip adjustment angle data, the pitch adjustment angle data and the swing adjustment angle data.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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