An intelligent multi-cantilever rock drilling rig

Abstract

The present invention relates to an intelligent multi-cantilever rock drilling trolley, belonging to the technical field of rock drilling trolleys. The invention comprises a drill arm, a propulsion beam and a drill rod are arranged on the drill arm, and a drill bit is arranged at the end of the drill rod; the invention also comprises a positioning drive component, a drilling drive component, a control terminal and a position measurement component, and the control terminal comprises an analysis module and a judgment module. The analysis module generates a three-dimensional coordinate system model according to a hole layout diagram, and generates a set of ideal position coordinates of the drill bit when drilling a corresponding hole according to a hole trajectory, namely, U i The analysis module uploads the real-time drill position information from the position measurement component. t , t>0, add the three-dimensional coordinate set of the hole trajectory being drilled as U t , t>0, the judgment module judges U t Is it U i A subset of the system is used to monitor the trajectory of the hole being drilled in real time by detecting the drill bit position and the drill rod advancement angle, so that deviations can be corrected in time or adjustments can be made in time when encountering emergencies to ensure construction safety.

Description

Technical Field

[0001] The invention belongs to the technical field of rock drilling trolleys, and in particular relates to an intelligent multi-cantilever rock drilling trolley. Background Art

[0002] The control end of the intelligent rock drilling rig instructs the arm to work according to the pre-designed hole layout and the actual situation of the face, so that the actual hole trajectory of the drill arm coincides with the hole trajectory designed by the hole layout, achieving precise drilling.

[0003] However, in actual operations, due to the structural complexity of the rock layer and the anisotropy of the rock, there are geological structures such as faults, folds, and joints, which lead to changes in the physical properties of the rock layer such as strength and hardness, or the face may contain various inclusions, such as weak interlayers and cracks. The presence of these complex geological structures and inclusions will lead to instability in the drilling of the drill pipe, which in turn causes a deviation between the actual hole drilled by the drill pipe and the hole in the design.

[0004] In the operation of the drilling rig, the accuracy of the hole trajectory directly affects the subsequent blasting effect. If the hole trajectory is inaccurate or has a large deviation, it may cause uneven rock crushing during blasting, over-excavation or under-excavation, thus posing a potential threat to the safety of the tunnel structure. Moreover, the accuracy of the hole trajectory is directly related to the construction progress. If the hole trajectory is inaccurate, it may require repeated corrections and adjustments or even secondary drilling, which will slow down the construction progress.

[0005] In view of this, the present invention proposes an intelligent multi-cantilever drilling rig, which can identify the deviated hole trajectory during drill rod drilling and adjust the drill rod in time to correct the deviated hole trajectory, thereby improving the accuracy of drill rod drilling. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the present invention provides an intelligent multi-cantilever rock drilling trolley to solve the problem of identifying the hole deviation occurring during the drilling process and making corresponding adjustments.

[0007] The object of the present invention can be achieved by the following technical solutions: an intelligent multi-cantilever drilling trolley, comprising a drilling trolley body and a plurality of drilling arms, wherein a propulsion beam and a drill rod are arranged on the drilling arm, and a drill bit is arranged at the end of the drill rod;

[0008] It also includes a positioning drive assembly and a drilling drive assembly, wherein the positioning drive assembly is used to control the position and movement of the drill arm and the propulsion beam; the drilling drive assembly is used to control the drilling of the drill rod;

[0009] The drilling machine also includes a control terminal and a position measuring component. The positioning drive component and the drilling drive component are electrically connected to the control terminal respectively. The positioning drive component and the drilling drive component receive and execute control instructions from the control terminal respectively. The position measuring component is used to detect the real-time position of the drill bit of the drill rod during the drilling process. t , the position measurement component is electrically connected to the control terminal and uploads data;

[0010] The control terminal includes an analysis module and a judgment module. The analysis module generates a three-dimensional coordinate system model according to the hole layout diagram, generates a hole track of each hole according to the hole layout diagram data, and then generates an ideal position coordinate set of the drill bit when drilling the corresponding hole according to the hole track, that is, U i The analysis module uses the real-time drill position I uploaded by the position measurement component t , t>0, add the three-dimensional coordinate set of the hole trajectory being drilled as U t , t>0, the judgment module judges U t Is it U i Subset of:

[0011] U t U i , the trajectory of the hole being drilled is correct, the control terminal instructs the drilling drive assembly to drive the drill rod to continue drilling, and then continues to generate the position of the drill bit, i.e., U t+1 Add the elements of t Then make a judgement;

[0012] U t =U i , after the drilling is completed, the control terminal controls the drilling drive assembly to stop and instructs the positioning drive assembly to pull out the corresponding drill rod;

[0013] U t U i , the trajectory of the hole being drilled deviates, the control terminal instructs the drilling drive component to stop, and the control terminal instructs the positioning drive component to make corresponding adjustments.

[0014] Preferably, the positioning drive assembly includes a propulsion beam driving cylinder for controlling the position of the propulsion beam, a drill arm driving cylinder for controlling the position of the drill arm, and a vehicle-mounted engine for controlling the position of the console trolley, and the drilling drive assembly includes an axial cylinder for controlling the axial movement of the drill rod on the propulsion beam, and a rotary motor for controlling the rotation of the drill rod.

[0015] Preferably, it also includes an angle measuring component, which is used to measure the actual angle θ between the drilling direction of the drill rod and the gravity direction.t The angle measurement component is electrically connected to the control terminal and uploads data. The analysis module simulates the ideal hole track according to the hole layout diagram to obtain the ideal angle set U between the drilling direction of the drill rod and the gravity direction. θ The analysis module takes the real-time drill pipe angle value θ uploaded by the angle measurement component t , forming the actual angle set U θt , t>0, the judgment module sets the actual angle set U θt and the ideal angle set U θ Compare and determine whether the next trajectory of the drill bit is correct:

[0016] U θt U θ , then the hole trajectory formed by the drill bit in the next step is correct, and the control terminal controls the drilling drive assembly to drive the drill rod to advance until the next instruction arrives;

[0017] U θt U θ , then the hole trajectory formed by the drill bit in the next step will deviate, the control terminal controls the drilling drive assembly to stop, and the control terminal instructs the positioning drive assembly to make corresponding adjustments.

[0018] Preferably, the analysis module also presets a fitting function model for generating an adjustment plan for the drill rod whose drilling angle will deviate as determined by the analysis module, and uses the fitting function model to adjust the drilling rod according to the ideal angle set U θ Generate adjustment plan U for drill pipe with deviation θt 1 The adjustment scheme is to adjust the drill pipe angle set so that U θt 1 and U θ The difference is minimal, the control terminal will be U θt 1 A control instruction is generated, and the positioning drive component executes the control instruction.

[0019] Preferably, a drill rod angle difference threshold is preset in the judgment module, and the judgment module compares the real-time drill rod angle value uploaded by the angle measurement component with the angle value of the standard drill rod to obtain the drill rod angle difference. When the drill rod angle difference is not less than the drill rod angle difference threshold, the judgment module determines that the drill rod has encountered an emergency, the judgment module generates an alarm command, and the control terminal issues an alarm command.

[0020] Preferably, a total station and a three-dimensional and laser scanner are used to cooperate in establishing a three-dimensional coordinate system and measuring the angle of the drill rod and the position of the drill bit.

[0021] Preferably, the drill arms are all configured as curved arms.

[0022] Preferably, the control terminal includes a human-computer interaction module for data display and data input.

[0023] Preferably, a priority is set in the command control of the control terminal, and the priority is used for the drilling drive component and the positioning drive component, and the control command input to the control terminal by the human-computer interaction module is executed preferentially.

[0024] The beneficial effects of the present invention are as follows: the present invention realizes the positioning of the drill rod angle and the drill bit position of the drilling hole through the monitoring of the position measurement component and the angle measurement component. The judgment module forms a set of the standard drill bit position coordinate set and the real-time drill bit position coordinate uploaded by the position measurement component in chronological order by the analysis module in the control terminal. The judgment module judges whether the real-time drill bit position coordinate set is the standard drill bit position coordinate set to judge whether the hole trajectory being drilled is correct, thereby realizing the identification of the hole trajectory with deviation, so as to facilitate the subsequent correction of the hole trajectory by adjusting the drill rod. The judgment principle of the subsequent drill rod angle set is similar to this. The judgment between the drill rod angle set and the judgment between the drill rod drill bit position set are earlier than a specified time period, which is used to predict the next position of the drill bit, so that the control terminal can make corresponding adjustments in advance to avoid subsequent deviations; coupled with the adjustment scheme generated by the fitting function and the setting of the drill rod angle threshold, the control terminal is better assisted in making corresponding analysis and judgment and making more targeted adjustments to the drill rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0026] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0027] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0028] See also Figure 1The present embodiment provides an intelligent multi-cantilever drilling trolley, including a main body of the drilling trolley and a plurality of drill arms. The drill arm is the working arm of the drilling trolley. When the drilling trolley is working, the drilling trolley control system generates a body control command of the drilling trolley itself through a hole layout diagram of the face recorded in advance, including forward and backward commands of the body, instructs the drilling trolley to reach the command position, and then instructs the drill arm to adjust the corresponding position, so that the drill arm is opened and extended to reach the specified position, and then drilling is realized. A propulsion beam assembly is arranged on the drill arm, and the propulsion beam assembly is generally installed on the drill arm through a slide. After the trolley drill arm reaches the command position, the propulsion beam assembly is adjusted by rotating the slide. To adjust the position of the propulsion beam, a drill rod is arranged on the propulsion beam, a drill bit is arranged at the end of the drill rod, the drill rod is used to drill into the rock layer, and the drilling operation is realized by the rotation of the drill rod itself and the propulsion device arranged on the propulsion beam. It also includes a positioning drive component and a drilling drive component. The positioning drive component is used to control the posture and movement of the drill arm and the propulsion beam, including the corresponding positions of the drill arm and the propulsion beam according to the control instructions of the rock drilling trolley, including the adjustment before the drill rod is drilled, and also includes the adjustment after the drilling is completed or an emergency occurs. The drilling drive component is used to control the drilling of the drill rod, including a propulsion cylinder installed on the propulsion beam and a cylinder for controlling the rotation of the drill rod;

[0029] It also includes a control terminal and a position measurement component. The control terminal here can be a cloud or device terminal. The device terminal includes an operator's mobile phone, computer, etc., which are instruments for realizing calculation and remote control. It only needs to meet the function of the control terminal of the present invention. The control terminal is electrically connected to the positioning drive component and the drilling drive component respectively. The positioning drive component and the drilling drive component are used to respectively receive and execute the control instructions of the control terminal to realize the drive control of a specific structure. The position measurement component uses the inductive sending and receiving devices set in the control terminal area and the inductive devices set on the equipment to be detected. The position measurement component here can use an ultrasonic position sensor, or other types of position sensors that meet the function of the position measurement component of the present invention, such as inductive or capacitive position sensors, etc.: The ultrasonic position measurement sensor transmits ultrasonic waves to the surface of the object to be measured. After being reflected by the ultrasonic wave, the sensor receives the ultrasonic wave and calculates the distance to the surface of the object through time and sound speed; the position measurement component is used to detect the real-time position of the drill rod and drill bit during the drilling process. tThe control terminal includes an analysis module and a judgment module. The analysis module generates a three-dimensional coordinate system model according to the hole layout diagram. As mentioned above, the hole layout diagram is a drilling diagram of the face prepared in advance by the operator according to the construction requirements before the drilling construction. It includes data such as the location, sequence, and depth of the drilling holes. The analysis module establishes a three-dimensional coordinate system on the face according to the data provided by the hole layout diagram. Conventional three-dimensional coordinate modeling methods can be used here, such as geometric modeling, parametric modeling, or scanning modeling. The analysis module generates a hole trajectory for each hole according to the location and depth of each hole provided by the hole layout diagram. When the corresponding hole is drilled according to the hole trajectory, the corresponding drill position coordinate set U is generated. i , the coordinate set here is actually generated by taking points on the hole track at a certain time. The specific interval time is specified according to the actual production needs, which can reflect the real-time position of the drill bit during the drilling process. The analysis module uses the establishment method here to digitally simulate the ideal drilling model of each hole. It is very common to combine 3D modeling to complete the establishment of the coordinate system in tunnel construction, so it will not be repeated here;

[0030] The analysis module uploads the real-time drill position coordinates I t , t>0, establish a real-time drill pipe position set U t , t>0, the analysis module adds the real-time position coordinates corresponding to the time sequence to the set, and the judgment module judges U t Is it U i Subset of:

[0031] U t U i The trajectory of the hole being drilled is correct. The control terminal instructs the drilling drive assembly to drive the drill rod to continue drilling, and then continues to generate the position of the drill bit, i.e., U t+1 Add the elements of t Then make a judgement;

[0032] U t =U i , after the drilling is completed, the control terminal controls the drilling drive assembly to stop and instructs the positioning drive assembly to pull out the corresponding drill rod;

[0033] U t U i, the trajectory of the hole being drilled deviates, the control terminal instructs the drilling drive component to stop, and the control terminal instructs the positioning drive component to make corresponding adjustments, that is, the control terminal feedbacks the error instruction, and the operator knows from the instruction that the trajectory of the hole formed by the drill rod is deviated, and adjusts the drilling of the drill rod by adjusting the angle of the propulsion beam or other methods to correct the deviation of the corresponding hole. Because from the perspective of the set, as long as the set U formed by the real-time drill position coordinates t is the set of coordinates of the ideal drill position when drilling the hole that is known in advance U i subset, then the hole trajectory generated by the drill pipe is now correct.

[0034] Accordingly, a distance threshold can be set on the control terminal, which represents the maximum value of the relative distance between the ideal drill bit position coordinates and the real-time drill bit position coordinates. When the positions of the two are not equal and the relative distance is less than the threshold, they can be adjusted to the normal deviation range. If the relative distance between the ideal drill bit position coordinates and the real-time drill bit position coordinates is not less than the aforementioned distance threshold, it means that there is a problem with the drill rod itself or the condition of the rock layer of the tunnel face currently encountered exceeds the rock condition of the tunnel face evaluated before construction. At this time, the control terminal issues an alarm command, and the operator determines which aspect of the problem is based on the data transmitted back to the control terminal by other detection equipment, and performs corresponding repairs or further remedial measures to ensure the safety of on-site construction.

[0035] The positioning drive assembly and the drilling drive assembly of the present invention are common drive assemblies of rock drilling trolleys. In this embodiment, the positioning drive assembly and the drilling drive assembly are taken as examples. The positioning drive assembly includes a propulsion beam drive cylinder for controlling the position of the propulsion beam, a drill arm drive cylinder for controlling the position of the swing arm, and a vehicle-mounted engine for controlling the position of the trolley. The drilling drive assembly includes an axial cylinder for controlling the axial movement of the drill rod on the propulsion beam, and a rotating motor for controlling the rotation of the drill rod.

[0036] Following the above embodiment, the position measurement component is used to detect the position of the drill bit during the drilling process. If the drill bit position deviates, the position measurement component only detects the drill bit position that has deviated, and then performs corresponding correction. The correction is not effective until the drill bit position deviates within the deviation range, and it cannot be prevented in advance. In order to detect the position of the drill rod in advance, in one embodiment, an angle measurement component is also included. When the drill rod is drilling, the position of the drill bit and the actual drilling angle of the drill rod are the two key factors affecting the accuracy of the rock drilling rig itself. The corresponding sudden situation of the face is also an external factor affecting the accuracy of the drilling. When the drill rod and the drill bit encounter different rock layers, the angle of the drill rod will have a large deviation. Therefore, by measuring the angle of the drill rod, the deviation of the next step of the drill rod can be known, thereby obtaining the drilling position of the drill bit in the next step, and then understanding whether the angle of the previous step of the drill rod drilling is correct. The angle measurement component for measuring the angle of the drill rod here is an angle sensor or other device that can measure the position of the drill rod and the drill bit. The angle measurement component is used to measure the angle θ between the propulsion direction of the drill rod and the gravity direction. t Because no matter where the drill rod is located and whether there is a slope at the drilling rig, the angle between the drilling direction of the drill rod and the direction of gravity will not be affected.

[0037] The control terminal and the angle measurement component are electrically connected. The angle measurement component uploads the measured data to the control terminal. The analysis module simulates the ideal hole trajectory according to the hole layout diagram to obtain the ideal angle set U between the drilling direction of the drill pipe and the gravity direction. θ , where the angles are the angles between the drilling direction and the gravity direction of the drill pipe. Here, the ideal angle coordinate set shell is generated according to the ideal hole trajectory. Polar coordinates are used to represent it, that is, when modeling the hole trajectory in three dimensions, polar coordinates can be used for modeling. Polar coordinate modeling is suitable for building complex surface models with specific angle and distance relationships, so as to achieve intuitive presentation of the position and angle of the drill pipe. The analysis module uploads the real-time drill pipe angle value θ uploaded by the angle measurement component. t , generate the actual angle set U of the drill pipe being drilled in chronological order θt , t>0, where the set of drill rod angles being drilled is a subset of the ideal drill rod angle set when the hole trajectory is correct. The judgment module converts the actual drill rod angle set U θt The ideal drill pipe angle set U is the angle set when the hole trajectory is normal. θ Compare and judge whether the hole trajectory to be formed by the drill bit in the next step is correct:

[0038] U θt Uθ , then the next trajectory of the drill bit is correct, and the control terminal controls the drilling drive assembly to drive the drill rod forward until the next instruction arrives;

[0039] U θt U θ , the next trajectory of the drill bit will deviate, the control terminal controls the drilling drive assembly to stop, and the control terminal instructs the positioning drive assembly, namely the drill arm and the thrust beam and even the drilling trolley to make corresponding adjustments.

[0040] In order to better generate corresponding adjustment schemes intelligently and quickly when the drill rod position is about to deviate, in one embodiment, a fitting function model is set in the analysis module. Fitting refers to the fitting of several discrete functions {f1, f2, ..., f n}, by adjusting several unknown coefficients f (λ1, λ2, ..., λ n ), so that the difference between the function and the known point set (least square meaning) is minimized. The method of adjusting the fitting coefficient is used to generate an adjustment plan for the drill rod whose drilling angle will deviate as determined by the analysis module, and the fitting function model is used according to the ideal angle set U θ Generate adjustment plan U for drill pipe with deviation θt 1 The adjustment scheme is to adjust the drill pipe angle set so that U θt 1 and U θ The difference is the smallest, that is, the angle of the drill rod after adjustment is closest to the ideal angle, so that the actual hole track formed by the drill rod is closest to the ideal hole track, thereby achieving deviation correction. θt 1 Adjust the angle set for the drill rod to correct the deviation of the drill rod according to the hole trajectory formed by the drill rod in the next step. The control terminal generates a control instruction based on the adjustment plan, and the positioning drive component executes the control instruction.

[0041] Of course, when the drill rod angle deviates, if it is within a certain deviation range, then after the deviation correction is achieved, the hole can continue to be drilled, but when it exceeds a certain threshold range, it means that the drill bit has encountered an emergency, which may be due to the problem of the rock layer at the face, that is, encountering a water source or other emergencies that cause the drill rod angle to deviate to a large extent. At this time, the hole deviation is serious and cannot be saved by simple deviation correction alone. The operator needs to make further processing. In one embodiment, a drill rod angle difference threshold is preset in the judgment module. The judgment module compares the real-time drill rod angle value uploaded by the angle measurement component with the standard drill rod angle value to obtain the drill rod angle difference. When the drill rod angle difference is not less than the drill rod angle difference threshold, the judgment module determines that the drill rod has encountered an emergency, and the control terminal issues an alarm command.

[0042] In order to better realize the control of the rock drilling rig, in this embodiment, the drill arm of the rock drilling rig is set as a curved arm. Compared with the straight arm, the curved arm can be independently rotated and adjusted, with a large working range. The drilling operation of a single-hole double-track tunnel can be completed in one time without moving the machine. The positioning is fast and accurate, and the operation is simple. The design of the curved arm here is the design of the general rock drilling rig curved arm.

[0043] There are many ways to establish a coordinate system using three-dimensional modeling. This embodiment provides a method of using a total station and a three-dimensional laser scanner to cooperate in establishing a three-dimensional coordinate system and measuring the drill rod angle and drill bit position. A three-dimensional laser scanner is used to scan the distribution of rock layers on the face. Through the hole layout diagram input on the control terminal, the analysis module uses a three-dimensional simulation model composed of three-coordinate measurement software Direct-DMIS, three-coordinate simulation equipment Direct-VCMM, and three-coordinate simulation motion controller Direct-VMC. The model is used to control the three-dimensional coordinate system model of the construction surface established by the terminal, so that the subsequent analysis module can simulate the hole trajectory and drill rod angle according to the hole layout diagram. The total station is used to measure the coordinates of the reference point of the drilling rig by referring to the coordinates of the predetermined measuring point, and then determine the positioning posture information of the drilling rig drill bit or drill rod in the tunnel according to the coordinates of the reference point. For example, the measuring station can be set by orienting the predetermined measuring point or resectioning, so as to establish a coordinate system in conjunction with the three-dimensional coordinates. After the station is built, the coordinates of at least three predetermined reference points on the rock drill body are measured. Through the coordinates of multiple reference points, the positioning posture information of the rock drill body can be determined more accurately. The three-dimensional laser scanner is used to upload the rock layer information of the face to the control terminal, which is convenient for the analysis module to simulate the channel trajectory.

[0044] In order to better realize the storage of data uploaded by multiple measurement components, various operating data and a large amount of data run by the analysis module, in one embodiment, the control terminal includes a storage module, which is used to store the data uploaded by multiple sensors and store a large amount of data analyzed by the analysis module to facilitate subsequent retrieval by the analysis module or the control terminal.

[0045] For greater convenience and increased human-computer interaction, this embodiment also includes a human-computer interaction module, which is arranged on the control terminal, i.e., the operator's mobile phone or other device input and output terminals. The human-computer interaction module is used to facilitate the operator to understand the operating data of the drilling rig in real time, and when the drilling rig drill rod encounters an emergency, the operator can make timely feedback adjustments.

[0046] Due to the complexity of the trolley's operation, which includes the control of the trolley's working status by the control terminal and the control of the trolley by the human-computer interaction module and the drilling trolley cab, priorities are set on the control terminal for the drilling drive component and the positioning drive component of the drilling trolley. When multiple control instructions come, the instructions sent to the positioning drive component and the drilling drive component must have priorities, and the control instructions input to the control terminal by the human-computer interaction module are executed first, so as to avoid more serious losses when abnormalities occur in the equipment operation.

[0047] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An intelligent multi-cantilever drilling rig, characterized in that: The invention comprises a rock drilling trolley body and a plurality of drill arms, wherein the drill arms are provided with a propulsion beam and a drill rod, and a drill bit is provided at the end of the drill rod; It also includes a positioning drive assembly and a drilling drive assembly, wherein the positioning drive assembly is used to control the position and movement of the drill arm and the propulsion beam; the drilling drive assembly is used to control the drilling of the drill rod; The drilling machine also includes a control terminal and a position measuring component. The positioning drive component and the drilling drive component are electrically connected to the control terminal respectively. The positioning drive component and the drilling drive component receive and execute control instructions from the control terminal respectively. The position measuring component is used to detect the real-time position of the drill bit of the drill rod during the drilling process. t , the position measurement component is electrically connected to the control terminal and uploads data; The control terminal includes an analysis module and a judgment module. The analysis module generates a three-dimensional coordinate system model according to the hole layout diagram, generates a hole track of each hole according to the hole layout diagram data, and then generates an ideal position coordinate set of the drill bit when drilling the corresponding hole according to the hole track, that is, U i The analysis module uses the real-time drill position I uploaded by the position measurement component t , t>0, add the three-dimensional coordinate set of the hole trajectory being drilled as U t , t>0, the judgment module judges U t Is it U i Subset of: U t U i , the trajectory of the hole being drilled is correct, the control terminal instructs the drilling drive assembly to drive the drill rod to continue drilling, and then continues to generate the position of the drill bit, i.e., U t+1 Add the elements of t Then make a judgement; U t =U i , after the drilling is completed, the control terminal controls the drilling drive assembly to stop and instructs the positioning drive assembly to pull out the corresponding drill rod; U t U i , the trajectory of the hole being drilled deviates, the control terminal instructs the drilling drive component to stop, and the control terminal instructs the positioning drive component to make corresponding adjustments.

2. The intelligent multi-cantilever drilling rig according to claim 1, characterized in that: The positioning drive assembly includes a propulsion beam driving cylinder for controlling the position of the propulsion beam, a drill arm driving cylinder for controlling the position of the drill arm, and a vehicle-mounted engine for controlling the position of the console trolley. The drilling drive assembly includes an axial cylinder for controlling the axial movement of the drill rod on the propulsion beam and a rotary motor for controlling the rotation of the drill rod.

3. The intelligent multi-cantilever drilling rig according to claim 1, characterized in that: The invention also includes an angle measuring assembly, which is used to measure the actual angle θ between the drilling direction of the drill rod and the gravity direction. t The angle measurement component is electrically connected to the control terminal and uploads data. The analysis module simulates the ideal hole track according to the hole layout diagram to obtain the ideal angle set U between the drilling direction of the drill rod and the gravity direction. θ The analysis module takes the real-time drill pipe angle value θ uploaded by the angle measurement component t , forming the actual angle set U θt , t>0, the judgment module sets the actual angle set U θt and the ideal angle set U θ Compare and determine whether the next trajectory of the drill bit is correct: U θt U θ , then the hole trajectory formed by the drill bit in the next step is correct, and the control terminal controls the drilling drive assembly to drive the drill rod to advance until the next instruction arrives; U θt U θ , then the hole trajectory formed by the drill bit in the next step will deviate, the control terminal controls the drilling drive assembly to stop, and the control terminal instructs the positioning drive assembly to make corresponding adjustments.

4. The intelligent multi-cantilever drilling rig according to claim 3, characterized in that: The analysis module also presets a fitting function model for generating an adjustment plan for the drill rod whose drilling angle will deviate as determined by the analysis module, and uses the fitting function model to generate an adjustment plan according to the ideal angle set U θ Generate adjustment plan U for drill pipe with deviation θt 1 The adjustment scheme is to adjust the drill pipe angle set so that U θt 1 and U θ The difference is minimal, the control terminal will be U θt 1 A control instruction is generated, and the positioning drive component executes the control instruction.

5. The intelligent multi-cantilever drilling rig according to claim 3, characterized in that: A drill rod angle difference threshold is preset in the judgment module. The judgment module compares the real-time drill rod angle value uploaded by the angle measurement component with the angle value of the standard drill rod to obtain the drill rod angle difference. When the drill rod angle difference is not less than the drill rod angle difference threshold, the judgment module determines that the drill rod encounters an emergency, the judgment module generates an alarm instruction, and the control terminal issues an alarm instruction.

6. The intelligent multi-cantilever drilling rig according to claim 1, characterized in that: A total station and a three-dimensional laser scanner are used to coordinately establish a three-dimensional coordinate system and measure the angle of the drill rod and the position of the drill bit.

7. The intelligent multi-cantilever drilling rig according to claim 1, characterized in that: The drill arms are all configured as curved arms.

8. The intelligent multi-cantilever drilling rig according to claim 1, characterized in that: The control terminal includes a human-computer interaction module for data display and data input.

9. The intelligent multi-cantilever drilling rig according to claim 8, characterized in that: A priority is set in the command control of the control terminal, and the priority is used for the drilling drive component and the positioning drive component, and the control command input to the control terminal by the human-computer interaction module is executed preferentially.

Images