Drilling operation method, device, equipment, medium and drilling rig

Abstract

The present application discloses a drilling rig operation method, device, equipment, medium and drilling rig, the method comprising: obtaining the initial posture information of the drilling rig; obtaining the single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is the single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any sub-shift task includes the drilling sequence corresponding to the two rows of hole positions and the posture information corresponding to each hole position; generating a relocation planning path according to the initial posture information and the single-shift hole position information; obtaining the current posture information of the drilling rig, and controlling the relocation of the drilling rig and completing the drilling operation of the current single-shift hole position according to the relocation planning path and the current posture information. The present application can realize the autonomous planning of the relocation line of the drilling rig equipment and the automatic control of the relocation process.

Description

Technical Field

[0001] The present application relates to the technical field of mining equipment, and in particular to a drilling operation method, device, equipment, medium and drilling rig. Background Art

[0002] The drilling of holes and rocks by drilling rigs is the first and most important link in the production process of non-coal mines. The operation mode of manually operating equipment on site faces many challenges and difficulties. The drilling operation is a high-risk link. The walking, positioning and auxiliary operations of routine operations require operators to be in harsh environments. In addition, open-pit mining equipment has a large body, many blind spots, and many hidden dangers of crushing and collision accidents. There are great hazards, and manual on-site dispatching and control have safety risks. Summary of the invention

[0003] The present application aims to propose a drilling rig operation method, device, equipment, medium and drilling rig, which can realize autonomous planning of the drilling rig equipment moving route and automatic control of the moving process, and then complete the autonomous moving and drilling operation.

[0004] A drilling operation method according to a first aspect of the present application includes:

[0005] Get the initial posture information of the drilling rig;

[0006] Obtaining single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any of the sub-shift tasks includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each of the hole positions;

[0007] Generate a machine moving planning path according to the initial posture information and the single-shift hole position information;

[0008] The current posture information of the drilling rig is obtained, and according to the planned movement path and the current posture information, the drilling rig is controlled to move and complete the drilling operation of the current single-shift hole position.

[0009] According to some embodiments of the present application, generating a machine moving planning path according to the initial posture information and the single-shift hole position information includes:

[0010] In the case where the chassis of the drilling rig is a crawler chassis without differential control, generating transition point information according to the single-shift hole position information, and generating a first machine moving planning path according to the single-shift hole position information, the initial posture information and the transition point information;

[0011] In the case where the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated according to the single-shift hole position information and the initial posture information.

[0012] According to some embodiments of the present application, the obtaining of the current posture information of the drilling rig, and controlling the drilling rig to move in a drilling sequence and complete the drilling operation of the current single-shift hole position according to the planned movement path and the current posture information, includes:

[0013] Acquire current posture information, wherein the current posture information includes current position information and current heading angle information of the drilling rig;

[0014] Obtaining the posture information of the target point, the target point being the next passing point of the drilling rig in the process of moving according to the planned machine moving path, there being multiple passing points, the multiple passing points being obtained according to the planned machine moving path of the drilling rig, and the multiple passing points being sequentially arranged according to the planned machine moving path, and the posture information corresponding to each passing point including corresponding position information and heading angle information; the point types of the passing points include punching points and transition points, the punching points corresponding to the single-shift hole position information, and the transition points corresponding to the transition point information;

[0015] According to the position information of the target point and the current position information, obtain the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point;

[0016] Controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance;

[0017] When the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

[0018] According to some embodiments of the present application, the acquiring of the position information of the target point, where the target point is the next passing point of the drilling rig in the process of traveling according to the planned path of the moving machine, includes:

[0019] In the case where the chassis of the drilling rig is a crawler chassis without differential control, obtaining position information of a target point, wherein the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the first moving machine planning path;

[0020] The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance comprises:

[0021] In the case where the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and move according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point.

[0022] According to some embodiments of the present application, the acquiring of the position information of the target point, where the target point is the next passing point of the drilling rig in the process of traveling according to the planned path of the moving machine, includes:

[0023] In the case where the chassis of the drilling rig is a crawler chassis with differential control, obtaining the position information of the target point, wherein the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the second moving machine planning path;

[0024] The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance comprises:

[0025] In the case where the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

[0026] According to some embodiments of the present application, it further includes:

[0027] In the event of a failure of the drilling rig, the moving or drilling operation is stopped, and the current position information of the drilling rig is obtained as the image information of the interruption point;

[0028] When the drilling rig is restored from failure, the drilling rig returns to the interruption point and continues the machine moving or drilling operation according to the recorded image information.

[0029] According to the second aspect of the present application, the drilling rig operation device includes:

[0030] The first acquisition module is used to obtain the initial posture information of the drilling rig;

[0031] The second acquisition module is used to obtain the single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is the single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any of the sub-shift tasks includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each of the hole positions;

[0032] A planning path generation module, used for generating a machine moving planning path according to the initial posture information and the single-shift hole position information;

[0033] The control module is used to obtain the current posture information of the drilling rig, and control the movement of the drilling rig and complete the drilling operation of the current single-shift hole position according to the planned movement path and the current posture information.

[0034] An electronic device according to an embodiment of the third aspect of the present application includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the drilling operation method as described in any one of the embodiments of the second aspect are implemented.

[0035] The drilling rig according to the fourth aspect embodiment of the present application includes the electronic device as described in the third aspect embodiment.

[0036] According to the computer-readable storage medium of the fifth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the drilling operation method as described in the first aspect embodiment above.

[0037] In the embodiment of the present application, the initial posture information of the drilling rig and the single-shift hole position information are used to generate a moving machine planning path, and then by obtaining the current posture information of the drilling rig and combining the moving machine planning path, the drilling rig can be controlled to move autonomously and complete the drilling operation of the current single-shift hole position. The present application is used to build a smart mine, realize the autonomous operation of the mining equipment, complete the autonomous planning of the moving line of the drilling rig equipment and the automatic control of the moving process, without the need for manual on-site planning and scheduling, solve the problem of safety hazards in manual scheduling and control, and reduce the demand for on-site personnel, reduce labor costs, and improve the overall operating efficiency of the drilling rig.

[0038] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0040] Figure 1 It is a flow chart of an embodiment of the drilling rig operation method of the present application;

[0041] Figure 2 It is a schematic diagram of the division of tasks by shifts in an embodiment of the drilling rig operation method of the present application;

[0042] Figure 3 It is a schematic diagram of a first machine moving planning path of an embodiment of the drilling rig operation method of the present application;

[0043] Figure 4 It is a structural schematic diagram of an embodiment of a drilling rig operation device of the present application;

[0044] Figure 5 It is a schematic diagram of the hardware structure of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0046] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0047] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0049] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0050] Here, in order to facilitate the description of the drilling rig operation method, device, storage medium and terminal device of the present application, an embodiment of the present application provides an architecture platform for the drilling rig operation method. The architecture platform can be applied to drilling equipment. The architecture platform includes a server side and a software platform developed based on ROS (Robot Operating System, open source robot operating system). The server side is used to publish the posture information of the drilling rig and the hole position information that needs to be drilled in the mining area. The software platform developed based on ROS is deployed on the local industrial computer of the drilling rig, and is used to receive the posture information and hole position information of the drilling rig issued by the server side, obtain the route planning of the drilling rig movement, and control the drilling rig movement and complete the drilling operation task.

[0051] In some embodiments, a data bridge is added to the software platform developed based on ROS to connect to the server side, which can solve the problem of inconsistent message formats and protocols between the server side and the software platform developed based on ROS. The software platform developed based on ROS can send ROS messages to the server side through the data bridge, and then send them to the upper-level visualization software, thereby realizing data interaction.

[0052] In some implementations, the server side mainly includes an MQTT (Message Queuing Telemetry Transport) server and an HTTP (Hypertext Transfer Protocol) server. The MQTT server mainly publishes the RTK (Real-time Kinematic) position information of the equipment, and receives the current operation information of the drilling equipment and displays it on the terminal; the HTTP server mainly publishes the numbered global hole position information, and receives the machine transfer planning path information and displays it on the terminal.

[0053] Based on the above-mentioned architecture platform, various embodiments of the drilling rig operation method of the present application are proposed.

[0054] Figure 1 This is a flow chart of an embodiment of the drilling rig operation method provided in the present application. Figure 1 , the embodiments of the present application are further described.

[0055] like Figure 1 As shown, the embodiment of the present application proposes a drilling rig operation method, which includes:

[0056] Step 101, obtaining the initial posture information of the drilling rig;

[0057] Step 102, obtaining single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig transfer, and the single-shift hole position information corresponding to any sub-shift task includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each hole position;

[0058] Step 103: Generate a machine transfer planning path based on the initial posture information and the single-shift hole position information;

[0059] Step 104, obtaining the current posture information of the drilling rig, and controlling the movement of the drilling rig and completing the drilling operation of the current single-shift hole position according to the planned movement path and the current posture information.

[0060] In the embodiment of the present application, the moving planning path is generated through the initial posture information of the drilling rig and the single-shift hole position information, and then by obtaining the current posture information of the drilling rig and combining the moving planning path, it is possible to control the autonomous moving of the drilling rig and complete the drilling operation of the current single-shift hole position. The present application realizes the autonomous planning of the moving route of the drilling rig equipment and the automatic control of the moving process, without the need for manual on-site planning and scheduling, solving the problem of potential safety hazards in manual scheduling and control, while reducing labor costs and improving the overall operating efficiency of the drilling rig. In addition, a suitable moving planning path is generated in advance, and the moving action of the drilling rig is controlled based on the moving planning path. It can be applied to different situations where the chassis of the drilling rig is non-differential control or differential control, avoiding the situation where old equipment without differential control cannot execute some real-time moving control instructions, effectively enhancing the adaptability of the system device to old drilling rig equipment.

[0061] In the above step 101, the initial position information of the drilling rig is obtained.

[0062] The initial posture information of the drilling rig may be the posture information of the drilling rig when it is started; the posture information may include the position information and the heading angle information of the drilling rig. The posture information may be RTK positioning information.

[0063] The drilling rig may be a drilling rig with RTK positioning information used for drilling in a mine, or a drilling rig that can be remotely operated. Specifically, the drilling rig may be a rotary drill.

[0064] In the above step 102, the single-shift hole position information corresponding to the current single-shift hole position is obtained. The current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks. The multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation. The single-shift hole position information corresponding to any sub-shift task includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each hole position.

[0065] Figure 2 FIG. 1 is a schematic diagram of the division of tasks by shift according to an embodiment of the method for planning the relocation of a drilling rig of the present application. The above-mentioned tasks by shift are determined according to the drilling area information of the relocation of the drilling rig, such as Figure 2 As shown, it can be the drilling area information according to the drilling rig movement. Figure 2 The dotted box in the figure is the punching area. Set the hole layout plan and divide the entire punching area into multiple sub-areas. According to the division of the sub-areas, all the hole positions are divided into multiple sub-class tasks. The hole positions to be punched in a sub-class task include the hole positions within the corresponding divided area. Figure 2 In the solid line box, one box represents a class task, and one class has two rows of holes.

[0066] like Figure 2As shown, the single-shift hole position information corresponding to any of the above-mentioned shift tasks includes two rows of hole positions. This may be because the drilling rig equipment is connected with cables, which is not convenient for long-distance autonomous walking. Therefore, any shift task divided is only two rows of hole positions, and the number of hole positions in each row is also within a certain range.

[0067] In the above step 103, a machine transfer planning path is generated according to the initial posture information and the single-shift hole position information.

[0068] The above-mentioned planned machine relocation path can be obtained from the server, including multiple passing points and the path planned according to the relocation sequence.

[0069] The above steps realize the autonomous planning of the drilling rig relocation route without the need for manual planning and scheduling, thereby improving the overall operating efficiency of the drilling rig.

[0070] In the above step 104, the current posture information of the drilling rig is obtained, and according to the planned movement path and the current posture information, the drilling rig is controlled to move and complete the drilling operation of the current single-shift hole position.

[0071] The above steps realize the autonomous control of the drilling rig equipment movement, solve the problem of safety hazards in manual scheduling and control, and at the same time reduce labor costs and improve the overall operating efficiency of the drilling rig.

[0072] In some implementations, generating a machine moving planning path based on the initial posture information and the single-shift hole position information includes:

[0073] In the case where the chassis of the drilling rig is a crawler chassis without differential control, the transition point information is generated according to the single-shift hole position information, and the first machine moving planning path is generated according to the single-shift hole position information, the initial posture information and the transition point information;

[0074] When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated according to the single-shift hole position information and the initial posture information.

[0075] In this embodiment, different machine moving planning paths are generated according to the characteristics of crawler chassis without differential control and crawler chassis with differential control, which can adapt to the different chassis conditions of various modified drilling rigs in the current market, effectively enhancing the adaptability of the system device to old drilling rigs and the integrity of the machine moving path planning function.

[0076] At present, there are both new and old drilling rigs being modified in the market. Their driving chassis are crawler chassis, and the chassis performance is different. At present, there are mainly two types of crawler chassis with different performance in the market, namely crawler chassis without differential control and crawler chassis with differential control.

[0077] The above-mentioned crawler chassis without differential control has imprecise control over the left and right crawlers, and there is no difference in the speed of the crawlers on both sides. The equipment is relatively old. Specifically, the crawlers on both sides have the same speed and can be controlled to move forward and backward, but when turning, only one crawler can be controlled to remain stationary while the other crawler moves, that is, turning on the spot. This makes this type of drilling rig only able to move forward and backward during driving. If turning is required, it can only be stopped and turned on the spot, and the front of the vehicle can be rotated to the required angle before continuing to drive.

[0078] The above crawler chassis with differential control can realize the forward and backward movement, left and right turning and even rotation on the spot of the drilling rig through the differential control of the left and right crawlers. This design makes the crawler chassis excellent in terms of passability, especially strong obstacle crossing ability. Specifically, the realization of differential control depends on the speed difference of the crawlers on both sides. By controlling the speed difference of the crawlers on both sides, turning and rotation can be achieved, which enables such drilling rigs to turn at the same time during the forward and backward driving process.

[0079] The above initial posture information can be used to generate a planned path from the initial position of the drilling rig to the first hole position.

[0080] The above-mentioned generation of transition point information based on the single-shift hole position information is because the single-shift hole position information corresponding to any shift task includes two rows of hole positions. After completing the drilling of one row of hole positions, the row needs to be changed. When the chassis of the drilling rig is a crawler chassis without differential control, it can only turn on the spot. If it directly turns on the spot when changing rows, a large angle rotation is required. Considering the large size of the drilling rig, it may press the last hole position of the first row that has been completed in this process. Therefore, it is necessary to generate a transition point to correct the machine movement route of the drilling rig equipment without differential control during the drilling process, which can better ensure that the finished holes are not pressed and ensure the construction quality.

[0081] The above transition point information may be generated based on the size of the drilling rig and the hole position information of a single shift.

[0082] In the case where the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig can turn simultaneously during the forward and backward driving process and can travel on an arc track line, so the above-mentioned transition point is not required.

[0083] like Figure 2 and Figure 3 As shown, in some embodiments, the punching order of the two rows of holes in the single-class hole position information corresponding to each class task is to punch holes in rows in sequence;

[0084] Generate transition point information based on single-shift hole position information, including:

[0085] With the last hole in the first row as the center and the length of the drilling rig as the radius, generate the first circle, connect the second to last hole in the first row and the last hole, and make the first extension line, and determine the intersection of the first circle and the first extension line as the transition point of the first row;

[0086] With the first row transition point as the center and the drilling rig length as the radius, generate a second circle, connect the second to last hole position and the last hole position in the last row and make a second extension line, and determine the intersection of the second circle and the second extension line as the last row transition point;

[0087] According to the positions of the first row of transition points and the last row of transition points, the transition point position information is obtained.

[0088] In this embodiment, generating transition points can realize correction of the machine moving route during the drilling process of the drilling rig equipment without differential control, and can avoid the drilling rig equipment without differential control pressing the finished hole during the movement, thereby ensuring the construction quality.

[0089] like Figure 3 As shown, the hollow dots are the two rows of holes to be punched included in the single-shift hole position information, and the solid dots are transition points.

[0090] The above-mentioned row-by-row punching can be started from the beginning of the first row to the end of the first row, and then the punching operation of all holes is completed from the beginning of the last row to the end of the last row. It should be noted that after completing the punching of the holes at the end of the first row, it is necessary to move to the beginning of the last row and start punching from the holes at the beginning of the last row.

[0091] The above-mentioned first-row transition point takes the last hole position in the first row as the center and the vehicle length of the drilling rig as the radius to generate the first circle, connect the second to last hole position and the last hole position in the first row and make the first extension line, and determine the intersection of the first circle and the first extension line as the first-row transition point, which can ensure that the drilling rig leaves the drilling area of ​​the last hole position in the first row and the drilling rig will not squeeze the hole when turning on the spot.

[0092] like Figure 3 As shown, with point 6 as the center and the length of the drilling rig as the radius, the first circle a is generated, the hole positions of points 5 and 6 are connected and the first extension line is made, and the intersection of the first circle a and the first extension line, i.e., point 7, is determined as the first row of transition points.

[0093] The above-mentioned last row transition point, with the first row transition point as the center and the vehicle length of the drilling rig as the radius, generates a second circle, connects the second to last hole position and the last hole position in the last row and makes a second extension line, and determines the intersection of the second circle and the second extension line as the last row transition point, which can ensure that the first row of holes is not pressed when the drilling rig moves from the last position of the first row to the first end of the last row.

[0094] like Figure 3As shown, with point 7 as the center and the length of the drilling rig as the radius, a second circle b is generated, the hole positions at points 16 and 17 are connected and a second extension line is made, and the intersection of the second circle b and the second extension line, i.e., point 8, is determined as the last row of transition points.

[0095] In some embodiments, the first row transition points and the last row transition points are passed sequentially after the drilling rig completes drilling of the hole positions corresponding to the last positions in the first row.

[0096] In this embodiment, after the drilling rig completes drilling of the hole corresponding to the last position of the first row, it passes through the first row transition point and the last row transition point in sequence, and then moves to the head end of the last row to start drilling the last row of holes. The first row transition point and the last row transition point are used to correct the machine movement route during the drilling process of the drilling rig equipment without differential control.

[0097] In some implementations, generating transition point information based on single-shift hole position information also includes:

[0098] The second hole in the last row is used as the adjustment transition point;

[0099] According to the positions of the first row transition points, the last row transition points and the adjustment transition points, the transition point position information is obtained.

[0100] In this embodiment, by setting an adjustment transition point, the drilling rig can adjust the angle on the spot after reaching this adjustment transition point, thereby avoiding possible deviation during long-distance driving, that is, moving from the end of the last row to the beginning of the last row. This allows the drilling rig to ensure that the direction to the first hole position in the last row is consistent after adjusting the heading angle at the adjustment transition point, that is, it can be aligned when arriving at the hole position, thereby improving the accuracy and efficiency of drilling.

[0101] like Figure 3 As shown, point 11 is used as the adjustment transition point.

[0102] After completing the drilling of the hole corresponding to the last position of the first row, the drilling rig can pass through the first row transition point, the last row transition point and the adjustment transition point in sequence, that is, pass through points 7, 8, and 11, and then move to the head end of the last row to start drilling the last row of holes.

[0103] In some implementations, generating transition point information based on single-shift hole position information also includes:

[0104] Connect the second-order hole position in the last row and the transition point in the last row to make a first straight line, select the two hole positions in the first row of holes that are closest to the first straight line as the center of the circle, and use the hole row spacing of the first and last rows as the radius to make a third circle and a fourth circle respectively, draw perpendicular lines from the two circles to the first straight line to obtain a first perpendicular line and a second perpendicular line, and determine the intersection point of the first perpendicular line and the third circle, and the intersection point of the second perpendicular line and the fourth circle as the first intermediate transition point and the second intermediate transition point;

[0105] The transition point position information is obtained according to the positions of the first row transition points, the last row transition points, the adjustment transition points, the first intermediate transition points and the second intermediate transition points.

[0106] In this embodiment, by setting the first intermediate transition point and the second intermediate transition point, when the arrangement of the holes in a row is irregular and there may be broken lines, it can prevent the drilling rig from pressing on the finished holes in the first row when moving from the end of the last row to the beginning of the last row, thereby ensuring the construction quality.

[0107] like Figure 3 As shown, connect point 11 and point 8 to make a first straight line, select point 5 and point 3 in the first row of holes that are closest to the first straight line as the center of the circle, take the hole row spacing of the first and last rows as the radius, make a third circle c and a fourth circle d respectively, make perpendicular lines from the two circles to the first straight line to obtain the first perpendicular line and the second perpendicular line, determine the intersection point 9 of the first perpendicular line and the third circle, and the intersection point 10 of the second perpendicular line and the fourth circle as the first intermediate transition point and the second intermediate transition point.

[0108] After completing the drilling of the hole corresponding to the last position of the first row, the drilling rig can pass through the first row transition point, the last row transition point, the first middle transition point, the second middle transition point and the adjustment transition point, i.e., points 7, 8, 9, 10 and 11, and then move to the head end of the last row to start drilling the holes of the last row.

[0109] The above-mentioned first straight line can also be obtained by connecting the second hole in the last row and the last hole in the last row in some cases.

[0110] In some embodiments, Figure 3 is a schematic diagram of a first moving machine planning path of an embodiment of a drilling rig moving machine planning method of the present application, such as Figure 3 As shown, the hollow dots are the two rows of holes to be punched included in the single-shift hole position information, that is, points 1-6 are the first row of holes, and points 12-17 are the last row of holes. The solid dots are transition points, that is, points 7-11 are transition points, and points 11 and 13 overlap.

[0111] The drilling rig moving process can be to first complete the first row of drilling tasks from points 1 to 6, then pass through points 7, 8, 9, 10, and 11 in sequence, and then complete the last row of drilling tasks from points 12 to 17.

[0112] In some embodiments, when the chassis of the drilling rig is a crawler chassis with differential control, generating a second machine moving planning path according to the single-shift hole position information and posture information includes:

[0113] When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated based on the fifth-order polynomial planning algorithm and the hole position information of a single shift.

[0114] In this embodiment, when the chassis of the drilling rig is a crawler chassis with differential control, it can achieve simultaneous steering during forward and backward driving, and can travel in an arc trajectory. The second machine moving planning path generated based on the quintic polynomial planning algorithm has good continuity, avoids sudden changes during movement, and keeps the drilling rig stable during driving, enhances safety, and is simple and efficient in calculation, easy to control in real time, and can be applied to various terrains. When the drilling rig works on different ground surfaces and the terrain is inconsistent, the quintic polynomial planning algorithm can flexibly generate movements that are suitable for complex terrain.

[0115] In some embodiments, when the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated based on a quintic polynomial planning algorithm and single-shift hole position information, including:

[0116] Set the speed and acceleration parameters of the drilling rig;

[0117] Based on the quintic polynomial planning algorithm, multiple segmented planning paths between each hole position are obtained according to the hole position information of a single shift and the speed and acceleration parameters of the drilling rig;

[0118] According to the multiple segmented planned paths, a second moving planned path is obtained.

[0119] In this implementation, a quintic polynomial programming algorithm based on key points is used to ensure smooth trajectory by setting speed and acceleration, so that the vehicle can travel stably.

[0120] The above quintic polynomial form is as follows:

[0121] ;

[0122] in, q ( t ) indicates that t 0 time interval t - t The value of the polynomial at 0 time distance;

[0123] The conditions for the start and end points are as follows:

[0124] ;

[0125] in, q 0 is the current real-time position of the drilling rig, q 1 is the target hole position, v 0 is the current real-time speed of the drilling rig. v1 is the target point hole speed of the drilling rig, is the current real-time acceleration of the drilling rig, It is the drilling rig target point hole position acceleration.

[0126] Here is defined T = t 1- t 0, the polynomial coefficients are h = q 1- q 0, the 6 coefficients of the quintic polynomial are solved as follows:

[0127] ;

[0128] So enter the current real-time location of the drilling rig q 0, target hole position q 1. Current rig real-time speed v 0, drilling rig target hole speed v 1. Current rig real-time acceleration , drilling rig target hole position acceleration , can output smooth and uniform path points from the real-time position of the drilling rig to the target hole position q ( t ), and then update q 0. q 1. v 0. v 1. and The value of q 0 is updated to the target hole position, v 0 and Correspondingly, q 1 is updated to the next target hole position, v 1 and Correspondingly, a smooth and uniform path point from the target hole position to the next target hole position can be output, and so on. After multiple updates and calculations, multiple segmented planning paths between the hole positions in a single-shift hole position can be obtained. It should be noted that the drilling sequence in the single-shift hole position information must be followed, and then the second machine moving planning path can be obtained based on the multiple segmented planning paths.

[0129] In some embodiments, obtaining single-shift hole position information includes:

[0130] Obtain initial single-shift hole location information and obtain safe operation constraint range;

[0131] The initial single-shift hole position information of the hole positions outside the safe operation constraint range is removed to obtain the single-shift hole position information.

[0132] In this implementation, the initial single-shift hole location information is screened, the holes outside the safe operation constraint range are removed, and the single-shift hole location information is obtained based on the remaining holes, thereby ensuring the safety of the drilling rig completing the drilling task of the single-shift hole location. Specifically, the safe operation constraint range can be determined according to the actual geographical environment of the mine.

[0133] In some implementations, the current position information of the drilling rig is obtained, and according to the planned movement path and the current position information, the drilling rig is controlled to move in a drilling sequence and complete the drilling operation of the current single-shift hole position, including:

[0134] Get the current posture information, which includes the current position information and current heading angle information of the drilling rig;

[0135] Obtain the posture information of the target point. The target point is the next passing point of the drilling rig in the process of moving according to the planned machine moving path. There are multiple passing points. The multiple passing points are obtained according to the planned machine moving path of the drilling rig, and the multiple passing points are set in sequence according to the planned machine moving path. The posture information corresponding to each passing point includes the corresponding position information and heading angle information; the point types of the passing points include drilling points and transition points. The drilling points correspond to the single-shift drilling point information, and the transition points correspond to the transition point information;

[0136] According to the position information of the target point and the current position information, the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point are obtained;

[0137] Control the drilling rig to adjust the heading angle and travel according to the heading angle deviation and travel distance;

[0138] When the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

[0139] In this embodiment, by acquiring the current posture information and the posture information of the target point, the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point are obtained, and then the drilling rig is controlled to move toward the target point according to the heading angle deviation and the travel distance, and the execution action is completed after reaching the target point. This application realizes the autonomous control of the movement of drilling rig equipment without manual planning and scheduling, solves the problem of safety hazards in manual scheduling and control, and at the same time reduces labor costs and improves the overall operation efficiency of the drilling rig.

[0140] The above current posture information may be RTK positioning information, which may be obtained from the server.

[0141] The drilling rig may be a drilling rig with RTK positioning information used for drilling in a mine, or a drilling rig that can be remotely operated. Specifically, the drilling rig may be a rotary drill.

[0142] The above-mentioned machine relocation planning path can be obtained from the server side, including multiple waypoints and the path planned according to the machine relocation order. The above-mentioned target point is the next waypoint to be reached by the current drilling rig during the movement process. It should be noted that after reaching the target point, the next waypoint according to the planned path can be updated as the target point.

[0143] The point types of the above-mentioned passing points include drilling points and transition points. The drilling points correspond to the single-shift drilling point information, and the transition points correspond to the transition point information. Therefore, the above-mentioned passing points can be drilling points, and the drilling rig needs to stop at such points and perform drilling. The above-mentioned passing points can also be transition points generated by path planning during the drilling rig relocation process. The drilling rig only needs to pass through such points without drilling.

[0144] The above-mentioned target point is the next passing point that the current drilling rig will reach during its travel. Similarly, the above-mentioned target point can include two types: drilling points and transition points.

[0145] The posture information corresponding to each of the above-mentioned passing points includes the corresponding position information and heading angle information. When the drilling rig is drilling, it is necessary to ensure that the drill rod is at the correct angle to align with the hole to be drilled. Therefore, not only the position information of the passing points but also the heading angle information is required.

[0146] The above travel distance may be the distance between the current position of the drilling rig and the target point.

[0147] The posture information corresponding to each of the above-mentioned passing points includes corresponding position information and heading angle information, which can be continuously updated according to the movement of the drilling rig.

[0148] Controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance can adjust the heading angle of the drilling rig so that the heading angle deviation does not exceed a certain range, and control the drilling rig to travel to the target point at a more accurate angle.

[0149] The above-mentioned drilling rig may be set with preset speed parameters in advance to maintain a constant speed during the moving process, and the set speed value is relatively small for operational safety considerations.

[0150] The deviation between the current posture information of the drilling rig and the posture information of the target point is within the preset deviation range. The position of the drilling rig is close to the target point and the heading angle is almost consistent and within the preset deviation range, so it can be judged that the target point has been accurately reached.

[0151] The above-mentioned control of the drilling rig to complete the execution action can be determined according to the type of the target point. Specifically, when the target point is a drilling point, the above-mentioned control of the drilling rig to complete the execution action can stop at this target point and perform drilling; when the target point is a transition point, the above-mentioned control of the drilling rig to complete the execution action can pass through this target point without other actions such as drilling.

[0152] In some embodiments, after the drilling rig completes drilling, the relevant state machine issues a command to indicate that the drilling is completed and the hole position is switched, that is, the target point is updated.

[0153] In some embodiments, obtaining the position information of the target point, where the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the planned path, includes:

[0154] When the chassis of the drilling rig is a crawler chassis without differential control, obtaining the position information of the target point, where the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the first moving machine planning path;

[0155] Control the drilling rig to adjust the heading angle and travel distance according to the heading angle deviation and travel distance, including:

[0156] When the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point.

[0157] In this embodiment, when the chassis of the drilling rig is a crawler chassis without differential control, the first moving machine planning path is adopted, and the drilling rig is controlled to adjust the heading angle through a preset heading angle deviation range, thereby realizing lateral control of the drilling rig whose chassis is a crawler chassis without differential control, which can make the moving direction of the drilling rig more accurate.

[0158] The point types of the above target points include drilling points and transition points. For the drilling points, the drill needs to stop at such points and perform drilling. For the transition points, the drill can be a transition point generated by path planning during the drilling rig moving process. The drill only needs to pass through such points without drilling.

[0159] In some embodiments, the preset heading angle deviation range includes a first preset heading angle deviation range, a second preset heading angle deviation range, and a third preset heading angle deviation range, wherein the first preset heading angle deviation range is greater than the second preset heading angle deviation range, and the second preset heading angle deviation range is greater than the preset heading angle deviation range; the preset distance threshold includes a first distance threshold and a second distance threshold, wherein the first distance threshold is greater than the second distance threshold;

[0160] According to the heading angle deviation, the preset heading angle deviation range, the travel distance and the point type of the target point, the drilling rig is controlled to adjust the heading angle and travel, including:

[0161] When the heading angle deviation exceeds the first preset heading angle deviation range, controlling the drilling rig to adjust the heading angle in situ until the heading angle deviation is within the second preset heading angle deviation range;

[0162] When the travel distance is greater than the first distance threshold and the heading angle deviation is within the second preset heading angle deviation range, stop controlling the drilling rig to adjust the heading angle in situ, and control the drilling rig to move according to the travel distance;

[0163] When the travel distance is less than or equal to the first distance threshold and the target point is a drilling point, the drilling rig is controlled to adjust the heading angle on the spot until the heading angle deviation is within a third preset heading angle deviation range, and the drilling rig is controlled to move until the travel distance is less than or equal to the second distance threshold;

[0164] When the travel distance is less than or equal to the first distance threshold and the target point is a transition point, the drilling rig is controlled to travel.

[0165] In this embodiment, by setting a plurality of preset heading angle deviation ranges and preset distance thresholds, it is possible to more accurately adjust and control the travel direction and travel distance of a drilling rig having a crawler chassis without differential control.

[0166] In the above case where the heading angle deviation exceeds the first preset heading angle deviation range, the drilling rig is controlled to adjust the heading angle in situ until the heading angle deviation is within the second preset heading angle deviation range;

[0167] When the travel distance is greater than the first distance threshold and the heading angle deviation is within a second preset heading angle deviation range, control of the drilling rig to adjust the heading angle in situ is stopped, and the drilling rig is controlled to move according to the travel distance.

[0168] This is because when the chassis of the drilling rig is a crawler chassis without differential control, the direction may deviate during long-distance driving, that is, the heading angle deviation between the drilling rig and the target point becomes larger, so adjustment control is required to keep the drilling rig in the correct direction of travel.

[0169] Specifically, during the movement of the drilling rig, when the travel distance is greater than the first distance threshold, that is, at this time the drilling rig is far away from the target point and maintains a certain distance, once the heading angle deviation exceeds the first preset heading angle deviation range, the drilling rig will turn on the spot and adjust the heading angle until the heading angle deviation is within the second preset heading angle deviation range, indicating that the direction has been calibrated, and the drilling rig can continue to move straight. Among them, the second preset heading angle deviation range is smaller than the first preset heading angle deviation range, which can well control the heading angle deviation from being too large.

[0170] For example, the first preset heading angle deviation range is within the range of ±1°, the second preset heading angle deviation range is within the range of ±0.5°, and the first distance threshold is 1 meter; when the chassis of the drilling rig is a crawler chassis without differential control, during the straight-line process, if the heading angle deviation exceeds the range of ±1°, on-the-spot steering control is performed until the heading angle deviation is within the range of ±0.5°, and when the travel distance is greater than 1 meter, the straight-line process is continued.

[0171] In the above-mentioned case where the traveling distance is less than or equal to the first distance threshold and the target point is a drilling point, the drilling rig is controlled to adjust the heading angle on the spot until the heading angle deviation is within the third preset heading angle deviation range, and the drilling rig is controlled to move until the traveling distance is less than or equal to the second distance threshold.

[0172] Specifically, during the movement of the drilling rig, when the travel distance is less than or equal to the first distance threshold, that is, the drilling rig is close to the target point at this time, and when the target point is a drilling point, the drilling rig needs to stop at the target point and perform drilling operations, so the drilling rig needs to be accurately parked. Therefore, the heading angle deviation and the travel distance further increase the accuracy requirements. At this time, the accurate parking of the drilling rig requires that the heading angle deviation is kept within the third preset heading angle deviation range and the travel distance is kept less than or equal to the second distance threshold, wherein the third preset heading angle deviation range is less than the second preset heading angle deviation range, and the second distance threshold is less than the first distance threshold, otherwise the accuracy of the drilling cannot be guaranteed; if the above conditions are not met, the drilling rig is controlled to adjust until the conditions are met, so as to facilitate subsequent parking and drilling. In some cases, the adjustment time for the drilling rig to accurately park will also be limited. When the adjustment time is too long and exceeds the preset time threshold, it means that the drilling rig has not been able to successfully park accurately for a long time, and an error prompt warning will be issued, and then manual takeover will be taken, wherein the adjustment time can be counted from when the travel distance is less than the second distance threshold.

[0173] In the above case, when the travel distance is less than or equal to the first distance threshold and the target point is a transition point, the drilling rig is controlled to travel.

[0174] Specifically, during the movement of the drilling rig, when the travel distance is less than or equal to the first distance threshold, that is, at this time the drilling rig is close to the target point, and when the target point is a transition point, the drilling rig only passes through this target point, and there is no need to more finely adjust the heading angle deviation and the travel distance.

[0175] For example, the third preset heading angle deviation range is within the range of ±0.2°, the first distance threshold is 1 meter, and the second distance threshold is 20 centimeters; when the chassis of the drilling rig is a crawler chassis without differential control, during straight driving, when the travel distance is less than 1 meter, if the heading angle deviation exceeds the range of ±0.2°, on-the-spot steering control is performed until the heading angle deviation is within the range of ±0.2°, and then the straight driving is continued until the travel distance is less than 20 centimeters, thereby meeting the conditions for precise parking.

[0176] In some embodiments, controlling the drilling rig to adjust the heading angle in situ includes:

[0177] Based on the PID control algorithm, the motor control information of the drilling rig is obtained according to the heading angle deviation, and the speed of the single crawler motor of the drilling rig is adjusted according to the motor control information to control the drilling rig to adjust the heading angle in situ.

[0178] In this implementation, a PID (Proportional-Integral-Derivative) control algorithm is used to implement a steering adjustment function. Specifically, the motor control information, i.e., the control amount of the motor, can be calculated according to the heading angle deviation, and the rotation speed of the single-side crawler motor of the drilling rig can be adjusted to control the drilling rig to adjust the heading angle on the spot, thereby implementing lateral control of the drilling rig whose chassis is a crawler chassis without differential control, and ultimately achieving the requirement that the heading angle of the target point is aligned with the heading angle of the drilling rig.

[0179] In some embodiments, obtaining the position information of the target point, where the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the planned path, includes:

[0180] When the chassis of the drilling rig is a crawler chassis with differential control, the position information of the target point is obtained, and the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the second moving machine planning path;

[0181] Control the drilling rig to adjust the heading angle and travel distance according to the heading angle deviation and travel distance, including:

[0182] When the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

[0183] In this embodiment, when the chassis of the drilling rig is a crawler chassis with differential control, the second moving machine planning path is adopted. At the same time, because the chassis with differential control can realize simultaneous steering during forward and backward driving and can travel in an arc trajectory, there is no need to set a preset heading angle deviation range and a preset distance threshold.

[0184] In some embodiments, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0185] Based on the pure tracking algorithm, the driving data information of the drilling rig is obtained according to the heading angle deviation and the travel distance, and the drilling rig is controlled to adjust the heading angle and travel according to the driving data information; wherein the driving data information includes the left track linear speed, the right track linear speed, the angular velocity and the turning radius of the drilling rig.

[0186] In this embodiment, a pure tracking algorithm is used to achieve lateral control of a drilling rig whose chassis is a crawler chassis with differential control, which can make the moving direction of the drilling rig more accurate.

[0187] When the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is a differential model. The principle of the differential model is mainly based on the difference in the speed of the left and right wheels, which causes the entire body to rotate or travel in a straight line. In a two-wheel differential system, when the speeds of the left and right wheels are the same, the robot travels in a straight line; when the speeds of the left and right wheels are different, a rotation movement around the center point will be generated.

[0188] The above-mentioned drilling rig may be set with a preset speed parameter in advance, and maintain a constant speed during the process of moving, and the speed value set is relatively small for the sake of operational safety. The above-mentioned preset speed parameter may be a preset overall linear speed v c .

[0189] The above pure tracking algorithm for realizing lateral control of a drilling rig with a crawler chassis having differential control is constrained by the following formula:

[0190] ;

[0191] Among them, l d The target point is the preview distance from the rear axle position of the drilling rig to the preview point, ɑ is the angle between the preview point and the center point of the drilling rig, R is the turning radius, e y is the lateral error, that is, the lateral distance from the rear axle position of the drilling rig to the preview point; specifically, the preview point can be the target point, the preview distance can be the travel distance, and ɑ can be obtained according to the heading angle deviation. Thus, the following driving data information of the drilling rig can be calculated:

[0192] ;

[0193] Among them, v c is the overall linear speed of the drilling rig, v r is the right crawler linear speed of the drilling rig, v l is the linear speed of the left crawler of the drilling rig, ω c is the overall angular velocity of the drilling rig, ω r is the angular velocity of the right track of the drilling rig, ω lis the angular velocity of the left crawler of the drilling rig, and R is the turning radius. Further, the overall linear velocity v c The right track linear speed v of the drilling rig is calculated by the turning radius R r and is the linear speed v of the left track of the drilling rig l .

[0194] In some embodiments, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0195] The measured speed and preset speed parameters of the drilling rig are obtained; based on the PID control algorithm, the control amount of the motor is obtained according to the deviation between the preset speed parameters of the drilling rig and the measured speed parameters; and the drilling rig is controlled according to the control amount of the motor.

[0196] In this embodiment, a PID control algorithm is used to obtain the control amount of the corresponding crawler motor of the drilling rig according to the speed-related data of the drilling rig, thereby realizing the control of the crawler motor of the drilling rig.

[0197] The above-mentioned drilling rig may be set with preset speed parameters in advance to maintain a constant speed during the moving process, and the set speed value is relatively small for operational safety considerations.

[0198] The measured speed parameters of the above-mentioned drilling rig can be obtained based on the sensors arranged on the drilling rig.

[0199] The control amount of the motor is obtained according to the deviation between the preset speed parameter of the drilling rig and the measured speed parameter. The control amount of the motor can be obtained by controlling the conversion between the motor speed and the corresponding drilling rig speed, as shown in the following formula:

[0200] ;

[0201] Wherein, V is the drilling rig speed (m / s), which may be the overall linear speed of the drilling rig in this application, d is the crawler chassis diameter (m), and n is the motor speed (rpm).

[0202] The PID control algorithm for realizing the longitudinal control of the drilling rig is constrained by the following formula:

[0203] ;

[0204] Among them, u(t) is the output signal, that is, the speed of the controlled motor; e(t) is the deviation signal, that is, the difference between the set motor speed value and the actual motor speed value; Kp is the proportional gain, which is used to adjust the proportional relationship between the output signal and the deviation signal; Ki is the integral gain, which is used to eliminate the static error of the system; Kd is the differential gain, which is used to improve the dynamic response characteristics of the system, reduce overshoot and shorten the adjustment time.

[0205] The role of the proportional link is to respond to speed deviation. Once a speed deviation occurs, the controller will immediately take control action. The integral link will not increase the control amount only when the deviation is zero, so it will play a role in eliminating static errors. In the differential link, the main expectation is to speed up the adjustment process and make appropriate corrections in advance according to the changing trend of the deviation.

[0206] In some embodiments, it further comprises:

[0207] In case of a drilling rig failure, stop the machine moving or drilling operation, and obtain the current posture information of the drilling rig as the image information of the interruption point;

[0208] When the drilling rig is restored from failure, it can return to the interruption point and continue the machine moving or drilling operation according to the recorded information.

[0209] In this embodiment, the recorded image information facilitates the drilling rig to quickly know the interruption position and return to the interruption point when continuing the operation, which can improve the operation efficiency.

[0210] The above-mentioned image information can be uploaded to the server, received by the MQTT server and displayed on the terminal.

[0211] In some embodiments, after the drilling rig starts working, two tracks can be displayed on the page of the visualization software, one is the planned path for moving the rig, and the other is the actual path for moving the rig, which are distinguished by different colors. When the drilling rig interrupts the autonomous drilling operation due to maintenance, failure, moving the rig, manual intervention, etc., the image information of the drilling rig can be reserved, and after the interruption operation is completed, the drilling rig returns to the image position.

[0212] The drilling operation method provided in the embodiment of the present application can be performed by a drilling operation device 200. In the embodiment of the present application, the drilling operation device 200 performing the drilling operation method is taken as an example to illustrate the drilling operation device 200 provided in the embodiment of the present application.

[0213] See also Figure 4 , is a schematic diagram of the structure of a drilling rig operation device 200 provided in an embodiment of the present application. Figure 4 As shown, the drilling rig operation device 200 includes:

[0214] The first acquisition module 201 is used to acquire the initial position information of the drilling rig;

[0215] The second acquisition module 202 is used to obtain the single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is the single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any sub-shift task includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each hole position;

[0216] The planning path generation module 203 is used to generate a moving machine planning path according to the initial posture information and the single-shift hole position information;

[0217] The control module 204 is used to obtain the current posture information of the drilling rig, and control the movement of the drilling rig and complete the drilling operation of the current single-shift hole position according to the planned movement path and the current posture information.

[0218] In some implementations, the planning path generation module 203 may be used to:

[0219] In the case where the chassis of the drilling rig is a crawler chassis without differential control, the transition point information is generated according to the single-shift hole position information, and the first machine moving planning path is generated according to the single-shift hole position information, the initial posture information and the transition point information;

[0220] When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated according to the single-shift hole position information and the initial posture information.

[0221] In some implementations, the control module 204 may be configured to:

[0222] Get the current posture information, which includes the current position information and current heading angle information of the drilling rig;

[0223] Obtain the posture information of the target point. The target point is the next passing point of the drilling rig in the process of moving according to the planned machine moving path. There are multiple passing points. The multiple passing points are obtained according to the planned machine moving path of the drilling rig, and the multiple passing points are set in sequence according to the planned machine moving path. The posture information corresponding to each passing point includes the corresponding position information and heading angle information; the point types of the passing points include drilling points and transition points. The drilling points correspond to the single-shift drilling point information, and the transition points correspond to the transition point information;

[0224] According to the position information of the target point and the current position information, the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point are obtained;

[0225] Control the drilling rig to adjust the heading angle and travel according to the heading angle deviation and travel distance;

[0226] When the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

[0227] In some implementations, the control module 204 may be configured to:

[0228] When the chassis of the drilling rig is a crawler chassis without differential control, obtaining the position information of the target point, where the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the first moving machine planning path;

[0229] The control module 204 may be used to:

[0230] When the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point.

[0231] In some implementations, the control module 204 may be configured to:

[0232] When the chassis of the drilling rig is a crawler chassis with differential control, the position information of the target point is obtained, and the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the second moving machine planning path;

[0233] The control module 204 may be used to:

[0234] When the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

[0235] In some implementations, the control module 204 may also be used to:

[0236] In case of a drilling rig failure, stop the machine moving or drilling operation, and obtain the current posture information of the drilling rig as the image information of the interruption point;

[0237] When the drilling rig is restored from failure, it can return to the interruption point and continue the machine moving or drilling operation according to the recorded information.

[0238] Since the drilling operation device 200 adopts all the technical solutions of the drilling operation method of the above-mentioned embodiment, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, which will not be described in detail here.

[0239] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0240] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0241] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0242] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 302 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0243] In some embodiments, the memory 302 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0244] The processor 301 implements any one of the drilling operation methods in the above embodiments by reading and executing the computer program instructions stored in the memory 302 .

[0245] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 5 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0246] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0247] Bus 310 includes hardware, software or both, and couples the components of online data traffic billing equipment to each other. For example, but not limitation, the bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnect (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0248] The electronic device can execute the drilling operation method in the embodiment of the present application, thereby realizing the combination Figure 1 and Figure 4 The drilling rig operation method and device are described.

[0249] An embodiment of the present application may provide a drilling rig, which includes the above-mentioned electronic device.

[0250] In addition, in combination with the drilling operation method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the drilling operation methods in the above embodiment is implemented.

[0251] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0252] The functional blocks shown in the structural block diagram described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0253] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0254] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box 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, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0255] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A drilling operation method, characterized in that: include: Get the initial posture information of the drilling rig; Obtaining single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any of the sub-shift tasks includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each of the hole positions; Generate a machine moving planning path according to the initial posture information and the single-shift hole position information; Acquire the current posture information of the drilling rig, and control the movement of the drilling rig and complete the drilling operation of the current single-shift hole position according to the planned movement path and the current posture information; The machine moving planning path includes a first machine moving planning path and a second machine moving planning path, and generating the machine moving planning path according to the initial posture information and the single-shift hole position information includes: In the case where the chassis of the drilling rig is a crawler chassis without differential control, generating transition point information according to the single-shift hole position information, and generating a first machine moving planning path according to the single-shift hole position information, the initial posture information and the transition point information; In the case where the chassis of the drilling rig is a crawler chassis with differential control, generating a second machine moving planning path according to the single-shift hole position information and the initial posture information; The punching order of the two rows of holes in the single-class hole position information corresponding to each of the divided-class tasks is to punch holes in rows in sequence, and the generation of transition point information according to the single-class hole position information includes: A first circle is generated with the last hole position in the first row as the center and the length of the drilling rig as the radius, and a first extension line is made by connecting the second to last hole position in the first row and the last hole position, and an intersection point of the first circle and the first extension line is determined as the first row transition point; A second circle is generated with the first row transition point as the center and the vehicle length of the drilling rig as the radius, the second circle is connected with the last hole position in the last row and a second extension line is made, and the intersection of the second circle and the second extension line is determined as the last row transition point; According to the positions of the first row of transition points and the last row of transition points, the transition point position information is obtained.

2. The drilling operation method according to claim 1, characterized in that: The obtaining of the current posture information of the drilling machine, and controlling the drilling machine to move in a drilling sequence and complete the drilling operation of the current single-shift hole position according to the planned machine moving path and the current posture information, includes: Acquire current posture information, wherein the current posture information includes current position information and current heading angle information of the drilling rig; Obtaining the posture information of the target point, the target point being the next passing point of the drilling rig in the process of moving according to the planned machine moving path, there being multiple passing points, the multiple passing points being obtained according to the planned machine moving path of the drilling rig, and the multiple passing points being sequentially arranged according to the planned machine moving path, and the posture information corresponding to each passing point including corresponding position information and heading angle information; the point types of the passing points include punching points and transition points, the punching points corresponding to the single-shift hole position information, and the transition points corresponding to the transition point information; According to the position information of the target point and the current position information, obtain the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point; Controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance; When the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

3. The drilling operation method according to claim 2, characterized in that: The acquiring of the position information of the target point, wherein the target point is the next passing point of the drilling rig in the process of moving according to the planned path of the moving machine, includes: In the case where the chassis of the drilling rig is a crawler chassis without differential control, obtaining position information of a target point, wherein the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the first moving machine planning path; The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance comprises: In the case where the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and move according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point.

4. The drilling operation method according to claim 2 or 3, characterized in that: The acquiring of the position information of the target point, wherein the target point is the next passing point of the drilling rig in the process of moving according to the planned path of the moving machine, includes: In the case where the chassis of the drilling rig is a crawler chassis with differential control, obtaining the position information of the target point, wherein the target point is the next passing point of the drilling rig during the movement of the drilling rig according to the second moving machine planning path; The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance comprises: In the case where the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

5. The drilling operation method according to claim 1, characterized in that: Also includes: In the event of a failure of the drilling rig, the moving or drilling operation is stopped, and the current position information of the drilling rig is obtained as the image information of the interruption point; When the drilling rig is restored from failure, the drilling rig returns to the interruption point and continues the machine moving or drilling operation according to the recorded image information.

6. A drilling rig operation device, characterized in that: include: The first acquisition module is used to obtain the initial posture information of the drilling rig; The second acquisition module is used to obtain the single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is the single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any of the sub-shift tasks includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each of the hole positions; A planning path generation module, used for generating a machine moving planning path according to the initial posture information and the single-shift hole position information; A control module, used for obtaining the current posture information of the drilling rig, and controlling the movement of the drilling rig and completing the drilling operation of the current single-shift hole position according to the planned movement path and the current posture information; The machine moving planning path includes a first machine moving planning path and a second machine moving planning path, and generating the machine moving planning path according to the initial posture information and the single-shift hole position information includes: In the case where the chassis of the drilling rig is a crawler chassis without differential control, generating transition point information according to the single-shift hole position information, and generating a first machine moving planning path according to the single-shift hole position information, the initial posture information and the transition point information; In the case where the chassis of the drilling rig is a crawler chassis with differential control, generating a second machine moving planning path according to the single-shift hole position information and the initial posture information; The punching order of the two rows of holes in the single-class hole position information corresponding to each of the divided-class tasks is to punch holes in rows in sequence, and the generation of transition point information according to the single-class hole position information includes: A first circle is generated with the last hole position in the first row as the center and the length of the drilling rig as the radius, and a first extension line is made by connecting the second to last hole position in the first row and the last hole position, and an intersection point of the first circle and the first extension line is determined as the first row transition point; A second circle is generated with the first row transition point as the center and the vehicle length of the drilling rig as the radius, the second circle is connected with the last hole position in the last row and a second extension line is made, and the intersection of the second circle and the second extension line is determined as the last row transition point; According to the positions of the first row of transition points and the last row of transition points, the transition point position information is obtained.

7. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the drilling operation method according to any one of claims 1 to 5 are implemented.

8. A drilling rig, characterized in that: Comprising the electronic device as claimed in claim 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the drilling operation method according to any one of claims 1 to 5.

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