Automatic walking system of open pit coal mine drilling machine

Abstract

The invention discloses an open pit coal mine drilling machine automatic walking system, the open pit coal mine drilling machine automatic walking system comprises a positioning module, a communication module and a terminal module, the positioning module is used for pre-positioning a drill hole in an open pit coal mine, the communication module is connected with the positioning module and the terminal module, and the terminal module is connected with the communication module. And the drilling module is used for transmitting the position information of the drilled hole to the terminal module, and the terminal module operates a drilling machine to move to the pre-positioning position and conduct drilling. According to the automatic walking system of the open pit coal mine drilling machine, the drilling efficiency is high, and the cost is saved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, and in particular to an automatic walking system for an open-pit coal mine drill. Background Art

[0002] With the continuous development and growth of open-pit coal mines, the workload of drilling and blasting has also increased. The existing drilling method is generally to manually lay out the points in the open-pit coal mine in advance, then move the drilling rig to the predetermined point, and manually operate the drilling rig to drill at the predetermined point. However, drilling through this operation method has low hole-making efficiency and consumes manpower and material resources. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the present invention provides an automatic travel system for an open-pit coal mine drill with high drilling efficiency and cost savings.

[0005] The open-pit coal mine drilling rig automatic walking system of the embodiment of the present invention includes a positioning module, a communication module and a terminal module. The positioning module is used to pre-position the borehole in the open-pit coal mine. The communication module connects the positioning module and the terminal module and is used to transmit the position information of the borehole to the terminal module. The terminal module operates the drill rig to move to the pre-position and drill.

[0006] The open-pit coal mine drilling rig automatic walking system of the embodiment of the present invention realizes automatic pre-positioning of the drill hole through the positioning module, ensures the drilling accuracy of the drill rig, improves the drilling efficiency, reduces the production cost, and realizes the intelligent construction and refined management of the mine.

[0007] In some embodiments, the positioning module includes a first positioning antenna and a second positioning antenna installed on the drilling rig, the first positioning antenna is used to detect the position of the drilling rig, and the direction in which the second positioning antenna points is the same as the direction in which the drilling rig travels, and is used to detect the direction in which the drilling rig travels.

[0008] In some embodiments, the open-pit coal mine drilling rig automatic travel system also includes a measuring device, and the measuring device is used to collect spatial geographic location information of the blasting range.

[0009] In some embodiments, the measuring device is at least one of an RTK measuring instrument, a total station, a three-dimensional lidar scanner, and a three-dimensional tilt photogrammeter.

[0010] In some embodiments, the measurement accuracy of the measuring device is between ±5 cm.

[0011] In some embodiments, the open-pit coal mine drilling rig automatic walking system also includes a camera, and the camera is arranged on the drilling rig.

[0012] In some embodiments, the drilling rig is also provided with a millimeter wave radar.

[0013] In some embodiments, the open-pit coal mine drilling rig automatic walking system also includes a displacement sensor, which is arranged on the drilling tool of the drilling rig and is used to detect the depth of the drill hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of an automatic walking system for an open-pit coal mine drill according to an embodiment of the present invention.

[0015] Figure numerals: 1. drilling rig; 2. camera. DETAILED DESCRIPTION

[0016] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0017] The open-pit coal mine drilling rig automatic walking system of the embodiment of the present invention comprises a positioning module, a communication module and a terminal module arranged on the drilling rig. The positioning module is used to pre-position the borehole in the open-pit coal mine, the communication module connects the positioning module and the terminal module, and is used to transmit the position information of the borehole to the terminal module, and the terminal module operates the drilling rig to move to the pre-position and drill the hole.

[0018] The open-pit coal mine drilling rig automatic walking system of the embodiment of the present invention realizes automatic pre-positioning of the drill hole through the positioning module, ensures the drilling accuracy of the drill rig, improves the drilling efficiency, reduces the production cost, and realizes the intelligent construction and refined management of the mine.

[0019] Specifically, the positioning module is GPS, the communication module is a wireless network communication module, and the terminal module is a vehicle-mounted intelligent terminal module. The open-pit coal mine drilling rig automatic walking system of the embodiment of the present invention realizes automatic hole arrangement, which eliminates the need for manual stepping and ruler positioning and blasthole acceptance work compared to the prior art; it realizes precise drilling of the drilling rig, and can control the drilling level of the drilling rig so that the bottom of the drilling hole in the blasting area is at the same level; the measurement and output of the holes are objective and accurate, and the drilling coordinates, drilling depth, drilling speed, operation time and other data can be collected in real time; information feedback is timely, and various information such as drilling rig startup, operation, vehicle movement, drilling, shutdown, and maintenance can be understood through simple operations, which is convenient for management personnel to grasp the production and operation status of the equipment at any time.

[0020] In some embodiments, the positioning module includes a first positioning antenna and a second positioning antenna installed on the drilling rig. The first positioning antenna is used to detect the position of the drilling rig, and the second positioning antenna points to the same direction as the driving direction of the drilling rig, and is used to detect the driving direction of the drilling rig. Specifically, the first positioning antenna and the second positioning antenna improve the accuracy of the movement and drilling of the drilling rig, thereby improving the drilling efficiency.

[0021] In some embodiments, the open-pit coal mine drilling rig automatic travel system also includes a measuring device, which is used to collect spatial geographical location information of the blasting range to facilitate obtaining blasting design results that are consistent with actual geographical conditions.

[0022] Specifically, the measuring equipment inputs the measured data and related parameters into the hole layout software to generate a perforation task order, and sends the task order to the terminal module through the communication module. The drill driver controls the drill to move automatically and find the pre-position through instructions, which improves the automation level of hole layout and mining and improves the production efficiency of the drill.

[0023] In some embodiments, the measuring device is at least one of an RTK measuring instrument, a total station, a 3D laser radar scanner, and a 3D tilt photogrammeter, wherein the 3D laser radar scanner includes but is not limited to an unmanned aerial vehicle-mounted 3D laser radar scanner, a vehicle-mounted 3D laser scanner, and a handheld 3D laser scanner. Specifically, the measuring device has a simple structure, is easy to use, and has accurate measurement results.

[0024] In some embodiments, the measurement accuracy of the measuring equipment is between ±5 cm, which improves the accuracy of the drilling position. When blasting in the borehole, it ensures the control of the blasting range, improves the blasting efficiency and construction safety.

[0025] In some embodiments, the open-pit coal mine drilling rig automatic walking system also includes a camera and a millimeter-wave radar, both of which are installed on the drilling rig to sense pedestrians and identify the depth of field.

[0026] Specifically, cameras and millimeter-wave radars are used to solve blind spot safety issues while ensuring the efficiency of remote operators. The camera can cover the blind spots of the drilling rig body and automatically identify the equipment and personnel in the blind spot camera through deep learning. The specific implementation method is: when the drilling rig is in operation and someone appears in the field of view of the drilling rig's rear-view camera, the camera captures the person in the field of view and automatically pops up the rear-view picture on the screen inside the drilling rig to prompt the operator. At the same time, the person in the picture will be circled by a box, making the prompt more obvious.

[0027] When the operator is operating a remote unmanned construction machinery, the operator faces a 2D electronic screen that lacks a sense of presence and space, making it difficult to perceive the depth of the scene, making it difficult to judge the distance between the bucket and the machine body, as well as the height of the bucket relative to the ground, resulting in reduced work efficiency or misoperation. Using AR, AI and other technologies, through machine learning of massive construction site pictures, the target position can be accurately determined, the on-site environment can be visualized, and the sense of space can be enhanced, allowing the driver to perform construction operations more conveniently and intuitively during operation, greatly improving work efficiency.

[0028] In some embodiments, the open-pit coal mine drilling rig automatic travel system also includes a displacement sensor, which is arranged on the drilling tool of the drilling rig and is used to detect the depth of the borehole in order to calculate the amount of explosives placed in the borehole to ensure the blasting effect.

[0029] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0034] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An open-pit coal mine drilling rig automatic walking system, characterized in that: The invention comprises a positioning module, a communication module and a terminal module. The positioning module is used to pre-position a borehole in an open-pit coal mine. The communication module is connected to the positioning module and the terminal module and is used to transmit the position information of the borehole to the terminal module. The terminal module operates a drilling machine (1) to move to the pre-position and drill a hole.

2. The open-pit coal mine drilling rig automatic walking system according to claim 1 is characterized in that: The positioning module comprises a first positioning antenna and a second positioning antenna installed on the drilling rig (1), the first positioning antenna being used to detect the position of the drilling rig (1), and the second positioning antenna pointing in a direction which is the same as the driving direction of the drilling rig (1), and being used to detect the driving direction of the drilling rig (1).

3. The open-pit coal mine drilling rig automatic walking system according to claim 1 is characterized in that: It also includes a measuring device, which is used to collect spatial geographical location information of the blasting range.

4. The open-pit coal mine drilling rig automatic walking system according to claim 3 is characterized in that: The measuring equipment is at least one of an RTK measuring instrument, a total station, a three-dimensional laser radar scanner and a three-dimensional tilt photogrammetry instrument.

5. The open-pit coal mine drilling rig automatic walking system according to claim 3 is characterized in that: The measuring accuracy of the measuring device is between ±5cm.

6. The open-pit coal mine drilling rig automatic walking system according to claim 1, characterized in that: It also comprises a camera (2), wherein the camera (2) is arranged on the drilling rig (1).

7. The open-pit coal mine drilling rig automatic walking system according to claim 1, characterized in that: The drilling rig (1) is also provided with a millimeter wave radar.

8. The open-pit coal mine drilling rig automatic walking system according to claim 1, characterized in that: It also comprises a displacement sensor, which is arranged on the drilling tool of the drilling machine (1) and is used to detect the depth of the drill hole.

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