Semi-physical analog simulation control method and system for full-automatic crawler-type down-the-hole drill

Abstract

The invention relates to the technical field of semi-physical simulation control, in particular to a semi-physical simulation control method and system for a full-automatic crawler-type down-the-hole drill. The method comprises the following steps: performing semi-physical simulation processing on the full-automatic crawler-type down-the-hole drill to generate a semi-physical simulation model of the full-automatic crawler-type down-the-hole drill; carrying out simulation environment condition design and operation simulation condition division on the semi-physical simulation model of the full-automatic crawler-type down-the-hole drill, and carrying out simulation control on a terrain feeding speed, a drill bit position and a rotating speed; obtaining a down-the-hole drill complex terrain feeding speed simulation control target, a down-the-hole drill bit position simulation control target and a down-the-hole drill bit rotating speed simulation control target under different implementation working conditions; and performing actual control feedback response optimization on the full-automatic crawler-type down-the-hole drill to obtain a simulation control parameter optimization result of the down-the-hole drill. According to the invention, accurate simulation control of the operation process of the down-the-hole drill can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of semi-physical simulation control, and in particular to a semi-physical simulation control method and system for a fully automatic crawler down-the-hole drill. Background Art

[0002] The semi-physical simulation control method of fully automatic crawler down-the-hole drill is an innovative technology designed for the high-precision and high-efficiency requirements in modern construction and geological engineering. With the development of virtual simulation technology, the semi-physical simulation control method based on new technology has become an innovative direction in the industry, providing a new solution for improving the effect of operation training, reducing costs and reducing accident risks. By introducing a high-fidelity semi-physical model of the down-the-hole drill and virtual simulation technology, the mechanical structure, hydraulic system and control interface of the down-the-hole drill are accurately replicated to simulate the operation scenes and physical reactions in the real construction site. By combining the semi-physical model with the virtual simulation software, a three-dimensional visual scene can be generated in real time, and the user's operation behavior and feedback can be captured in real time through the sensing device, thereby providing a realistic operation experience and learning environment. However, the traditional simulation control method of down-the-hole drill mainly relies on manual operation or simple automatic control system, which has the problems of complex operation and low efficiency of drilling rig simulation control. Summary of the invention

[0003] Based on this, it is necessary for the present invention to provide a semi-physical simulation control method and system for a fully automatic crawler down-the-hole drill to solve at least one of the above-mentioned technical problems.

[0004] To achieve the above purpose, a semi-physical simulation control method for a fully automatic crawler down-the-hole drill comprises the following steps: Step S1: Performing semi-physical simulation processing on the fully automatic crawler down-the-hole drill to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; obtaining historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing simulation environment conditions and dividing operation simulation conditions for the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and generating terrain feeding operation simulation environment conditions of the down-the-hole drill and drilling operation simulation environment conditions of the down-the-hole drill under different implementation conditions; Step S2: Based on the simulated environmental conditions of the terrain feeding operation of the down-the-hole drill under different implementation conditions, the terrain feeding speed simulation control is performed on the semi-physical simulation model of the fully automatic crawler down-the-hole drill to obtain the simulation control target of the complex terrain feeding speed of the down-the-hole drill under different implementation conditions; Step S3: Based on the simulated environmental conditions of the drilling operation of the down-the-hole drill under different working conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill performs drill position and speed simulation control on the drill bit, and obtains the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different working conditions; Step S4: Based on the down-the-hole drill rig complex terrain feed speed simulation control target, down-the-hole drill rig drill bit position simulation control target and down-the-hole drill rig drill bit speed simulation control target under different implementation conditions, the actual control feedback response of the fully automatic crawler down-the-hole drill rig is optimized to obtain the down-the-hole drill rig simulation control parameter optimization result.

[0005] Further, step S1 includes the following steps: Step S11: using CAD software to perform three-dimensional spatial modeling on the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill, to obtain a three-dimensional spatial model of the mechanical structure of the down-the-hole drill, a three-dimensional spatial model of the hydraulic system of the down-the-hole drill and a three-dimensional spatial model of the electrical components of the down-the-hole drill; Step S12: collecting actual working operation parameters of the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill to obtain an actual working motion parameter set of the mechanical structure of the down-the-hole drill, an actual working pressure change parameter set of the hydraulic system of the down-the-hole drill and an actual working logic control parameter set of the electrical components of the down-the-hole drill; Step S13: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, and the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform semi-physical simulation processing on the three-dimensional space model of the mechanical structure of the down-the-hole drill, the three-dimensional space model of the hydraulic system of the down-the-hole drill, and the three-dimensional space model of the electrical components of the down-the-hole drill, so as to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; Step S14: acquiring historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing a simulation environment condition for a semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, to obtain simulation environment conditions of the down-the-hole drill model under different implementation conditions; Step S15: Analyze the actual construction operation steps of the fully automatic crawler down-the-hole drill to obtain the actual construction operation step status of the down-the-hole drill, wherein the actual construction operation step status of the down-the-hole drill includes terrain feeding operation steps and drilling operation steps; divide the operation simulation conditions of the down-the-hole drill model simulation environment simulation conditions under different implementation conditions based on the actual construction operation step status of the down-the-hole drill, and generate the down-the-hole drill terrain feeding operation simulation environment conditions and the down-the-hole drill drilling operation simulation environment conditions under different implementation conditions.

[0006] Further, step S13 includes the following steps: Step S131: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, a virtual simulation system is used to perform mechanical motion simulation analysis on the three-dimensional space model of the mechanical structure of the down-the-hole drill, so as to obtain a kinematic simulation sub-model of the mechanical components of the down-the-hole drill; Step S132: Based on the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, a virtual simulation system is used to perform a hydraulic dynamic change simulation analysis on the three-dimensional space model of the hydraulic system of the down-the-hole drill, so as to obtain a hydraulic dynamic change simulation sub-model of the down-the-hole drill; Step S133: Based on the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform electrical logic control simulation analysis on the three-dimensional space model of the electrical components of the down-the-hole drill, so as to obtain an electrical logic control simulation sub-model of the down-the-hole drill; Step S134: performing coordinated operation correlation analysis on the kinematics simulation sub-model of the mechanical parts of the down-the-hole drill, the hydraulic dynamic change simulation sub-model of the down-the-hole drill, and the electrical logic control simulation sub-model of the down-the-hole drill to obtain the coordinated operation correlation relationship between the down-the-hole drill simulation sub-models; Step S135: Based on the coordinated operation relationship between each down-the-hole drill simulation sub-model, the down-the-hole drill mechanical component kinematics simulation sub-model, the down-the-hole drill hydraulic dynamic change simulation sub-model and the down-the-hole drill electrical logic control simulation sub-model are integrated and connected to generate a semi-physical simulation model of a fully automatic crawler down-the-hole drill.

[0007] Further, step S131 includes the following steps: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the motion parameters of each mechanical component structure in the three-dimensional space model of the mechanical structure of the down-the-hole drill are divided and set to obtain the actual working motion parameter set corresponding to each mechanical component structure space model; Perform kinematic field constraint design on the actual working motion parameter set corresponding to each mechanical component structure space model to generate the kinematic constraint setting field of the mechanical component structure of the down-the-hole drill; Based on the kinematic constraint setting field of the mechanical components of the down-the-hole drill, a virtual simulation system is used to perform mechanical motion simulation analysis on the three-dimensional space model of the mechanical structure of the down-the-hole drill, and a kinematic simulation sub-model of the mechanical components of the down-the-hole drill is obtained.

[0008] Further, step S132 includes the following steps: Drawing a pressure change curve for the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill to generate a working pressure change curve of the hydraulic system of the down-the-hole drill; Based on the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, the pressure transmission speed and direction of the three-dimensional space model of the hydraulic system of the down-the-hole drill are statistically analyzed to obtain the pressure transmission speed and direction of the hydraulic system of the down-the-hole drill during the working process; According to the pressure transmission speed and pressure transmission direction of the hydraulic system during the working process of the down-the-hole drill, the pressure flow dynamics characteristics of the three-dimensional space model of the hydraulic system of the down-the-hole drill are analyzed to obtain the working pressure flow dynamics characteristics parameters of the hydraulic system of the down-the-hole drill; The virtual simulation system is used to set the hydraulic flow coupling field for the pressure change curve of the hydraulic system of the down-the-hole drill and the flow dynamic characteristic parameters of the hydraulic system of the down-the-hole drill, and the pressure change flow response coupling field of the hydraulic system of the down-the-hole drill is obtained; According to the pressure change flow response coupling field of the down-the-hole drill hydraulic system, the hydraulic dynamic change simulation analysis is carried out on the three-dimensional space model of the down-the-hole drill hydraulic system, and the hydraulic dynamic change simulation sub-model of the down-the-hole drill hydraulic system is obtained.

[0009] Further, step S2 includes the following steps: Step S21: setting the simulated environment obstacle distribution for the simulated environment conditions of the down-the-hole drilling rig terrain feeding operation under different implementation conditions, and obtaining the distribution positions of the simulated environment obstacles for the down-the-hole drilling rig terrain feeding operation under different implementation conditions; Step S22: setting the terrain slope of the simulated environment for the terrain feeding operation of the down-the-hole drill rig under different implementation conditions, and obtaining the terrain slope of the simulated environment for the terrain feeding operation of the drill rig under different implementation conditions; Step S23: performing terrain restriction of the operation simulation environment according to the distribution positions of obstacles in the drilling rig terrain feeding operation simulation environment under different implementation conditions and the terrain slope of the drilling rig terrain feeding operation simulation environment, so as to obtain the terrain restriction field of the drilling rig terrain feeding operation simulation environment under different implementation conditions; Step S24: adjusting the terrain restriction feed speed response of the fully automatic crawler down-the-hole drill rig semi-physical simulation model based on the terrain restriction field of the drilling rig terrain feed operation simulation environment under different implementation conditions, so as to generate a terrain restriction feed speed response adjustment strategy for the down-the-hole drill rig under different implementation conditions; Step S25: Perform terrain feed speed simulation control on the semi-physical simulation model of the fully automatic crawler down-the-hole drill according to the terrain-restricted feed speed response adjustment strategy of the down-the-hole drill under different implementation conditions, and obtain the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions.

[0010] Further, step S3 includes the following steps: Step S31: performing drilling environment geological identification analysis on the simulated environmental conditions of the down-the-hole drilling rig drilling operation under different implementation conditions to obtain the geological conditions of the down-the-hole drilling rig drilling operation environment under different implementation conditions; Step S32: determining the target drilling depth of the down-the-hole drill under the different working conditions under the simulated environment conditions of the down-the-hole drill operation, so as to obtain the target drilling depth of the down-the-hole drill under the different working conditions; Step S33: performing drilling target path planning according to the geological conditions of the down-the-hole drilling operation environment and the target drilling depth of the down-the-hole drilling rig under different implementation conditions, so as to generate a down-the-hole drilling operation target planning path under different implementation conditions; Step S34: Based on the drilling operation target planning path of the down-the-hole drill under different implementation conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill is simulated and controlled to obtain the drill position simulation control target of the down-the-hole drill under different implementation conditions; Step S35: Based on the geological conditions of the drilling operation environment of the down-the-hole drill rig under different implementation conditions and the target drilling depth of the down-the-hole drill rig, the drill speed simulation control of the semi-physical simulation model of the fully automatic crawler down-the-hole drill rig is performed to obtain the simulation control target of the drill speed of the down-the-hole drill rig under different implementation conditions.

[0011] Further, step S35 includes the following steps: Step S351: Based on the geological conditions of the drilling operation environment of the down-the-hole drill rig under different implementation conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill rig is evaluated and analyzed to obtain the bearing capacity of the drill bit of the down-the-hole drill rig under different implementation conditions; Step S352: Based on the target drilling depth of the down-the-hole drill under different working conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill is used to monitor the drill torque vibration, and the drill torque vibration change data of the down-the-hole drill under different working conditions are obtained; Step S353: performing drilling efficiency evaluation and analysis on the torque vibration change data of the drill bit of the down-the-hole drilling rig under different working conditions, and obtaining the drilling efficiency of the down-the-hole drilling rig under different working conditions; Step S354: performing a drilling difficulty assessment analysis according to the bearing capacity of the drill bit of the down-the-hole drilling rig and the drilling efficiency of the down-the-hole drilling rig under different implementation conditions, so as to obtain the drilling difficulty of the down-the-hole drilling rig under different implementation conditions; Step S355: Based on the drilling difficulty of the down-the-hole drill under different working conditions, the drill speed simulation control of the semi-physical simulation model of the fully automatic crawler down-the-hole drill is performed to obtain the drill speed simulation control target of the down-the-hole drill under different working conditions.

[0012] Further, step S4 includes the following steps: Step S41: Based on the down-the-hole drill rig complex terrain feed speed simulation control target, the down-the-hole drill rig drill bit position simulation control target and the down-the-hole drill rig drill bit speed simulation control target under different implementation conditions, the control system in the fully automatic crawler down-the-hole drill rig is actually controlled. Feedback response processing is performed to obtain actual control feedback response results of the simulation targets of different working condition parameters of the down-the-hole drill rig; Step S42: performing actual control operation effect difference analysis on the actual control feedback response results of the simulation target under different working condition parameters of the down-the-hole drill, and obtaining actual control operation effect difference data of different working condition parameters of the down-the-hole drill; Step S43: performing simulation parameter optimization target analysis on the actual control operation effect difference data of different working condition parameters of the down-the-hole drill, and obtaining the optimization target of the simulation parameter difference of different working conditions of the down-the-hole drill; Step S44: performing simulation parameter optimization strategy analysis on the fully automatic crawler down-the-hole drill based on the optimization target of simulation parameter differences under different working conditions of the down-the-hole drill, so as to generate simulation parameter optimization strategies under different working conditions of the down-the-hole drill; Step S45: According to the simulation parameter optimization strategy for different working conditions of the down-the-hole drill, the simulation control parameters of the down-the-hole drill's complex terrain feed speed simulation control target, the down-the-hole drill's drill bit position simulation control target and the down-the-hole drill's drill bit speed simulation control target under different implementation conditions are adjusted and optimized to obtain the down-the-hole drill's simulation control parameter optimization results.

[0013] Furthermore, the present invention also provides a semi-physical simulation control system for a fully automatic crawler-type down-the-hole drill, which is used to execute the semi-physical simulation control method for the fully automatic crawler-type down-the-hole drill as described above. The semi-physical simulation control system for the fully automatic crawler-type down-the-hole drill includes: The semi-physical simulation constraint analysis module of the down-the-hole drill is used to perform semi-physical simulation processing on the fully automatic crawler down-the-hole drill to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; obtain the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and design the simulation environment conditions and divide the operation simulation conditions of the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, so as to generate the terrain feeding operation simulation environment conditions of the down-the-hole drill and the drilling operation simulation environment conditions of the down-the-hole drill under different implementation conditions; The complex terrain feed simulation operation control module is used to perform terrain feed speed simulation control on the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the terrain feed operation simulation environment conditions of the down-the-hole drill under different implementation conditions, so as to obtain the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions; The drilling process simulation operation control module is used to simulate the drill bit position and speed of the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the down-the-hole drill operation simulation environment conditions under different implementation conditions, so as to obtain the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions; The down-the-hole drill simulation control parameter feedback optimization module is used to optimize the actual control feedback response of the fully automatic crawler down-the-hole drill based on the down-the-hole drill complex terrain feed speed simulation control target, the down-the-hole drill drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions to obtain the down-the-hole drill simulation control parameter optimization results.

[0014] Beneficial effects of the present invention: 1. The semi-physical simulation control method of the fully automatic crawler down-the-hole drill proposed in the present invention, compared with the prior art, has the beneficial effect of obtaining the actual working parameter set of the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill and using the virtual simulation system to perform semi-physical simulation processing on them, which is an important link in converting theoretical design into practical application. Based on the actual working parameter set collected above, the virtual simulation system can simulate and evaluate the operation of the down-the-hole drill under different working conditions, including the motion response of the mechanical structure, the pressure change of the hydraulic system and the control logic implementation of the electrical components. Through semi-physical simulation, the feasibility and effectiveness of the design can be verified, the working efficiency and stability of the system can be optimized, and the time and cost of the actual test can be reduced. This method not only improves the accuracy and reliability of engineering design, but also provides a deep theoretical basis for future system optimization and improvement. Obtaining the historical operation data of the fully automatic crawler down-the-hole drill under different implementation conditions is an important basis for evaluating and optimizing the design of the environmental conditions of the simulation model. These historical operation data include detailed information on environmental conditions, workload and operating efficiency under different working conditions. Based on these data, the simulation environmental conditions of the semi-physical simulation model of the down-the-hole drill can be accurately designed and adjusted, including simulating the terrain feeding operation environmental conditions and drilling operation environmental conditions under different working conditions, ensuring that the simulation model can accurately reflect the working status and performance in the actual scenario. This data-driven design method not only improves the credibility of the simulation model, but also provides engineers with more possibilities to optimize and improve the semi-physical simulation control performance of the down-the-hole drill. At the same time, by further dividing the operating simulation conditions of the simulation model according to the actual construction operation steps of the fully automatic crawler down-the-hole drill, including terrain feeding operation and drilling operation steps, this ensures that the simulation model can accurately simulate and evaluate the actual working efficiency and performance of the down-the-hole drill under different working conditions. Through this method, engineers can simplify the operation process and system design of the down-the-hole drill, effectively cope with complex engineering construction challenges, and thus provide basic data guarantee for subsequent processing. Secondly, by performing terrain feed speed simulation control on the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the simulated environmental conditions of the down-the-hole drill terrain feed operation under different implementation conditions, the feed speed control effect under complex terrain can be accurately simulated, and the operating performance and control accuracy of the drill under different implementation conditions can be evaluated. The key to this step is to convert the strategy into actual simulation control actions, provide real-time feedback and decision support for the drill operators and technicians, and thus optimize the operation process and safety management.Then, the drill bit position simulation control is performed on the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the simulated environmental conditions of the down-the-hole drill under different implementation conditions, aiming to use the simulation model to simulate and control the accurate position of the drill bit on the predetermined path. By accurately controlling the position of the drill bit, it is possible to ensure that the drilling reaches the accuracy and depth required by the design, while optimizing the rhythm and efficiency of the drilling operation, reducing operational risks and equipment loss. The drill bit speed simulation control is also performed on the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the geological conditions of the down-the-hole drill drilling operation environment and the target depth of the down-the-hole drill under different implementation conditions, aiming to control the drill bit speed through simulation to adapt to the requirements of different geological conditions and drilling target depths. By optimizing the control strategy of the drill bit speed, the efficiency and quality of the drilling operation can be effectively improved, equipment wear and energy consumption can be reduced, and more sustainable and economical engineering construction management can be achieved. Finally, the control system in the fully automatic crawler down-the-hole drill is actually controlled and responded to based on the simulation control targets of the feed speed of the down-the-hole drill in complex terrain, the drill position of the down-the-hole drill, and the drill speed of the down-the-hole drill under different implementation conditions. This means that the simulation target is docked and adjusted with the control response in the actual operation to ensure that the down-the-hole drill can respond accurately under different working conditions and achieve the expected drilling effect. By fine-tuning the control system, it is possible to effectively respond to changes in complex terrain and engineering requirements, improve the accuracy and efficiency of drilling, and reduce resource waste and human errors. In addition, the simulation control parameters are adjusted and optimized by adjusting the actual control feedback response results of the simulation targets of different working condition parameters of the down-the-hole drill. By adjusting the control parameters to match them with the optimization strategy, the best working effect of the down-the-hole drill under different implementation conditions can be achieved. The key to this step is to convert theoretical optimization into the adjustment of actual control parameters. Through simulation verification and field testing, it is ensured that the control system can stably and accurately respond to various complex working conditions, thereby improving the efficiency and quality of the simulation control of the drilling rig.

[0015] 2. The semi-physical simulation control system of the fully automatic crawler down-the-hole drill proposed in the present invention is composed of a semi-physical simulation constraint analysis module for the down-the-hole drill, a complex terrain feed simulation operation control module, a drilling process simulation operation control module and a down-the-hole drill simulation control parameter feedback optimization module. It can realize any semi-physical simulation control method for the fully automatic crawler down-the-hole drill described in the present invention, and is used to combine the operations between the computer programs running on each module to realize the semi-physical simulation control method for the fully automatic crawler down-the-hole drill. The internal structures of the system cooperate with each other, which can greatly reduce repetitive work and manpower investment, and can quickly and effectively provide a more accurate and efficient semi-physical simulation control process for the fully automatic crawler down-the-hole drill, thereby simplifying the operating procedures of the semi-physical simulation control system for the fully automatic crawler down-the-hole drill. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments thereof made with reference to the following drawings: Figure 1 It is a schematic diagram of the steps of the semi-physical simulation control method of the fully automatic crawler down-the-hole drill of the present invention; Figure 2 for Figure 1 Detailed step flow diagram of step S1; Figure 3 for Figure 2 Detailed step flow chart of step S13 in FIG. DETAILED DESCRIPTION

[0017] The technical method of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0018] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. The functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor methods and / or microcontroller methods.

[0019] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0020] To achieve this, please refer to Figures 1 to 3 The present invention provides a semi-physical simulation control method for a fully automatic crawler down-the-hole drill, the method comprising the following steps: Step S1: Performing semi-physical simulation processing on the fully automatic crawler down-the-hole drill to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; obtaining historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing simulation environment conditions and dividing operation simulation conditions for the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and generating terrain feeding operation simulation environment conditions of the down-the-hole drill and drilling operation simulation environment conditions of the down-the-hole drill under different implementation conditions; Step S2: Based on the simulated environmental conditions of the terrain feeding operation of the down-the-hole drill under different implementation conditions, the terrain feeding speed simulation control is performed on the semi-physical simulation model of the fully automatic crawler down-the-hole drill to obtain the simulation control target of the complex terrain feeding speed of the down-the-hole drill under different implementation conditions; Step S3: Based on the simulated environmental conditions of the drilling operation of the down-the-hole drill under different working conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill performs drill position and speed simulation control on the drill bit, and obtains the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different working conditions; Step S4: Based on the down-the-hole drill rig complex terrain feed speed simulation control target, down-the-hole drill rig drill bit position simulation control target and down-the-hole drill rig drill bit speed simulation control target under different implementation conditions, the actual control feedback response of the fully automatic crawler down-the-hole drill rig is optimized to obtain the down-the-hole drill rig simulation control parameter optimization result.

[0021] In the embodiment of the present invention, please refer to Figure 1 As shown, it is a schematic diagram of the steps of the semi-physical simulation control method of the fully automatic crawler down-the-hole drill of the present invention. In this example, the semi-physical simulation control method of the fully automatic crawler down-the-hole drill includes the following steps: Step S1: Performing semi-physical simulation processing on the fully automatic crawler down-the-hole drill to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; obtaining historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing simulation environment conditions and dividing operation simulation conditions for the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and generating terrain feeding operation simulation environment conditions of the down-the-hole drill and drilling operation simulation environment conditions of the down-the-hole drill under different implementation conditions; In an embodiment of the present invention, CAD software is used to perform three-dimensional spatial structure modeling of the mechanical structure, hydraulic system and electrical components in a fully automatic crawler down-the-hole drill, so as to collect detailed design drawings and technical parameters of each part of the down-the-hole drill, which include the geometric dimensions and mutual connection methods of each component of the mechanical structure, such as drill rods, supporting wheels, drill bits, etc.; the layout and dimensions of the oil circuits, valves and actuators of the hydraulic system; and the positions and wiring methods of the circuit boards, sensors and actuators of the electrical components, to simulate and establish three-dimensional spatial simulation models of each part of the down-the-hole drill, and monitor the working status of different operating structures in the fully automatic crawler down-the-hole drill in real time. At the same time, a virtual simulation system is used to perform semi-physical simulation and connection processing on the previously established three-dimensional spatial model of the mechanical structure, the three-dimensional spatial model of the hydraulic system and the three-dimensional spatial model of the electrical components, so as to integrate the actual working operation parameter set with the mechanical, hydraulic and electrical models obtained by CAD modeling, so as to realize the joint debugging and connection of each simulation model, thereby generating a semi-physical simulation model of the fully automatic crawler down-the-hole drill. Secondly, by collecting and obtaining the historical operating working environment of the fully automatic crawler down-the-hole drill under different implementation conditions from the data recording equipment and operation logs, for example, the ambient temperature, humidity and terrain characteristics of the down-the-hole drill when operating under different terrain and rock conditions can be recorded, so as to obtain the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions. In addition, by combining the previously obtained historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, the corresponding semi-physical simulation model of the fully automatic crawler down-the-hole drill is simulated and designed using a virtual simulation system to simulate the simulation environment, so as to design the simulation conditions of the down-the-hole drill when performing different implementation conditions (such as different conditions in different terrains such as mountainous areas, plains and wetlands) in the virtual simulation system. Then, by identifying and analyzing the implementation steps of the fully automatic crawler down-the-hole drill in the actual construction process, the operation process and steps of the down-the-hole drill in the field operation can be understood in detail, and combined with the previous analysis to obtain The actual construction operation steps of the down-the-hole drill (including terrain feeding operation and drilling operation) are implemented in detail by dividing and simulating the simulation environment conditions of the down-the-hole drill model under different implementation conditions obtained by the simulation design in the virtual simulation system, so as to divide the set simulation environment conditions into environmental simulation conditions of the down-the-hole drill under terrain feeding operation and drilling operation, and ensure the applicability and accuracy of the semi-physical simulation model of the fully automatic crawler down-the-hole drill under different implementation conditions, and finally divide and generate the simulation environment conditions of the terrain feeding operation of the down-the-hole drill and the simulation environment conditions of the drilling operation of the down-the-hole drill under different implementation conditions.

[0022] Step S2: Based on the simulated environmental conditions of the terrain feeding operation of the down-the-hole drill under different implementation conditions, the terrain feeding speed simulation control is performed on the semi-physical simulation model of the fully automatic crawler down-the-hole drill to obtain the simulation control target of the complex terrain feeding speed of the down-the-hole drill under different implementation conditions; In an embodiment of the present invention, obstacle distribution is set for the previously divided down-the-hole drill terrain feeding operation simulation environment conditions under different implementation conditions to analyze the terrain characteristics of the target area and the existing obstacles, such as the location distribution of rocks, trees or other obstacles, and taking into account the terrain undulations and slope changes in the target area, to obtain detailed information on the terrain slope. At the same time, terrain restriction analysis is performed by combining the obstacle distribution positions and the environmental terrain slope obtained by the previous analysis, so as to determine the terrain restriction conditions of the down-the-hole drill in the simulation environment by combining the obstacle distribution and the terrain slope, so as to realize the terrain restriction analysis of the corresponding fully automatic crawler down-the-hole drill semi-physical simulation model under the terrain restriction conditions. The responsive control of the feed speed enables the drill to automatically reduce the feed speed when approaching an obstacle. Then, the feed speed of the drill is controlled in detail by using simulation software to achieve the complex terrain feed speed simulation control target under different implementation conditions. For example, if the simulation model shows that the down-the-hole drill needs to dynamically adjust the feed speed according to the specific situation when encountering different terrains, the control algorithm can be set in the simulation software to adjust the speed of the drill in real time according to the location and slope changes of the terrain obstacles. This ensures that the drill can effectively complete the task under different terrain conditions while ensuring operational safety and efficiency, and finally obtains the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions.

[0023] Step S3: Based on the simulated environmental conditions of the drilling operation of the down-the-hole drill under different working conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill performs drill position and speed simulation control on the drill bit, and obtains the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different working conditions; In an embodiment of the present invention, geological conditions are identified and analyzed by analyzing the previously divided simulated environmental conditions for the down-the-hole drilling operation under different implementation conditions to identify, analyze and determine the geological conditions for the down-the-hole drilling operation under different implementation conditions, such as whether there is a hard rock layer or a loose layer under the hole when performing the drilling operation, and the target depth of drilling is determined by determining the previously divided simulated environmental conditions for the down-the-hole drilling operation under different implementation conditions to determine the target depth of the corresponding drilling operation. At the same time, by combining the previously determined environmental geological conditions and target depths under different implementation conditions, the corresponding fully automatic crawler down-the-hole drilling rig semi-physical simulation model performs simulation control of the drill bit position when performing the drilling simulation operation process. In this step, the control algorithm of the drill bit position is adjusted according to the geological conditions and the target depth, so as to ensure that the drilling accurately reaches the expected target position during the underground construction process, thereby controlling the down-the-hole drilling rig drill bit position simulation control target under different implementation conditions. Then, by combining the environmental geological conditions and target depths obtained in the previous analysis under different implementation conditions, the corresponding fully automatic crawler down-the-hole drill semi-physical simulation model is used to simulate the control of the drill bit speed during the drilling operation. The drilling difficulty under different implementation conditions is analyzed according to the corresponding geological conditions and target depths to adjust the drill bit speed control strategy, thereby optimizing the performance of the drill bit in the drilling operation and ensuring the effectiveness and stability of the drill bit speed simulation control target of the down-the-hole drill under various working conditions. Finally, the down-the-hole drill bit speed simulation control target under different implementation conditions is obtained.

[0024] Step S4: Based on the down-the-hole drill rig complex terrain feed speed simulation control target, down-the-hole drill rig drill bit position simulation control target and down-the-hole drill rig drill bit speed simulation control target under different implementation conditions, the actual control feedback response of the fully automatic crawler down-the-hole drill rig is optimized to obtain the down-the-hole drill rig simulation control parameter optimization result.

[0025] In an embodiment of the present invention, by combining the previously determined complex terrain feed speed simulation control target of the down-the-hole drill, the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions (that is, the down-the-hole drill operation simulation control parameters under different implementation conditions (for example, different working conditions in different terrains such as mountainous areas, plains and wetlands)), the control system in the fully automatic crawler down-the-hole drill performs feedback response of the actual operation process control operation, so as to apply the control parameters obtained by the previous simulation to the feedback response of the feeding work process and the drilling work process of the actual fully automatic crawler down-the-hole drill under different terrains, and respond to and analyze the actual control effects of the feed speed and drilling parameters of the drill under these conditions, so as to evaluate and analyze the actual performance of the control system in the fully automatic crawler down-the-hole drill under various terrains. Now, based on the actual control operation performance obtained from the previous evaluation, we analyze and obtain the optimization strategy for the simulation parameters of different working conditions of the down-the-hole drill rig, and adjust and optimize the simulation control parameters of the down-the-hole drill rig's complex terrain feed speed simulation control target, down-the-hole drill rig's drill bit position simulation control target and down-the-hole drill rig's drill bit speed simulation control target corresponding to different implementation conditions, so as to adjust the feed speed control, drill bit position control and drill bit speed control parameters of the down-the-hole drill rig under different implementation conditions according to the optimization strategy, and ensure that the down-the-hole drill rig can be adjusted according to the optimized parameters in actual operation, so as to achieve more precise and efficient operation. For example, under the optimized control strategy, the down-the-hole drill rig can adapt to terrain changes more quickly, improve drilling efficiency and reduce manual intervention of operators, thereby reducing operating costs and risks, and finally obtain the optimization results of the down-the-hole drill rig simulation control parameters.

[0026] Further, step S1 includes the following steps: Step S11: using CAD software to perform three-dimensional spatial modeling on the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill, to obtain a three-dimensional spatial model of the mechanical structure of the down-the-hole drill, a three-dimensional spatial model of the hydraulic system of the down-the-hole drill and a three-dimensional spatial model of the electrical components of the down-the-hole drill; Step S12: collecting actual working operation parameters of the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill to obtain an actual working motion parameter set of the mechanical structure of the down-the-hole drill, an actual working pressure change parameter set of the hydraulic system of the down-the-hole drill and an actual working logic control parameter set of the electrical components of the down-the-hole drill; Step S13: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, and the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform semi-physical simulation processing on the three-dimensional space model of the mechanical structure of the down-the-hole drill, the three-dimensional space model of the hydraulic system of the down-the-hole drill, and the three-dimensional space model of the electrical components of the down-the-hole drill, so as to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; Step S14: acquiring historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing a simulation environment condition for a semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, to obtain simulation environment conditions of the down-the-hole drill model under different implementation conditions; Step S15: Analyze the actual construction operation steps of the fully automatic crawler down-the-hole drill to obtain the actual construction operation step status of the down-the-hole drill, wherein the actual construction operation step status of the down-the-hole drill includes terrain feeding operation steps and drilling operation steps; divide the operation simulation conditions of the down-the-hole drill model simulation environment simulation conditions under different implementation conditions based on the actual construction operation step status of the down-the-hole drill, and generate the down-the-hole drill terrain feeding operation simulation environment conditions and the down-the-hole drill drilling operation simulation environment conditions under different implementation conditions.

[0027] As an embodiment of the present invention, refer to Figure 2 As shown, Figure 1 Detailed step flow diagram of step S2 in FIG. 1 , in this embodiment, step S2 includes the following steps: Step S11: using CAD software to perform three-dimensional spatial modeling on the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill, to obtain a three-dimensional spatial model of the mechanical structure of the down-the-hole drill, a three-dimensional spatial model of the hydraulic system of the down-the-hole drill and a three-dimensional spatial model of the electrical components of the down-the-hole drill; In an embodiment of the present invention, CAD software is used to perform three-dimensional spatial structure modeling of the mechanical structure, hydraulic system and electrical components in a fully automatic crawler down-the-hole drill, so as to collect detailed design drawings and technical parameters of each part of the down-the-hole drill, which include the geometric dimensions of the components of the mechanical structure, such as drill rods, supporting wheels, drill bits, etc. and the methods of connection between them; the layout and dimensions of the oil circuits, valves and actuators of the hydraulic system; and the positions and wiring methods of the circuit boards, sensors and actuators of the electrical components, to simulate and establish three-dimensional spatial simulation models of the various parts of the down-the-hole drill, and ensure that the structure of the entire fully automatic crawler down-the-hole drill can be accurately reproduced in the CAD software, and finally obtain a three-dimensional spatial model of the mechanical structure of the down-the-hole drill, a three-dimensional spatial model of the hydraulic system of the down-the-hole drill, and a three-dimensional spatial model of the electrical components of the down-the-hole drill.

[0028] Step S12: collecting actual working operation parameters of the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill to obtain an actual working motion parameter set of the mechanical structure of the down-the-hole drill, an actual working pressure change parameter set of the hydraulic system of the down-the-hole drill and an actual working logic control parameter set of the electrical components of the down-the-hole drill; In an embodiment of the present invention, by using the built-in sensors and data acquisition equipment of the fully automatic crawler down-the-hole drill, the operating parameters of the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill are collected in real time during the actual working operation, so as to monitor the working status of different operating structures in the fully automatic crawler down-the-hole drill in real time. For example, for the mechanical structure, displacement sensors and accelerometers can be installed to record the motion trajectory and vibration frequency of each key component; for the hydraulic system, pressure sensors and flow meters need to be installed to monitor the pressure changes and flow rates of the hydraulic oil in real time; for electrical components, they need to be connected to the logic control system to record parameters such as the switch state, voltage and current, so as to establish an accurate working parameter set of the down-the-hole drill under different working conditions, and finally obtain the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, and the actual working logic control parameter set of the electrical components of the down-the-hole drill.

[0029] Step S13: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, and the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform semi-physical simulation processing on the three-dimensional space model of the mechanical structure of the down-the-hole drill, the three-dimensional space model of the hydraulic system of the down-the-hole drill, and the three-dimensional space model of the electrical components of the down-the-hole drill, so as to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; In an embodiment of the present invention, by combining the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, and the actual working logic control parameter set of the electrical components of the down-the-hole drill obtained by real-time monitoring, a virtual simulation system is used to perform semi-physical simulation connection processing on the previously established three-dimensional space model of the mechanical structure of the down-the-hole drill, the three-dimensional space model of the hydraulic system of the down-the-hole drill, and the three-dimensional space model of the electrical components of the down-the-hole drill, so as to integrate the actual working operation parameter set with the mechanical, hydraulic and electrical models obtained by CAD modeling. For example, by comparing the actually measured mechanical structure motion parameters with the motion path and speed in the mechanical structure model, the accuracy and practicality of the model are verified; the hydraulic system model is pressure tested and compared with the actually measured pressure data to verify the response capability of the hydraulic system under different workloads; the electrical component model is subjected to logic control simulation to verify the stability and reliability of the control system under various operating conditions, so as to connect the various simulation models together and finally generate a semi-physical simulation model of a fully automatic crawler down-the-hole drill.

[0030] Step S14: acquiring historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing a simulation environment condition for a semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, to obtain simulation environment conditions of the down-the-hole drill model under different implementation conditions; In an embodiment of the present invention, the historical operating working environment of the fully automatic crawler down-the-hole drill under different implementation conditions is acquired from the data recording device and the operation log. For example, the ambient temperature, humidity and terrain characteristics of the down-the-hole drill under different terrain and rock conditions can be recorded, so as to obtain the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions. At the same time, by combining the previously acquired historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, the corresponding semi-physical simulation model of the fully automatic crawler down-the-hole drill is simulated and designed using a virtual simulation system, so as to design the simulation conditions of the down-the-hole drill when performing simulation processes of different implementation conditions (such as different working conditions in different terrains such as mountainous areas, plains and wetlands) in the virtual simulation system, so as to consider the simulation environment conditions under different terrain feeding and drilling operations, ensure the authenticity and effectiveness of the down-the-hole drill in the simulation environment, and finally obtain the simulation environment simulation conditions of the down-the-hole drill model under different implementation conditions.

[0031] Step S15: Analyze the actual construction operation steps of the fully automatic crawler down-the-hole drill to obtain the actual construction operation step status of the down-the-hole drill, wherein the actual construction operation step status of the down-the-hole drill includes terrain feeding operation steps and drilling operation steps; divide the operation simulation conditions of the down-the-hole drill model simulation environment simulation conditions under different implementation conditions based on the actual construction operation step status of the down-the-hole drill, and generate the down-the-hole drill terrain feeding operation simulation environment conditions and the down-the-hole drill drilling operation simulation environment conditions under different implementation conditions.

[0032] In an embodiment of the present invention, by identifying and analyzing the implementation steps of the fully automatic crawler down-the-hole drill in the actual construction process, the operation process and steps of the down-the-hole drill in the field operation can be understood in detail. For example, the terrain feeding operation step involves the movement path planning and terrain adaptability assessment of the drilling rig; the drilling operation step includes the sinking speed and rotation direction control of the drill rod, etc., thereby obtaining the actual construction operation step status of the down-the-hole drill, wherein the actual construction operation step status of the down-the-hole drill includes the terrain feeding operation step and the drilling operation step. At the same time, by combining the actual construction operation steps of the down-the-hole drill obtained from the previous analysis, the simulation environment conditions of the down-the-hole drill model under different implementation conditions obtained by the simulation design in the virtual simulation system are divided and simulated in detail, so that the set simulation environment conditions are divided into environmental simulation conditions of the down-the-hole drill under terrain feeding operation and drilling operation, and the applicability and accuracy of the semi-physical simulation model of the fully automatic crawler down-the-hole drill under different implementation conditions are ensured, and finally the simulation environment conditions of the down-the-hole drill terrain feeding operation and the down-the-hole drill drilling operation simulation environment conditions under different implementation conditions are generated.

[0033] Further, step S13 includes the following steps: Step S131: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, a virtual simulation system is used to perform mechanical motion simulation analysis on the three-dimensional space model of the mechanical structure of the down-the-hole drill, so as to obtain a kinematic simulation sub-model of the mechanical components of the down-the-hole drill; Step S132: Based on the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, a virtual simulation system is used to perform a hydraulic dynamic change simulation analysis on the three-dimensional space model of the hydraulic system of the down-the-hole drill, so as to obtain a hydraulic dynamic change simulation sub-model of the down-the-hole drill; Step S133: Based on the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform electrical logic control simulation analysis on the three-dimensional space model of the electrical components of the down-the-hole drill, so as to obtain an electrical logic control simulation sub-model of the down-the-hole drill; Step S134: performing coordinated operation correlation analysis on the kinematics simulation sub-model of the mechanical parts of the down-the-hole drill, the hydraulic dynamic change simulation sub-model of the down-the-hole drill, and the electrical logic control simulation sub-model of the down-the-hole drill to obtain the coordinated operation correlation relationship between the down-the-hole drill simulation sub-models; Step S135: Based on the coordinated operation relationship between each down-the-hole drill simulation sub-model, the down-the-hole drill mechanical component kinematics simulation sub-model, the down-the-hole drill hydraulic dynamic change simulation sub-model and the down-the-hole drill electrical logic control simulation sub-model are integrated and connected to generate a semi-physical simulation model of a fully automatic crawler down-the-hole drill.

[0034] As an embodiment of the present invention, refer to Figure 3 As shown, Figure 2 FIG. 1 is a schematic diagram of a detailed step flow chart of step S13 in FIG. 1 . In this embodiment, step S13 includes the following steps: Step S131: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, a virtual simulation system is used to perform mechanical motion simulation analysis on the three-dimensional space model of the mechanical structure of the down-the-hole drill, so as to obtain a kinematic simulation sub-model of the mechanical components of the down-the-hole drill; In an embodiment of the present invention, the actual working motion parameter set of the mechanical structure of the down-the-hole drill obtained by previous analysis is imported into a three-dimensional spatial model of the mechanical structure of the down-the-hole drill established in the CAD software. This model includes the detailed geometric shapes, positions and motion paths of all mechanical components, and accurately simulates and analyzes the motion of the mechanical components by using a virtual simulation system, including rotation, motion trajectory and interaction. For example, for the drill rod and drill bit of the down-the-hole drill, its rotation and propulsion motion during underground operation and the reaction force when subjected to rock resistance can be simulated. The simulation model can be adjusted through the data in the actual working motion parameter set to verify its dynamic response and stability under different working conditions, to ensure the rationality and reliability of the design of the mechanical components, and finally a kinematic simulation sub-model of the mechanical components of the down-the-hole drill is obtained by simulation.

[0035] Step S132: Based on the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, a virtual simulation system is used to perform a hydraulic dynamic change simulation analysis on the three-dimensional space model of the hydraulic system of the down-the-hole drill, so as to obtain a hydraulic dynamic change simulation sub-model of the down-the-hole drill; In an embodiment of the present invention, similarly, the actual working pressure change parameter set of the down-the-hole drill hydraulic system obtained by combining the previous analysis is imported into the three-dimensional space model of the down-the-hole drill hydraulic system established in the CAD software. This model includes the geometric shape and layout of all hydraulic pipelines, oil tanks, valves and actuators, and simulates the flow and pressure changes of the hydraulic oil, as well as the movement speed and mechanical response of hydraulic actuators such as hydraulic cylinders and motors by using a virtual simulation system. For example, the working performance of the down-the-hole drill hydraulic system under different geological conditions can be simulated, and its stability and efficiency under high pressure and high flow requirements can be verified. Finally, the down-the-hole drill hydraulic dynamic change simulation sub-model is simulated.

[0036] Step S133: Based on the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform electrical logic control simulation analysis on the three-dimensional space model of the electrical components of the down-the-hole drill, so as to obtain an electrical logic control simulation sub-model of the down-the-hole drill; In an embodiment of the present invention, similarly, the actual working logic control parameter set of the electrical components of the down-the-hole drill obtained by combining the previous analysis is imported into the three-dimensional space model of the electrical components of the down-the-hole drill established in the CAD software. This model includes the geometric shapes and electrical connections of all sensors, actuators, control panels and circuit boards, and simulates the start-up, stop, automatic control and fault detection processes of the down-the-hole drill by using a virtual simulation system. For example, it can simulate how the electrical control system responds to different operating instructions and environmental conditions, verify its stability and reliability under high temperature, low temperature or humidity changes, and ensure its normal operation and safety in various working environments, and finally simulate the electrical logic control simulation sub-model of the down-the-hole drill.

[0037] Step S134: performing coordinated operation correlation analysis on the kinematics simulation sub-model of the mechanical parts of the down-the-hole drill, the hydraulic dynamic change simulation sub-model of the down-the-hole drill, and the electrical logic control simulation sub-model of the down-the-hole drill to obtain the coordinated operation correlation relationship between the down-the-hole drill simulation sub-models; In an embodiment of the present invention, an association rule mining algorithm is used to perform an association mining analysis on the coordinated operation of the previously simulated kinematic simulation sub-model of the mechanical components of the down-the-hole drill, the hydraulic dynamic change simulation sub-model of the down-the-hole drill, and the electrical logic control simulation sub-model of the down-the-hole drill, so as to achieve in-depth research and analysis on the interaction and linkage relationship between the various simulation sub-models, including how the mechanical components affect the working state of the hydraulic system, and how the hydraulic system in turn affects the operation of the electrical control system, thereby revealing the coupling effect and interaction between different simulation sub-models, and how to coordinate the operation in actual work to ensure the performance of the whole machine. For example, the pressure changes of the hydraulic system caused by the movement of the mechanical structure can be simulated, and how the hydraulic system is adjusted to meet the instruction requirements of the electrical control system can be simulated, and finally the coordinated operation association relationship between the various down-the-hole drill simulation sub-models is obtained.

[0038] Step S135: Based on the coordinated operation relationship between each down-the-hole drill simulation sub-model, the down-the-hole drill mechanical component kinematics simulation sub-model, the down-the-hole drill hydraulic dynamic change simulation sub-model and the down-the-hole drill electrical logic control simulation sub-model are integrated and connected to generate a semi-physical simulation model of a fully automatic crawler down-the-hole drill.

[0039] In an embodiment of the present invention, by combining the coordinated operation association relationship between each down-the-hole drill simulation sub-model obtained by previous mining and analysis, the corresponding down-the-hole drill mechanical component kinematics simulation sub-model, the down-the-hole drill hydraulic dynamic change simulation sub-model and the down-the-hole drill electrical logic control simulation sub-model are integrated and connected to achieve the integration and optimization of the simulation results of the three sub-models, and simulate a comprehensive simulation model that truly reflects the working status of each aspect of the down-the-hole drill. For example, by jointly debugging the interaction of mechanical movement, hydraulic system response and electrical control, the overall performance and work efficiency of the fully automatic crawler down-the-hole drill under different working conditions can be verified and optimized to ensure its reliability and safety in actual use, and finally generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill.

[0040] Further, step S131 includes the following steps: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the motion parameters of each mechanical component structure in the three-dimensional space model of the mechanical structure of the down-the-hole drill are divided and set to obtain the actual working motion parameter set corresponding to each mechanical component structure space model; In an embodiment of the present invention, the motion parameters of each corresponding mechanical component structure in the three-dimensional space model of the mechanical structure of the down-the-hole drill rig are divided and set by combining the actual working motion parameter set of the down-the-hole drill rig mechanical structure obtained by previous analysis, so as to obtain the motion characteristic data of each component of the down-the-hole drill rig from the design document or actual observation, such as rotation angle, motion trajectory, speed, etc. For example, for the rotating drive component of the down-the-hole drill rig, the actual working motion parameter set can be determined by measuring its rotation speed, direction and offset of the shaft. These parameters will be used to accurately describe the specific dynamic characteristics of each mechanical component during operation, and finally obtain the actual working motion parameter set corresponding to each mechanical component structure space model.

[0041] Preferably, a kinematic field constraint design is performed on the actual working motion parameter set corresponding to each mechanical component structure space model to generate a kinematic constraint setting field of the mechanical component structure of the down-the-hole drill; In an embodiment of the present invention, a kinematic field constraint design is performed on the actual working motion parameter set corresponding to each mechanical component structural space model obtained by the previous division. This means that the motion relationship and constraint conditions between the mechanical components are designed according to the actual motion parameter set to ensure the stability and accuracy of the mechanical structure during operation. For example, when designing the propulsion system of a down-the-hole drill, it is necessary to consider the coordination relationship between thrust, steering and propulsion speed to avoid motion incoordination or failure in actual use. Through precise kinematic field constraint design, it can be ensured that the down-the-hole drill has good motion control performance during operation, and finally a kinematic constraint setting field of the mechanical component structure of the down-the-hole drill is generated.

[0042] Preferably, based on the kinematic constraint setting field of the mechanical component structure of the down-the-hole drill, a virtual simulation system is used to perform mechanical motion simulation analysis on the three-dimensional space model of the mechanical structure of the down-the-hole drill to obtain a kinematic simulation sub-model of the mechanical component of the down-the-hole drill.

[0043] In the embodiment of the present invention, the kinematic constraint setting field of the mechanical component structure of the down-the-hole drill obtained by combining the previous design is applied to the virtual simulation system to realize the simulation analysis of the mechanical motion of the three-dimensional space model of the mechanical structure of the down-the-hole drill, so as to apply the kinematic field constraints obtained according to the first two steps to the virtual simulation platform to simulate the motion behavior of the down-the-hole drill under actual working conditions. For example, through simulation analysis, the motion trajectory, interaction and force conditions of each component during operation can be observed, and its stability and efficiency under different workloads can be evaluated, so as to ensure that the down-the-hole drill has excellent working performance and safety before it is actually put into use, and finally the kinematic simulation sub-model of the mechanical components of the down-the-hole drill is obtained.

[0044] Further, step S132 includes the following steps: Drawing a pressure change curve for the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill to generate a working pressure change curve of the hydraulic system of the down-the-hole drill; In an embodiment of the present invention, a pressure change curve is drawn for the actual working pressure change parameter set of the down-the-hole drill hydraulic system obtained by the previous analysis by using a corresponding mathematical statistical analysis method, so as to collect the pressure data of the hydraulic system of the down-the-hole drill in actual work. These data come from real-time collection of sensors or historical work records. For example, assuming that the pressure change data of the down-the-hole drill hydraulic system over a period of time have been obtained, these data can be sorted into a time series, and a pressure change curve can be drawn using data processing software such as a data visualization library in MATLAB or Python. This curve will show the pressure fluctuation of the hydraulic system under different working conditions, and finally generate a working pressure change curve of the down-the-hole drill hydraulic system.

[0045] Preferably, based on the actual working pressure change parameter set of the down-the-hole drilling rig hydraulic system, the pressure transmission speed and direction of the down-the-hole drilling rig hydraulic system three-dimensional space model is statistically analyzed to obtain the pressure transmission speed and pressure transmission direction of the down-the-hole drilling rig hydraulic system during the working process; In an embodiment of the present invention, a statistical analysis of the pressure transmission speed and direction is performed on the pressure change simulation process in the three-dimensional space model of the down-the-hole drill hydraulic system by combining the actual working pressure change parameter set of the down-the-hole drill hydraulic system obtained by previous analysis, so as to determine the transmission speed and direction of the internal pressure of the hydraulic system between various pipelines and hydraulic components under different working conditions. For example, when the hydraulic system of the down-the-hole drill is under high load, it is necessary to analyze the flow rate and flow direction of the hydraulic oil in the pipeline to ensure that the hydraulic pressure can be effectively transmitted and meet the needs of various components. This step can find out the bottleneck or optimization space in the pressure transmission process of the down-the-hole drill hydraulic system through statistical analysis, and finally obtain the pressure transmission speed and pressure transmission direction of the down-the-hole drill hydraulic system in the working process.

[0046] Preferably, the pressure flow dynamics characteristic analysis of the three-dimensional space model of the hydraulic system of the down-the-hole drill rig is performed according to the pressure transmission speed and the pressure transmission direction of the hydraulic system of the down-the-hole drill rig during the working process, so as to obtain the working pressure flow dynamics characteristic parameters of the hydraulic system of the down-the-hole drill rig; In an embodiment of the present invention, a statistical analysis of the pressure flow characteristics of the corresponding three-dimensional spatial model of the down-the-hole drilling rig hydraulic system is performed by combining the pressure transmission speed and pressure transmission direction of the down-the-hole drilling rig hydraulic system working process obtained by previous statistical analysis, so as to help understand the flow characteristics of the hydraulic system under different workloads, including the velocity distribution, pressure distribution and existing hydraulic loss of the hydraulic oil. For example, by using numerical simulation and fluid dynamics analysis software, the behavior of the oil flow inside the hydraulic system under high pressure and high speed can be simulated, so as to evaluate and analyze the rationality of the pipeline design and the flow efficiency, and finally obtain the working pressure flow characteristic parameters of the down-the-hole drilling rig hydraulic system.

[0047] Preferably, a virtual simulation system is used to set a hydraulic flow coupling field for the working pressure change curve of the hydraulic system of the down-the-hole drill and the working pressure flow dynamic characteristic parameters of the hydraulic system of the down-the-hole drill, so as to obtain a pressure change flow response coupling field of the hydraulic system of the down-the-hole drill; In an embodiment of the present invention, the working pressure change curve of the down-the-hole drill hydraulic system and the working pressure flow dynamic characteristic parameters of the down-the-hole drill hydraulic system obtained by previous analysis are imported into the virtual simulation system to perform coupling setting of the hydraulic flow parameters, so as to establish a mathematical model of the down-the-hole drill hydraulic system to simulate the flow behavior and pressure response of the hydraulic oil inside the hydraulic system. For example, assuming that the pressure change curve and flow characteristic parameters of the down-the-hole drill under different working conditions have been obtained based on the actual collected data, in the virtual simulation system, the initial state and working conditions of the hydraulic system can be set, and then the flow process of the hydraulic oil in components such as pipelines, valves and hydraulic cylinders can be simulated through a numerical solution method, and by coupling these parameters, the dynamic response of the hydraulic system in actual operation, including pressure fluctuations and changes in flow velocity, can be accurately reflected, and finally the pressure change flow response coupling field of the down-the-hole drill hydraulic system is obtained.

[0048] Preferably, a hydraulic dynamic change simulation analysis is performed on the three-dimensional space model of the hydraulic system of the down-the-hole drill according to the pressure change flow response coupling field of the hydraulic system of the down-the-hole drill to obtain a hydraulic dynamic change simulation sub-model of the down-the-hole drill.

[0049] In an embodiment of the present invention, by combining the previously coupled generated pressure change flow response coupling field of the down-the-hole drill hydraulic system, the corresponding three-dimensional space model of the down-the-hole drill hydraulic system is simulated and analyzed for the hydraulic dynamic change process, so as to use simulation software to conduct a more in-depth and detailed exploration of the dynamic behavior of the hydraulic system, and by using the computing power and fluid dynamics solver of the simulation software, the dynamic characteristics of the hydraulic oil such as the flow velocity distribution, pressure transmission path and system response time under different working conditions are simulated, thereby helping to predict the simulation performance of the hydraulic system under various working conditions, and finally obtaining a down-the-hole drill hydraulic dynamic change simulation sub-model.

[0050] Further, step S2 includes the following steps: Step S21: setting the simulated environment obstacle distribution for the simulated environment conditions of the down-the-hole drilling rig terrain feeding operation under different implementation conditions, and obtaining the distribution positions of the simulated environment obstacles for the down-the-hole drilling rig terrain feeding operation under different implementation conditions; In an embodiment of the present invention, obstacle distribution is set by dividing the previously obtained simulated environmental conditions for the terrain feeding operation of the down-the-hole drill under different implementation conditions. First, it is necessary to analyze the terrain characteristics of the target area and the existing obstacles, such as the location distribution of rocks, trees or other obstacles, and determine the location and size of these obstacles by using map data, remote sensing images or field measurement data. Subsequently, these data are input into the simulation software to set the working scene of the down-the-hole drill in the simulation environment to ensure that the simulation results can accurately reflect the terrain obstacles encountered in actual operations. For example, assuming that there are widely distributed large rocks and trees on a certain field construction site, the location and size of these obstacles can be identified through map data or drone aerial images, and these obstacles can be marked on the map in the simulation software, and their specific geometric shapes and heights can be set. In this way, the simulation model can simulate the working conditions of the down-the-hole drill in such a complex terrain environment, and finally obtain the obstacle distribution position of the simulation environment for the terrain feeding operation of the drilling rig under different implementation conditions.

[0051] Step S22: setting the terrain slope of the simulated environment for the terrain feeding operation of the down-the-hole drill rig under different implementation conditions, and obtaining the terrain slope of the simulated environment for the terrain feeding operation of the drill rig under different implementation conditions; In an embodiment of the present invention, the terrain slope is set by setting the terrain slope of the simulated environmental conditions for the terrain feeding operation of the down-the-hole drill under different implementation conditions obtained by the previous division. When implementing this step, it is necessary to consider the terrain undulations and slope changes in the target area, and through terrain data analysis or on-site measurement, the detailed information of the terrain slope can be obtained and converted into a mathematical model that can be processed by the simulation software. For example, assuming that the down-the-hole drill needs to operate in a mountainous area, the terrain data analysis software can be used to obtain the elevation data and slope information of the area, and by inputting these data into the simulation software to set the working scene of the down-the-hole drill, the operation of the drill under different slopes can be simulated, and then its adaptability and stability under different terrain conditions can be evaluated, and finally the terrain slope of the simulated environment for the terrain feeding operation of the drill under different implementation conditions can be obtained.

[0052] Step S23: performing terrain restriction of the operation simulation environment according to the distribution positions of obstacles in the drilling rig terrain feeding operation simulation environment under different implementation conditions and the terrain slope of the drilling rig terrain feeding operation simulation environment, so as to obtain the terrain restriction field of the drilling rig terrain feeding operation simulation environment under different implementation conditions; In an embodiment of the present invention, a terrain restriction analysis is performed by combining the previously set obstacle distribution positions of the drilling rig terrain feeding operation simulation environment under different implementation conditions and the terrain slope of the drilling rig terrain feeding operation simulation environment, so as to determine the terrain restriction conditions of the down-the-hole drill in the simulation environment by combining the obstacle distribution and the terrain slope. For example, assuming that several large rocks and some small hills are set in a plain area, the positions and slopes of these obstacles can be set in the simulation software, and the elevation data of the terrain can be considered. By inputting these restriction conditions into the simulation model, the response of the down-the-hole drill when encountering these terrain restrictions can be simulated, such as automatically adjusting the feed speed or changing the travel path to avoid collision or inefficiency. Finally, the restriction settings are obtained to obtain the terrain restriction field of the drilling rig terrain feeding operation simulation environment under different implementation conditions.

[0053] Step S24: adjusting the terrain restriction feed speed response of the fully automatic crawler down-the-hole drill rig semi-physical simulation model based on the terrain restriction field of the drilling rig terrain feed operation simulation environment under different implementation conditions, so as to generate a terrain restriction feed speed response adjustment strategy for the down-the-hole drill rig under different implementation conditions; In an embodiment of the present invention, the terrain restriction field of the drilling rig terrain feed operation simulation environment under different implementation conditions obtained by combining the previously set is applied to and realizes the response adjustment of the feed speed of the corresponding fully automatic crawler down-the-hole drill rig semi-physical simulation model under terrain restriction. This step requires coupling the terrain restriction conditions determined in the previous steps with the simulation model of the down-the-hole drill rig to develop a feed speed response adjustment strategy. For example, if the simulation model shows that the down-the-hole drill rig may cause a collision risk due to excessive speed under specific terrain conditions, the control algorithm in the simulation software may be adjusted to automatically reduce the feed speed of the drill rig when approaching an obstacle. This strategy can not only improve operational safety, but also optimize work efficiency and ensure the stable operation of the drill rig in complex terrain. Finally, the response design generates a down-the-hole drill rig terrain restriction feed speed response adjustment strategy under different implementation conditions.

[0054] Step S25: Perform terrain feed speed simulation control on the semi-physical simulation model of the fully automatic crawler down-the-hole drill according to the terrain-restricted feed speed response adjustment strategy of the down-the-hole drill under different implementation conditions, and obtain the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions.

[0055] In an embodiment of the present invention, the terrain feed speed of the corresponding fully automatic crawler down-the-hole drill semi-physical simulation model is simulated and controlled by combining the previously generated response to the terrain-limited feed speed response adjustment strategy of the down-the-hole drill under different implementation conditions. This involves using simulation software to perform detailed simulation control of the feed speed of the drill to achieve the complex terrain feed speed simulation control target under different implementation conditions. For example, if the simulation model shows that the down-the-hole drill needs to dynamically adjust the feed speed according to the specific situation when encountering different terrains, a control algorithm can be set in the simulation software to adjust the speed of the drill in real time according to the location and slope changes of the terrain obstacles. This can ensure that the drill can effectively complete the task under different terrain conditions while ensuring operational safety and efficiency, and ultimately obtain the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions.

[0056] Further, step S3 includes the following steps: Step S31: performing drilling environment geological identification analysis on the simulated environmental conditions of the down-the-hole drilling rig drilling operation under different implementation conditions to obtain the geological conditions of the down-the-hole drilling rig drilling operation environment under different implementation conditions; In an embodiment of the present invention, by identifying and analyzing the geological conditions of the simulated environmental conditions for the down-the-hole drill drilling operation under different implementation conditions obtained previously, this step requires collecting geological information of the target area, including stratum type, lithology, groundwater conditions, etc. This information can be obtained through the simulated environmental conditions for the down-the-hole drill drilling operation previously designed and generated. For example, assuming that the target area is a mine, the previous geological exploration data will be used to understand the composition of the underground rock formations and the existing faults, brittle areas and other characteristics. By analyzing these simulated environmental conditions for the down-the-hole drill drilling operation, the geological conditions for the down-the-hole drill drilling operation under different implementation conditions can be determined. For example, whether there is a hard rock layer or a loose layer under the hole when the drilling operation is performed, and finally the geological conditions of the down-the-hole drill drilling operation environment under different implementation conditions are obtained.

[0057] Step S32: determining the target drilling depth of the down-the-hole drill under the different working conditions under the simulated environment conditions of the down-the-hole drill operation, so as to obtain the target drilling depth of the down-the-hole drill under the different working conditions; In an embodiment of the present invention, the target drilling depth is determined by dividing the previously obtained simulated environmental conditions for the down-the-hole drill drilling operation under different implementation conditions. In this step, it is necessary to determine the target depth of the corresponding drilling operation based on the simulated environmental conditions for the down-the-hole drill drilling operation under different implementation conditions. For example, if the down-the-hole drill is used for drilling groundwater wells, it is necessary to determine the target drilling depth of each well based on the groundwater level and the required water source depth, and by analyzing the geological exploration data and hydrogeological conditions, the specific target depth of each borehole under different implementation conditions can be formulated to ensure that the drilling operation reaches the expected groundwater layer or mineral resources, and finally the target drilling depth of the down-the-hole drill under different implementation conditions is obtained.

[0058] Step S33: performing drilling target path planning according to the geological conditions of the down-the-hole drilling operation environment and the target drilling depth of the down-the-hole drilling rig under different implementation conditions, so as to generate a down-the-hole drilling operation target planning path under different implementation conditions; In an embodiment of the present invention, a planning analysis of the drilling target path is performed by combining the previously determined geological conditions of the down-the-hole drill drilling operation environment and the down-the-hole drill drilling target depth under different implementation conditions. This involves determining the specific position and direction of the borehole so as to achieve the expected geological target in the actual operation. For example, if an underground tunnel drilling operation is carried out in a mountainous area, it is necessary to consider the inclination of the stratum and the lithology changes, and plan the optimal drilling path in the simulation software to minimize the impact of stratum changes on the loss of drilling tools and the construction progress, thereby ensuring that the drilling operation achieves a stable and efficient drilling effect under different implementation conditions, and finally generates a down-the-hole drill drilling operation target planning path under different implementation conditions.

[0059] Step S34: Based on the drilling operation target planning path of the down-the-hole drill under different implementation conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill is simulated and controlled to obtain the drill position simulation control target of the down-the-hole drill under different implementation conditions; In an embodiment of the present invention, by combining the previously planned target planning path of the down-the-hole drill under different implementation conditions, the corresponding fully automatic crawler down-the-hole drill semi-physical simulation model performs simulation control of the drill bit position when executing the drilling simulation operation process. In this step, it is necessary to set the specific position control place of the drill bit in the simulation model according to the previously planned drilling path. For example, assuming that a subway tunnel drilling operation is carried out underground in the city, the movement path of the down-the-hole drill in the underground rock formation can be simulated by simulation software, and the control algorithm of the drill bit position can be adjusted according to the geological conditions and target depth. This can ensure that the drilling reaches the expected target position accurately during the underground construction process, while avoiding conflicts with underground pipelines or other facilities, and finally controlling the down-the-hole drill bit position simulation control target under different implementation conditions.

[0060] Step S35: Based on the geological conditions of the drilling operation environment of the down-the-hole drill rig under different implementation conditions and the target drilling depth of the down-the-hole drill rig, the drill speed simulation control of the semi-physical simulation model of the fully automatic crawler down-the-hole drill rig is performed to obtain the simulation control target of the drill speed of the down-the-hole drill rig under different implementation conditions.

[0061] In an embodiment of the present invention, by combining the geological conditions of the down-the-hole drill operating environment and the target depth of the down-the-hole drill obtained by previous analysis under different implementation conditions, the drill speed of the corresponding fully automatic crawler down-the-hole drill semi-physical simulation model is simulated and controlled during the drilling operation, so as to adjust the drill speed control strategy according to the drilling difficulty under different implementation conditions according to the corresponding geological conditions and target depth, thereby optimizing the performance of the drill bit in the drilling operation. For example, under high-difficulty conditions, the penetration and efficiency of the drill bit can be improved by increasing the speed; under low-difficulty conditions, the speed can be reduced to reduce vibration and wear, and ensure the effectiveness and stability of the drill speed simulation control target of the down-the-hole drill under various working conditions, and finally obtain the drill speed simulation control target of the down-the-hole drill under different implementation conditions.

[0062] Further, step S35 includes the following steps: Step S351: Based on the geological conditions of the drilling operation environment of the down-the-hole drill rig under different implementation conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill rig is evaluated and analyzed to obtain the bearing capacity of the drill bit of the down-the-hole drill rig under different implementation conditions; In an embodiment of the present invention, the drill bit bearing capacity is evaluated and analyzed in the corresponding drilling operation simulation process in the semi-physical simulation model of the fully automatic crawler down-the-hole drill by combining the geological conditions of the down-the-hole drill operating environment under different implementation conditions obtained by previous analysis, so as to include considering the geological structure, rock formation hardness, groundwater level and other factors in the geological conditions of the drilling operation to evaluate and analyze the corresponding drill bit in the semi-physical simulation model of the fully automatic crawler down-the-hole drill, so as to evaluate and analyze the bearing capacity of the drill bit in the drilling process. For example, when the drill bit is drilling in the rock layer, it is necessary to evaluate the pressure and friction on the drill bit cutting edge to determine the change in bearing capacity, so as to simulate and analyze the bearing conditions of the semi-physical simulation model of the fully automatic crawler down-the-hole drill under different geological conditions, and finally obtain the bearing capacity of the drill bit of the down-the-hole drill drilling operation under different implementation conditions.

[0063] Step S352: Based on the target drilling depth of the down-the-hole drill under different working conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill is used to monitor the drill torque vibration, and the drill torque vibration change data of the down-the-hole drill under different working conditions are obtained; In an embodiment of the present invention, by combining the target drilling depths of the down-the-hole drill under different implementation conditions obtained by previous analysis, the drill bit torque vibration is monitored in real time on the corresponding semi-physical simulation model of the fully automatic crawler down-the-hole drill, aiming to obtain the change data of the drill bit torque vibration during the drilling operation. These data directly reflect the forces and vibrations exerted on the drill bit during the drilling process at different target depths. For example, as the drilling depth increases, the drill bit torque vibration usually increases, which will lead to increased equipment wear or unstable operation. By monitoring and analyzing these vibration data, the drill bit torque vibration characteristics of the down-the-hole drill under different working conditions can be accurately evaluated, and finally the drill bit torque vibration change data of the down-the-hole drill drilling operation under different implementation conditions can be obtained.

[0064] Step S353: performing drilling efficiency evaluation and analysis on the torque vibration change data of the drill bit of the down-the-hole drilling rig under different working conditions, and obtaining the drilling efficiency of the down-the-hole drilling rig under different working conditions; In an embodiment of the present invention, an efficiency statistical analysis method is used to evaluate and analyze the drilling efficiency of the drill bit torque vibration change data of the down-the-hole drill operation under different implementation conditions that was previously monitored in real time, including comparing and analyzing the influence of the drill bit torque vibration on the drilling speed and accuracy under different working conditions. For example, by comparing the drilling efficiency under low vibration and high vibration conditions, the actual influence of vibration on the drill bit working efficiency can be identified, which helps to understand the actual performance of the down-the-hole drill under different operating conditions, and finally obtain the drilling efficiency of the down-the-hole drill operation under different implementation conditions.

[0065] Step S354: performing a drilling difficulty assessment analysis according to the bearing capacity of the drill bit of the down-the-hole drilling rig and the drilling efficiency of the down-the-hole drilling rig under different implementation conditions, so as to obtain the drilling difficulty of the down-the-hole drilling rig under different implementation conditions; In an embodiment of the present invention, the drilling difficulty of the actual implementation process of the corresponding down-the-hole drilling rig is evaluated and calculated by combining the bearing capacity of the drill bit of the down-the-hole drilling rig under different implementation conditions and the drilling efficiency of the down-the-hole drilling rig under different implementation conditions obtained by previous evaluation and analysis, so as to evaluate and calculate the difficulty of the drilling operation by comprehensively considering the bearing capacity and drilling efficiency of the drill bit under different working conditions. For example, in hard rock formations, even if the drill bit has a strong bearing capacity, the operation difficulty increases due to the lower drilling efficiency; on the contrary, in soft soil layers, although the vibration is small, the drill bit bearing capacity requirement is low. Through such evaluation and analysis, the drilling difficulty of the down-the-hole drilling rig under different implementation conditions can be quantified, and finally the drilling difficulty of the down-the-hole drilling rig under different implementation conditions is obtained.

[0066] Step S355: Based on the drilling difficulty of the down-the-hole drill under different working conditions, the drill speed simulation control of the semi-physical simulation model of the fully automatic crawler down-the-hole drill is performed to obtain the drill speed simulation control target of the down-the-hole drill under different working conditions.

[0067] In an embodiment of the present invention, by combining the drilling difficulty of the down-the-hole drill drilling operation under different implementation conditions obtained by previous quantitative calculation, the drill speed of the corresponding fully automatic crawler down-the-hole drill semi-physical simulation model is simulated and controlled during the drilling operation, so as to adjust the drill speed control strategy according to the drilling difficulty under different implementation conditions to optimize the performance of the drill bit in the drilling operation. For example, under high-difficulty conditions, the penetration and efficiency of the drill bit can be improved by increasing the speed; while under low-difficulty conditions, the speed can be reduced to reduce vibration and wear. This step can verify the actual impact of different speed strategies on the drilling operation through simulation control, ensure the effectiveness and stability of the drill speed simulation control target of the down-the-hole drill under various working conditions, and finally obtain the drill speed simulation control target of the down-the-hole drill under different implementation conditions.

[0068] Further, step S4 includes the following steps: Step S41: Based on the down-the-hole drill rig complex terrain feed speed simulation control target, the down-the-hole drill rig drill bit position simulation control target and the down-the-hole drill rig drill bit speed simulation control target under different implementation conditions, the control system in the fully automatic crawler down-the-hole drill rig is actually controlled. Feedback response processing is performed to obtain actual control feedback response results of the simulation targets of different working condition parameters of the down-the-hole drill rig; In an embodiment of the present invention, by combining the previously determined complex terrain feed speed simulation control target of the down-the-hole drill, the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions (that is, the down-the-hole drill operation simulation control parameters under different implementation conditions (for example, different working conditions in different terrains such as mountainous areas, plains and wetlands)), the control system in the fully automatic crawler down-the-hole drill performs feedback response of the actual operation process control operation, so as to apply the control parameters obtained by the previous simulation to the feedback response of the feeding work process and the drilling work process of the actual fully automatic crawler down-the-hole drill under different terrains, and respond to and analyze the actual control effect of the feed speed and drilling parameters of the drill under these conditions, so as to evaluate and analyze the actual performance of the control system in the fully automatic crawler down-the-hole drill under various terrains, and finally obtain the actual control feedback response results of the simulation targets of the different working condition parameters of the down-the-hole drill.

[0069] Step S42: performing actual control operation effect difference analysis on the actual control feedback response results of the simulation target under different working condition parameters of the down-the-hole drill, and obtaining actual control operation effect difference data of different working condition parameters of the down-the-hole drill; In an embodiment of the present invention, a statistical analysis of the differences in actual control operation effects is performed on the actual control feedback response results of the simulation targets of different working parameters of the down-the-hole drill obtained by the previous control operation response by using a difference statistical analysis method, so as to compare the actual operation effects of the down-the-hole drill under different working conditions with the differences between the simulation control parameters generated under the simulation environment conditions. For example, it will be found that when the fully automatic crawler down-the-hole drill is in complex terrain, its actual feed speed needs to be adjusted in real time according to the steepness of the terrain and the soil type, and the drill bit position will change due to the presence of obstacles, thereby analyzing the differences between the operation of the corresponding down-the-hole drill in the simulation environment and the actual operation process under different working conditions, and identifying the main factors causing these differences, such as the irregularity of the terrain or the difference in equipment configuration, etc., so as to help determine the optimization direction, and finally obtain the difference data of the actual control operation effects of different working parameters of the down-the-hole drill.

[0070] Step S43: performing simulation parameter optimization target analysis on the actual control operation effect difference data of different working condition parameters of the down-the-hole drill, and obtaining the optimization target of the simulation parameter difference of different working conditions of the down-the-hole drill; In an embodiment of the present invention, by performing statistical analysis on the optimization targets of simulation control parameters with differences in control operation effects in the actual control operation effect difference data of different working conditions of the down-the-hole drill obtained by previous analysis, in order to analyze how to optimize the control parameters with differences in the actual operation process of the down-the-hole drill, the optimization targets of the simulation parameters of the down-the-hole drill under different working conditions are clearly determined, such as improving the drilling speed adjustment algorithm or optimizing the drill position control strategy, and improving its operating efficiency and adaptability under different working conditions. For example, in order to address the problem of slow response speed of the drilling rig under different terrains, the optimization target can be set to improve the response speed and accuracy of the system, to ensure rapid adjustment and stable operation under changing terrain, and finally obtain the optimization targets of the simulation parameter differences under different working conditions of the down-the-hole drill.

[0071] Step S44: performing simulation parameter optimization strategy analysis on the fully automatic crawler down-the-hole drill based on the optimization target of simulation parameter differences under different working conditions of the down-the-hole drill, so as to generate simulation parameter optimization strategies under different working conditions of the down-the-hole drill; In an embodiment of the present invention, a detailed simulation parameter optimization strategy analysis is performed on the corresponding fully automatic crawler down-the-hole drill by combining the previously determined optimization targets for the simulation parameter differences of different working conditions of the down-the-hole drill. For example, by combining actual operating data and the technical characteristics of the control system to evaluate and analyze the impact of different parameter optimizations on the overall performance and efficiency of the down-the-hole drill, optimization strategies are formulated for different working conditions, including adjustments to simulation parameter control algorithms for different working conditions, optimization of sensor layout, or software parameter updates. These strategies will help to improve the operating efficiency and operating performance of the down-the-hole drill in actual applications, and ultimately generate optimization strategies for simulation parameter settings for different working conditions of the down-the-hole drill.

[0072] Step S45: According to the simulation parameter optimization strategy for different working conditions of the down-the-hole drill, the simulation control parameters of the down-the-hole drill's complex terrain feed speed simulation control target, the down-the-hole drill's drill bit position simulation control target and the down-the-hole drill's drill bit speed simulation control target under different implementation conditions are adjusted and optimized to obtain the down-the-hole drill's simulation control parameter optimization results.

[0073] In an embodiment of the present invention, by using the simulation parameter optimization strategy for different working conditions of the down-the-hole drill obtained by previous analysis, the simulation control parameters of the down-the-hole drill corresponding to the complex terrain feed speed simulation control target, the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions are adjusted and optimized, so as to adjust the parameters such as feed speed control, drill bit position control and drill bit speed control of the down-the-hole drill under different implementation conditions according to the optimization strategy, and ensure that the down-the-hole drill can be adjusted according to the optimized parameters in actual operation, so as to achieve more precise and efficient operation. For example, under the optimized control strategy, the down-the-hole drill can adapt to terrain changes more quickly, improve drilling efficiency and reduce manual intervention of operators, thereby reducing operating costs and risks, and finally obtaining the optimization results of the simulation control parameters of the down-the-hole drill.

[0074] Furthermore, the present invention also provides a semi-physical simulation control system for a fully automatic crawler-type down-the-hole drill, which is used to execute the semi-physical simulation control method for the fully automatic crawler-type down-the-hole drill as described above. The semi-physical simulation control system for the fully automatic crawler-type down-the-hole drill includes: The semi-physical simulation constraint analysis module of the down-the-hole drill is used to perform semi-physical simulation processing on the fully automatic crawler down-the-hole drill to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; obtain the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and design the simulation environment conditions and divide the operation simulation conditions of the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, so as to generate the terrain feeding operation simulation environment conditions of the down-the-hole drill and the drilling operation simulation environment conditions of the down-the-hole drill under different implementation conditions; The complex terrain feed simulation operation control module is used to perform terrain feed speed simulation control on the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the terrain feed operation simulation environment conditions of the down-the-hole drill under different implementation conditions, so as to obtain the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions; The drilling process simulation operation control module is used to simulate the drill bit position and speed of the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the down-the-hole drill operation simulation environment conditions under different implementation conditions, so as to obtain the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions; The down-the-hole drill simulation control parameter feedback optimization module is used to optimize the actual control feedback response of the fully automatic crawler down-the-hole drill based on the down-the-hole drill complex terrain feed speed simulation control target, the down-the-hole drill drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions to obtain the down-the-hole drill simulation control parameter optimization results.

[0075] Therefore, the embodiments should be regarded as illustrative and non-restrictive from all points, and the scope of the present invention is limited by the appended claims rather than the above description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the application documents are included in the present invention.

[0076] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A semi-physical simulation control method for a fully automatic crawler down-the-hole drill, characterized in that: The following steps are involved: Step S1: Performing semi-physical simulation processing on the fully automatic crawler down-the-hole drill to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; obtaining historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing simulation environment conditions and dividing operation simulation conditions for the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and generating terrain feeding operation simulation environment conditions of the down-the-hole drill and drilling operation simulation environment conditions of the down-the-hole drill under different implementation conditions; Step S2: Based on the simulated environmental conditions of the terrain feeding operation of the down-the-hole drill under different implementation conditions, the terrain feeding speed simulation control is performed on the semi-physical simulation model of the fully automatic crawler down-the-hole drill to obtain the simulation control target of the complex terrain feeding speed of the down-the-hole drill under different implementation conditions; Step S3: Based on the simulated environmental conditions of the drilling operation of the down-the-hole drill under different working conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill performs drill position and speed simulation control on the drill bit, and obtains the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different working conditions; Step S4: Based on the down-the-hole drill rig complex terrain feed speed simulation control target, down-the-hole drill rig drill bit position simulation control target and down-the-hole drill rig drill bit speed simulation control target under different implementation conditions, the actual control feedback response of the fully automatic crawler down-the-hole drill rig is optimized to obtain the down-the-hole drill rig simulation control parameter optimization result.

2. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 1 is characterized in that: Step S1 includes the following steps: Step S11: using CAD software to perform three-dimensional spatial modeling on the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill, to obtain a three-dimensional spatial model of the mechanical structure of the down-the-hole drill, a three-dimensional spatial model of the hydraulic system of the down-the-hole drill and a three-dimensional spatial model of the electrical components of the down-the-hole drill; Step S12: collecting actual working operation parameters of the mechanical structure, hydraulic system and electrical components in the fully automatic crawler down-the-hole drill to obtain an actual working motion parameter set of the mechanical structure of the down-the-hole drill, an actual working pressure change parameter set of the hydraulic system of the down-the-hole drill and an actual working logic control parameter set of the electrical components of the down-the-hole drill; Step S13: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, and the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform semi-physical simulation processing on the three-dimensional space model of the mechanical structure of the down-the-hole drill, the three-dimensional space model of the hydraulic system of the down-the-hole drill, and the three-dimensional space model of the electrical components of the down-the-hole drill, so as to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; Step S14: acquiring historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and designing a simulation environment condition for a semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, to obtain simulation environment conditions of the down-the-hole drill model under different implementation conditions; Step S15: Analyze the actual construction operation steps of the fully automatic crawler down-the-hole drill to obtain the actual construction operation step status of the down-the-hole drill, wherein the actual construction operation step status of the down-the-hole drill includes terrain feeding operation steps and drilling operation steps; divide the operation simulation conditions of the down-the-hole drill model simulation environment simulation conditions under different implementation conditions based on the actual construction operation step status of the down-the-hole drill, and generate the down-the-hole drill terrain feeding operation simulation environment conditions and the down-the-hole drill drilling operation simulation environment conditions under different implementation conditions.

3. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 2 is characterized in that: Step S13 includes the following steps: Step S131: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, a virtual simulation system is used to perform mechanical motion simulation analysis on the three-dimensional space model of the mechanical structure of the down-the-hole drill, so as to obtain a kinematic simulation sub-model of the mechanical components of the down-the-hole drill; Step S132: Based on the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, a virtual simulation system is used to perform a hydraulic dynamic change simulation analysis on the three-dimensional space model of the hydraulic system of the down-the-hole drill, so as to obtain a hydraulic dynamic change simulation sub-model of the down-the-hole drill; Step S133: Based on the actual working logic control parameter set of the electrical components of the down-the-hole drill, a virtual simulation system is used to perform electrical logic control simulation analysis on the three-dimensional space model of the electrical components of the down-the-hole drill, so as to obtain an electrical logic control simulation sub-model of the down-the-hole drill; Step S134: performing coordinated operation correlation analysis on the kinematics simulation sub-model of the mechanical parts of the down-the-hole drill, the hydraulic dynamic change simulation sub-model of the down-the-hole drill, and the electrical logic control simulation sub-model of the down-the-hole drill to obtain the coordinated operation correlation relationship between the down-the-hole drill simulation sub-models; Step S135: Based on the coordinated operation relationship between each down-the-hole drill simulation sub-model, the down-the-hole drill mechanical component kinematics simulation sub-model, the down-the-hole drill hydraulic dynamic change simulation sub-model and the down-the-hole drill electrical logic control simulation sub-model are integrated and connected to generate a semi-physical simulation model of a fully automatic crawler down-the-hole drill.

4. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 3 is characterized in that: Step S131 includes the following steps: Based on the actual working motion parameter set of the mechanical structure of the down-the-hole drill, the motion parameters of each mechanical component structure in the three-dimensional space model of the mechanical structure of the down-the-hole drill are divided and set to obtain the actual working motion parameter set corresponding to each mechanical component structure space model; Perform kinematic field constraint design on the actual working motion parameter set corresponding to each mechanical component structure space model to generate the kinematic constraint setting field of the mechanical component structure of the down-the-hole drill; Based on the kinematic constraint setting field of the mechanical components of the down-the-hole drill, a virtual simulation system is used to perform mechanical motion simulation analysis on the three-dimensional space model of the mechanical structure of the down-the-hole drill, and a kinematic simulation sub-model of the mechanical components of the down-the-hole drill is obtained.

5. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 3 is characterized in that: Step S132 includes the following steps: Drawing a pressure change curve for the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill to generate a working pressure change curve of the hydraulic system of the down-the-hole drill; Based on the actual working pressure change parameter set of the hydraulic system of the down-the-hole drill, the pressure transmission speed and direction of the three-dimensional space model of the hydraulic system of the down-the-hole drill are statistically analyzed to obtain the pressure transmission speed and direction of the hydraulic system of the down-the-hole drill during the working process; According to the pressure transmission speed and pressure transmission direction of the hydraulic system during the working process of the down-the-hole drill, the pressure flow dynamics characteristics of the three-dimensional space model of the hydraulic system of the down-the-hole drill are analyzed to obtain the working pressure flow dynamics characteristics parameters of the hydraulic system of the down-the-hole drill; The virtual simulation system is used to set the hydraulic flow coupling field for the pressure change curve of the hydraulic system of the down-the-hole drill and the flow dynamic characteristic parameters of the hydraulic system of the down-the-hole drill, and the pressure change flow response coupling field of the hydraulic system of the down-the-hole drill is obtained; According to the pressure change flow response coupling field of the down-the-hole drill hydraulic system, the hydraulic dynamic change simulation analysis is carried out on the three-dimensional space model of the down-the-hole drill hydraulic system, and the hydraulic dynamic change simulation sub-model of the down-the-hole drill hydraulic system is obtained.

6. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 1 is characterized in that: Step S2 includes the following steps: Step S21: setting the simulated environment obstacle distribution for the simulated environment conditions of the down-the-hole drilling rig terrain feeding operation under different implementation conditions, and obtaining the distribution positions of the simulated environment obstacles for the down-the-hole drilling rig terrain feeding operation under different implementation conditions; Step S22: setting the terrain slope of the simulated environment for the terrain feeding operation of the down-the-hole drill rig under different implementation conditions, and obtaining the terrain slope of the simulated environment for the terrain feeding operation of the drill rig under different implementation conditions; Step S23: performing terrain restriction of the operation simulation environment according to the distribution positions of obstacles in the drilling rig terrain feeding operation simulation environment under different implementation conditions and the terrain slope of the drilling rig terrain feeding operation simulation environment, so as to obtain the terrain restriction field of the drilling rig terrain feeding operation simulation environment under different implementation conditions; Step S24: adjusting the terrain restriction feed speed response of the fully automatic crawler down-the-hole drill rig semi-physical simulation model based on the terrain restriction field of the drilling rig terrain feed operation simulation environment under different implementation conditions, so as to generate a terrain restriction feed speed response adjustment strategy for the down-the-hole drill rig under different implementation conditions; Step S25: Perform terrain feed speed simulation control on the semi-physical simulation model of the fully automatic crawler down-the-hole drill according to the terrain-restricted feed speed response adjustment strategy of the down-the-hole drill under different implementation conditions, and obtain the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions.

7. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 1 is characterized in that: Step S3 includes the following steps: Step S31: performing drilling environment geological identification analysis on the simulated environmental conditions of the down-the-hole drilling rig drilling operation under different implementation conditions to obtain the geological conditions of the down-the-hole drilling rig drilling operation environment under different implementation conditions; Step S32: determining the target drilling depth of the down-the-hole drill under the different working conditions under the simulated environment conditions of the down-the-hole drill operation, so as to obtain the target drilling depth of the down-the-hole drill under the different working conditions; Step S33: performing drilling target path planning according to the geological conditions of the down-the-hole drilling operation environment and the target drilling depth of the down-the-hole drilling rig under different implementation conditions, so as to generate a down-the-hole drilling operation target planning path under different implementation conditions; Step S34: Based on the drilling operation target planning path of the down-the-hole drill under different implementation conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill is simulated and controlled to obtain the drill position simulation control target of the down-the-hole drill under different implementation conditions; Step S35: Based on the geological conditions of the drilling operation environment of the down-the-hole drill rig under different implementation conditions and the target drilling depth of the down-the-hole drill rig, the drill speed simulation control of the semi-physical simulation model of the fully automatic crawler down-the-hole drill rig is performed to obtain the simulation control target of the drill speed of the down-the-hole drill rig under different implementation conditions.

8. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 7 is characterized in that: Step S35 includes the following steps: Step S351: Based on the geological conditions of the drilling operation environment of the down-the-hole drill rig under different implementation conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill rig is evaluated and analyzed to obtain the bearing capacity of the drill bit of the down-the-hole drill rig under different implementation conditions; Step S352: Based on the target drilling depth of the down-the-hole drill under different working conditions, the semi-physical simulation model of the fully automatic crawler down-the-hole drill is used to monitor the drill torque vibration, and the drill torque vibration change data of the down-the-hole drill under different working conditions are obtained; Step S353: performing drilling efficiency evaluation and analysis on the torque vibration change data of the drill bit of the down-the-hole drilling rig under different working conditions, and obtaining the drilling efficiency of the down-the-hole drilling rig under different working conditions; Step S354: performing a drilling difficulty assessment analysis according to the bearing capacity of the drill bit of the down-the-hole drilling rig and the drilling efficiency of the down-the-hole drilling rig under different implementation conditions, so as to obtain the drilling difficulty of the down-the-hole drilling rig under different implementation conditions; Step S355: Based on the drilling difficulty of the down-the-hole drill under different working conditions, the drill speed simulation control of the semi-physical simulation model of the fully automatic crawler down-the-hole drill is performed to obtain the drill speed simulation control target of the down-the-hole drill under different working conditions.

9. The semi-physical simulation control method for a fully automatic crawler down-the-hole drill according to claim 1 is characterized in that: Step S4 includes the following steps: Step S41: Based on the down-the-hole drill rig complex terrain feed speed simulation control target, the down-the-hole drill rig drill bit position simulation control target and the down-the-hole drill rig drill bit speed simulation control target under different implementation conditions, the control system in the fully automatic crawler down-the-hole drill rig is actually controlled. Feedback response processing is performed to obtain actual control feedback response results of the simulation targets of different working condition parameters of the down-the-hole drill rig; Step S42: performing actual control operation effect difference analysis on the actual control feedback response results of the simulation target under different working condition parameters of the down-the-hole drill, and obtaining actual control operation effect difference data of different working condition parameters of the down-the-hole drill; Step S43: performing simulation parameter optimization target analysis on the actual control operation effect difference data of different working condition parameters of the down-the-hole drill, and obtaining the optimization target of the simulation parameter difference of different working conditions of the down-the-hole drill; Step S44: performing simulation parameter optimization strategy analysis on the fully automatic crawler down-the-hole drill based on the optimization target of simulation parameter differences under different working conditions of the down-the-hole drill, so as to generate simulation parameter optimization strategies under different working conditions of the down-the-hole drill; Step S45: According to the simulation parameter optimization strategy for different working conditions of the down-the-hole drill, the simulation control parameters of the down-the-hole drill's complex terrain feed speed simulation control target, the down-the-hole drill's drill bit position simulation control target and the down-the-hole drill's drill bit speed simulation control target under different implementation conditions are adjusted and optimized to obtain the down-the-hole drill's simulation control parameter optimization results.

10. A semi-physical simulation control system for a fully automatic crawler down-the-hole drill, characterized in that: Used to execute the semi-physical simulation control method of the fully automatic crawler down-the-hole drill according to claim 1, the semi-physical simulation control system of the fully automatic crawler down-the-hole drill comprises: The semi-physical simulation constraint analysis module of the down-the-hole drill is used to perform semi-physical simulation processing on the fully automatic crawler down-the-hole drill to generate a semi-physical simulation model of the fully automatic crawler down-the-hole drill; obtain the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, and design the simulation environment conditions and divide the operation simulation conditions of the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the historical operating working environment data of the fully automatic crawler down-the-hole drill under different implementation conditions, so as to generate the terrain feeding operation simulation environment conditions of the down-the-hole drill and the drilling operation simulation environment conditions of the down-the-hole drill under different implementation conditions; The complex terrain feed simulation operation control module is used to perform terrain feed speed simulation control on the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the terrain feed operation simulation environment conditions of the down-the-hole drill under different implementation conditions, so as to obtain the complex terrain feed speed simulation control target of the down-the-hole drill under different implementation conditions; The drilling process simulation operation control module is used to simulate the drill bit position and speed of the semi-physical simulation model of the fully automatic crawler down-the-hole drill based on the down-the-hole drill operation simulation environment conditions under different implementation conditions, so as to obtain the down-the-hole drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions; The down-the-hole drill simulation control parameter feedback optimization module is used to optimize the actual control feedback response of the fully automatic crawler down-the-hole drill based on the down-the-hole drill complex terrain feed speed simulation control target, the down-the-hole drill drill bit position simulation control target and the down-the-hole drill bit speed simulation control target under different implementation conditions to obtain the down-the-hole drill simulation control parameter optimization results.

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