Drilling machine moving planning method, device and equipment, medium and drilling machine

Abstract

The invention discloses a drilling machine moving planning method and device, equipment, a medium and a drilling machine. The method comprises the steps that pose information of the drilling machine is obtained; single-class hole site information corresponding to the current single-class hole site is obtained, the current single-class hole site is the single-class hole site corresponding to any class grouping task in multiple class grouping tasks, and the multiple class grouping tasks are determined according to drilling area information of drilling machine moving; under the condition that the chassis of the drilling machine is a crawler-type chassis without differential control, transition point location information is generated according to the single-shift hole location information, and a first machine moving planning path is generated according to the single-shift hole location information, the pose information and the transition point location information; and under the condition that the chassis of the drilling machine is a crawler-type chassis with differential control, a second machine moving planning path is generated according to the single-class hole site information and the pose information. The method can adapt to various drilling machine devices to achieve machine moving planning, and adaptability and integrity are effectively improved.

Description

Technical Field

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

[0002] The drilling rig's drilling and rock drilling is the first and important link in the production process of non-coal mines. During the drilling operation, the travel path of the drill rig needs to be globally planned. There are both new and old drilling rigs on the market, and the chassis used is a crawler chassis. At present, there are mainly two types of crawler chassis with different performances. One has differential control, which can rely on the speed difference of the crawlers on both sides to achieve steering and rotation by controlling the speed difference of the crawlers on both sides. The other has no differential control. When moving forward and backward, the speed of the crawlers on both sides is the same. When turning, only one side of the crawler can be controlled to remain stationary while the other side moves to turn on the spot. Due to the above differences, the current travel path planning method often cannot adapt to a variety of drilling equipment, and its adaptability and integrity are weak. Summary of the invention

[0003] The present application aims to propose a drilling rig relocation planning method, device, equipment, medium and drilling rig, which can adapt to a variety of drilling rig equipment to realize relocation planning and effectively improve adaptability and integrity.

[0004] According to the first aspect of the present application, a method for planning a drilling rig move includes:

[0005] Get the drilling rig’s position information;

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

[0007] In the case where the chassis of the drilling rig is a crawler chassis without differential control, generating transition point information according to the single-shift hole position information, and generating a first machine moving planning path according to the single-shift hole position information, the posture information and the transition point information;

[0008] In the case where the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated according to the single-shift hole position information and the posture information.

[0009] According to some embodiments of the present application, the punching order of the two rows of holes in the single-class hole position information corresponding to each of the class tasks is to punch holes in rows in sequence;

[0010] The step of generating transition point information according to the single-shift hole position information includes:

[0011] A first circle is generated with the last hole position in the first row as the center and the length of the drilling rig as the radius, and a first extension line is made by connecting the second to last hole position in the first row and the last hole position, and an intersection point of the first circle and the first extension line is determined as the first row transition point;

[0012] A second circle is generated with the first row transition point as the center and the vehicle length of the drilling rig as the radius, the second circle is connected with the last hole position in the last row and a second extension line is made, and the intersection of the second circle and the second extension line is determined as the last row transition point;

[0013] According to the positions of the first row of transition points and the last row of transition points, the transition point position information is obtained.

[0014] According to some embodiments of the present application, the first row of transition points and the last row of transition points are passed in sequence after the drilling rig completes drilling the hole positions corresponding to the last positions in the first row.

[0015] According to some embodiments of the present application, when the chassis of the drilling rig is a crawler chassis with differential control, generating a second machine moving planning path according to the single-shift hole position information and the posture information includes:

[0016] When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated based on a quintic polynomial planning algorithm and according to the single-shift hole position information.

[0017] According to some embodiments of the present application, when the chassis of the drilling rig is a crawler chassis with differential control, based on a quintic polynomial planning algorithm, a second machine moving planning path is generated according to the single-shift hole position information, including:

[0018] Setting the speed and acceleration parameters of the drilling rig;

[0019] Based on a quintic polynomial planning algorithm, a plurality of segmented planning paths between the hole positions are obtained according to the hole position information of the single shift and the speed and acceleration parameters of the drilling rig;

[0020] The second moving planned path is obtained according to the multiple segmented planned paths.

[0021] According to some embodiments of the present application, the obtaining of single-shift hole position information includes:

[0022] Obtain initial single-shift hole location information and obtain safe operation constraint range;

[0023] The initial single-shift hole position information of the hole positions outside the safe operation constraint range is removed to obtain the single-shift hole position information.

[0024] According to the second aspect of the present application, a planning device for drilling rig relocation includes:

[0025] A first acquisition module is used to acquire the position information of the drilling rig;

[0026] The second acquisition module is used to acquire single-class hole position information, where the single-class hole position refers to two rows of hole positions included in a class task, and the single-class hole position information includes position information and drilling order of all hole positions in the class task;

[0027] A first planning module is used to generate transition point information according to the single-shift hole position information when the chassis of the drilling rig is a crawler chassis without differential control, and to generate a first machine moving planning path according to the single-shift hole position information and the transition point information;

[0028] The second planning module is used to generate a second machine moving planning path based on the single-shift hole position information based on a quintic polynomial planning algorithm when the chassis of the drilling rig is a crawler chassis with differential control.

[0029] An electronic device according to an embodiment of the third aspect of the present application includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the drilling rig relocation planning method as described in any one of the above-mentioned second aspect embodiments are implemented.

[0030] The drilling rig according to the fourth aspect embodiment of the present application includes the electronic device as described in the third aspect embodiment.

[0031] According to the computer-readable storage medium of the fifth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the drilling rig relocation planning method as described in the first aspect embodiment above.

[0032] In the embodiment of the present application, different moving machine planning paths are generated according to the characteristics of crawler chassis without differential control and crawler chassis with differential control, which can adapt to the different chassis conditions of various modified drilling rigs in the current market, effectively enhancing the adaptability of the system device to old drilling rigs and the integrity of the moving machine path planning function. In addition, the present application realizes the autonomous planning of the route of drilling rig moving, without the need for manual planning and scheduling, reducing labor costs and improving the overall operating efficiency of the drilling rig.

[0033] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0035] Figure 1 It is a flowchart of an embodiment of a method for planning drilling rig relocation of the present application;

[0036] Figure 2 This is a schematic diagram of the division of tasks by shift in an embodiment of the drilling rig relocation planning method of the present application;

[0037] Figure 3 It is a schematic diagram of a first moving machine planning path of an embodiment of a drilling rig moving machine planning method of the present application;

[0038] Figure 4 It is a structural schematic diagram of an embodiment of a planning device for drilling rig relocation of the present application;

[0039] Figure 5 It is a schematic diagram of the hardware structure of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0041] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0044] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0045] Figure 1 This is a flow chart of an embodiment of a method for planning a drilling rig relocation according to an embodiment of the present application. Figure 1 , the embodiments of the present application are further described.

[0046] like Figure 1 As shown, the embodiment of the present application proposes a drilling rig relocation planning method, and the drilling rig relocation planning method includes:

[0047] Step 101, obtaining the position information of the drilling rig;

[0048] Step 102, obtaining single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig transfer, and the single-shift hole position information corresponding to any sub-shift task includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each hole position;

[0049] Step 103: when the chassis of the drilling rig is a crawler chassis without differential control, generate transition point information according to the single-shift hole position information, and generate a first machine moving planning path according to the single-shift hole position information, posture information and transition point information;

[0050] Step 104: When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated according to the single-shift hole position information and posture information.

[0051] In the embodiment of the present application, different moving machine planning paths are generated according to the characteristics of crawler chassis without differential control and crawler chassis with differential control, which can adapt to the different chassis conditions of various modified drilling rigs in the current market, effectively enhancing the adaptability of the system device to old drilling rigs and the integrity of the moving machine path planning function. In addition, the present application realizes the autonomous planning of the route of drilling rig moving, without the need for manual planning and scheduling, reducing labor costs and improving the overall operating efficiency of the drilling rig.

[0052] In the above step 101, the position information of the drilling rig is obtained.

[0053] The above-mentioned drilling rig posture information may include the location information of the drilling rig and the heading angle information of the drilling rig. The above-mentioned drilling rig posture information may be RTK (Real-time Kinematic) positioning information.

[0054] The drilling rig may be a drilling rig with RTK positioning information used for drilling in a mine, or a drilling rig that can be remotely operated. Specifically, the drilling rig may be a rotary drill.

[0055] In the above step 102, the single-shift hole position information corresponding to the current single-shift hole position is obtained. The current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks. The multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation. The single-shift hole position information corresponding to any sub-shift task includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each hole position.

[0056] Figure 2 FIG. 1 is a schematic diagram of the division of tasks by shift according to an embodiment of the method for planning the relocation of a drilling rig of the present application. The above-mentioned tasks by shift are determined according to the drilling area information of the relocation of the drilling rig, such as Figure 2 As shown, it can be the drilling area information according to the drilling rig movement. Figure 2 The dotted box in the figure is the punching area. Set the hole layout plan and divide the entire punching area into multiple sub-areas. According to the division of the sub-areas, all the hole positions are divided into multiple sub-class tasks. The hole positions to be punched in a sub-class task include the hole positions within the corresponding divided area. Figure 2 In the solid line box, one box represents a class task, and one class has two rows of holes.

[0057] The single-shift hole position information corresponding to any of the above-mentioned shift tasks includes two rows of hole positions. Since the drilling rig equipment is connected with cables, it is not convenient to walk autonomously over long distances. Therefore, any shift task divided is only two rows of hole positions, and the number of hole positions in each row is also within a certain range.

[0058] In the above step 103, when the chassis of the drilling rig is a crawler chassis without differential control, transition point information is generated according to the single-shift hole position information, and the first machine moving planning path is generated according to the single-shift hole position information, posture information and transition point information.

[0059] At present, there are both new and old drilling rigs being modified in the market. Their driving chassis are crawler chassis, and the chassis performance is different. At present, there are mainly two types of crawler chassis with different performance in the market, namely crawler chassis without differential control and crawler chassis with differential control.

[0060] The above-mentioned crawler chassis without differential control has imprecise control over the left and right crawlers, and there is no difference in the speed of the crawlers on both sides. The equipment is relatively old. Specifically, the crawlers on both sides have the same speed and can be controlled to move forward and backward, but when turning, only one crawler can be controlled to remain stationary while the other crawler moves, that is, turning on the spot. This makes this type of drilling rig only able to move forward and backward during driving. If turning is required, it can only be stopped and turned on the spot, and the front of the vehicle can be rotated to the required angle before continuing to drive.

[0061] The above crawler chassis with differential control can realize the forward and backward movement, left and right turning and even rotation on the spot of the drilling rig through the differential control of the left and right crawlers. This design makes the crawler chassis excellent in terms of passability, especially strong obstacle crossing ability. Specifically, the realization of differential control depends on the speed difference of the crawlers on both sides. By controlling the speed difference of the crawlers on both sides, turning and rotation can be achieved, which enables such drilling rigs to turn at the same time during the forward and backward driving process.

[0062] The above-mentioned generation of transition point information based on the single-shift hole position information is because the single-shift hole position information corresponding to any shift task includes two rows of hole positions. After completing the drilling of one row of hole positions, it is necessary to change rows. When the chassis of the drilling rig is a crawler chassis without differential control, it can only turn on the spot. If it directly turns on the spot when changing rows, it needs to rotate at a large angle. Considering the large size of the drilling rig, it may press the last hole position of the first row that has been completed in this process. Therefore, it is necessary to generate a transition point and correct the machine moving route during the drilling process of the drilling rig equipment without differential control, which can better ensure that the finished holes are not pressed and ensure the construction quality.

[0063] The above transition point information may be generated based on the size of the drilling rig and the hole position information of a single shift.

[0064] In the above step 104, when the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated according to the single-shift hole position information and posture information.

[0065] In the case where the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig can turn simultaneously during the forward and backward driving process and can travel on an arc track line, so the above-mentioned transition point is not required.

[0066] like Figure 2 and Figure 3 As shown, in some embodiments, the punching order of the two rows of holes in the single-class hole position information corresponding to each class task is to punch holes in rows in sequence;

[0067] Generate transition point information based on single-shift hole position information, including:

[0068] With the last hole in the first row as the center and the length of the drilling rig as the radius, generate the first circle, connect the second to last hole in the first row and the last hole, and make the first extension line, and determine the intersection of the first circle and the first extension line as the transition point of the first row;

[0069] With the first row transition point as the center and the drilling rig length as the radius, generate a second circle, connect the second to last hole position and the last hole position in the last row and make a second extension line, and determine the intersection of the second circle and the second extension line as the last row transition point;

[0070] According to the positions of the first row of transition points and the last row of transition points, the transition point position information is obtained.

[0071] In this embodiment, generating transition points can realize correction of the machine moving route during the drilling process of the drilling rig equipment without differential control, and can avoid the drilling rig equipment without differential control pressing the finished hole during the movement, thereby ensuring the construction quality.

[0072] like Figure 3 As shown, the hollow dots are the two rows of holes to be punched included in the single-shift hole position information, and the solid dots are transition points.

[0073] The above-mentioned row-by-row punching can be started from the beginning of the first row to the end of the first row, and then the punching operation of all holes is completed from the beginning of the last row to the end of the last row. It should be noted that after completing the punching of the holes at the end of the first row, it is necessary to move to the beginning of the last row and start punching from the holes at the beginning of the last row.

[0074] The above-mentioned first-row transition point takes the last hole position in the first row as the center and the vehicle length of the drilling rig as the radius to generate the first circle, connect the second to last hole position and the last hole position in the first row and make the first extension line, and determine the intersection of the first circle and the first extension line as the first-row transition point, which can ensure that the drilling rig leaves the drilling area of ​​the last hole position in the first row and the drilling rig will not squeeze the hole when turning on the spot.

[0075] like Figure 3 As shown, with point 6 as the center and the length of the drilling rig as the radius, the first circle a is generated, the hole positions of points 5 and 6 are connected and the first extension line is made, and the intersection of the first circle a and the first extension line, i.e., point 7, is determined as the first row of transition points.

[0076] The above-mentioned last row transition point, with the first row transition point as the center and the vehicle length of the drilling rig as the radius, generates a second circle, connects the second to last hole position and the last hole position in the last row and makes a second extension line, and determines the intersection of the second circle and the second extension line as the last row transition point, which can ensure that the first row of holes is not pressed when the drilling rig moves from the last position of the first row to the first end of the last row.

[0077] like Figure 3 As shown, with point 7 as the center and the length of the drilling rig as the radius, a second circle b is generated, the hole positions at points 16 and 17 are connected and a second extension line is made, and the intersection of the second circle b and the second extension line, i.e., point 8, is determined as the last row of transition points.

[0078] In some embodiments, the first row transition points and the last row transition points are passed sequentially after the drilling rig completes drilling of the hole positions corresponding to the last positions in the first row.

[0079] In this embodiment, after the drilling rig completes drilling of the hole corresponding to the last position of the first row, it passes through the first row transition point and the last row transition point in sequence, and then moves to the head end of the last row to start drilling the last row of holes. The first row transition point and the last row transition point are used to correct the machine movement route during the drilling process of the drilling rig equipment without differential control.

[0080] In some implementations, generating transition point information based on single-shift hole position information also includes:

[0081] The second hole in the last row is used as the adjustment transition point;

[0082] According to the positions of the first row transition points, the last row transition points and the adjustment transition points, the transition point position information is obtained.

[0083] In this embodiment, by setting an adjustment transition point, the drilling rig can adjust the angle on the spot after reaching this adjustment transition point, thereby avoiding possible deviation during long-distance driving, that is, moving from the end of the last row to the beginning of the last row. This allows the drilling rig to ensure that the direction to the first hole position in the last row is consistent after adjusting the heading angle at the adjustment transition point, that is, it can be aligned when arriving at the hole position, thereby improving the accuracy and efficiency of drilling.

[0084] like Figure 3 As shown, point 11 is used as the adjustment transition point.

[0085] After completing the drilling of the hole corresponding to the last position of the first row, the drilling rig can pass through the first row transition point, the last row transition point and the adjustment transition point in sequence, that is, pass through points 7, 8, and 11, and then move to the head end of the last row to start drilling the last row of holes.

[0086] In some implementations, generating transition point information based on single-shift hole position information also includes:

[0087] Connect the second-order hole position in the last row and the transition point in the last row to make a first straight line, select the two hole positions in the first row of holes that are closest to the first straight line as the center of the circle, and use the hole row spacing of the first and last rows as the radius to make a third circle and a fourth circle respectively, draw perpendicular lines from the two circles to the first straight line to obtain a first perpendicular line and a second perpendicular line, and determine the intersection point of the first perpendicular line and the third circle, and the intersection point of the second perpendicular line and the fourth circle as the first intermediate transition point and the second intermediate transition point;

[0088] The transition point position information is obtained according to the positions of the first row transition points, the last row transition points, the adjustment transition points, the first intermediate transition points and the second intermediate transition points.

[0089] In this embodiment, by setting the first intermediate transition point and the second intermediate transition point, when the arrangement of the holes in a row is irregular and there may be broken lines, it can prevent the drilling rig from pressing on the finished holes in the first row when moving from the end of the last row to the beginning of the last row, thereby ensuring the construction quality.

[0090] like Figure 3 As shown, connect point 11 and point 8 to make a first straight line, select point 5 and point 3 in the first row of holes that are closest to the first straight line as the center of the circle, take the hole row spacing of the first and last rows as the radius, make a third circle c and a fourth circle d respectively, make perpendicular lines from the two circles to the first straight line to obtain the first perpendicular line and the second perpendicular line, determine the intersection point 9 of the first perpendicular line and the third circle, and the intersection point 10 of the second perpendicular line and the fourth circle as the first intermediate transition point and the second intermediate transition point.

[0091] After completing the drilling of the hole corresponding to the last position of the first row, the drilling rig can pass through the first row transition point, the last row transition point, the first middle transition point, the second middle transition point and the adjustment transition point, i.e., points 7, 8, 9, 10 and 11, and then move to the head end of the last row to start drilling the holes of the last row.

[0092] The above-mentioned first straight line can also be obtained by connecting the second hole in the last row and the last hole in the last row in some cases.

[0093] In some embodiments, Figure 3 is a schematic diagram of a first moving machine planning path of an embodiment of a drilling rig moving machine planning method of the present application, such as Figure 3 As shown, the hollow dots are the two rows of holes to be punched included in the single-shift hole position information, that is, points 1-6 are the first row of holes, and points 12-17 are the last row of holes. The solid dots are transition points, that is, points 7-11 are transition points, and points 11 and 13 overlap.

[0094] The drilling rig can operate according to the first moving machine planning path to first complete the first row of drilling tasks from points 1 to 6, then pass through points 7, 8, 9, 10, and 11 in sequence, and then complete the last row of drilling tasks from points 12 to 17.

[0095] In some embodiments, when the chassis of the drilling rig is a crawler chassis with differential control, generating a second machine moving planning path according to the single-shift hole position information and posture information includes:

[0096] When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated based on the fifth-order polynomial planning algorithm and the hole position information of a single shift.

[0097] In this embodiment, when the chassis of the drilling rig is a crawler chassis with differential control, it can achieve simultaneous steering during forward and backward driving, and can travel in an arc trajectory. The second machine moving planning path generated based on the quintic polynomial planning algorithm has good continuity, avoids sudden changes during movement, and keeps the drilling rig stable during driving, enhances safety, and is simple and efficient in calculation, easy to control in real time, and can be applied to various terrains. When the drilling rig works on different ground surfaces and the terrain is inconsistent, the quintic polynomial planning algorithm can flexibly generate movements that are suitable for complex terrain.

[0098] In some embodiments, when the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated based on a quintic polynomial planning algorithm and single-shift hole position information, including:

[0099] Set the speed and acceleration parameters of the drilling rig;

[0100] Based on the quintic polynomial planning algorithm, multiple segmented planning paths between each hole position are obtained according to the hole position information of a single shift and the speed and acceleration parameters of the drilling rig;

[0101] According to the multiple segmented planned paths, a second moving planned path is obtained.

[0102] In this implementation, a quintic polynomial programming algorithm based on key points is used to ensure smooth trajectory by setting speed and acceleration, so that the vehicle can travel stably.

[0103] The above quintic polynomial form is as follows:

[0104] q(t)=a0+a1(t-t0)+a2(t-t0) 2 +a3(t-t0) 3 +a4(t-t0) 4 +a5(t-t0) 5 ;

[0105] Where q(t) represents the value of the polynomial at a time distance t-t0 from time t0;

[0106] The conditions for the start and end points are as follows:

[0107] q(t0)=q0,q(t1)=q1

[0108]

[0109] Among them, q0 is the current real-time position of the drilling rig, q1 is the target hole position, v0 is the current real-time speed of the drilling rig, v1 is the target hole speed of the drilling rig, a0 is the current real-time acceleration of the drilling rig, and a1 is the target hole acceleration of the drilling rig.

[0110] Here we define T = t1-t0, and the polynomial coefficient is h = q1-q0. The 6 coefficients of the quintic polynomial are solved as follows:

[0111]

[0112] Therefore, by inputting the current real-time position of the drilling rig q0, the target hole position q1, the current real-time speed of the drilling rig v0, the target hole speed of the drilling rig v1, the current real-time acceleration of the drilling rig a0, and the target hole acceleration of the drilling rig a1, a smooth and uniform path point q(t) from the real-time position of the drilling rig to the target hole position can be output, and then by updating the values ​​of q0, q1, v0, v1, a0, and a1, such as updating q0 to the target hole position, v0 and a0 corresponding to it, and updating q1 to the next target hole position, v1 and a1 corresponding to it, a smooth and uniform path point from the target hole position to the next target hole position can be output, and so on. After multiple updates and calculations, multiple segmented planned paths between each hole position in a single-shift hole position can be obtained. It should be noted that it needs to correspond to the drilling order in the single-shift hole position information, and then the second machine moving planned path can be obtained according to the multiple segmented planned paths.

[0113] In some embodiments, obtaining single-shift hole position information includes:

[0114] Obtain initial single-shift hole location information and obtain safe operation constraint range;

[0115] The initial single-shift hole position information of the hole positions outside the safe operation constraint range is removed to obtain the single-shift hole position information.

[0116] In this implementation, the initial single-shift hole location information is screened, the holes outside the safe operation constraint range are removed, and the single-shift hole location information is obtained based on the remaining holes, thereby ensuring the safety of the drilling rig completing the drilling task of the single-shift hole location. Specifically, the safe operation constraint range can be determined according to the actual geographical environment of the mine.

[0117] The drilling rig relocation planning method provided in the embodiment of the present application may be executed by the drilling rig relocation planning device 200. In the embodiment of the present application, the drilling rig relocation planning method performed by the drilling rig relocation planning device 200 is taken as an example to illustrate the drilling rig relocation planning device 200 provided in the embodiment of the present application.

[0118] See also Figure 4 , is a schematic diagram of the structure of a drilling rig relocation planning device 200 provided in an embodiment of the present application. Figure 4 As shown, the drilling rig relocation planning device 200 includes:

[0119] The first acquisition module 201 is used to acquire the position information of the drilling rig;

[0120] The second acquisition module 202 is used to acquire single-class hole position information, where the single-class hole position refers to two rows of hole positions included in a class task, and the single-class hole position information includes the position information and drilling order of all the hole positions in the class task;

[0121] The first planning module 203 is used to generate transition point information according to the single-shift hole position information when the chassis of the drilling rig is a crawler chassis without differential control, and to generate a first machine moving planning path according to the single-shift hole position information and the transition point information;

[0122] The second planning module 204 is used to generate a second machine moving planning path based on the single-shift hole position information based on a quintic polynomial planning algorithm when the chassis of the drilling rig is a crawler chassis with differential control.

[0123] In some embodiments, the punching order of the two rows of holes in the single-class hole position information corresponding to each class task is to punch holes in rows in sequence;

[0124] The first planning module 203 may be used to:

[0125] With the last hole in the first row as the center and the length of the drilling rig as the radius, generate the first circle, connect the second to last hole in the first row and the last hole, and make the first extension line, and determine the intersection of the first circle and the first extension line as the transition point of the first row;

[0126] With the first row transition point as the center and the drilling rig length as the radius, generate a second circle, connect the second to last hole position and the last hole position in the last row and make a second extension line, and determine the intersection of the second circle and the second extension line as the last row transition point;

[0127] According to the positions of the first row of transition points and the last row of transition points, the transition point position information is obtained.

[0128] In some embodiments, the first row transition points and the last row transition points are passed sequentially after the drilling rig completes drilling of the hole positions corresponding to the last positions in the first row.

[0129] In some implementations, the second planning module 204 may be used to:

[0130] When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated based on the fifth-order polynomial planning algorithm and the hole position information of a single shift.

[0131] In some implementations, the second planning module 204 may be used to:

[0132] Set the speed and acceleration parameters of the drilling rig;

[0133] Based on the quintic polynomial planning algorithm, multiple segmented planning paths between each hole position are obtained according to the hole position information of a single shift and the speed and acceleration parameters of the drilling rig;

[0134] According to the multiple segmented planned paths, a second moving planned path is obtained.

[0135] In some implementations, the second acquisition module 202 may be used to:

[0136] Obtain initial single-shift hole location information and obtain safe operation constraint range;

[0137] The initial single-shift hole position information of the hole positions outside the safe operation constraint range is removed to obtain the single-shift hole position information.

[0138] Since the drilling rig relocation planning device 200 adopts all the technical solutions of the drilling rig relocation planning method of the above-mentioned embodiment, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, which will not be described in detail here.

[0139] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0140] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0141] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0142] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0143] In some embodiments, the memory 302 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0144] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the drilling rig relocation planning methods in the above embodiments.

[0145] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 5 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0146] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0147] Bus 310 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0148] The electronic device can execute the drilling rig relocation planning method in the embodiment of the present application, thereby realizing the combination of Figure 1 and Figure 4 A method and device for planning drilling rig relocation are described.

[0149] An embodiment of the present application may provide a drilling rig, which includes the above-mentioned electronic device.

[0150] In addition, in combination with the drilling rig relocation planning method in the above embodiments, the present application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the drilling rig relocation planning methods in the above embodiments is implemented.

[0151] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0152] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0153] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0154] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0155] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for planning a drilling rig move, characterized in that: include: Get the drilling rig’s position information; Obtaining single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks, the multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any of the sub-shift tasks includes the drilling order corresponding to the two rows of hole positions and the posture information corresponding to each of the hole positions; In the case where the chassis of the drilling rig is a crawler chassis without differential control, generating transition point information according to the single-shift hole position information, and generating a first machine moving planning path according to the single-shift hole position information, the posture information and the transition point information; In the case where the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated according to the single-shift hole position information and the posture information.

2. The method for planning drilling rig relocation according to claim 1, characterized in that: The punching order of the two rows of holes in the single-class hole position information corresponding to each of the class tasks is to punch holes in rows in sequence; The step of generating transition point information according to the single-shift hole position information includes: A first circle is generated with the last hole position in the first row as the center and the length of the drilling rig as the radius, and a first extension line is made by connecting the second to last hole position in the first row and the last hole position, and an intersection point of the first circle and the first extension line is determined as the first row transition point; A second circle is generated with the first row transition point as the center and the vehicle length of the drilling rig as the radius, the second circle is connected with the last hole position in the last row and a second extension line is made, and the intersection of the second circle and the second extension line is determined as the last row transition point; According to the positions of the first row of transition points and the last row of transition points, the transition point position information is obtained.

3. The method for planning drilling rig relocation according to claim 2, characterized in that: The first row transition points and the last row transition points are passed in sequence after the drilling rig completes drilling of the hole positions corresponding to the last positions in the first row.

4. The method for planning drilling rig relocation according to claim 1, characterized in that: In the case where the chassis of the drilling rig is a crawler chassis with differential control, generating a second machine moving planning path according to the single-shift hole position information and the position information includes: When the chassis of the drilling rig is a crawler chassis with differential control, a second machine moving planning path is generated based on a quintic polynomial planning algorithm and according to the single-shift hole position information.

5. The method for planning drilling rig relocation according to claim 4, characterized in that: When the chassis of the drilling rig is a crawler chassis with differential control, based on a quintic polynomial planning algorithm, a second machine moving planning path is generated according to the single-shift hole position information, including: Setting the speed and acceleration parameters of the drilling rig; Based on a quintic polynomial planning algorithm, a plurality of segmented planning paths between the hole positions are obtained according to the hole position information of the single shift and the speed and acceleration parameters of the drilling rig; The second moving planned path is obtained according to the multiple segmented planned paths.

6. The method for planning drilling rig relocation according to claim 1, characterized in that: The obtaining of single-shift hole position information includes: Obtain initial single-shift hole location information and obtain safe operation constraint range; The initial single-shift hole position information of the hole positions outside the safe operation constraint range is removed to obtain the single-shift hole position information.

7. A drilling rig relocation planning device, characterized in that: include: A first acquisition module is used to acquire the position information of the drilling rig; The second acquisition module is used to acquire single-class hole position information, where the single-class hole position refers to two rows of hole positions included in a class task, and the single-class hole position information includes position information and drilling order of all hole positions in the class task; A first planning module is used to generate transition point information according to the single-shift hole position information when the chassis of the drilling rig is a crawler chassis without differential control, and to generate a first machine moving planning path according to the single-shift hole position information and the transition point information; The second planning module is used to generate a second machine moving planning path based on the single-shift hole position information based on a quintic polynomial planning algorithm when the chassis of the drilling rig is a crawler chassis with differential control.

8. An electronic device, characterized in that: It includes a processor and a memory, the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the drilling rig relocation planning method as described in any one of claims 1 to 6 are implemented.

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

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the drilling rig relocation planning method as described in any one of claims 1 to 6.

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