Planning method, device, equipment, medium and drilling rig for drilling rig relocation

Abstract

The present application discloses a drilling rig relocation planning method, device, equipment, medium, and drilling rig, the method comprising: obtaining the position information of the drilling rig; obtaining the single-shift hole position information corresponding to the current single-shift hole position, the current single-shift hole position being the single-shift hole position corresponding to any one of a plurality of sub-shift tasks, the plurality of sub-shift tasks being determined according to the drilling area information of the drilling rig relocation; when 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, generating a first relocation planning path according to the single-shift hole position information, the position information, and the transition point information; when the chassis of the drilling rig is a crawler chassis with differential control, generating a second relocation planning path according to the single-shift hole position information and the position information. The present application can be adapted to various drilling rig equipment to implement relocation planning, effectively improving adaptability and integrity.

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 perforation and rock drilling is the first and most important step in the production process of non-coal mines. During the drilling operation, the drilling rig's travel path needs to be globally planned. The drilling rigs currently on the market are both new and old, and the chassis they travel on is a crawler chassis. At present, there are two main 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, and the speed of the crawlers on both sides is the same when moving forward and backward. When turning, only one crawler track can be controlled to remain stationary while the other crawler track moves, turning on the spot. Due to the above differences, the current travel path planning method is often not adaptable to a variety of drilling rig equipment, and its adaptability and integrity are weak. Summary of the Invention

[0003] This 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 embodiment of the present application, a method for planning a drilling rig relocation includes:

[0005] Get the drilling rig's posture information;

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

[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 movement 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 speed control, a second machine movement 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] Generating transition point information according to the single-shift hole position information includes:

[0011] With the last hole position in the first row as the center and the length of the drilling rig as the radius, a first circle is generated, connecting the second-to-last hole position in the first row and the last hole position and drawing a first extension line, and determining the intersection of the first circle and the first extension line as the first row transition point;

[0012] With the first row transition point as the center and the drilling rig length as the radius, a second circle is generated, connecting the second-to-last and last hole positions in the last row and drawing a second extension line, and determining the intersection of the second circle and the second extension line as the last row transition point;

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

[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 speed control, generating a second machine movement 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 movement planning path is generated based on the single-shift hole position information based on a quintic polynomial planning algorithm.

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

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

[0019] Based on the fifth-order polynomial programming algorithm, multiple segmented planning paths between each hole position 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, obtaining 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] The first acquisition module is used to obtain the position information of the drilling rig;

[0026] The second acquisition module is used to obtain single-class hole position information, where the single-class hole position is 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 hole positions in the class task;

[0027] A first planning module is configured to generate transition point information based on 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 movement planning path based on the single-shift hole position information and the transition point information;

[0028] The second planning module is used to generate a second machine movement 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] According to an electronic device of an embodiment of the third aspect of the present application, the device includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs 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 embodiment of the present application includes the electronic device as described in the third embodiment.

[0031] According to the computer-readable storage medium of the fifth 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 embodiment above.

[0032] In the embodiments of this application, different relocation planning paths are generated based on the characteristics of crawler chassis without differential control and crawler chassis with differential control. This adapts to the different chassis conditions of various modified drilling rigs currently on the market, effectively enhancing the system's adaptability to older drilling rigs and the integrity of its relocation path planning function. Furthermore, this application enables autonomous route planning for drilling rig relocation, eliminating the need for manual planning and scheduling, reducing labor costs and improving the overall operational 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 be apparent from the description, or may be learned 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 This is a flow chart of an embodiment of a drilling rig relocation planning method of the present application;

[0036] Figure 2 This is a 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 This is a schematic diagram of a first moving plan path of an embodiment of a drilling rig moving planning method of the present application;

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

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

[0040] The following describes in detail embodiments of the present application. 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 are not to be construed 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 this application, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0043] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technical personnel 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 the drilling rig relocation planning method provided in this application. Figure 1 , further elaborating on the embodiments of this application.

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

[0047] Step 101: Obtaining the drilling rig's posture information;

[0048] Step 102: Obtain 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 based on 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.

[0049] Step 103: If the chassis of the drilling rig is a crawler chassis without differential control, generate transition point information based on the single-shift hole position information, and generate a first machine movement planning path based on 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 speed control, a second machine moving planning path is generated according to the single-shift hole position information and posture information.

[0051] In the embodiments of this application, different relocation planning paths are generated based on the characteristics of crawler chassis without differential control and crawler chassis with differential control. This adapts to the different chassis conditions of various modified drilling rigs currently on the market, effectively enhancing the system's adaptability to older drilling rigs and the integrity of its relocation path planning function. Furthermore, this application enables autonomous route planning for drilling rig relocation, eliminating the need for manual planning and scheduling, reducing labor costs and improving the overall operational efficiency of the drilling rig.

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

[0053] The drilling rig posture information may include the drilling rig's position information and the drilling rig's heading angle information. The drilling rig posture information may be RTK (Real-time Kinematic) positioning information.

[0054] The drilling rig may be a drilling rig equipped with RTK positioning information for drilling holes in mines, or a remotely operated drilling rig. Specifically, the drilling rig may be a cone 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 the single-shift hole position corresponding to any one of the multiple sub-shift tasks. The multiple sub-shift tasks are determined according to the drilling area information of the drilling rig relocation. 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 This is a diagram of the division of tasks by shift in an embodiment of the drilling rig relocation planning method of the present application. The above-mentioned shift tasks are determined according to the drilling area information of the drilling rig relocation, 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 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 location information corresponding to any of the above-mentioned shift tasks includes two rows of hole locations. Since the drilling rig equipment is connected to cables and is not convenient for long-distance autonomous movement, any shift task is divided into only two rows of hole locations, and the number of hole locations 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 movement planning path is generated according to the single-shift hole position information, posture information and transition point information.

[0059] At present, the modified drilling rigs in the market are both new and old. Their chassis are crawler chassis, and the chassis performance is different. At this stage, 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 speeds of the crawlers on both sides are the same, so the forward and backward movements can be controlled. However, when turning, only one crawler can be controlled to remain stationary while the other crawler moves, which is called on-the-spot turning. This makes this type of drilling rig only able to move forward and backward during driving. If turning is required, the rig can only stop and turn on the spot, and then continue driving after rotating the front of the vehicle to the required angle.

[0061] The crawler chassis with differential speed control described above enables the drilling rig to move forward and backward, turn left and right, and even rotate on the spot by differentially controlling the speed of the left and right tracks. This design makes the crawler chassis excellent in maneuverability, especially in overcoming obstacles. Specifically, differential speed control relies on the speed difference between the two tracks. By controlling the speed difference between the two tracks, steering and rotation can be achieved, allowing this type of drilling rig to simultaneously turn while moving forward and backward.

[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, the row needs to be changed. When the chassis of the drilling rig is a crawler chassis without differential control, it can only turn on the spot. If it turns directly on the spot when changing rows, a large angle rotation is required. Considering the large size of the drilling rig, it may press the last hole position in the first row of completed drilling during this process. Therefore, it is necessary to generate a transition point and correct the machine movement route during the drilling process of the drilling rig equipment without differential control, which can better ensure that the finished hole is not pressed and ensure the construction quality.

[0063] The above transition point information can 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 speed 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 travel process and can travel on an arc track, 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 drill rig length as the radius, generate the first circle, connect the second-to-last hole in the first row with the last hole and draw the first extension line. The intersection of the first circle and the first extension line is determined as the first row transition point.

[0069] With the first row transition point as the center and the drill 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. The intersection of the second circle and the second extension line is determined 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 information is obtained.

[0071] In this embodiment, generating transition points can realize the correction of the machine movement 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 points are the two rows of holes to be punched included in the hole position information of a single shift, and the solid points 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 length of the drilling rig as the radius to generate the first circle, connect the second-to-last and last hole positions 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. This 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 press 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 drilling rig's vehicle length as the radius, generates a second circle, connects the second to last and last hole positions 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, connecting the hole positions of points 16 and 17 and making a second extension line. The intersection of the second circle b and the second extension line, i.e., point 8, is determined as the last row transition point.

[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 position corresponding to the last position 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 realize the correction of the machine movement route during the drilling process of the drilling rig equipment without differential control.

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

[0081] The second hole from the bottom 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, avoiding possible deviation during long-distance driving, that is, moving from the end of the last row to the beginning of the last row, so that the drilling rig can ensure the consistency of the direction to the first hole position in the last row 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 in 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 embodiments, generating transition point information based on single-shift hole position information further includes:

[0087] Connect the second-order hole position in the last row and the last-row transition point to draw a first straight line. Select the two hole positions in the first row of holes closest to the first straight line as the center of the circle. Use the hole spacing between the first and last rows as the radius to draw 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. The intersection of the first perpendicular line and the third circle, and the intersection of the second perpendicular line and the fourth circle are determined as the first intermediate transition point and the second intermediate transition point.

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

[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, use 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 of the first perpendicular line and the third circle, point 9, and the intersection point of the second perpendicular line and the fourth circle, point 10, 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 in 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, namely points 7, 8, 9, 10 and 11, and then move to the head end of the last row to start drilling the last row of holes.

[0092] In some cases, the first straight line can also be obtained by connecting the second hole in the last row and the last hole in the last row.

[0093] In some embodiments, Figure 3 This is a schematic diagram of the first moving machine planning path of an embodiment of the drilling rig moving planning method of the present application, such as Figure 3 As shown, the hollow points are the two rows of hole positions that need to be punched included in the hole position information of a single shift, that is, points 1-6 are the first row of hole positions, and points 12-17 are the last row of hole positions. The solid points 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 speed control, generating a second machine movement planning path based on the single-shift hole position information and posture information includes:

[0096] When the chassis of the drilling rig is a crawler chassis with differential speed control, a second machine movement 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 moving machine planning path generated based on the quintic polynomial planning algorithm has good continuity, avoids sudden changes during movement, keeps the drilling rig stable during driving, enhances safety, and is simple and efficient in calculation, easy to control in real time. In addition, it can be applied to various terrains. When the working ground of the drilling rig is different 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 speed control, a second machine movement planning path is generated based on the single-shift hole position information based on a quintic polynomial planning algorithm, including:

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

[0100] Based on the fifth-order 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] A second moving planned path is obtained according to the multiple segmented planned paths.

[0102] In this embodiment, 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 starting and ending point conditions 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 six 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. 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. Similarly, 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 hole position information of a single shift includes:

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

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

[0116] In this implementation, the initial single-shift hole location information is filtered to remove holes outside the safe operation constraint range. The remaining holes are used to generate the single-shift hole location information, ensuring the safety of the drill rig in completing the drilling task for each single-shift hole location. Specifically, the safe operation constraint range can be determined based on the actual geographical environment of the mine.

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

[0118] See Figure 4 , is a structural diagram 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 obtain the position information of the drilling rig;

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

[0121] The first planning module 203 is configured to generate transition point information based on the drilling position information of a single shift when the chassis of the drilling rig is a crawler chassis without differential control, and to generate a first machine movement planning path based on the drilling position information of the single shift and the transition point information;

[0122] The second planning module 204 is used to generate a second machine movement 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 can be used to:

[0125] With the last hole in the first row as the center and the drill rig length as the radius, generate the first circle, connect the second-to-last hole in the first row with the last hole and draw the first extension line. The intersection of the first circle and the first extension line is determined as the first row transition point.

[0126] With the first row transition point as the center and the drill 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. The intersection of the second circle and the second extension line is determined 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 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 position corresponding to the last position in the first row.

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

[0130] When the chassis of the drilling rig is a crawler chassis with differential speed control, a second machine movement 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 configured to:

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

[0133] Based on the fifth-order 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] A second moving planned path is obtained according to the multiple segmented planned paths.

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

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

[0137] The initial single-shift hole location information of the hole locations outside the safe operation constraint range is removed to obtain the single-shift hole location 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 embodiment, it at least has all the beneficial effects brought by the technical solutions of the above 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. Where appropriate, the memory 302 may include removable or non-removable (or fixed) media. Where appropriate, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0143] In some embodiments, the memory 302 may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) 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 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 components of online data flow metering equipment are coupled to each other. For example, but not limitation, bus can include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry 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 can include one or more buses. Although the present application embodiment describes and shows specific bus, the 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 conjunction with the drilling rig relocation planning method in the above embodiments, embodiments of the present application may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the drilling rig relocation planning methods in the above embodiments is implemented.

[0151] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of 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, they can be electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, 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 communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[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. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0154] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the 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 is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0155] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity 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 scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A drilling rig relocation planning method, characterized in that: include: Get the drilling rig's posture information; Obtain single-shift hole position information corresponding to the current single-shift hole position, where the current single-shift hole position is a single-shift hole position corresponding to any one of the multiple sub-shift tasks, where the multiple sub-shift tasks are determined based on the drilling area information of the drilling rig relocation, and the single-shift hole position information corresponding to any one of the sub-shift tasks includes a drilling order corresponding to two rows of hole positions and posture information corresponding to each hole position; 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 movement planning path according to the single-shift hole position information, the posture information, and the transition point information; When the chassis of the drilling rig is a crawler chassis with differential speed control, a second machine movement planning path is generated based on the single-shift hole position information and the posture information based on a quintic polynomial planning algorithm; Wherein, 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; Generating transition point information according to the single-shift hole position information includes: With the last hole position in the first row as the center and the length of the drilling rig as the radius, a first circle is generated, connecting the second-to-last hole position in the first row and the last hole position and drawing a first extension line, and determining the intersection of the first circle and the first extension line as the first row transition point; With the first row transition point as the center and the drilling rig length as the radius, a second circle is generated, connecting the second-to-last and last hole positions in the last row and drawing a second extension line, and determining the intersection of the second circle and the second extension line as the last row transition point; Transition point position information is obtained according to the positions of the first row transition points and the last row transition points.

2. The drilling rig relocation planning method according to claim 1, 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.

3. The drilling rig relocation planning method according to claim 1, characterized in that: When the chassis of the drilling rig is a crawler chassis with differential speed control, generating a second machine moving planning path based on the single-shift hole position information and the posture information based on a quintic polynomial planning algorithm includes: Setting the speed and acceleration parameters of the drilling rig; Based on the fifth-order polynomial programming algorithm, multiple segmented planning paths between each hole position 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.

4. The drilling rig relocation planning method according to claim 1, characterized in that: The step of obtaining the hole position information of a single shift 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.

5. A drilling rig relocation planning device, characterized in that: A drilling rig relocation planning method as applied to any one of claims 1 to 4 comprises: The first acquisition module is used to obtain the position information of the drilling rig; The second acquisition module is used to obtain single-class hole position information, where the single-class hole position is 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 hole positions in the class task; A first planning module is configured to generate transition point information based on 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 movement planning path based on the single-shift hole position information and the transition point information; The second planning module is used to generate a second machine movement 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.

6. 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 4 are implemented.

7. A drilling rig, characterized in that: Comprising the electronic device as claimed in claim 6.

8. 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 according to any one of claims 1 to 4.

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