Drill arm control method, electronic device, storage medium, drilling rig and device

Abstract

The present application discloses a drill arm control method, electronic equipment, storage medium, drilling rig and device, the method comprising: obtaining DH parameters of multiple motion joints; establishing a first DH parameter model of the drill arm based on the DH parameters of the multiple motion joints; obtaining a posture transformation matrix of a target point; solving the first DH parameter model according to the posture transformation matrix of the target point to obtain a horizontal movement distance of the telescopic arm of the first motion joint; calculating the gap of the first motion joint according to the horizontal movement distance; correcting the DH parameters of the motion joint adjacent to the first motion joint using the horizontal movement distance and the gap; establishing a second DH parameter model based on the DH parameters of multiple second motion joints; solving the second DH parameter model according to the posture transformation matrix of the target point to obtain control quantities of multiple second motion joints, and the control quantities of the second motion joints are used to control the second motion joints of the drill arm.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control of tunneling equipment, and in particular to a drill arm control method, electronic equipment, storage medium, drilling rig and device. Background Art

[0002] With the advancement of production technology, mining processes are becoming increasingly intelligent, and drilling rigs, as the primary equipment for tunnel development, have experienced rapid development. However, when automatically controlling the drill boom, the control system often lacks precision due to gaps in the boom's motion joints. Summary of the Invention

[0003] The present application aims to provide a drill arm control method, electronic equipment, storage medium, drilling rig and device, which can improve the control accuracy of the drill arm.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling a drill boom, wherein the drill boom has multiple motion joints, the method comprising:

[0005] Obtaining DH parameters of a plurality of the motion joints;

[0006] Establishing a first DH parameter model of the drill arm based on the DH parameters of the plurality of motion joints;

[0007] Obtaining a pose transformation matrix of a target point, where the target point is the point that the end of the drill arm needs to reach;

[0008] Solving the first DH parameter model according to the pose transformation matrix of the target point to obtain a horizontal movement distance of the telescopic arm of the first motion joint, where the first motion joint is the motion joint for gap compensation;

[0009] Calculating the clearance of the first motion joint according to the horizontal movement distance;

[0010] Using the horizontal movement distance and the gap, correcting the DH parameter of the motion joint adjacent to the first motion joint;

[0011] Establishing a second DH parameter model based on DH parameters of a plurality of second motion joints, where the second motion joints are the motion joints other than the first motion joints;

[0012] The second DH parameter model is solved according to the posture transformation matrix of the target point to obtain the control quantities of multiple second motion joints, and the control quantities of the second motion joints are used to control the second motion joints of the drill arm.

[0013] According to some embodiments of the present application, the gap is calculated using the following formula:

[0014] DV=(DL / L–1)*W,

[0015] Wherein, W is the gap, DV is the amount of descent of the telescopic arm of the first motion joint due to the gap and gravity, DL is the telescopic length of the telescopic arm, and L is the total length of the telescopic arm.

[0016] According to some embodiments of the present application, the DH parameters of the motion joint include the rotation angle of the motion joint on the first coordinate axis, the translation amount of the motion joint on the first coordinate axis, the rotation angle of the motion joint on the second coordinate axis, and the translation amount of the motion joint on the second coordinate axis;

[0017] The modifying of the DH parameter of the motion joint adjacent to the first motion joint by using the horizontal movement distance and the gap includes:

[0018] Correcting the translation amount of the previous motion joint of the first motion joint on the second coordinate axis according to the gap and the horizontal movement distance;

[0019] Correcting the translation amount of the next motion joint of the first motion joint on the first coordinate axis according to the gap and the horizontal movement distance;

[0020] According to the gap and the horizontal movement distance, the rotation angle of the next motion joint of the first motion joint on the first coordinate axis is corrected.

[0021] According to some embodiments of the present application, the translation amount of the previous motion joint of the first motion joint on the second coordinate axis is corrected by the following formula:

[0022] d2_2=d2_2_0+d3*cos(arcsin((W+(d3 / L–1)*W) / L)),

[0023] Among them, d2_2 is the corrected translation amount of the motion joint on the second coordinate axis, d2_2_0 is the reference zero point of the translation amount on the second coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

[0024] According to some embodiments of the present application, the translation amount of the next motion joint of the first motion joint on the first coordinate axis is corrected by the following formula:

[0025] a3_2=a3_2_0+(d3 / L–1)*W,

[0026] Among them, a3_2 is the corrected translation amount of the motion joint on the first coordinate axis, a3_2_0 is the reference zero point of the translation amount on the first coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

[0027] According to some embodiments of the present application, the rotation angle of the next motion joint of the first motion joint on the first coordinate axis is corrected by the following formula:

[0028] theta3_2=Dtheta3_2_0+arcsin((W+(d3 / L–1)*W) / L),

[0029] Among them, theta3_2 is the corrected rotation angle of the motion joint on the first coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

[0030] In a second aspect, an embodiment of the present application provides an electronic device, including:

[0031] at least one processor;

[0032] at least one memory for storing at least one program;

[0033] When at least one of the programs is executed by at least one of the processors, the above-mentioned drill boom control method is implemented.

[0034] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing a program executable by a processor, wherein the program executable by the processor is used to implement the drill arm control method as described above when executed by the processor.

[0035] In a fourth aspect, an embodiment of the present application provides a drilling rig, comprising an MCU, which, when executed, is used to implement the drill arm control method as described above.

[0036] In a fifth aspect, an embodiment of the present application provides a drill boom control device, wherein the drill boom has multiple motion joints, and the device includes:

[0037] A first acquisition module is used to acquire DH parameters of a plurality of the motion joints;

[0038] A first modeling module is used to establish a first DH parameter model of the drill arm based on the DH parameters of the plurality of motion joints;

[0039] A second acquisition module is used to obtain a posture transformation matrix of a target point, where the target point is the point that the end of the drill arm needs to reach;

[0040] A first solving module is used to solve the first DH parameter model according to the posture transformation matrix of the target point to obtain the horizontal movement distance of the telescopic arm of the first motion joint, where the first motion joint is the motion joint for gap compensation;

[0041] a calculation module, configured to calculate a clearance of the first motion joint according to the horizontal movement distance;

[0042] a correction module, configured to correct a DH parameter of the motion joint adjacent to the first motion joint using the horizontal movement distance and the gap;

[0043] a second modeling module, configured to establish a second DH parameter model based on DH parameters of a plurality of second motion joints, wherein the second motion joints are the motion joints other than the first motion joints;

[0044] The second solving module is used to solve the second DH parameter model according to the posture transformation matrix of the target point to obtain the control amount of multiple second motion joints, and the control amount of the second motion joint is used to control the second motion joint of the drill arm.

[0045] In an embodiment of the present application, the horizontal movement distance of the telescopic arm of the first motion joint is calculated by using a first DH parameter model, and then the gap of the first motion joint is calculated using the horizontal movement distance. According to the horizontal movement distance and the gap, the DH parameters of the motion joint adjacent to the first motion joint are corrected, that is, the error caused by the gap is compensated using the horizontal movement distance and the gap. Then, based on the DH parameters of multiple second motion joints, a second DH parameter model is established. The control quantities of multiple second motion joints are obtained using the second DH parameter model, thereby controlling the second motion joint of the drill arm and improving the control accuracy.

[0046] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0048] Figure 1 A schematic structural diagram of eight motion joints in an embodiment of the drill arm control method provided in this application;

[0049] Figure 2 A flowchart of an embodiment of a drill arm control method provided in this application;

[0050] Figure 3 A schematic diagram of DH parameters of eight motion joints of an embodiment of the drill arm control method provided in this application;

[0051] Figure 4 A schematic structural diagram of seven second motion joints in an embodiment of the drill arm control method provided in this application;

[0052] Figure 5 A schematic diagram of DH parameters of seven second motion joints of an embodiment of the drill arm control method provided in this application;

[0053] Figure 6 A schematic diagram of an electronic device embodiment provided in this application;

[0054] Figure 7 This is a schematic diagram of an embodiment of a drill boom control device provided in this application.

[0055] Reference numerals:

[0056] Electronic device 100, processor 110, memory 120, drill arm control device 200, first acquisition module 210, first modeling module 220, second acquisition module 230, first solution module 240, calculation module 250, correction module 260, second modeling module 270, second solution module 280. DETAILED DESCRIPTION

[0057] 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.

[0058] 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.

[0059] In the description of this application, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0060] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0061] Refer to the following Figures 1 to 7A drill boom control method, an electronic device 100, a storage medium, a drilling rig, and a device according to an embodiment of the present application are described.

[0062] The embodiment of the present application provides a drill arm control method, such as Figure 1 As shown, Figure 1 The structural diagram of the drill arm is shown in Figure 1. The drill arm has multiple motion joints, such as Figure 2 As shown, the method includes:

[0063] Step S100, obtaining DH parameters of multiple motion joints;

[0064] Step S200: establishing a first DH parameter model of the drill arm based on the DH parameters of the plurality of motion joints;

[0065] Step S300: Obtaining a pose transformation matrix of a target point, where the target point is the point that the end of the drill arm needs to reach;

[0066] Step S400: Calculate a first DH parameter model according to the pose transformation matrix of the target point to obtain a horizontal movement distance of the telescopic arm of the first motion joint, where the first motion joint is a motion joint for gap compensation.

[0067] Step S500: Calculate the clearance of the first motion joint according to the horizontal movement distance;

[0068] Step S600: using the horizontal movement distance and the gap, modifying the DH parameters of the motion joints adjacent to the first motion joint;

[0069] Step S700: establishing a second DH parameter model based on DH parameters of a plurality of second motion joints, where the second motion joints are motion joints other than the first motion joints;

[0070] Step S800: solving the second DH parameter model according to the posture transformation matrix of the target point to obtain the control quantities of multiple second motion joints, and the control quantities of the second motion joints are used to control the second motion joints of the drill arm.

[0071] In an embodiment of the present application, the horizontal movement distance of the telescopic arm of the first motion joint is calculated by using the first DH parameter model, and then the gap of the first motion joint is calculated using the horizontal movement distance. According to the horizontal movement distance and the gap, the DH parameters of the motion joint adjacent to the first motion joint are corrected, that is, the error caused by the gap is compensated using the horizontal movement distance and the gap. Then, based on the DH parameters of multiple second motion joints, a second DH parameter model is established, and the control amount of multiple second motion joints is obtained using the second DH parameter model, thereby controlling the second motion joint of the drill arm, improving the control accuracy, and making the automatic hole finding and positioning of the drill arm more accurate.

[0072] In step S100, a Cartesian coordinate system is established, wherein the Cartesian coordinate system includes a first coordinate axis and a second coordinate axis that are perpendicular to each other, thereby obtaining DH parameters of multiple motion joints in the Cartesian coordinate system. The DH parameters include the rotation angle of the motion joint about the first coordinate axis, the translation amount of the motion joint about the first coordinate axis, the rotation angle of the motion joint about the second coordinate axis, and the translation amount of the motion joint about the second coordinate axis.

[0073] In step S200, a first DH parameter model of the drill boom is established based on the DH parameters of the multiple motion joints. The first DH parameter model includes the posture transformation matrices of the multiple motion joints and the posture transformation matrix of the drill boom end. Taking a drill boom with eight motion joints as an example, the first DH parameter model is established based on the DH parameters of the eight motion joints as follows:

[0074] T1_01=f(theta1,a1,alpha1,d1),

[0075] T1_12=f(theta2,a2,alpha2,d2),

[0076] T1_23=f(theta3,a3,alpha3,d3),

[0077] T1_34=f(theta4,a4,alpha4,d4),

[0078] T1_45=f(theta5,a5,alpha5,d5),

[0079] T1_56=f(theta6,a6,alpha6,d6),

[0080] T1_67=f(theta7,a7,alpha7,d7),

[0081] T1_78=f(theta8,a8,alpha8,d8),

[0082] T1_08=T1_01*T1_12*T1_23*T1_34*T1_45*T1_56*T1_67*T1_78,

[0083] Among them, T1_01, T1_12, T1_23, T1_34, T1_45, T1_56, T1_67, and T1_78 represent the posture transformation matrices of the eight motion joints, and T1_08 represents the posture transformation matrix of the end of the drill arm. Figure 3As shown in the figure, theta1, theta2, theta3, theta4, theta5, theta6, theta7, and theta8 represent the rotation angles of the eight joints about the first coordinate axis. a1, a2, a3, a4, a5, a6, a7, and a8 represent the translations of the eight joints about the first coordinate axis, and alpha1, alpha2, alpha3, alpha4, alpha5, alpha6, alpha7, and alpha8 represent the rotation angles of the eight joints about the second coordinate axis. d1, d2, d3, d4, d5, d6, d7, and d8 represent the translations of the eight joints about the second coordinate axis. theta1, theta2, d3, theta4, theta5, theta6, theta7, and d8 are unknown quantities. The remaining DH parameters are known and can be obtained using sensors on the drill arm.

[0084] In step S300, when controlling the drill boom, the drill boom end is controlled to reach a preset target point by controlling multiple motion joints. According to the position of the preset target point, a pose transformation matrix of the target point in a Cartesian coordinate system can be obtained.

[0085] In step S400, the Newton-Euler method is used to solve the first DH parameter model based on the pose transformation matrix of the target point, and theta1, theta2, d3, theta4, theta5, theta6, theta7, and d8 are calculated. The pose transformation matrix corresponding to the first kinematic joint is T1_23, and d3 is the horizontal movement distance of the telescopic arm of the first kinematic joint.

[0086] In the above step S700, based on the DH parameters of the plurality of second motion joints, a second DH parameter model is established, such as Figure 4 As shown, Figure 4 The second DH parameter model includes the posture transformation matrix of multiple second motion joints and the posture transformation matrix of the drill arm end. The expression of the second DH parameter model is as follows:

[0087] T2_01=f(theta1_2,a1_2,alpha1_2,d1_2),

[0088] T2_12=f(theta2_2,a2_2,alpha2_2,d2_2),

[0089] T2_23=f(theta3_2,a3_2,alpha3_2,d3_2),

[0090] T2_34=f(theta4_2,a4_2,alpha4_2,d4_2),

[0091] T2_45=f(theta5_2,a5_2,alpha5_2,d5_2),

[0092] T2_56=f(theta6_2,a6_2,alpha6_2,d6_2),

[0093] T2_67=f(theta7_2,a7_2,alpha7_2,d7_2),

[0094] T2_07=T2_01*T2_12*T2_23*T2_34*T2_45*T2_56*T2_67,

[0095] Among them, T2_01, T2_12, T2_23, T2_34, T2_45, T2_56, and T2_67 represent the posture transformation matrices of the seven second motion joints, and T2_07 represents the posture transformation matrix of the drill arm end. Figure 5 As shown in the figure, theta1_2, theta2_2, theta3_2, theta4_2, theta5_2, theta6_2, and theta7_2 represent the rotation angles of the seven second motion joints about the first coordinate axis. a1_2, a2_2, a3_2, a4_2, a5_2, a6_2, and a7_2 represent the translation amounts of the seven second motion joints about the first coordinate axis. alpha1_2, alpha2_2, alpha3_2, alpha4_2, alpha5_2, alpha6_2, and alpha7_2 represent the rotation angles of the seven second motion joints about the second coordinate axis. d1_2, d2_2, d3_2, d4_2, d5_2, d6_2, and d7_2 represent the translation amounts of the seven second motion joints about the second coordinate axis. theta1_2, theta2_2, theta3_2, theta4_2, theta5_2, theta6_2, and d7_2 are unknown quantities, and the remaining DH parameters are known quantities.

[0096] It can be seen from the above that compared with the first DH parameter model, the second DH parameter model simplifies and removes the posture transformation matrix of the first motion joint. The DH parameters of the motion joints adjacent to the first motion joint have been corrected using the horizontal movement distance and gap, thereby eliminating the deviation caused by gap compensation.

[0097] In the above step S800, according to the posture transformation matrix of the target point, the second DH parameter model is solved based on the Newton-Euler method to obtain the control quantities of multiple second motion joints, that is, theta1_2, theta2_2, theta3_2, theta4_2, theta5_2, theta6_2 and d7_2 are solved, and the second motion joints are controlled according to the solution results.

[0098] In some implementations of the present application, in step S500, the gap is calculated using the following formula:

[0099] DV=(DL / L–1)*W,

[0100] Wherein, W is the gap, DV is the drop of the telescopic arm of the first motion joint due to the gap and gravity, DL is the telescopic length of the telescopic arm, and L is the total length of the telescopic arm.

[0101] In some embodiments of the present application, the step S600 of “correcting the DH parameters of the motion joint adjacent to the first motion joint using the horizontal movement distance and the gap” is further described. The step S600 includes:

[0102] Step S610: Correcting the translation amount of the previous motion joint of the first motion joint on the second coordinate axis according to the gap and the horizontal movement distance;

[0103] Step S620: Correcting the translation amount of the next motion joint of the first motion joint on the first coordinate axis according to the gap and the horizontal movement distance;

[0104] Step S630: Correcting the rotation angle of the next motion joint of the first motion joint on the first coordinate axis according to the gap and the horizontal movement distance.

[0105] In this embodiment, based on the gap and the horizontal movement distance, the translation amount of the previous motion joint of the first motion joint on the second coordinate axis, the translation amount of the next motion joint of the first motion joint on the first coordinate axis, and the rotation angle of the next motion joint of the first motion joint on the first coordinate axis are corrected, that is, the deviation of the adjacent motion joints caused by the gap of the first motion joint is compensated.

[0106] In some embodiments of the present application, the translation amount of the previous motion joint of the first motion joint on the second coordinate axis is corrected by the following formula:

[0107] d2_2=d2_2_0+d3*cos(arcsin((W+(d3 / L–1)*W) / L)),

[0108] Among them, d2_2 is the corrected translation of the motion joint on the second coordinate axis, d2_2_0 is the reference zero point of the translation on the second coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

[0109] In some embodiments of the present application, the translation amount of the next motion joint of the first motion joint on the first coordinate axis is corrected by the following formula:

[0110] a3_2=a3_2_0+(d3 / L–1)*W,

[0111] Among them, a3_2 is the corrected translation of the motion joint on the first coordinate axis, a3_2_0 is the reference zero point of the translation on the first coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

[0112] In some embodiments of the present application, the rotation angle of the next motion joint of the first motion joint on the first coordinate axis is corrected by the following formula:

[0113] theta3_2=Dtheta3_2_0+arcsin((W+(d3 / L–1)*W) / L),

[0114] Among them, theta3_2 is the rotation angle of the corrected motion joint on the first coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

[0115] In addition, the embodiment of the present application provides an electronic device 100, such as Figure 6 Shown, including:

[0116] at least one processor 110;

[0117] at least one memory 120, for storing at least one program;

[0118] When the at least one program is executed by the at least one processor 110 , the drill boom control method as described above is implemented.

[0119] The electronic device 100 provided in the embodiment of the present application can implement each process implemented in the above method embodiment and achieve the same beneficial effects. To avoid repetition, it will not be described here.

[0120] In addition, an embodiment of the present application provides a computer-readable storage medium, which stores a program executable by the processor 110. When the program executable by the processor 110 is executed by the processor 110, it is used to implement the drill arm control method as described above.

[0121] The computer-readable storage medium provided in the embodiment of the present application can implement each process implemented in the above method embodiment and achieve the same beneficial effects. To avoid repetition, it will not be described here.

[0122] In addition, an embodiment of the present application provides a drilling rig, including an MCU, which, when executed, is used to implement the drill arm control method as described above.

[0123] The drilling rig provided in the embodiment of the present application can implement each process implemented in the above method embodiment and achieve the same beneficial effects. To avoid repetition, it will not be described here.

[0124] In addition, the embodiment of the present application provides a drill arm control device 200, the drill arm has multiple motion joints, such as Figure 7 As shown, the device includes:

[0125] A first acquisition module 210 is used to acquire DH parameters of multiple motion joints;

[0126] A first modeling module 220 is configured to establish a first DH parameter model of the drill arm based on DH parameters of a plurality of motion joints;

[0127] The second acquisition module 230 is used to obtain the posture transformation matrix of the target point, where the target point is the point that the end of the drill arm needs to reach;

[0128] A first solving module 240 is used to solve a first DH parameter model according to the posture transformation matrix of the target point to obtain a horizontal movement distance of the telescopic arm of the first motion joint, where the first motion joint is a motion joint for gap compensation;

[0129] A calculation module 250 is used to calculate the clearance of the first motion joint according to the horizontal movement distance;

[0130] a correction module 260 for correcting DH parameters of a motion joint adjacent to the first motion joint using the horizontal movement distance and the gap;

[0131] A second modeling module 270 is configured to establish a second DH parameter model based on DH parameters of a plurality of second motion joints, where the second motion joints are motion joints other than the first motion joints;

[0132] The second solving module 280 is used to solve the second DH parameter model according to the posture transformation matrix of the target point to obtain the control quantities of multiple second motion joints, and the control quantities of the second motion joints are used to control the second motion joints of the drill arm.

[0133] The drill arm control device 200 provided in the embodiment of the present application can implement each process implemented in the above method embodiment and achieve the same beneficial effects. To avoid repetition, it will not be described here.

[0134] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0135] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A drill arm control method, characterized in that: The drill arm has a plurality of motion joints, and the method includes: Obtaining DH parameters of a plurality of the motion joints; Establishing a first DH parameter model of the drill arm based on the DH parameters of the plurality of motion joints; Obtaining a pose transformation matrix of a target point, where the target point is the point that the end of the drill arm needs to reach; Solving the first DH parameter model according to the pose transformation matrix of the target point to obtain a horizontal movement distance of the telescopic arm of the first motion joint, where the first motion joint is the motion joint for gap compensation; Calculating the clearance of the first motion joint according to the horizontal movement distance; Using the horizontal movement distance and the gap, correcting the DH parameter of the motion joint adjacent to the first motion joint; Establishing a second DH parameter model based on DH parameters of a plurality of second motion joints, where the second motion joints are the motion joints other than the first motion joints; Solving the second DH parameter model according to the posture transformation matrix of the target point to obtain control quantities of a plurality of the second motion joints, wherein the control quantities of the second motion joints are used to control the second motion joints of the drill arm; The gap is calculated by the following formula: DV=(DL / L–1)*W, Wherein, W is the gap, DV is the amount of descent of the telescopic arm of the first motion joint due to the gap and gravity, DL is the telescopic length of the telescopic arm, and L is the total length of the telescopic arm; The DH parameters of the motion joint include the rotation angle of the motion joint on the first coordinate axis, the translation amount of the motion joint on the first coordinate axis, the rotation angle of the motion joint on the second coordinate axis, and the translation amount of the motion joint on the second coordinate axis; The modifying of the DH parameter of the motion joint adjacent to the first motion joint by using the horizontal movement distance and the gap includes: Correcting the translation amount of the previous motion joint of the first motion joint on the second coordinate axis according to the gap and the horizontal movement distance; Correcting the translation amount of the next motion joint of the first motion joint on the first coordinate axis according to the gap and the horizontal movement distance; Correcting the rotation angle of the next motion joint of the first motion joint on the first coordinate axis according to the gap and the horizontal movement distance; The translation amount of the previous motion joint of the first motion joint on the second coordinate axis is corrected by the following formula: d2_2=d2_2_0+d3*cos(arcsin((W+(d3 / L–1)*W) / L)), Among them, d2_2 is the corrected translation amount of the motion joint on the second coordinate axis, d2_2_0 is the reference zero point of the translation amount on the second coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

2. The drill arm control method according to claim 1, characterized in that: The translation amount of the next motion joint of the first motion joint on the first coordinate axis is corrected by the following formula: a3_2=a3_2_0+(d3 / L–1)*W, Among them, a3_2 is the corrected translation amount of the motion joint on the first coordinate axis, a3_2_0 is the reference zero point of the translation amount on the first coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

3. The drill arm control method according to claim 1, characterized in that: The rotation angle of the next motion joint of the first motion joint on the first coordinate axis is corrected by the following formula: theta3_2=Dtheta3_2_0+arcsin((W+(d3 / L–1)*W) / L), Among them, theta3_2 is the corrected rotation angle of the motion joint on the first coordinate axis, d3 is the horizontal movement distance, W is the gap, and L is the total length of the telescopic arm of the first motion joint.

4. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When at least one of the programs is executed by at least one of the processors, the drill boom control method according to any one of claims 1 to 3 is implemented.

5. A computer-readable storage medium, characterized in that A program executable by a processor is stored therein, and when the program executable by the processor is executed by the processor, it is used to implement the drill arm control method according to any one of claims 1 to 3.

6. A drilling rig, characterized in that: The device comprises an MCU, which is used to implement the drill arm control method according to any one of claims 1 to 3 when executed.

7. A drill boom control device, using the drill boom control method according to any one of claims 1 to 3, characterized in that: The drill arm has multiple motion joints, and the device includes: A first acquisition module is used to obtain DH parameters of the plurality of motion joints; A first modeling module is used to establish a first DH parameter model of the drill arm based on the DH parameters of the plurality of motion joints; A second acquisition module is used to obtain a posture transformation matrix of a target point, where the target point is the point that the end of the drill arm needs to reach; A first solving module is used to solve the first DH parameter model according to the posture transformation matrix of the target point to obtain the horizontal movement distance of the telescopic arm of the first motion joint, where the first motion joint is the motion joint for gap compensation; a calculation module, configured to calculate a clearance of the first motion joint according to the horizontal movement distance; a correction module, configured to correct a DH parameter of the motion joint adjacent to the first motion joint using the horizontal movement distance and the gap; a second modeling module, configured to establish a second DH parameter model based on DH parameters of a plurality of second motion joints, wherein the second motion joints are the motion joints other than the first motion joints; The second solving module is used to solve the second DH parameter model according to the posture transformation matrix of the target point to obtain the control amount of multiple second motion joints, and the control amount of the second motion joint is used to control the second motion joint of the drill arm.

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