Drill jumbo probe hole construction control system and method

Abstract

The invention belongs to the technical field of tunnel construction, and particularly relates to a drill jumbo probe hole construction control system and method.The drill jumbo probe hole construction control system comprises a main control unit, a receiving and unloading rod sub-control unit, a hydraulic system monitoring unit, a drilling pose monitoring unit, an image monitoring unit and a surrounding rock quality recognition unit; monitoring whether each action is executed successfully or not in the rod connecting and dismounting processes; the hydraulic system monitoring unit monitors parameter changes of a hydraulic system in the working process of the drill jumbo; the drilling pose monitoring unit monitors drilling parameters of the drill rod; the image monitoring unit monitors the rock mass integrity of the tunneling face and whether emergency situations exist in the drilling process or not; and the surrounding rock quality identification unit receives the tunneling face rock mass integrity and hydraulic system parameters transmitted by the main control unit, and judges the surrounding rock quality change condition in the drilling process. The drill jumbo detection hole construction control system and method are more efficient, safer and higher in automation degree.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction, and in particular relates to a control system and method for construction of a detection hole of a rock drilling trolley. Background Art

[0002] At present, in the construction of drilling and blasting method, drilling advance exploration holes is an effective measure to predict whether the surrounding rock in front of the excavation face is stable (the stability index is that the surrounding rock has a high hardness grade, good integrity, and is not broken), and whether there is a risk of mud or water inrush. Under normal circumstances, a special geological drilling rig or a manually operated rock drilling rig with manual unloading rods is used to carry out advance exploration hole construction. The geological drilling rig moves slowly and needs to be connected with the rock drilling rig in the process, so the construction efficiency is not high; the method of using a rock drilling rig to manually unload rods is labor-intensive, cumbersome and time-consuming, and increases the safety risk of construction.

[0003] In recent years, with the continuous advancement of tunnel construction technology, rod-loading and unloading devices used in conjunction with drilling trolleys have gradually been put into use. However, they are not highly adaptable to the complex environment of railway tunnels. For example, an automatic rod-loading and unloading control method for an underground trolley with application number 202210164102.1 is developed for the working environment of a mine and requires a corresponding remote platform, etc. The data transmission distance is long, the action delay is high, the execution effect of each action is difficult to control, and the construction efficiency is low; the drilling trolley rod-changing device, drilling trolley, and rod-loading and unloading methods with application number 202211405976.8 do not have the functions of real-time recording, analysis and processing of drilling data, and cannot quickly and effectively identify risks such as mud bursts and water gushing ahead; therefore, it is necessary to design a more efficient, safer, and more automated control system and method for the construction of detection holes for drilling trolleys. Summary of the invention

[0004] The purpose of the present invention is to provide a rock drilling rig detection hole construction control system and method in view of the above-mentioned problems and shortcomings, so as to solve the problem of low degree of automation in tunnel detection hole construction in the prior art.

[0005] To achieve the above purpose, the technical solution adopted is:

[0006] A drilling trolley detection hole construction control system, comprising:

[0007] A main control unit, which receives input data from each sub-unit and sends control signals to each execution sub-unit;

[0008] The rod-connecting and unloading sub-control unit controls the action of connecting and unloading the rod, and monitors whether the actions during connecting and unloading the rod are executed successfully;

[0009] A hydraulic system monitoring unit, which monitors the changes in hydraulic system parameters of the drilling rig during operation;

[0010] A drilling posture monitoring unit, which monitors drill rod drilling parameters;

[0011] Image monitoring unit, which monitors the integrity of the rock mass at the excavation face and whether there are any unexpected conditions during the drilling process;

[0012] The surrounding rock quality identification unit receives the rock integrity and hydraulic system parameters of the excavation face transmitted by the main control unit, and determines the changes in the surrounding rock quality during the drilling process.

[0013] According to the drilling rig detection hole construction control system of the present invention, further, the control system also includes a vehicle navigation and positioning unit, which monitors the precise position and posture of the drilling rig to assist in determining the drilling direction.

[0014] According to the drilling rig detection hole construction control system of the present invention, further, the control system also includes a safety monitoring unit, which monitors the accidental entry into the safety area when the drilling rig performs automatic operation, and feeds back to the main control unit to execute a system alarm.

[0015] According to the drilling rig detection hole construction control system of the present invention, further, the connecting rod sub-control unit immediately switches to the next action after determining that the current action is successfully executed. If the current action is not successfully executed, the action is repeated and feedback is given to the main control unit for an alarm prompt.

[0016] According to the drilling rig detection hole construction control system of the present invention, further, the hydraulic system monitoring unit monitors the pressure and flow changes of the hydraulic system of the drilling rig during operation, and transmits the monitoring information to the main control unit.

[0017] According to the drilling rig detection hole construction control system of the present invention, further, the drilling posture monitoring unit monitors the drilling depth, angle and rotation speed of the drill rod, and transmits the monitoring information to the main control unit.

[0018] According to the drilling trolley detection hole construction control system of the present invention, further, the image monitoring unit collects and identifies the rock joint information of the excavation face, determines the integrity of the rock mass, and assists in correcting the rock mass integrity index K V The image monitoring unit is also used to monitor in real time whether there are any sudden conditions during the drilling process, and sudden conditions include sudden mud and water gushing phenomena; the image monitoring unit transmits the collected images, rock integrity and sudden condition detection results to the main control unit.

[0019] According to the drilling trolley detection hole construction control system of the present invention, further, the surrounding rock quality identification unit uses the surrounding rock basic quality index BQ value as the basis for surrounding rock quality identification, and the BQ value calculation formula is as follows:

[0020] BQ=100+3R C +250K V

[0021] In the formula, R C is the uniaxial saturated compressive strength of rock, K V It is an indicator of rock mass integrity;

[0022] Considering that the surrounding rock quality in actual construction scenarios will be affected by the groundwater S1 correction coefficient, the weak structural surface S2 correction coefficient and the initial ground stress S3 correction coefficient, the BQ value is corrected to obtain:

[0023] [BQ] = BQ - 100 (S1 + S2 + S3).

[0024] According to the drilling trolley detection hole construction control system of the present invention, further, for the uniaxial saturated compressive strength R C The multivariate nonlinear regression model was used to evaluate the rock mass integrity index K. V Defined using the longitudinal wave velocity of the rock mass and the longitudinal wave velocity of the rock block.

[0025] Furthermore, the present invention also proposes a drilling rig detection hole construction method, which is implemented using the above-mentioned drilling rig detection hole construction control system and includes the following contents:

[0026] After the drilling rig enters the site, the vehicle's posture is adjusted through the vehicle navigation and positioning unit.

[0027] Then the rod-connecting and unloading drilling construction begins; during the drilling process, the drilling posture monitoring unit and the hydraulic system monitoring unit monitor the drill rod drilling parameters and the changes in the hydraulic system parameters of the drilling rig during operation in real time; the surrounding rock quality identification unit identifies the changes in the surrounding rock quality during the drilling process; the rod-connecting and unloading sub-control unit controls each action of connecting and unloading the rod, and monitors whether the current action is executed successfully; at the same time, the image monitoring unit monitors the integrity of the rock mass on the excavation face and whether there are any emergencies during the drilling process.

[0028] The beneficial effects achieved by adopting the above technical solution are:

[0029] The present invention proposes a drilling trolley detection hole construction control system, which can control the detection hole construction in a highly automated manner, and specifically adopts a connecting rod sub-control unit to monitor the connecting rod unloading process in real time, and decompose and control the process actions, so as to timely discover abnormal conditions and improve the operation efficiency of automatic connecting rod drilling construction; and it can also monitor the quality changes of surrounding rocks in real time for early warning, and identify the risks of mud burst and water gushing, so that construction personnel can take corresponding measures to ensure construction safety. The present invention solves the problem of low construction efficiency and low safety caused by low degree of automation in tunnel detection hole construction in the prior art. Therefore, the present invention can not only improve construction efficiency and construction safety through a highly automated detection hole construction control system, but also further reduce tunnel excavation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention, wherein the drawings are only used to illustrate some embodiments of the present invention, but not to limit all embodiments of the present invention thereto.

[0031] Figure 1 It is a structural block diagram of a drilling rig detection hole construction control system according to an embodiment of the present invention;

[0032] Figure 2 is a risk identification alarm logic diagram of an embodiment of the present invention;

[0033] Figure 3 The present invention is a flowchart of the construction of drilling holes for connecting and disconnecting rods according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings of specific embodiments of the present invention to clearly and completely describe the exemplary scheme of the embodiment of the present invention. Unless otherwise defined, the technical terms or scientific terms used in the present invention should be the common meanings understood by people with ordinary skills in the field.

[0035] See also Figure 1 and Figure 2 The present embodiment discloses a drilling rig detection hole construction control system, which includes a main control unit, a vehicle navigation and positioning unit, a connecting rod sub-control unit, a safety monitoring unit, a hydraulic system monitoring unit, a drilling posture monitoring unit, an image monitoring unit and a surrounding rock quality identification unit. Each unit is explained in detail below.

[0036] The main control unit receives the input data of each subunit, analyzes and processes the data, and sends control signals to each execution subunit; specifically, it sends the input data of each subunit to the display, sends control instructions to the connecting rod sub-control unit, sends alarm information to the display, etc.

[0037] The vehicle navigation and positioning unit monitors the precise position and posture of the drilling rig to assist in determining the drilling direction. The vehicle navigation and positioning process requires the use of total stations, laser radars and other measuring devices to determine the coordinates of the rig relative to the tunnel line, and then the coordinates of the drilling mechanism are converted through the vehicle's own coordinates to determine the angle and position relative to the tunnel line and obtain the drilling direction.

[0038] The rod-connecting and unloading sub-control unit controls the rod-connecting and unloading action, monitors the success of each action (grasping the rod, connecting the rod, unloading the rod, clamping the rod, etc.) during the rod-connecting and unloading process, and immediately switches to the next action after judging the success of the current action. If the current action is not successfully executed, the action is repeated and feedback is given to the main control unit for an alarm prompt. The method for judging the success or failure of each action is as follows: the system debugging sets standard parameters for the successful execution of each action, and during the execution process, relevant parameters (such as the number of revolutions of the hydraulic motor in the rod-connecting and unloading assembly, the rotation angle of the swing cylinder, the opening and closing size of the manipulator, the opening and closing of the clamping device, etc.) are collected through angle sensors, displacement sensors, etc., and the rod-connecting and unloading sub-control unit judges whether the parameter meets the standard. If it meets the standard, it indicates success, and if it does not meet the standard, it indicates failure and sends an alarm prompt.

[0039] The safety monitoring unit monitors the accidental entry of personnel into the safety area and the safe distance of boom collision when the drilling rig is performing automatic operation, and feeds back to the main control unit to execute system alarm.

[0040] The hydraulic system monitoring unit is mainly composed of a controller, a pressure sensor, a flow sensor and a solenoid valve, etc. It monitors the hydraulic system pressure and flow changes of the rock drilling rig during operation, and transmits the monitoring information to the main control unit. Specifically, it can monitor the propulsion pressure, rotation pressure and impact pressure of the rock drill.

[0041] The drilling posture monitoring unit is mainly composed of a controller, an angle sensor, a displacement sensor, a position sensor, etc. It can monitor the drilling depth, angle and rotation speed of the drill rod, and transmit the monitoring information to the main control unit. The drilling depth is used to determine whether the detection hole has reached the preset depth, which can be calculated by recording the number of drill rods and the displacement of the rock drill; the angle is to record the angle of the drill rod relative to the excavation surface, and the direction of the drilling hole can be simulated by the angle and depth data; the rotation speed is a parameter to determine whether the system is working normally. For example, when the drill is stuck, the rotation pressure increases and the rotation speed decreases.

[0042] The image monitoring unit is mainly composed of a high-definition camera, an image processing controller, etc., which is used to collect and identify rock joint information on the excavation face, determine rock integrity, and assist in correcting the rock integrity index K. V, specifically to analyze the rock texture, whether there are faults, degree of fragmentation, etc. It is also used to monitor in real time whether there are sudden states during the drilling process. The sudden state is whether there is a rapid increase in water flow in the hole and mud bursts during the construction process. The image monitoring unit also sends the collected images to the display through the main control unit, which is convenient for the operator to observe the action status of the drilling components. Specifically, the operator in the cab observes whether the rod library is rotated in place, whether the manipulator is opened and closed normally, whether the drill rod and the drill rod are tightened or loosened, and whether the drill rod and the rock drill are tightened or loosened.

[0043] The surrounding rock quality identification unit receives the rock integrity and hydraulic system parameters of the excavation face transmitted by the main control unit, and determines the changes in the surrounding rock quality during the drilling process. For example, it determines whether there are cavities or cracks in the excavation direction based on the changes in the rock drill's thrust pressure, and determines whether the surrounding rock is broken by analyzing the rock drill's rotary pressure.

[0044] According to the surrounding rock classification method, the basic quality index BQ value of surrounding rock is used as the basis for surrounding rock quality identification. The BQ value calculation formula is as follows:

[0045] BQ=100+3R C +250K V

[0046] In the formula, R C is the uniaxial saturated compressive strength of rock, K V It is an indicator of rock mass integrity.

[0047] Considering that the surrounding rock quality in actual construction scenarios will be affected by the groundwater S1 correction coefficient, the weak structural surface S2 correction coefficient and the initial ground stress S3 correction coefficient, the BQ value is corrected to obtain:

[0048] [BQ] = BQ - 100 (S1 + S2 + S3)

[0049] The S1 correction coefficient for groundwater and the S2 correction coefficient for weak structural surface can be determined according to the method in the Railway Tunnel Design Code, and the S3 correction coefficient for initial geostress can be determined according to the method in the Engineering Rock Classification Standard.

[0050] For the uniaxial saturated compressive strength of rock R C , and a multivariate nonlinear regression model was used to evaluate it:

[0051]

[0052] Where V is the drilling rate of the rock drill, m / min; P1 is the impact pressure of the rock drill, bar; P2 is the rotation pressure of the rock drill, bar; λ1 and λ2 are the fitting coefficients of the drilling rate; λ3 is the fitting coefficient of the impact pressure; λ4 is the fitting coefficient of the rotation pressure; λ5 is the correction value.

[0053] For rock mass integrity index K V , using the rock mass longitudinal wave velocity Vm, (m·s -1 ) and the longitudinal wave velocity Vr of the rock mass (m·s -1 ) to define:

[0054]

[0055] The rock mass condition of the excavation face analyzed by the image monitoring unit is introduced with the correction coefficient γ to obtain the following formula:

[0056]

[0057] This embodiment also discloses a detection hole construction method implemented by using the above-mentioned rock drilling trolley detection hole construction control system, which includes the following contents:

[0058] After the drilling rig enters the site, the vehicle's posture adjustment is first completed through the vehicle body navigation and positioning unit.

[0059] Then, the drilling construction of the connecting rod is started, and the construction process is as follows: Steps S1-S14. Figure 3 shown.

[0060] S1. After the drilling rig completes its operation preparation, the drilling rig detection hole construction control system is started, the drilling depth, drilling diameter, and drill rod length are selected, and the rod connection and disconnection sub-control unit starts monitoring of the connection and disconnection drilling actions. The image monitoring unit, surrounding rock quality identification unit and other sub-units are started and operated.

[0061] S2. The detection hole construction control system controls the front end of the rock drilling trolley propulsion mechanism to press against the face, adjusts the angle of the propulsion mechanism, and starts the rock drill to drill the first drill rod X1 preset on the propulsion mechanism into the rock mass.

[0062] S3. After the rock drill displacement sensor monitors that the rock drill reaches the front end of the propulsion mechanism, the clamping rod device clamps the end of the drill rod X1, the rock drill reverses and disengages from the drill rod X1, and controls the rock drill to retreat to the rear end of the unloading rod mechanism.

[0063] S4, the mechanical gripper of the rod receiving and unloading mechanism swings to the rod taking position, the rod library starts to rotate and deliver the rods, the mechanical gripper grasps the drill rod X2, and rotates the mechanical gripper to deliver the drill rod X2 to the drill rod station of the propulsion mechanism.

[0064] S5. The rock drill moves forward so that the drill tail contacts and screws with the end of the drill rod X2. The mechanical gripper releases the drill rod X2 but does not disengage. The rock drill drives the drill rod forward so that the front end of the drill rod X2 contacts and screws with the end of the drill rod X1.

[0065] S6. The mechanical gripper returns to its original position and the rock drill starts drilling.

[0066] S7, determine whether the drilling depth is met, if not, continue to execute the drill rod X 3、4、5...n Connect the rod. The process of connecting the rod is the same as S3-S6.

[0067] S8. If the drilling depth is met, the rod unloading operation is started.

[0068] S9, rock drill drives drill rod X n Retreat to the rear end of the rod storage, and the synchronous hydraulic system monitoring unit determines whether there is a hole collapse (if a hole collapse occurs, the resistance will increase during the retreat of the rock drill, and the system pressure will increase at this time, and this judgment can be made through the pressure sensor). If so, the hole washing action is performed, otherwise the hole washing action is skipped.

[0069] S10, clamping rod device clamps the end of the drill rod X n-1 , the mechanical gripper rotates to the propulsion mechanism drill rod X n Station, contact drill rod X n But it is not clamped, the rock drill is reversed to make the drill rod X n Front end and drill rod X n-1 End separation, drill rod X n The end is separated from the rock drill tail.

[0070] S11, mechanical gripper clamping drill rod X n And turn to the pole position of the pole library, the pole library turns to retract the drill rod X n , the mechanical gripper returns to zero position.

[0071] S12, rock drill forward and drill rod X n-1 The end is rotated and retreated to the rear end of the rod library to determine whether the drill rod has been recovered.

[0072] S13, if the drill rods are not completely recovered, execute the unloading of the drill rods Xn-1, n-2...2, and the unloading process is the same as S9-S12.

[0073] S14: If the drill rod is recovered, the rock drill returns to the rear end of the propulsion mechanism, and the drilling construction of the unloading rod is completed.

[0074] During the drilling process, the drilling posture monitoring unit and the hydraulic system monitoring unit monitor the drilling depth, angle, rotation speed, rock drilling system pressure, flow and other parameters of the drill rod in real time. The surrounding rock quality identification unit determines the changes in the surrounding rock quality during the drilling process. The rod receiving and unloading sub-control unit controls each action of connecting and unloading the rod, monitors whether the execution of the current action is successful, and immediately switches to the next action after judging whether the current action is successfully executed. If the current action is not successfully executed, the action is repeated and fed back to the main control unit for an alarm prompt. At the same time, the image monitoring unit monitors the integrity of the rock mass of the excavation face and the mud and water gushing of the face, and collects images to help operators observe the action status of the drilling components.

[0075] It should be noted that in addition to the best implementation methods described above, manual operation in the cab, remote control operation outside the cab, remote platform control operation, etc. can be selected according to actual conditions. The construction process data can be transmitted to the digital twin site, smart cloud and other platforms in real time through the data transmission unit, and the construction efficiency can be improved through real-time data analysis, automated process optimization and intelligent decision-making. The detection hole construction control system can also be used for the construction of pipe shed holes and anchor holes.

[0076] The preferred embodiments for implementing the present invention have been described in detail above, but it should be understood that the role of these embodiments is only to exemplify, and is not intended to limit the scope, applicability or configuration of the present invention in any way. The protection scope of the present invention is defined by the attached claims and their equivalents. A person of ordinary skill in the art can make many changes to the above embodiments under the guidance of the present invention, and these changes all fall within the protection scope of the present invention.

Claims

1. A drilling rig detection hole construction control system, characterized in that: Include: The main control unit receives input data from each sub-unit and sends control signals to each execution sub-unit; The rod-connecting and unloading sub-control unit controls the action of connecting and unloading the rod and monitors whether the actions during connecting and unloading the rod are executed successfully or not; A hydraulic system monitoring unit, which monitors the changes in hydraulic system parameters of the drilling rig during operation; A drilling posture monitoring unit, which monitors drill rod drilling parameters; Image monitoring unit, which monitors the integrity of the rock mass at the excavation face and whether there are any unexpected conditions during the drilling process; The surrounding rock quality identification unit receives the rock integrity and hydraulic system parameters of the excavation face transmitted by the main control unit, and determines the changes in the surrounding rock quality during the drilling process.

2. The drilling rig detection hole construction control system according to claim 1, characterized in that: The control system also includes a vehicle navigation and positioning unit, which monitors the precise position and posture of the drilling rig to assist in determining the drilling direction.

3. The drilling rig detection hole construction control system according to claim 1, characterized in that: The control system also includes a safety monitoring unit, which monitors the accidental entry into the safety area when the drilling rig performs automatic operation, and feeds back to the main control unit to execute a system alarm.

4. The drilling rig detection hole construction control system according to claim 1, characterized in that: The connecting rod sub-control unit switches to the next action immediately after judging that the current action is successfully executed. If the current action is not successfully executed, the action is repeated and fed back to the main control unit for alarm prompt.

5. The drilling rig detection hole construction control system according to claim 1, characterized in that: The hydraulic system monitoring unit monitors the pressure and flow changes of the hydraulic system of the rock drilling rig during operation, and transmits the monitoring information to the main control unit.

6. The drilling rig detection hole construction control system according to claim 1, characterized in that: The drilling posture monitoring unit monitors the drilling depth, angle and rotation speed of the drill rod, and transmits the monitoring information to the main control unit.

7. The drilling rig detection hole construction control system according to claim 1, characterized in that: The image monitoring unit collects and identifies the rock joint information of the excavation face, determines the integrity of the rock mass, and assists in correcting the rock mass integrity index K V The image monitoring unit is also used to monitor in real time whether there are any sudden conditions during the drilling process, and sudden conditions include sudden mud and water gushing phenomena; the image monitoring unit transmits the collected images, rock integrity and sudden condition detection results to the main control unit.

8. The drilling rig detection hole construction control system according to claim 7, characterized in that: The surrounding rock quality identification unit uses the basic quality index BQ value of the surrounding rock as the basis for surrounding rock quality identification. The BQ value calculation formula is as follows: <h2 style=";text-align:left;direction:ltr">BQ = 100 + 3R<h2 style=";text-align:left;direction:ltr"> C <h2 style=";text-align:left;direction:ltr"> +250K<h2 style=";text-align:left;direction:ltr"> V In the formula, R C is the uniaxial saturated compressive strength of rock, K V It is an indicator of rock mass integrity; Considering that the surrounding rock quality in actual construction scenarios will be affected by the groundwater S1 correction coefficient, the weak structural surface S2 correction coefficient and the initial ground stress S3 correction coefficient, the BQ value is corrected to obtain: [BQ] = BQ - 100 (S1 + S2 + S3).

9. The drilling rig detection hole construction control system according to claim 8, characterized in that: For the uniaxial saturated compressive strength of rock R C The multivariate nonlinear regression model was used to evaluate the rock mass integrity index K. V Defined using the longitudinal wave velocity of the rock mass and the longitudinal wave velocity of the rock block.

10. A drilling rig detection hole construction method, characterized in that: The method is implemented using the drilling rig detection hole construction control system according to any one of claims 1 to 9, and includes the following contents: After the drilling rig enters the site, the vehicle's posture is adjusted through the vehicle navigation and positioning unit. Then the rod-connecting and unloading drilling construction begins; during the drilling process, the drilling posture monitoring unit and the hydraulic system monitoring unit monitor the drill rod drilling parameters and the changes in the hydraulic system parameters of the drilling rig during operation in real time; the surrounding rock quality identification unit identifies the changes in the surrounding rock quality during the drilling process; the rod-connecting and unloading sub-control unit controls each action of connecting and unloading the rod, and monitors whether the current action is executed successfully; at the same time, the image monitoring unit monitors the integrity of the rock mass on the excavation face and whether there are any emergencies during the drilling process.

Images