Drilling method and device of umbrella drill equipment, industrial personal computer and four-arm umbrella drill

Abstract

The invention provides a drilling method and device of umbrella drill equipment, an industrial personal computer and a four-arm umbrella drill, and the method comprises the steps that a drilling set of a target working arm is determined based on the position of the umbrella drill equipment and all to-be-drilled positions in a preset hole distribution diagram, and the drilling sequence of to-be-drilled holes and drilling information of the to-be-drilled holes are arranged in the drilling set; on the basis of the drilling information of the first to-be-drilled hole, the safe height distance, joint values of all joints of the target working arm at the current position and preset completion time, the moving track of the target working arm moving from the current position to the first to-be-drilled hole is determined; when the drill bit of the target working arm moves to the first to-be-drilled position from the current position and the propelling pressure reaches a first preset value, drilling is conducted; when the advancing depth of the opening reaches a first preset depth, drilling is conducted; and when the drilling depth reaches the preset drilling depth, drilling is stopped, the target working arm is controlled to move to the second to-be-drilled hole, and the second to-be-drilled hole is drilled. The drilling quality can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling positioning, and in particular to a drilling method, a device, an industrial control computer and a four-arm umbrella drill of umbrella drilling equipment. Background Art

[0002] In the current mine shaft construction process, hydraulic shaft umbrella drills are mainly used for construction. After drilling, explosives are loaded in the hole, blasting is carried out, and slag is discharged. The commonly used drilling method is that the operator directly operates the hydraulic handle at the root of the propeller of the umbrella drill equipment at the bottom of the well, but the drilling site is not only dusty and noisy, but also very dangerous.

[0003] In addition, the umbrella drilling equipment requires multiple operators to work in the well during the construction process. Each positioning and drilling action requires the operation of a different hydraulic handle. Due to the uneven technical levels of different operators, the construction quality of the drilling is different, which affects the subsequent construction progress. Summary of the invention

[0004] The embodiments of the present invention provide a drilling method, a device, an industrial computer and a four-arm umbrella drill of an umbrella drilling device to solve the problem that the current drilling quality is uneven and cannot meet the construction requirements.

[0005] In a first aspect, an embodiment of the present invention provides a drilling method of an umbrella drilling device, wherein the umbrella drilling device includes a plurality of working arms, and the drilling method includes:

[0006] Based on the position of the umbrella drill device and the positions of all holes to be drilled in the preset hole layout, a drilling set of the target working arm is determined, and the drilling set includes a drilling sequence of the holes to be drilled and drilling information of the holes to be drilled;

[0007] Determine a running trajectory of the target working arm from the current position to the first hole to be drilled based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position, and the preset completion time;

[0008] When the drill bit of the target working arm moves from the current position to the first position to be drilled and the thrust pressure reaches a first preset value, drilling is performed;

[0009] When the advancement depth of the opening reaches a first preset depth, drilling is performed;

[0010] When the drilling depth reaches the preset drilling depth, drilling is stopped, and the target working arm is controlled to move to the position of the second hole to be drilled, and the second hole to be drilled is drilled; the second hole to be drilled is a hole to be drilled adjacent to the first hole to be drilled determined based on the drilling order of the holes to be drilled in the drilling set.

[0011] In a possible implementation, based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position and the preset completion time, determining the running trajectory of the target working arm from the current position to the first hole to be drilled includes:

[0012] Based on the joint values ​​of each joint of the target working arm at the current position and the safe height distance, the target working arm is controlled to move to a first intermediate position; wherein the first intermediate position and the current position differ only in height from the ground;

[0013] Based on the drilling information of the first hole to be drilled and the safe height distance, determine the joint values ​​of each joint of the target working arm when it is in the second intermediate position; wherein the second intermediate position and the position of the first hole to be drilled differ only in height from the ground;

[0014] Based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position and the preset completion time, the running trajectory of the target working arm from the current position to the first hole to be drilled is determined.

[0015] In a possible implementation, based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position, and the preset completion time, determining the running trajectory of the target working arm from the current position to the first hole to be drilled includes:

[0016] Determine a running trajectory of the target working arm moving from the current position to the second intermediate position based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position, and a preset completion time;

[0017] When the target working arm moves to the second intermediate position, the drill bit of the target working arm is controlled to descend from the second intermediate position until the pressure value of the compensation pressure sensor reaches the first preset pressure value, and then the drill bit is controlled to stop descending.

[0018] In a possible implementation, after determining the running trajectory of the target working arm moving from the current position to the first hole to be drilled, the method further includes:

[0019] When the drill bit of the target working arm moves from the current position to the first position to be drilled, the joint values ​​of each joint of the target working arm at the target position are obtained; the target position is any position in the trajectory from the current position to the first position to be drilled;

[0020] Based on the joint values ​​of each joint of the target working arm at the target position, the projection positions of the end of the thruster and the bottom of the drill rod on the screen are determined;

[0021] Based on the projection positions of the thruster tip and the drill rod bottom on the screen, the position and posture of the drill rod on the screen are determined.

[0022] In a possible implementation, when the drill bit of the target working arm moves from the current position to the first position to be drilled, the process further includes:

[0023] When multiple working arms of the umbrella drilling equipment are working at the same time, the joint values ​​of each joint of all the target working arms in the work at the current moment are obtained;

[0024] Determine the joint values ​​of each joint of the target working arms in all the works at the current moment, and when it is determined that the target working arms in all the works interfere with each other, suspend the operation of the first working arm and readjust the operation trajectory of the first working arm; the first working arm is at least one target working arm in all the works.

[0025] In a possible implementation, when the advancement depth of the opening reaches a first preset depth, drilling is performed, including:

[0026] When the pressure value of the rotary pressure is greater than the preset pressure threshold, the drill bit is controlled to change from the forward state to the backward state, and the impact pressure is reduced;

[0027] When the pressure value of the rotary pressure is less than the preset pressure threshold, the drill bit is controlled to change from a backward state to a forward state until the drilling is completed.

[0028] In a possible implementation, based on the position of the umbrella drill device and the positions of all holes to be drilled in the preset hole layout, the drilling set of the target working arm, the drilling order of all holes in the drilling set, and the drilling information of all holes are determined, including:

[0029] Based on the displacement of the height adjustment cylinder of the umbrella drilling equipment, determine the height of all holes to be drilled in the preset hole layout;

[0030] Based on the heights of all holes to be drilled in the preset hole layout and the polar coordinates of all holes to be drilled, the drilling set of the target working arm, the drilling order of all holes in the drilling set, and the drilling information of all holes are determined; wherein the target working arm is any working arm of the umbrella drilling equipment, and the drilling information includes the hole number, polar diameter, polar angle and probe angle of the hole to be drilled.

[0031] In a second aspect, an embodiment of the present invention provides a drilling device of an umbrella drilling device, the umbrella drilling device includes a plurality of working arms, and the drilling device includes:

[0032] A first determination module is used to determine a drilling set of a target working arm based on the position of the umbrella drilling device and the positions of all holes to be drilled in a preset hole layout diagram, wherein the drilling set is provided with a drilling sequence of holes to be drilled and drilling information of holes to be drilled;

[0033] A second determination module is used to determine the running trajectory of the target working arm from the current position to the first hole to be drilled based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position and the preset completion time;

[0034] A hole drilling module, used for drilling a hole when the drill bit of the target working arm moves from the current position to the first position to be drilled and the propulsion pressure reaches a first preset value;

[0035] A drilling module, used for drilling when the advancement depth of the opening reaches a first preset depth;

[0036] The hole-changing module is used to stop drilling when the drilling depth reaches a preset drilling depth, and control the target working arm to move to the position of the second hole to be drilled to drill the second hole to be drilled; the second hole to be drilled is a hole to be drilled adjacent to the first hole to be drilled based on the drilling order of the holes to be drilled in the drilling set.

[0037] In a third aspect, an embodiment of the present invention provides an industrial computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method described in the first aspect or any possible implementation method of the first aspect are implemented.

[0038] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect or any possible implementation method of the first aspect are implemented.

[0039] In the fifth aspect, an embodiment of the present invention provides a four-arm umbrella drill, which includes four working arms, each of which has the same structure and works independently, each of which is provided with multiple joints, and each working arm performs drilling based on any method of the first aspect.

[0040] The embodiment of the present invention provides a drilling method, device, industrial computer and four-arm umbrella drill of an umbrella drilling device, wherein the umbrella drilling device includes multiple working arms, each of which has the same function and independently completes its own drilling work. Since there are multiple holes to be drilled in the area to be drilled, it is necessary to first determine the drilling set of the target working arm, the drilling sequence of the holes to be drilled in the drilling set, and the drilling information of the holes to be drilled based on the position of the umbrella drilling device and the positions of all the holes to be drilled in the preset hole layout diagram. Then, based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position and the preset completion time, determine the running trajectory of the target working arm from the current position to the first hole to be drilled. Then, when the drill bit of the target working arm moves from the current position to the position of the first hole to be drilled and the propulsion pressure reaches the first preset value, the hole is opened. Next, when the propulsion depth of the hole reaches the first preset depth, the hole is drilled. Finally, when the drilling depth reaches the preset drilling depth, the drilling is stopped, and the target working arm is controlled to move to the position of the second hole to be drilled, and the second hole to be drilled is drilled. By first determining the drilling set of each working arm pair, and then determining the trajectory of the drilling based on the drilling information in the drilling set, the target working arm can be accurately moved from the current position to the position of the first hole to be drilled. When the position of the first hole to be drilled is reached, different drilling programs are selected according to different situations. On the one hand, each hole to be drilled can be accurately located, and on the other hand, different drilling programs can be selected based on different drilling depths. Compared with manual downhole operations, not only the drilling efficiency is improved, but also the quality of drilling is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 It is a structural schematic diagram of a four-arm umbrella drill provided by an embodiment of the present invention;

[0043] Figure 2 is a flow chart of a drilling method of an umbrella drilling device provided by an embodiment of the present invention;

[0044] Figure 3 It is a structural schematic diagram of a drilling device of an umbrella drilling device provided in an embodiment of the present invention;

[0045] Figure 4 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0047] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0048] As introduced in the background technology, hydraulic umbrella drilling equipment is an important equipment for drilling blastholes in mine shaft construction, and is irreplaceable in the construction of shaft drilling and blasting. At present, due to the limited technical level of equipment, umbrella drilling equipment requires multiple operators to go down to work in the shaft during construction. Each positioning and drilling action requires the operation of different hydraulic handles, and the operation steps are cumbersome and complicated. At the same time, due to the uneven technical level of each operator, the quality of drilling construction is different, which affects the blasting effect and causes over-excavation or under-excavation of the shaft.

[0049] In order to solve the problems of the prior art, the embodiments of the present invention provide a drilling method, a device, an industrial computer and a four-arm umbrella drill of an umbrella drill. The drilling method of the umbrella drill provided by the embodiments of the present invention is first introduced below.

[0050] In order to facilitate the description of the drilling method provided by the present invention, first, a four-arm umbrella drill provided by the present invention is introduced, and the four-arm umbrella drill includes four working arms, each of which has the same structure and works independently, and each of which is provided with multiple joints. In order to realize intelligent control of the four-arm umbrella drill, various sensors need to be installed on it to facilitate control based on data collected by the sensors.

[0051] like Figure 1 As shown, the four-arm umbrella drill includes an umbrella drill drilling mechanism positioning mechanism, a cooling device, a ground remote monitoring station, a ground industrial control computer, a CAN bus signal to Ethernet communication module, a programmable controller, and various sensors.

[0052] The sensors include: a three-axis angle sensor 1 for detecting the attitude of the umbrella drill, a pressure sensor 2 for detecting the impact pressure of the rock drill, a pressure sensor 3 for detecting the propulsion pressure of the rock drill, a pressure sensor 4 for detecting the rotation pressure of the rock drill, a pressure sensor 5 for detecting the forward position of the rock drill, a boom swing cylinder and a boom swing cylinder displacement sensor 6, a boom lifting cylinder and a boom lifting cylinder displacement sensor 7, a propeller tilt cylinder hy3 and a propeller tilt cylinder displacement sensor 8, a propeller compensation cylinder and a propeller compensation cylinder displacement sensor 9, a column Heightening cylinder and column heightening cylinder displacement sensor 10, column heightening cylinder pressure sensor 11, rotary cylinder delivery proximity switch 12, drilling programmable controller 13, boom swing angle solenoid valve and boom lifting solenoid valve and thruster tilt solenoid valve and thruster compensation solenoid valve 14, thruster retraction pressure sensor 15, support arm 16, rock drill 17, column 18, thrust cylinder 19, thrust cylinder flow sensor 20, impact switch valve and impact relief valve and thrust reversing valve and thrust relief valve and return reversing valve 21.

[0053] Among them, the current range of the rotary directional valve is 300-550mA, the current range of the impact relief valve is 0-550mA, and the current range of the push relief valve is 0-550mA.

[0054] See also Figure 2 , which shows a flowchart of the drilling method of the umbrella drilling device provided by the embodiment of the present invention, and is described in detail as follows:

[0055] S210, based on the position of the umbrella drill device and the positions of all holes to be drilled in the preset hole layout, determine the drilling set of the target working arm, the drilling sequence of the holes to be drilled in the drilling set, and the drilling information of the holes to be drilled.

[0056] The preset hole layout diagram sets all the positions of the holes to be drilled in a region. The umbrella drilling device has multiple working arms. Therefore, it is possible to determine which holes to be drilled by each working arm according to the positions of all the holes to be drilled and the positions of each working arm. The target working arm is any working arm of the umbrella drilling device.

[0057] In some embodiments, first, the umbrella drilling equipment is lowered into the well, positioned and oriented.

[0058] Then, the column is extended to raise the oil cylinder until the column reaches the bottom plane of the shaft, so that the heights of all holes to be drilled in the preset hole layout can be determined based on the displacement of the oil cylinder of the umbrella drilling equipment.

[0059] Finally, based on the heights of all the holes to be drilled in the preset hole layout and the polar coordinates of all the holes to be drilled, the drilling set of the target working arm, the drilling order of all the holes in the drilling set, and the drilling information of all the holes are determined. The drilling information includes the hole number, polar diameter, polar angle, and protrusion angle of the hole to be drilled.

[0060] In this embodiment, the height adjustment cylinder displacement determined by the height cylinder displacement sensor can be input into a pre-set function to determine the heights of all holes to be drilled in the hole layout diagram.

[0061] In this embodiment, based on the obtained heights of all holes to be drilled in the preset hole layout and the polar coordinates of all holes to be drilled in the preset hole layout, the position information of all holes to be drilled in the preset hole layout can be determined.

[0062] In this embodiment, all working arms are numbered to obtain the arm number of each working arm, and all holes to be drilled in the preset hole layout are numbered to obtain the hole number of each hole. Based on the hole numbers, polar diameters, polar angles, and protrusion angles of all holes to be drilled in the preset hole layout, the drilling set of each working arm can be determined by classifying according to the angle values ​​of the polar angles of all holes to be drilled. In this case, the working arm only needs to locate and drill the holes in its drilling set. After the drilling set of each working arm is determined, it is also necessary to arrange the holes in the drilling set corresponding to each working arm in sequence, that is, to determine the order of drilling.

[0063] S220, based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position and the preset completion time, determine the running trajectory of the target working arm from the current position to the first hole to be drilled.

[0064] After determining the drilling set corresponding to the target working arm, the drilling sequence and drilling information of all the holes in the drilling set, the running trajectory of the target working arm can be determined.

[0065] In some embodiments, due to the uneven height of the shaft ground, in order to ensure the normal operation of the umbrella drilling equipment, it is necessary to first control the target working arm to move to the first intermediate position based on the joint values ​​of each joint of the target working arm at the current position and the safe height distance. That is, first raise the target working arm at the current position to ensure that it does not collide with the ground. Among them, the first intermediate position and the current position are only different in height from the ground, but the polar angle is the same.

[0066] Then, based on the drilling information of the first hole to be drilled and the safe height distance, the joint values ​​of each joint of the target working arm when it is in the second intermediate position are determined, wherein the second intermediate position and the position of the first hole to be drilled differ only in height from the ground.

[0067] Finally, based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position and the preset completion time, the running trajectory of the target working arm from the current position to the first hole to be drilled is determined.

[0068] It should be noted that the current position may be the initial position of the umbrella drilling equipment after being lowered into the well, or may be the position of a borehole before the first borehole to be drilled determined according to the drilling sequence in the drilling set.

[0069] In this embodiment, after the joint values ​​of each joint of the target working arm at the first intermediate position and the joint values ​​of each joint of the second intermediate position are determined, the running trajectory of the target working arm moving from the first intermediate position to the second intermediate position can be determined.

[0070] Specifically, the running trajectory of the target working arm moving from the current position to the second intermediate position can be determined based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position, and the preset completion time. The preset completion time refers to the time it takes for the target working arm to move from the first intermediate position to the second intermediate position.

[0071] In order to prevent collision, the target working arm is first moved to the second intermediate position, and then the target working arm is moved from the second intermediate position to the first position to be drilled. After the target working arm moves to the second intermediate position, the drill bit of the target working arm is controlled to descend from the second intermediate position until the pressure value of the compensation pressure sensor reaches the first preset pressure value, and then the drill bit is controlled to stop descending. When the pressure value of the compensation pressure sensor reaches the first preset pressure value, it means that the compensation pressure sensor has been pushed into place and has reached the first position to be drilled.

[0072] In some embodiments, in order to facilitate visual observation by operators, the position and posture of the drill rod can be determined on the screen according to the values ​​obtained from each sensor. Specifically:

[0073] First, when the drill bit of the target working arm moves from the current position to the first position to be drilled, the joint values ​​of each joint of the target working arm at the target position are obtained, wherein the target position is any position in the trajectory from the current position to the first position to be drilled.

[0074] Then, based on the joint values ​​of the joints of the target working arm at the target position, the projection positions of the thruster tip and the drill rod bottom on the screen are determined.

[0075] Finally, the position and posture of the drill rod on the screen are determined based on the projection positions of the thruster tip and the drill rod bottom on the screen.

[0076] In some embodiments, since the umbrella drilling device has multiple working arms, in order to ensure the normal operation of all working arms, it is also required that the working arms do not interfere with each other. Specifically:

[0077] When multiple working arms of the umbrella drilling device are working at the same time, the joint values ​​of each joint of all the target working arms in operation at the current moment are obtained.

[0078] Determine the joint values ​​of each joint of the target working arms in all the works at the current moment. When it is determined that the target working arms in all the works interfere with each other, suspend the operation of the first working arm and readjust the operation trajectory of the first working arm. When there is no interference, they can work together. The first working arm is at least one target working arm in all the works.

[0079] In addition, when the target working arm reaches the target position and the staff finds that there is a gap between the actual position and the target position, the target position needs to be adjusted so that the target working arm can accurately move to the actual position of the target position.

[0080] S230: When the drill bit of the target working arm moves from the current position to the first position to be drilled and the thrust pressure reaches a first preset value, drilling is performed.

[0081] After moving to the first position to be drilled, the thrust cylinder moves forward, the thrust reversing valve and the thrust overflow valve are energized, and the data of the thrust pressure sensor is detected at the same time. When the thrust pressure reaches the set value, it is considered that the drill bit has contacted the rock and can be drilled.

[0082] After entering the hole-drilling mode, in order to ensure the quality of the hole-drilling, the first thrust pressure and the first impact pressure required by the rock drill are both low, and the work is performed based on the working status and parameters of the thrust reversing valve, thrust relief valve, impact switch valve, impact relief valve, and reversing reversing valve in the hole-drilling mode. After the hole-drilling starts, the thrust depth is calculated based on the data of the thrust cylinder flow sensor.

[0083] S240: When the advancement depth of the hole reaches a first preset depth, drilling is performed.

[0084] When the advancement depth of the hole reaches the first preset depth, it is determined that the hole depth meets the standard, and the hole drilling process ends.

[0085] When the hole opening program is finished, the drilling mode will continue. During the drilling process, in order to improve the drilling efficiency, the voltage of the impact pressure relief valve and the propulsion pressure relief valve can be increased to increase the propulsion pressure and the impact pressure, and drilling can be performed based on the second propulsion pressure and the second impact pressure.

[0086] It should be noted that the second propulsion pressure is greater than the first propulsion pressure, and the second impact pressure is greater than the first impact pressure.

[0087] At the same time, in order to achieve a better rock drilling effect, the second impact pressure can also change with the change of the second propulsion pressure. The higher the second propulsion pressure, the higher the second impact pressure, that is, the control parameters of the impact relief valve will change in direct proportion with the parameters of the propulsion relief valve. In other words, the second impact pressure is proportional to the second propulsion pressure.

[0088] The inventors have found that during the drilling process, since the impact pressure and the propulsion pressure are relatively fixed, the pressure values ​​cannot be adjusted at any time according to the rock conditions, which easily causes the rock drill to hit empty, accelerates the damage of the rock drill parts and the drill tools, and virtually increases the cost of use. In order to reduce the accelerated damage of the rock drill parts and the drill tools, the present invention adjusts the impact pressure at any time based on the rock conditions during the hole opening and drilling process, improves the drilling efficiency, makes the rock drill work in the best state, and prolongs the service life of the rock drill and the drill tools.

[0089] S250. When the drilling depth reaches a preset drilling depth, the drilling is stopped, and the target working arm is controlled to move to the position of the second hole to be drilled, and the second hole to be drilled is drilled.

[0090] The second hole to be drilled is a hole to be drilled adjacent to the first hole to be drilled and determined based on the drilling sequence of the holes to be drilled in the drilling set.

[0091] In some embodiments, during the drilling process, as the drilling depth increases and the rock formation conditions change, the rotary pressure will change to a certain extent. When the rotary pressure abnormally rises to above the set value, it is determined that the drill rod is stuck. After the drill rod is stuck, the propulsion action automatically changes from forward to backward, and the impact pressure changes from high impact to low impact, so that the drill rod automatically retracts. When the rotary pressure drops to within the set value, the normal drilling action is restored.

[0092] In this embodiment, the rotary pressure may be monitored by a rotary pressure sensor.

[0093] The propulsion stroke is calculated by using data from the propulsion cylinder flow sensor. When the preset depth is reached, it is determined that the drilling depth of the entire hole has reached the standard, and the drilling process of the first hole to be drilled is completed.

[0094] After the drilling process of the first hole to be drilled is completed, the next hole to be drilled is determined to be the second hole to be drilled according to the drilling order of the holes to be drilled in the drilling set of the target working arm. Then, based on the position of the second hole to be drilled, the target working arm is controlled to move to the position of the second hole to be drilled to drill the second hole to be drilled.

[0095] The embodiment of the present invention provides a drilling method of an umbrella drilling device, wherein the umbrella drilling device includes a plurality of working arms, each of which has the same function and independently completes its own drilling work. Since a plurality of holes to be drilled are provided in the area to be drilled, it is necessary to first determine the drilling set of the target working arm, the drilling sequence of the holes to be drilled in the drilling set, and the drilling information of the holes to be drilled based on the position of the umbrella drilling device and the positions of all the holes to be drilled in the preset hole layout diagram. Next, based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position, and the preset completion time, determine the running trajectory of the target working arm moving from the current position to the first hole to be drilled. Then, when the drill bit of the target working arm moves from the current position to the position of the first hole to be drilled and the propulsion pressure reaches the first preset value, the hole is opened. Next, when the propulsion depth of the hole reaches the first preset depth, the hole is drilled. Finally, when the drilling depth reaches the preset drilling depth, the drilling is stopped, and the target working arm is controlled to move to the position of the second hole to be drilled, and the second hole to be drilled is drilled. By first determining the drilling set of each working arm pair, and then determining the trajectory of the drilling based on the drilling information in the drilling set, the target working arm can be accurately moved from the current position to the position of the first hole to be drilled. When the position of the first hole to be drilled is reached, different drilling procedures are performed according to different situations. On the one hand, each hole to be drilled can be accurately located, and on the other hand, different drilling procedures can be selected based on different drilling depths. Compared with manual downhole operations, not only the drilling efficiency is improved, but also the quality of the drilling is greatly improved.

[0096] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0097] Based on the drilling method of the umbrella drilling device provided in the above embodiment, the present invention also provides a specific implementation of the drilling device of the umbrella drilling device applied to the drilling method of the umbrella drilling device. Please refer to the following embodiment.

[0098] like Figure 3 As shown, a drilling device 300 of an umbrella drilling device is provided, the umbrella drilling device comprises a plurality of working arms, and the drilling device 300 comprises:

[0099] A first determination module 310 is used to determine the drilling set of the target working arm, the drilling sequence of the holes to be drilled in the drilling set, and the drilling information of the holes to be drilled based on the position of the umbrella drilling device and the positions of all the holes to be drilled in the preset hole layout;

[0100] A second determination module 320 is used to determine the running trajectory of the target working arm from the current position to the first hole to be drilled based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position and the preset completion time;

[0101] A hole drilling module 330, configured to drill a hole when the drill bit of the target working arm moves from a current position to a first position to be drilled and the thrust pressure reaches a first preset value;

[0102] A drilling module 340, configured to perform drilling when the advancement depth of the opening reaches a first preset depth;

[0103] The hole-changing module 350 is used to stop drilling when the drilling depth reaches a preset drilling depth, and control the target working arm to move to the position of the second hole to be drilled to drill the second hole to be drilled; the second hole to be drilled is a hole to be drilled adjacent to the first hole to be drilled based on the drilling order of the holes to be drilled in the drilling set.

[0104] In a possible implementation, the second determination module 320 is used to control the target working arm to move to a first intermediate position based on the joint values ​​of each joint of the target working arm at the current position and the safe height distance; wherein the first intermediate position and the current position differ only in height from the ground;

[0105] Based on the drilling information of the first hole to be drilled and the safe height distance, determine the joint values ​​of each joint of the target working arm when it is in the second intermediate position; wherein the second intermediate position and the position of the first hole to be drilled differ only in height from the ground;

[0106] Based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position and the preset completion time, the running trajectory of the target working arm from the current position to the first hole to be drilled is determined.

[0107] In a possible implementation, the second determination module 320 is used to determine the running trajectory of the target working arm moving from the current position to the second intermediate position based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position, and the preset completion time;

[0108] When the target working arm moves to the second intermediate position, the drill bit of the target working arm is controlled to descend from the second intermediate position until the pressure value of the compensation pressure sensor reaches the first preset pressure value, and then the drill bit is controlled to stop descending.

[0109] In a possible implementation, the second determination module 320 is used to obtain the joint values ​​of each joint of the target working arm at the target position when the drill bit of the target working arm moves from the current position to the first position to be drilled; the target position is any position in the trajectory from the current position to the first position to be drilled;

[0110] Based on the joint values ​​of each joint of the target working arm at the target position, the projection positions of the end of the thruster and the bottom of the drill rod on the screen are determined;

[0111] Based on the projection positions of the thruster tip and the drill rod bottom on the screen, the position and posture of the drill rod on the screen are determined.

[0112] In a possible implementation, the second determination module 320 is used to obtain the joint values ​​of each joint of all the target working arms in operation at the current moment when multiple working arms of the umbrella drilling device are working simultaneously;

[0113] Determine the joint values ​​of each joint of the target working arms in all the works at the current moment, and when it is determined that the target working arms in all the works interfere with each other, suspend the operation of the first working arm and readjust the operation trajectory of the first working arm; the first working arm is at least one target working arm in all the works.

[0114] In a possible implementation, the drilling module 340 is used to control the drill bit to change from the forward state to the backward state and reduce the impact pressure when the pressure value of the rotary pressure is greater than a preset pressure threshold;

[0115] When the pressure value of the rotary pressure is less than the preset pressure threshold, the drill bit is controlled to change from a backward state to a forward state until the drilling is completed.

[0116] In a possible implementation, the first determination module 310 is used to determine the heights of all holes to be drilled in a preset hole layout based on the displacement of the height adjustment cylinder of the umbrella drilling device;

[0117] Based on the heights of all holes to be drilled in the preset hole layout and the polar coordinates of all holes to be drilled, the drilling set of the target working arm, the drilling order of all holes in the drilling set, and the drilling information of all holes are determined; wherein the target working arm is any working arm of the umbrella drilling equipment, and the drilling information includes the hole number, polar diameter, polar angle and probe angle of the hole to be drilled.

[0118] The embodiment of the present invention provides a drilling device of an umbrella drilling device, wherein the umbrella drilling device includes a plurality of working arms, each of which has the same function and independently completes its own drilling work. Since a plurality of holes to be drilled are provided in the area to be drilled, it is necessary to first determine the drilling set of the target working arm, the drilling sequence of the holes to be drilled in the drilling set, and the drilling information of the holes to be drilled based on the position of the umbrella drilling device and the positions of all the holes to be drilled in the preset hole layout diagram. Next, based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position, and the preset completion time, determine the running trajectory of the target working arm moving from the current position to the first hole to be drilled. Then, when the drill bit of the target working arm moves from the current position to the position of the first hole to be drilled and the propulsion pressure reaches the first preset value, the hole is opened. Next, when the propulsion depth of the hole reaches the first preset depth, the hole is drilled. Finally, when the drilling depth reaches the preset drilling depth, the drilling is stopped, and the target working arm is controlled to move to the position of the second hole to be drilled, and the second hole to be drilled is drilled. By first determining the drilling set of each working arm pair, and then determining the drilling trajectory based on the drilling information in the drilling set, the target working arm can be accurately moved from the current position to the position of the first hole to be drilled. When reaching the position of the first hole to be drilled, different drilling procedures are performed according to different situations, thereby improving the drilling efficiency and the quality of the drilling.

[0119] Figure 4 Schematic diagram of an industrial computer provided by an embodiment of the present invention. Figure 4 As shown, the industrial computer 4 of this embodiment includes: a processor 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40. When the processor 40 executes the computer program 42, the steps in the drilling method embodiments of the above-mentioned umbrella drilling device are implemented, such as Figure 2 Alternatively, when the processor 40 executes the computer program 42, the functions of each module in the above-mentioned device embodiments are realized, for example, Figure 3 The functions of modules 310 to 350 are shown.

[0120] Exemplarily, the computer program 42 may be divided into one or more modules, which are stored in the memory 41 and executed by the processor 40 to implement the present invention. The one or more modules may be a series of computer program instruction segments that can implement specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the industrial computer 4. For example, the computer program 42 may be divided into Figure 3 Modules 310 to 350 are shown.

[0121] The industrial computer 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will appreciate that Figure 4 It is only an example of the industrial computer 4 and does not constitute a limitation of the industrial computer 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the industrial computer may also include input and output devices, network access devices, buses, etc.

[0122] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0123] The memory 41 may be an internal storage unit of the industrial computer 4, such as a hard disk or memory of the industrial computer 4. The memory 41 may also be an external storage device of the industrial computer 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the industrial computer 4. Further, the memory 41 may also include both an internal storage unit of the industrial computer 4 and an external storage device. The memory 41 is used to store the computer program and other programs and data required by the industrial computer. The memory 41 may also be used to temporarily store data that has been output or is to be output.

[0124] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0125] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0127] In the embodiments provided by the present invention, it should be understood that the disclosed device / industrial computer and method can be implemented in other ways. For example, the device / industrial computer embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0129] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0130] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the drilling method embodiments of the above-mentioned umbrella drilling equipment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium.

[0131] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A drilling method using an umbrella drill, characterized in that: The umbrella drilling equipment includes multiple working arms, and the drilling methods include: Based on the position of the umbrella drilling device and the positions of all holes to be drilled in the preset hole layout, a drilling set of the target working arm is determined, wherein the drilling set includes a drilling sequence of holes to be drilled and drilling information of the holes to be drilled; Determine a running trajectory of the target working arm from the current position to the first hole to be drilled based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position, and the preset completion time; When the drill bit of the target working arm moves from the current position to the first position to be drilled and the thrust pressure reaches a first preset value, drilling is performed; When the advancement depth of the opening reaches a first preset depth, drilling is performed; When the drilling depth reaches the preset drilling depth, drilling is stopped, and the target working arm is controlled to move to the position of the second hole to be drilled, and the second hole to be drilled is drilled; the second hole to be drilled is a hole to be drilled adjacent to the first hole to be drilled based on the drilling order of the holes to be drilled in the drilling set.

2. The drilling method of the umbrella drilling device according to claim 1, characterized in that: The method of determining the movement trajectory of the target working arm from the current position to the first hole to be drilled based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position, and the preset completion time includes: Based on the joint values ​​of each joint of the target working arm at the current position and the safe height distance, controlling the target working arm to move to a first intermediate position; wherein the first intermediate position and the current position differ only in height from the ground; Based on the drilling information of the first hole to be drilled and the safety height distance, determining the joint values ​​of each joint of the target working arm when the target working arm is in the second intermediate position; wherein the second intermediate position and the position of the first hole to be drilled differ only in height from the ground; Based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position and the preset completion time, the running trajectory of the target working arm from the current position to the first hole to be drilled is determined.

3. The drilling method of the umbrella drilling device according to claim 2, characterized in that: The method of determining the movement trajectory of the target working arm from the current position to the first hole to be drilled based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position, and the preset completion time comprises: Determine a running trajectory of the target working arm moving from the current position to the second intermediate position based on the joint values ​​of each joint of the target working arm at the first intermediate position, the joint values ​​of each joint of the target working arm at the second intermediate position, and the preset completion time; When the target working arm moves to the second intermediate position, the drill bit of the target working arm is controlled to descend from the second intermediate position until the pressure value of the compensation pressure sensor reaches a first preset pressure value, and then the drill bit is controlled to stop descending.

4. The drilling method of the umbrella drilling device according to claim 1, characterized in that: After determining that the target working arm moves from the current position to the running trajectory of the first hole to be drilled, the method further includes: When the drill bit of the target working arm moves from the current position to the first position to be drilled, the joint values ​​of each joint of the target working arm at the target position are obtained; the target position is any position in the trajectory from the current position to the first position to be drilled; Determine the projection positions of the thruster end and the drill rod bottom on the screen based on the joint values ​​of each joint of the target working arm at the target position; Based on the projection positions of the thruster end and the bottom of the drill rod on the screen, the position and posture of the drill rod on the screen are determined.

5. The drilling method of the umbrella drilling device according to claim 4, characterized in that: The process in which the drill bit of the target working arm moves from the current position to the first position to be drilled also includes: When multiple working arms of the umbrella drilling device are working simultaneously, the joint values ​​of each joint of all the target working arms in work at the current moment are obtained; Determine the joint values ​​of each joint of the target working arms in all the works at the current moment, and when it is determined that the target working arms in all the works interfere with each other, suspend the operation of the first working arm and readjust the operation trajectory of the first working arm; the first working arm is at least one target working arm in all the works.

6. The drilling method of the umbrella drilling equipment according to any one of claims 1 to 5, characterized in that: When the advancement depth of the opening reaches a first preset depth, drilling is performed, comprising: When the pressure value of the rotary pressure is greater than the preset pressure threshold, the drill bit is controlled to change from the forward state to the backward state, and the impact pressure is reduced; When the pressure value of the rotary pressure is less than a preset pressure threshold, the drill bit is controlled to change from a retreat state to an advance state until the drilling is completed.

7. The drilling method of the umbrella drilling equipment according to any one of claims 1 to 5, characterized in that: The method of determining the drilling set of the target working arm, the drilling sequence of all the holes in the drilling set, and the drilling information of all the holes based on the position of the umbrella drilling device and the positions of all the holes to be drilled in the preset hole layout diagram includes: Based on the displacement of the height adjustment cylinder of the umbrella drilling equipment, determine the height of all holes to be drilled in the preset hole layout; Based on the heights of all holes to be drilled in the preset hole layout and the polar coordinates of all holes to be drilled, the drilling set of the target working arm, the drilling order of all holes in the drilling set, and the drilling information of all holes are determined; wherein the target working arm is any working arm of the umbrella drilling equipment, and the drilling information includes the hole number, polar diameter, polar angle and probe angle of the hole to be drilled.

8. A drilling device for an umbrella drill, characterized in that: The umbrella drilling equipment includes multiple working arms, and the drilling device includes: A first determination module is used to determine a drilling set of a target working arm based on the position of the umbrella drilling device and the positions of all holes to be drilled in a preset hole layout diagram, wherein the drilling set includes a drilling sequence of holes to be drilled and drilling information of holes to be drilled; A second determination module is used to determine the running trajectory of the target working arm from the current position to the first hole to be drilled based on the drilling information of the first hole to be drilled, the safety height distance, the joint values ​​of each joint of the target working arm at the current position and the preset completion time; A hole drilling module, configured to drill a hole when the drill bit of the target working arm moves from the current position to the first position to be drilled and the thrust pressure reaches a first preset value; A drilling module, used for drilling when the advancement depth of the opening reaches a first preset depth; The hole-changing module is used to stop drilling when the drilling depth reaches a preset drilling depth, and control the target working arm to move to the position of a second hole to be drilled to drill the second hole to be drilled; the second hole to be drilled is a hole to be drilled adjacent to the first hole to be drilled based on the drilling order of the holes to be drilled in the drilling set.

9. An industrial computer, characterized in that: The method comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method according to any one of claims 1 to 7.

10. A four-arm umbrella drill, characterized in that: The four-arm umbrella drill comprises four working arms, each of which has the same structure and works independently, each of which is provided with a plurality of joints, and each of which performs drilling based on the method described in any one of claims 1 to 7.

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