Umbrella drill equipment working arm path planning method and device, industrial personal computer and four-arm umbrella drill

Abstract

The invention provides an umbrella drill equipment working arm path planning method and device, an industrial personal computer and a four-arm umbrella drill, and the method comprises the steps: determining the joint values of all joints when a drill bit on a target working arm is located at a current position and a first position based on the posture relation between umbrella drill equipment and a vertical shaft and the position of a drill hole corresponding to the target working arm; based on the joint value of each joint when the drill bit is located at the current position, determining the joint value of each joint when the drill bit is located at the second position; based on the joint value of each joint when the drill bit is located at the first position, determining the joint value of each joint when the drill bit is located at the third position; determining a movement time point set when the drill bit moves from the second position to the third position based on the preset movement duration and the data sending frequency; determining a joint value of each joint corresponding to each time node in the movement time point set; and determining a motion path of the target working arm. According to the invention, accurate positioning can be realized.

Description

Technical Field

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

[0002] The shaft drilling rig is a commonly used shaft construction equipment. When it is working, multiple operators are required to be at the bottom of the shaft to operate the working arm to perform drilling work. The drilling accuracy of this working mode is low, and it is easy to be injured by unexpected situations such as the external environment, drilling rig equipment, and operator errors. Therefore, it is extremely important to transfer the operator's working environment from underground to above ground. The four-arm intelligent umbrella drill can allow the operator to set the hole layout plan on the ground, and the intelligent umbrella drill automatically performs hole sequence planning, automatic positioning, drilling implementation and other actions, which not only increases the safety of operation, but also improves the accuracy of the operation.

[0003] The four-arm intelligent umbrella drill consists of four groups of working arms, each working independently. Each group of working arms needs to perform calculations after receiving the target hole information to obtain a motion plan from the current position to the target hole position, thereby guiding the working arms to complete automatic positioning work.

[0004] However, the current four-arm intelligent umbrella drill has a low degree of automation, and most of it still requires manual calculation and operation. However, due to different levels of manual proficiency, the positioning is not accurate. Summary of the invention

[0005] The embodiments of the present invention provide a method and device for planning the path of a working arm of an umbrella drill, an industrial computer and a four-arm umbrella drill, so as to solve the problem of inaccurate positioning of the current umbrella drill.

[0006] In a first aspect, an embodiment of the present invention provides a method for planning a path of a working arm of an umbrella drilling device, comprising:

[0007] Based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm, determine the joint values ​​of each joint when the drill bit on the target working arm is respectively located at the current position and the first position; wherein the first position is the position when the drill bit is located on the vertical line of the drill hole;

[0008] Based on the joint values ​​of each joint when the drill head is at the current position, determine the joint values ​​of each joint when the drill head is at the second position; the second position is located in the same plane as the current position, but the value of the second position in the z direction of the shaft coordinate system is determined by the safe height above the ground;

[0009] Based on the joint values ​​of the joints when the drill bit is at the first position, determine the joint values ​​of the joints when the drill bit is at the third position; the third position and the first position are located in the same plane, but the value of the third position in the z direction of the shaft coordinate system is determined by the safe height above the ground;

[0010] Based on the preset movement duration and the data transmission frequency, determining a movement time point set between the movement of the drill bit from the second position to the third position; the movement time point set includes a plurality of time nodes;

[0011] Determine the joint value of each joint corresponding to each time node in the motion time point set;

[0012] The motion path of the target working arm is determined based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position.

[0013] In a possible implementation, based on a preset movement duration and a data transmission frequency, determining a set of movement time points between the movement of the drill bit from the second position to the third position includes:

[0014] Based on the frequency of data transmission, the interval time period is calculated;

[0015] Based on the preset movement duration and the interval time period, a set of movement time points between the movement of the drill bit from the second position to the third position is determined.

[0016] In a possible implementation, determining the joint value of each joint corresponding to each time node in the motion time point set includes:

[0017] Based on the preset motion duration, the joint values ​​of each joint at the second position, the joint values ​​of each joint at the third position, the speed at the second position, and the speed at the third position, a motion trajectory is obtained by fitting; the motion trajectory is a cubic polynomial, and the speed at the second position and the speed at the third position are both 0;

[0018] Based on the motion trajectory, the joint value of each joint corresponding to each time node is determined.

[0019] In a possible implementation, based on the motion trajectory, determining the joint value of each joint corresponding to each time node includes:

[0020] Based on the motion trajectory, determine the first joint value of each joint corresponding to each time node;

[0021] Based on the height of the drill bit from the bottom of the shaft at the target time node, the distance between the top of the slide and the top support cylinder of the umbrella drill at the target time node, the distance between the target working arm and the shaft wall at the target time node, and the joint difference between adjacent time nodes, the joint values ​​of each joint corresponding to the target time node are updated to obtain the updated joint values ​​of each joint corresponding to the target time node; wherein the target time node is any one of the time nodes;

[0022] Based on the updated joint values ​​of each joint corresponding to all target time nodes, the joint values ​​of each joint corresponding to each time node are determined.

[0023] In a possible implementation, the target working arm is provided with a first joint, a second joint, a third joint and a fourth joint connected in sequence;

[0024] Based on the height of the drill bit from the bottom of the shaft at the target time node, the distance between the top of the slide and the top support cylinder of the umbrella drill at the target time node, the distance between the target working arm and the shaft wall at the target time node, and the joint difference between adjacent time nodes, the joint values ​​of each joint corresponding to the target time node are updated, including:

[0025] When the height of the drill bit from the bottom of the shaft at the target time node is less than the safe height above the ground, the joint value of the fourth joint corresponding to the target time node is updated based on the joint value when the drill bit is at the safe height above the ground;

[0026] When the distance between the top of the carriage and the top supporting cylinder of the umbrella drill at the target time node is less than 0, the joint values ​​of the second joint, the third joint and the fourth joint corresponding to the target time node are updated;

[0027] When the height of the drill bit from the bottom of the shaft at all target time nodes is greater than or equal to the safe height above the ground, and the distance between the top of the slide and the top support cylinder of the umbrella drill at all target time nodes is greater than or equal to 0, and the distance between the target working arm and the shaft wall at all target time nodes is greater than or equal to 0, and the joint difference between adjacent time nodes is greater than a preset difference threshold, a new time node is added between the adjacent nodes, and the joint values ​​of each joint corresponding to the new time node are determined.

[0028] In a possible implementation, the umbrella drill device is provided with four joints, each of which is driven by a linear cylinder, the first three joints are rotating angular joints, the joint values ​​of the first three joints are angle values, and the joint value of the last joint is a displacement value;

[0029] Based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position, the motion path of the working arm is determined, including:

[0030] Based on the structure of the target working arm, the displacement values ​​of the linear cylinder corresponding to the angle values ​​of the first three joints of the target working arm at all positions are calculated; all positions include each time node in the motion time point set and the first position;

[0031] Based on the displacement values ​​of the linear cylinders corresponding to the angle values ​​of the first three joints of the target working arm at all positions, the displacement value of the last joint, the preset movement duration and the data transmission frequency, the movement speeds of the linear cylinders of the four joints of the target working arm are determined;

[0032] Based on the displacement values ​​and speed values ​​of the linear cylinders of the four joints of the target working arm, the motion path of the target working arm is determined.

[0033] In a possible implementation, based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm, the method further includes:

[0034] The elongation of the cylinder of the umbrella drilling equipment is obtained to determine the position relationship between the umbrella drilling equipment and the shaft; wherein the elongation of the cylinder is obtained based on the displacement sensor of the height adjustment cylinder installed on the umbrella drilling equipment.

[0035] In a second aspect, an embodiment of the present invention provides a path planning device for a working arm of an umbrella drilling device, comprising:

[0036] A first determination module is used to determine the joint values ​​of each joint when the drill bit on the target working arm is located at the current position and the first position respectively based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm; wherein the first position is the position when the drill bit is located on the vertical line of the drill hole;

[0037] a second determination module, for determining, based on the joint values ​​of the joints when the drill head is at the current position, the joint values ​​of the joints when the drill head is at the second position; the second position is located in the same plane as the current position, but the value of the second position in the z direction of the shaft coordinate system is determined by the safe height above the ground;

[0038] a third determination module, for determining the joint values ​​of the joints of the drill bit when the drill bit is in a third position based on the joint values ​​of the joints of the drill bit when the drill bit is in the first position; the third position and the first position are located in the same plane, but the value of the third position in the z direction of the shaft coordinate system is determined by the safe height above the ground;

[0039] A fourth determination module is used to determine a set of movement time points between the movement of the drill bit from the second position to the third position based on a preset movement duration and a data transmission frequency; the movement time point set includes a plurality of time nodes;

[0040] A fifth determination module, used to determine the joint value of each joint corresponding to each time node in the motion time point set;

[0041] The path planning module is used to determine the motion path of the target working arm based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position.

[0042] In a third aspect, an embodiment of the present invention provides an industrial computer, comprising a memory and a processor, the memory being used to store computer programs, the processor being used to call and run the computer programs stored in the memory, and executing the steps of the method described in the first aspect or any possible implementation of the first aspect.

[0043] In a fourth 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 plans the motion path of the working arm based on the steps of the method described in the first aspect or any possible implementation method of the first aspect.

[0044] The embodiment of the present invention provides a method for planning the path of a working arm of an umbrella drilling device. First, based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm, the joint values ​​of each joint when the drill bit on the target working arm is respectively located at the current position and the first position are determined. Since the bottom of the shaft is uneven, in order to ensure that the drill bit does not collide with the bottom of the shaft, it is also necessary to determine the joint values ​​of each joint of the drill bit when the drill bit is at the second position based on the joint values ​​of each joint when the drill bit is at the current position. And based on the joint values ​​of each joint when the drill bit is at the first position, the joint values ​​of each joint when the drill bit is at the third position are determined. After determining the second position and the third position, it is also necessary to determine the set of movement time points between the movement of the drill bit from the second position to the third position based on the preset movement duration and the data transmission frequency. Next, it is also necessary to determine the joint values ​​of each joint corresponding to each time node in the movement time point set. Finally, based on the joint values ​​of each joint corresponding to each time node in the movement time point set and the joint values ​​of each joint at the first position, the movement path of the target working arm is determined. The present invention automatically calculates the joint value and movement speed of each joint through the position of the drilling hole, so that the working arm can move based on the set path, so that the hole can be drilled accurately and the accuracy of drilling positioning can be improved. In addition, in order to ensure that the working arm does not collide with the shaft during the movement, the joint value of each joint needs to be adjusted based on the safe height above the ground, so as to ensure the normal operation of the umbrella drilling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figure 1 It is a flow chart of the implementation of the path planning method of the working arm of the umbrella drilling equipment provided by the embodiment of the present invention;

[0047] Figure 2 is a working schematic diagram of a working arm of an umbrella drilling device provided by an embodiment of the present invention;

[0048] Figure 3 is a schematic structural diagram of an umbrella drilling device provided by an embodiment of the present invention;

[0049] Figure 4 It is a schematic diagram of the umbrella drilling equipment and shaft coordinates provided by an embodiment of the present invention;

[0050] Figure 5 It is a schematic diagram of whether a node needs to update a node value provided by an embodiment of the present invention;

[0051] Figure 6 It is a schematic diagram of calculating the displacement value of a linear cylinder by using the angle value of a joint provided in an embodiment of the present invention;

[0052] Figure 7 It is a structural schematic diagram of a working arm path planning device for an umbrella drilling device provided in an embodiment of the present invention;

[0053] Figure 8 It is a schematic diagram of an industrial computer provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] Traditional umbrella drilling equipment can only be operated manually. For example, the four working arms in a four-arm umbrella drilling require four operators to operate, and they need to operate in a vertical shaft. However, due to the different levels of manual proficiency, it is very easy to cause inaccurate positioning.

[0057] In order to solve the problems of the prior art, the embodiments of the present invention provide a method and device for planning the path of the working arm of an umbrella drill, an industrial computer and a four-arm umbrella drill. The following first introduces the method for planning the path of the working arm of an umbrella drill provided by the embodiments of the present invention.

[0058] See also Figure 1-2 , which shows a flow chart of the implementation of the umbrella drilling equipment working arm path planning method provided by an embodiment of the present invention, and is described in detail as follows:

[0059] S110, based on the posture joints of the umbrella drilling equipment and the shaft and the position of the drill hole corresponding to the target working arm, determine the joint values ​​of each joint when the drill bit on the target working arm is respectively located at the current position and the first position.

[0060] Among them, the first position is the position when the drill bit is located on the vertical line of the drill hole. The umbrella drilling equipment includes multiple working arms with exactly the same functions. Each working arm can work independently. Each working arm is provided with multiple joints, and each joint can be provided with a linear cylinder or an angle sensor. The multiple joints on each working arm work together to change the posture of the drilling tool on the slide, thereby completing the positioning of the working arm for different target hole positions. It should be noted that the target working arm here is any working arm.

[0061] See also Figure 3 The umbrella drill is a four-arm umbrella drill. The center of the four-arm umbrella drill is supported by a column. The bottom foot 14 is in contact with the bottom of the shaft by extending the lower height adjustment cylinder 13. The top of the umbrella drill contains a top support cylinder 11. The cylinder is supported to the shaft wall by extending the top support cylinder 11. The column 12 and the top support cylinder 11 work together to keep the umbrella drill stable during operation. The four-arm umbrella drill includes a working arm 100, a working arm 200, a working arm 300 and a working arm 400. The structures and functions of the four working arms are exactly the same. Taking the working arm 100 as an example, the working arm 100 includes a swing body 101, a movable arm 102, a crank arm 103, a carriage 104, a drilling tool 105 and a drill bit 106.

[0062] In this embodiment, the posture relationship between the umbrella drilling device and the shaft needs to be determined, and the posture relationship between the umbrella drilling device and the shaft can be determined by obtaining the elongation of the oil cylinder of the umbrella drilling device, wherein the elongation of the oil cylinder is obtained based on the displacement sensor of the height adjustment oil cylinder installed on the umbrella drilling device.

[0063] Set the Cartesian coordinate system of the umbrella drill equipment and the vertical shaft coordinate system. The vertical shaft adopts the polar coordinate system, where the origin of the umbrella drill equipment coordinate system is located at the top center of the umbrella drill column, and the origin of the vertical shaft coordinate system is located at the center of the bottom surface of the vertical shaft. Figure 4As shown. Extend the height adjustment cylinder until the bottom foot of the umbrella drill touches the bottom surface of the shaft. According to the extension of the height adjustment cylinder, calculate the z-direction value of the origin of the shaft coordinate system in the umbrella drill coordinate system. Since the shape of the shaft is circular, the specific direction of the x-axis does not affect the final effect. Therefore, in order to simplify the calculation, the x-axis direction of the shaft is set to be consistent with the x-axis direction of the umbrella drill. The Y-axis direction of the umbrella drill coordinate system is determined according to the right-hand rule. The final determined posture relationship between the umbrella drill equipment coordinate system and the shaft coordinate system is expressed by the transformation matrix express. Refers to the posture transformation matrix of the shaft coordinate system H relative to the umbrella drilling equipment coordinate system S. Figure 3 The target working arm in the figure includes 4 joints. The coordinate system of each joint is shown in the figure. Joint 4 is arranged on the center line of the slide drill bit.

[0064] The vertical shaft adopts the polar coordinate system, which better fits the shape characteristics of the vertical shaft and makes the description of drilling holes in the hole layout plan simpler and more convenient. Compared with the traditional Cartesian coordinate system, the calculation efficiency will be higher.

[0065] The pose transformation matrix refers to the new coordinate system 2 obtained by translating and rotating coordinate system 1. The matrix containing translation and rotation information is called the pose transformation matrix of coordinate system 2 relative to coordinate system 1. The matrix structure is

[0066]

[0067] in, is a 4×4 matrix, is the rotation matrix of coordinate system 2 relative to coordinate system 1, which is a 3×3 matrix containing rotation information. It is a 3×1 vector, representing the x, y, and z coordinates of the origin of coordinate system 2 at coordinate system 1, and contains displacement information.

[0068] In some embodiments, based on a preset hole arrangement scheme, the positions of the drill holes corresponding to the target working arm can be determined, and thus, the final positions of the joints on the target working arm can be determined based on the positions of the drill holes corresponding to the target working arm.

[0069] In this embodiment, the position and posture of the drilling hole corresponding to the working arm are obtained from the hole arrangement plan, including the coordinates of the drilling hole in the shaft coordinate system and the pitch angle of the drilling hole, and the matrix express. Refers to the matrix representation of the borehole k posture information in the shaft coordinate system H. Calculate the pose matrix of the drill hole k in the umbrella drill equipment coordinate system S According to the selected working arm, calculate the pose matrix of the working arm coordinate system 0 in the umbrella drilling equipment coordinate system S according to Calculate the pose matrix of drilling hole k in the working arm coordinate system 0 in For the matrix The inverse matrix of

[0070] When the drill bit on the target arm is located on the vertical line of the drill hole, the position of the drill bit m in the working arm coordinate system 0 is It is equal to the position of drilling k in the working arm coordinate system 0, that is, Combined with the composition structure of the working arm, according to The joint values ​​of the four joints on the working arm are calculated. Each joint is equipped with a linear cylinder drive, and the first three joints are rotating angular joints. Therefore, the joint values ​​of the first three joints are angle values, and the joint value of the last joint is the displacement value. Among them, The conversion matrix on the right side of the formula is the matrix obtained by applying the DH method to the working arm joint transformation, which includes the angle value α of the first joint 1 , the angle value of the second joint α 2 , the angle value of the third joint α 3 , displacement value of the fourth joint l 0 .

[0071] S120. Determine the joint values ​​of the joints when the drill head is at the second position based on the joint values ​​of the joints when the drill head is at the current position.

[0072] Among them, the second position and the current position are located in the same plane, but the value of the second position in the z direction of the shaft coordinate system is determined by the safe height above the ground, that is, the second position and the current position only differ in the value in the z direction, and the polar angle value is the same.

[0073] In order to prevent the lower end of the working arm from colliding with the bottom of the shaft, it is necessary to set a safe ground clearance according to the unevenness of the bottom of the shaft. The safe ground clearance is different for different bottom conditions of the shaft, and needs to be set according to the actual situation of the shaft. The safe ground clearance refers to the theoretical value set to avoid the working arm from colliding with these rocks during movement, as the bottom of the shaft formed after the explosion may be uneven and there may be rocks higher than the height of the umbrella drill foot support. It should be greater than the distance between the highest point of the bottom rock and the foot support.

[0074] In order to prevent the lower end of the working arm from colliding with the bottom of the well, the target working arm needs to be raised to a safe height above the ground at the current position, that is, the joint value of the last joint needs to be adjusted.

[0075] According to the four joint values ​​of the target working arm at the current position, the position and posture of the target working arm drill bit m in the shaft coordinate system H can be calculated. The z-direction position value is the height d of the drill bit from the bottom of the shaft. Let the joint value α of the current position of the target working arm be 1 ~α 3 unchanged, according to Calculate the z-direction value of the drill bit in the shaft coordinate system equal to the safe height above the ground d f When the displacement value of the fourth joint is l 1 .

[0076] The second position is located in the same plane as the current position. The second position and the current position are only different in the Z direction, and the polar angle values ​​are the same. At the second position, the joint values ​​of each joint are: The angle value of the first joint The angle value of the second joint The angle value of the third joint Displacement value of the fourth joint At the current position, the joint values ​​of each joint are: The angle value of the first joint The angle value of the second joint The angle value of the third joint Displacement value of the fourth joint

[0077] S130. Based on the joint values ​​of the joints when the drill bit is located at the first position, determine the joint values ​​of the joints when the drill bit is located at the third position.

[0078] The third position and the first position are located in the same plane, but the value of the third position in the z direction of the shaft coordinate system is determined by the safe height above the ground. The third position and the first position only differ in the value in the z direction, and the polar angle values ​​are the same.

[0079] Based on the same method in step S120, the joint values ​​of each joint when the drill bit is in the third position are determined. The joint values ​​of each joint in the third position are: the angle value of the first joint The angle value of the second joint The angle value of the third joint Displacement value of the fourth joint At the first position, the joint values ​​of each joint are: The angle value of the first joint The angle value of the second joint The angle value of the third joint Displacement value of the fourth joint

[0080] S140. Determine a set of movement time points when the drill bit moves from the second position to the third position based on a preset movement duration and a data transmission frequency.

[0081] The movement time point set includes multiple time nodes.

[0082] In some embodiments, the interval time period may be calculated first based on the data transmission frequency, and then a set of movement time points between the movement of the drill bit from the second position to the third position may be determined based on the preset movement duration and the interval time period.

[0083] In this embodiment, the preset movement duration is the time from the second position to the third position, which can be set to t. The data transmission frequency is f, then the interval time period According to the preset movement duration t, the total number of time nodes in the movement time point set is calculated as follows: Then each time node is 0, Δt, 2Δt…(n-1)Δt respectively.

[0084] S150, determining the joint value of each joint corresponding to each time node in the motion time point set.

[0085] In some embodiments, the motion trajectory can be firstly obtained by fitting based on the preset motion duration, the joint values ​​of each joint at the second position, the joint values ​​of each joint at the third position, the speed at the second position, and the speed at the third position. Then, based on the motion trajectory, the joint values ​​of each joint corresponding to each time node are determined. The target working arm is provided with a first joint, a second joint, a third joint, and a fourth joint connected in sequence.

[0086] In this embodiment, it has been determined that the joint values ​​of each joint at the second position are: the angle value of the first joint The angle value of the second joint The angle value of the third joint Displacement of the fourth joint At the third position, the joint values ​​of each joint are: The angle value of the first joint The angle value of the second joint The angle value of the third joint Displacement of the fourth joint The speed of each joint is set to 0 in the second position and the third position. Therefore, according to the preset motion duration, according to the cubic polynomial θ(t)=a 0 +a 1 t+a 2 t 2 +a 3 t 3 Fit the motion trajectory and obtain the coefficient a based on the joint values ​​and velocity values ​​of each joint at the second and third positions 0 ~a 3 The value of .

[0087] By fitting with a cubic polynomial, the target working arm can move according to the fitting result, with the speed of each joint cylinder changing from slow to fast, and then changing from fast to slow when it is about to reach the target point, thus saving the automatic positioning time of the working arm and ensuring the stability of the working arm movement.

[0088] In some embodiments, first, based on the motion trajectory, the first joint value of each joint corresponding to each time node may be determined.

[0089] Then, based on the height of the drill bit from the bottom of the shaft at the target time node, the distance between the top of the slide and the top support cylinder of the umbrella drill at the target time node, and the joint difference between adjacent time nodes, the joint values ​​of each joint corresponding to the target time node are updated to obtain the updated joint values ​​of each joint corresponding to the target time node. The target time node is any one of the time nodes.

[0090] Finally, based on the updated joint values ​​of each joint corresponding to all target time nodes, the joint values ​​of each joint corresponding to each time node are determined.

[0091] In this embodiment, based on the determined cubic polynomial θ(t)=a 0 +a 1 t+a 2 t 2 +a 3 t 3 , we can calculate the first joint value of each joint corresponding to each time node of 0, Δt, 2Δt…(n-1)Δt respectively, which can be recorded as Wherein, i represents the node sequence number of each time node in the motion time point set, 1≤i≤n.

[0092] In addition, see Figure 5 In order to prevent the target working arm from colliding with the bottom of the shaft and the top of the slide of the target working arm from colliding with the top support cylinder of the umbrella drill when the target working arm moves according to the first joint values ​​of each joint corresponding to each time node, it is also necessary to calculate whether the first joint values ​​of each joint corresponding to each time node meet the preset requirements. If not, the joint values ​​need to be updated.

[0093] In this embodiment, when the height of the drill bit from the bottom of the shaft at the target time node is less than the safe height above the ground, the target working arm will collide with the bottom of the shaft. In order to prevent the collision, the joint value of the fourth joint corresponding to the target time node can be updated based on the joint value when the drill bit is at the safe height above the ground.

[0094] Specifically, calculate the Get the height d of the drill bit m from the bottom of the shaft iIf d i <d f , where d f The displacement value of the fourth joint is calculated according to the calculation method of the joint value when the target working arm drill head is at the safe height above the ground. And order

[0095] In this embodiment, when the distance between the top of the carriage and the top support cylinder of the umbrella drill at the target time node is less than 0, the working arm will collide with the top support cylinder of the umbrella drill. In order to prevent the collision, the joint values ​​of the second joint and the third joint corresponding to the target time node can be updated.

[0096] Specifically, the position and posture of the top structure of the working arm thruster carriage mechanism (taking the top polygon vertices p1, p2, ... pl) in the umbrella drilling equipment coordinate system at each time node i can be calculated: And determine whether the top points will collide with the top support cylinder of the umbrella drill. If not, proceed to the next step of calculation. Otherwise, update the angle value of the second joint to The angle value of the third joint is updated to Then, the displacement value of the fourth joint is recalculated according to the changed joint values ​​of the second and third joints. The joint value of the newly obtained i time node is recalculated to see whether it will collide with the top support cylinder of the umbrella drill, and so on, until the top does not collide with the top support cylinder of the umbrella drill.

[0097] In addition, when the updated angle values ​​of the second joint and the third joint reach the preset angle threshold, but still cannot satisfy the non-collision of the two structures, it is considered that the target working arm cannot move to the drilling position, and the drilling positioning is abandoned.

[0098] When the height of the drill bit from the bottom of the shaft is not lower than the safe height above the ground and the top of the slide mechanism does not collide with the top support cylinder of the umbrella drill, calculate whether there is a collision between the working arm and the shaft wall based on the four joint values ​​of the current node. If there is a collision, it is considered that the target working arm cannot move to the drilling position, and the drilling positioning is abandoned.

[0099] In this embodiment, when it is determined that the height of the drill bit from the bottom of the shaft at all target time nodes is greater than or equal to the safe height above the ground, and the distance between the top of the slide and the top support cylinder of the umbrella drill at all target time nodes is greater than or equal to 0, and the distance between the target working arm and the shaft wall at all target time nodes is greater than or equal to 0, that is, when there is no risk of collision, it is also necessary to calculate the joint difference between adjacent time nodes. The first joint, the second joint, and the third joint are all angle values, and the fourth joint is a displacement value. The angle difference calculation formula is:

[0100]

[0101] in, is the numerical difference between the jth joint at time node i and i+1 in the motion time point set, is the value of the jth joint in time node i in the set of motion time points.

[0102] The calculation formula of displacement difference is:

[0103]

[0104] in, Represents the numerical difference between the fourth joint at time nodes i and i+1 in the set of motion time points;

[0105] Represents the value of the fourth joint in time node i in the set of motion time points.

[0106] If the difference of the jth joint at time node i is greater than the maximum angle difference Δα within the set interval time period max / Displacement difference Δl max , then add the middle point i1 between the two time nodes and let the time joint value or The remaining joint differences are not greater than the maximum difference. or After the increase, the number of all position points n2 changes from n to n+1. At this time, the angle difference / displacement difference of each joint between position points i1 and i+1 is calculated. If there is still or If the above method is used, the intermediate point i2 is continued to be added, and so on. The angle values ​​or displacement values ​​of the joints at the n2 position points are sorted and combined as a set of motion time points.

[0107] S160, determining a motion path of the target working arm based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position.

[0108] In some embodiments, the umbrella drill device is provided with four joints, each of which is driven by a linear cylinder, the first three joints are rotating angular joints, the joint values ​​of the first three joints are angle values, and the joint value of the last joint is a displacement value. An angle sensor can be installed at each joint, so that the movement speed of each time node can be determined based on the angle difference between two adjacent time nodes and the movement time of the two time nodes.

[0109] In some embodiments, the umbrella drill device is provided with four joints, each of which is driven by a linear cylinder, the first three joints are rotating angular joints, the joint values ​​of the first three joints are angle values, and the joint value of the last joint is a displacement value. A displacement sensor can be installed at each joint. Since a displacement sensor is installed but the angle value is measured, the angle value needs to be converted into a displacement value.

[0110] In some embodiments, first, based on the structure of the target working arm, the displacement values ​​of the linear cylinder corresponding to the angle values ​​of the first three joints of the target working arm at all positions may be calculated, wherein all positions include each time node in the motion time point set and the first position.

[0111] Then, based on the displacement values ​​of the linear cylinders corresponding to the angle values ​​of the first three joints of the target working arm at all positions, the displacement value of the last joint, the preset movement duration and the data sending frequency, the movement speeds of the linear cylinders of the four joints of the target working arm are determined.

[0112] Finally, the motion path of the target working arm is determined based on the displacement and velocity values ​​of the linear cylinders of the four joints of the target working arm.

[0113] In this embodiment, if Figure 6 The method of calculating the displacement value of the linear cylinder from the angle value of the joint shown in the figure. The first joint, the second joint and the third joint are all driven by the linear cylinder to rotate. The head and tail installation positions of the cylinder and the joint hinge point form a triangle. The distance between the head and tail of the cylinder is

[0114]

[0115] Among them, α is the angle between the hinge point at the joint and the line connecting the head and tail of the cylinder, L1 and L2 are the distances between the two ends of the cylinder and the hinge point of the joint. When the elongation of the linear cylinder is 0, the distance between the head and tail is s0, then the displacement of the linear cylinder is s ′ =s-s0.

[0116] According to the displacement value of the linear cylinder at each time node and the interval time period, the action speed value of the linear cylinder at each time node is calculated. According to the formula Perform calculations,

[0117] in, represents the motion speed of the linear cylinder of the jth joint at the i-th time node, represents the displacement value of the jth joint at the i-th time node, Δt represents the interval time period, i=1,2,…,n2+1, j=1,2,3.

[0118] The fourth joint tests the displacement value, so there is no need to convert it. It is only necessary to calculate the movement speed of the fourth joint at each time node based on the displacement value of the fourth joint at each time node and the interval time period.

[0119] After determining the joint values ​​of each joint corresponding to each time node in the motion time point set, as well as the joint values ​​of each joint at the first position, these data can be sent to the control mechanism to make the linear cylinders at each joint of the target robotic arm move according to the planned path.

[0120] The working arm path planning method provided by the present invention first determines the joint values ​​of each joint when the drill bit on the target working arm is located at the current position and the first position respectively based on the posture relationship between the umbrella drilling device and the shaft and the position of the borehole corresponding to the target working arm. Since the bottom of the shaft is uneven, in order to ensure that the drill bit does not collide with the bottom of the shaft, it is also necessary to determine the joint values ​​of each joint when the drill bit is in the second position based on the joint values ​​of each joint when the drill bit is in the current position. And based on the joint values ​​of each joint when the drill bit is in the first position, determine the joint values ​​of each joint when the drill bit is in the third position. After determining the second position and the third position, it is also necessary to determine the set of movement time points between the movement of the drill bit from the second position to the third position based on the preset movement duration and the data transmission frequency. Then, it is also necessary to determine the joint values ​​of each joint corresponding to each time node in the movement time point set. Finally, based on the joint values ​​of each joint corresponding to each time node in the movement time point set and the joint values ​​of each joint at the first position, determine the movement path of the target working arm. The present invention automatically calculates the joint value and movement speed of each joint through the position of the drilling hole, so that the working arm can move based on the set path, so that the hole can be drilled accurately and the accuracy of drilling positioning can be improved. In addition, in order to ensure that the working arm does not collide with the shaft during the movement, the joint value of each joint needs to be adjusted based on the safe height above the ground, so as to ensure the normal operation of the umbrella drilling equipment.

[0121] 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.

[0122] Based on the umbrella drilling equipment working arm path planning method provided in the above embodiment, the present invention also provides a specific implementation of the umbrella drilling equipment working arm path planning device applied to the umbrella drilling equipment working arm path planning method. Please refer to the following embodiment.

[0123] like Figure 7 As shown, a device 700 for planning the path of a working arm of an umbrella drilling device is provided, and the device comprises:

[0124] The first determination module 710 is used to determine the joint values ​​of each joint when the drill bit on the target working arm is located at the current position and the first position respectively based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm; wherein the first position is the position when the drill bit is located on the vertical line of the drill hole;

[0125] A second determination module 720 is used to determine the joint values ​​of each joint when the drill head is in a second position based on the joint values ​​of each joint when the drill head is in the current position; the second position is located in the same plane as the current position, but the value of the second position in the z direction of the shaft coordinate system is determined by the safe height above the ground;

[0126] A third determination module 730 is used to determine the joint values ​​of each joint when the drill bit is in a third position based on the joint values ​​of each joint when the drill bit is in the first position; the third position is located in the same plane as the first position, but the value of the third position in the z direction of the shaft coordinate system is determined by the safe height above the ground;

[0127] A fourth determination module 740 is used to determine a set of movement time points between the movement of the drill bit from the second position to the third position based on a preset movement duration and a data transmission frequency; the movement time point set includes a plurality of time nodes;

[0128] A fifth determination module 750 is used to determine the joint value of each joint corresponding to each time node in the motion time point set;

[0129] The path planning module 760 is used to determine the motion path of the target working arm based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position.

[0130] In some implementations, the fourth determination module 740 is configured to calculate the interval time period based on the data transmission frequency;

[0131] Based on the preset movement duration and the interval time period, a set of movement time points between the movement of the drill bit from the second position to the third position is determined.

[0132] In some embodiments, the fifth determination module 750 is used to fit the motion trajectory based on the preset motion duration, the joint values ​​of each joint at the second position, the joint values ​​of each joint at the third position, the speed at the second position, and the speed at the third position; the motion trajectory is a cubic polynomial, and the speed at the second position and the speed at the third position are both 0;

[0133] Based on the motion trajectory, the joint value of each joint corresponding to each time node is determined.

[0134] In some embodiments, the fifth determination module 750 is used to determine the first joint value of each joint corresponding to each time node based on the motion trajectory;

[0135] Based on the height of the drill bit from the bottom of the shaft at the target time node, the distance between the top of the slide and the top support cylinder of the umbrella drill at the target time node, the distance between the target working arm and the shaft wall at the target time node, and the joint difference between adjacent time nodes, the joint values ​​of each joint corresponding to the target time node are updated to obtain the updated joint values ​​of each joint corresponding to the target time node; wherein the target time node is any one of the time nodes;

[0136] Based on the updated joint values ​​of each joint corresponding to all target time nodes, the joint values ​​of each joint corresponding to each time node are determined.

[0137] In some embodiments, the target working arm is provided with a first joint, a second joint, a third joint, and a fourth joint connected in sequence;

[0138] A fifth determining module 750 is configured to update the joint value of the fourth joint corresponding to the target time node based on the joint value when the drill bit is at the safe height above the ground when the height of the drill bit from the bottom of the shaft at the target time node is less than the safe height above the ground;

[0139] When the distance between the top of the carriage and the top supporting cylinder of the umbrella drill at the target time node is less than 0, the joint values ​​of the second joint, the third joint and the fourth joint corresponding to the target time node are updated;

[0140] When the height of the drill bit from the bottom of the shaft at all target time nodes is greater than or equal to the safe height above the ground, and the distance between the top of the slide and the top support cylinder of the umbrella drill at all target time nodes is greater than or equal to 0, and the distance between the target working arm and the shaft wall at all target time nodes is greater than or equal to 0, and the joint difference between adjacent time nodes is greater than a preset difference threshold, a new time node is added between the adjacent nodes, and the joint values ​​of each joint corresponding to the new time node are determined.

[0141] In some embodiments, the umbrella drill device is provided with four joints, each of which is driven by a linear cylinder, the first three joints are rotating angular joints, the joint values ​​of the first three joints are angle values, and the joint value of the last joint is a displacement value;

[0142] The path planning module 760 is used to calculate the displacement values ​​of the linear cylinder corresponding to the angle values ​​of the first three joints of the target working arm at all positions based on the structure of the target working arm; all positions include each time node in the motion time point set and the first position;

[0143] Based on the displacement values ​​of the linear cylinders corresponding to the angle values ​​of the first three joints of the target working arm at all positions, the displacement value of the last joint, the preset movement duration and the data transmission frequency, the movement speeds of the linear cylinders of the four joints of the target working arm are determined;

[0144] Based on the displacement values ​​and speed values ​​of the linear cylinders of the four joints of the target working arm, the motion path of the target working arm is determined.

[0145] In some embodiments, the first determination module 710 is used to obtain the cylinder extension of the umbrella drilling equipment and determine the posture relationship between the umbrella drilling equipment and the shaft; wherein the cylinder extension is obtained based on the height adjustment cylinder displacement sensor installed on the umbrella drilling equipment.

[0146] The embodiment of the present invention provides a path planning device for a working arm of an umbrella drilling device. First, based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm, the joint values ​​of each joint when the drill bit on the target working arm is respectively located at the current position and the first position are determined. Since the bottom of the shaft is uneven, in order to ensure that the drill bit does not collide with the bottom of the shaft, it is also necessary to determine the joint values ​​of each joint when the drill bit is at the second position based on the joint values ​​of each joint when the drill bit is at the current position. And based on the joint values ​​of each joint when the drill bit is at the first position, the joint values ​​of each joint when the drill bit is at the third position are determined. After determining the second position and the third position, it is also necessary to determine the set of movement time points between the movement of the drill bit from the second position to the third position based on the preset movement duration and the data transmission frequency. Next, it is also necessary to determine the joint values ​​of each joint corresponding to each time node in the movement time point set. Finally, based on the joint values ​​of each joint corresponding to each time node in the movement time point set and the joint values ​​of each joint at the first position, the movement path of the target working arm is determined. The present invention automatically calculates the joint value and movement speed of each joint through the position of the drilling hole, so that the working arm can move based on the set path, so that the hole can be drilled accurately and the accuracy of drilling positioning can be improved. In addition, in order to ensure that the working arm does not collide with the shaft during the movement, the joint value of each joint needs to be adjusted based on the safe height above the ground, so as to ensure the normal operation of the umbrella drilling equipment.

[0147] Figure 8 Schematic diagram of an industrial computer provided by an embodiment of the present invention. Figure 8 As shown, the industrial computer 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned umbrella drilling equipment working arm path planning method embodiments are implemented, such as Figure 1 Alternatively, when the processor 80 executes the computer program 82, the functions of the modules in the above-mentioned device embodiments are realized, for example, Figure 7 Functions of modules 710 to 760 are shown.

[0148] Exemplarily, the computer program 82 may be divided into one or more modules, which are stored in the memory 81 and executed by the processor 80 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 82 in the industrial computer 8. For example, the computer program 82 may be divided into Figure 7 Modules 710 to 760 are shown.

[0149] The industrial computer 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 It is only an example of the industrial computer 8 and does not constitute a limitation of the industrial computer 8. 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.

[0150] The processor 80 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.

[0151] The memory 81 may be an internal storage unit of the industrial computer 8, such as a hard disk or memory of the industrial computer 8. The memory 81 may also be an external storage device of the industrial computer 8, 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 8. Further, the memory 81 may also include both an internal storage unit of the industrial computer 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the industrial computer. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0152] On the other hand, the present invention also 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 plans the motion path of the working arm based on any method of the first aspect.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 the processor, the steps of the above-mentioned umbrella drilling equipment working arm path planning method embodiments 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.

[0160] 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 method for planning the path of a working arm of an umbrella drilling device, characterized in that: include: Based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm, determine the joint values ​​of each joint when the drill bit on the target working arm is respectively located at the current position and the first position; wherein the first position is the position when the drill bit is located on the vertical line of the drill hole; Based on the joint values ​​of each joint when the drill head is at the current position, determine the joint values ​​of each joint when the drill head is at a second position; the second position is located in the same plane as the current position, but the value of the second position in the z direction of the shaft coordinate system is determined by the safe height above the ground; Based on the joint values ​​of the joints when the drill bit is in the first position, determine the joint values ​​of the joints when the drill bit is in the third position; the third position and the first position are located in the same plane, but the value of the third position in the z direction of the shaft coordinate system is determined by the safe height above the ground; Based on the preset movement duration and the data transmission frequency, determining a movement time point set between the movement of the drill bit from the second position to the third position; the movement time point set includes a plurality of time nodes; Determine the joint value of each joint corresponding to each time node in the set of motion time points; The motion path of the target working arm is determined based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position.

2. The umbrella drilling equipment working arm path planning method according to claim 1, characterized in that: The step of determining a set of movement time points between the movement of the drill bit from the second position to the third position based on a preset movement duration and a data transmission frequency includes: Calculate the interval time period based on the data sending frequency; Based on the preset movement duration and the interval time period, a set of movement time points between the movement of the drill bit from the second position to the third position is determined.

3. The umbrella drilling equipment working arm path planning method according to claim 1, characterized in that: The determining of the joint value of each joint corresponding to each time node in the set of motion time points includes: Based on the preset movement duration, the joint values ​​of each joint at the second position, the joint values ​​of each joint at the third position, the speed at the second position, and the speed at the third position, a movement trajectory is obtained by fitting; the movement trajectory is a cubic polynomial, and the speed at the second position and the speed at the third position are both 0; Based on the motion trajectory, the joint value of each joint corresponding to each time node is determined.

4. The umbrella drilling equipment working arm path planning method according to claim 3, characterized in that: Determining the joint value of each joint corresponding to each time node based on the motion trajectory includes: Based on the motion trajectory, determining a first joint value of each joint corresponding to each time node; Based on the height of the drill bit from the bottom of the shaft at the target time node, the distance between the top of the slide and the top supporting cylinder of the umbrella drill at the target time node, the distance between the target working arm and the shaft wall at the target time node, and the joint difference between adjacent time nodes, the joint values ​​of each joint corresponding to the target time node are updated to obtain the updated joint values ​​of each joint corresponding to the target time node; wherein the target time node is any one of the time nodes; Based on the updated joint values ​​of the joints corresponding to all the target time nodes, the joint values ​​of the joints corresponding to the time nodes are determined.

5. The umbrella drilling equipment working arm path planning method according to claim 4, characterized in that: The target working arm is provided with a first joint, a second joint, a third joint and a fourth joint connected in sequence; The updating of the joint values ​​of each joint corresponding to the target time node based on the height of the drill bit from the bottom of the shaft at the target time node, the distance between the top of the slide and the top support cylinder of the umbrella drill at the target time node, the distance between the target working arm and the shaft wall at the target time node, and the joint difference between adjacent time nodes includes: When the height of the drill bit from the bottom of the shaft at the target time node is less than the safe height above the ground, based on the joint value when the drill bit is at the safe height above the ground, the joint value of the fourth joint corresponding to the target time node is updated; When the distance between the top of the carriage and the top supporting cylinder of the umbrella drill at the target time node is less than 0, the joint values ​​of the second joint, the third joint and the fourth joint corresponding to the target time node are updated; When the height of the drill bit from the bottom of the shaft at all the target time nodes is greater than or equal to the safe height above the ground, and the distance between the top of the slide and the top support cylinder of the umbrella drill at all the target time nodes is greater than or equal to 0, and the distance between the target working arm and the shaft wall at all the target time nodes is greater than or equal to 0, and the joint difference between the adjacent time nodes is greater than the preset difference threshold, a new time node is added between the adjacent nodes, and the joint values ​​of each joint corresponding to the new time node are determined.

6. The umbrella drilling equipment working arm path planning method according to any one of claims 1 to 5, characterized in that: The umbrella drill device is provided with four joints, each of which is driven by a linear cylinder, the first three joints are rotating angular joints, the joint values ​​of the first three joints are angle values, and the joint value of the last joint is a displacement value; The determining the motion path of the working arm based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position includes: Based on the structure of the target working arm, calculating the displacement values ​​of the linear cylinder corresponding to the angle values ​​of the first three joints of the target working arm at all positions; the all positions include each time node in the set of motion time points and the first position; Determine the movement speed of the linear cylinders of the four joints of the target working arm based on the displacement values ​​of the linear cylinders corresponding to the angle values ​​of the first three joints of the target working arm at all positions, the displacement value of the last joint, the preset movement duration and the data transmission frequency; The motion path of the target working arm is determined based on the displacement values ​​and speed values ​​of the linear cylinders of the four joints of the target working arm.

7. The umbrella drilling equipment working arm path planning method according to any one of claims 1 to 5, characterized in that: Before the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm is determined, the method further includes: The elongation of the cylinder of the umbrella drilling equipment is obtained to determine the posture relationship between the umbrella drilling equipment and the shaft; wherein the elongation of the cylinder is obtained based on a height adjustment cylinder displacement sensor installed on the umbrella drilling equipment.

8. A path planning device for a working arm of an umbrella drilling device, characterized in that: include: A first determination module is used to determine the joint values ​​of each joint when the drill bit on the target working arm is located at the current position and the first position respectively based on the posture relationship between the umbrella drilling device and the shaft and the position of the drill hole corresponding to the target working arm; wherein the first position is the position when the drill bit is located on the vertical line of the drill hole; a second determination module, for determining, based on the joint values ​​of the joints when the drill head is at the current position, the joint values ​​of the joints when the drill head is at the second position; the second position is located in the same plane as the current position, but the value of the second position in the z direction of the shaft coordinate system is determined by the safe height above the ground; a third determination module, for determining the joint values ​​of the joints of the drill bit when the drill bit is in a third position based on the joint values ​​of the joints of the drill bit when the drill bit is in the first position; the third position and the first position are located in the same plane, but the value of the third position in the z direction of the shaft coordinate system is determined by the safe height above the ground; A fourth determination module is used to determine a set of movement time points between the movement of the drill bit from the second position to the third position based on a preset movement duration and a data transmission frequency; the set of movement time points includes a plurality of time nodes; A fifth determination module, used to determine the joint value of each joint corresponding to each time node in the set of movement time points; A path planning module is used to determine the motion path of the target working arm based on the joint values ​​of each joint corresponding to each time node in the motion time point set and the joint values ​​of each joint at the first position.

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 plans the motion path of the working arm based on the method described in any one of claims 1-7.

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