Method, device, industrial control computer and four-arm jumbo drill for path planning of working arm of jumbo drill equipment

Abstract

The present invention provides a method and device for path planning of the working arm of a jumbo drill, an industrial control computer, and a four-arm jumbo drill. The method includes: determining the joint values of each joint when the drill bits on the target working arm are located at the current position and the first position respectively based on the pose relationship between the jumbo drill equipment and the shaft and the positions of the drill holes corresponding to the target working arm; determining 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; determining the joint values of each joint when the drill bit is at the third position based on the joint values of each joint when the drill bit is at the first position; determining a set of motion time points between the second position and the third position of the drill bit based on a preset motion duration and data transmission frequency; determining the joint values of each joint corresponding to each time node in the set of motion time points; and determining the motion path of the target working arm. The present invention can accurately perform positioning.

Description

Technical Field

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

[0002] A shaft drill is a commonly used shaft construction equipment at present. During its operation, multiple operators are required to be located at the bottom of the shaft and operate the working arms respectively to perform drilling operations. This working mode has a low drilling accuracy and is prone to sudden situations such as the external environment, drill equipment, and human operation errors, resulting in harm to the operators. Therefore, it is of great significance to transfer the working environment of the operators from underground to the ground. The four-arm intelligent umbrella drill can set the hole layout plan by the operator on the ground, and the intelligent umbrella drill automatically performs hole sequence planning, automatic positioning, drilling implementation, etc. actions, which not only improves the operation safety but also improves the operation accuracy.

[0003] The four-arm intelligent umbrella drill includes four groups of working arms, each working independently. Each group of working arms needs to calculate after receiving the target hole information to obtain a motion plan for moving from the current position to the target hole position, so as to guide the working arm to complete the automatic positioning work.

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

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

[0006] In a first aspect, an embodiment of the present invention provides a method for path planning of a working arm of an umbrella drill equipment, including:

[0007] Based on the pose relationship between the umbrella drill 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 located at the current position and the first position respectively; wherein, the first position is the position when the drill bit is on the vertical line of the drill hole;

[0008] Based on the joint values of each joint when the drill bit is located at the current position, determine the joint values of each joint when the drill bit is at the second position; the second position and the current position are 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 from the ground;

[0009] Determine the joint values of each joint when the drill bit is in the third position based on the joint values of each joint when the drill bit is in the first position; the third position and the first position are 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 from the ground;

[0010] Based on the preset motion duration and data sending frequency, determine the set of motion time points between the drill bit moving from the second position to the third position; the set of motion time points includes multiple time nodes;

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

[0012] Based on the joint values of each joint corresponding to each time node in the set of motion time points, and the joint values of each joint when in the first position, determine the motion path of the target working arm.

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

[0014] Calculate the interval time period based on the data sending frequency;

[0015] Based on the preset motion duration and the interval time period, determine the set of motion time points between the drill bit moving from the second position to the third position.

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

[0017] Based on the preset motion duration, the joint values of each joint when in the second position, the joint values of each joint when in the third position, the speed at the second position, and the speed at the third position, fit to obtain a motion trajectory; 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, determine the joint values of each joint corresponding to each time node.

[0019] In a possible implementation, based on the motion trajectory, determining the joint values 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] Update 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 carriage and the support cylinder at the top of the jumbo 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, to obtain the updated joint values of each joint corresponding to the target time node; where the target time node is any one of the time nodes;

[0022] Determine the joint values of each joint corresponding to each time node based on the updated joint values of each joint corresponding to all target time nodes.

[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] Updating 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 carriage and the support cylinder at the top of the jumbo 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:

[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 from the ground, 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 from the ground;

[0026] When the distance between the top of the carriage and the support cylinder at the top of the jumbo drill at the target time node is less than 0, update the joint values of the second joint, the third joint, and the fourth joint corresponding to the target time node;

[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 from the ground, and the distance between the top of the carriage and the support cylinder at the top of the jumbo 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 the preset difference threshold, add new time nodes between adjacent nodes and determine the joint values of each joint corresponding to the new time nodes.

[0028] In a possible implementation, the jumbo drill equipment is provided with four joints, each joint is driven by a linear cylinder, the first 3 joints are rotating angular joints, the joint values of the first 3 joints are angle values, and the joint value of the last joint is a displacement value;

[0029] Determine the movement path of the working arm based on the joint values of each joint corresponding to each time node in the set of movement time points and the joint values of each joint at the first position, including:

[0030] Based on the structure of the target working arm, calculate the displacement values of the linear cylinders corresponding to the angle values of the first 3 joints of the target working arm at all positions; all positions include each time node in the set of motion time points and the first position.

[0031] Based on the displacement values of the linear cylinders corresponding to the angle values of the first 3 joints of the target working arm at all positions, the displacement value of the last joint, the preset motion duration, and the data transmission frequency, determine the motion speeds of the linear cylinders of the 4 joints of the target working arm.

[0032] Based on the displacement values and speed values of the linear cylinders of the 4 joints of the target working arm, determine the motion path of the target working arm.

[0033] In a possible implementation, before determining the pose relationship between the jumbo drill equipment and the shaft and the position of the borehole corresponding to the target working arm, it further includes:

[0034] Obtain the elongation of the cylinder of the jumbo drill equipment to determine the pose relationship between the jumbo drill equipment and the shaft; wherein, the elongation of the cylinder is obtained based on the displacement sensor of the height-adjusting cylinder installed on the jumbo drill equipment.

[0035] In a second aspect, an embodiment of the present invention provides a working arm path planning device for a jumbo drill equipment, including:

[0036] A first determination module, configured to determine the joint values of each joint of the drill bit on the target working arm when it is located at the current position and the first position respectively based on the pose relationship between the jumbo drill equipment and the shaft and the position of the borehole corresponding to the target working arm; wherein, the first position is the position when the drill bit is on the vertical line of the borehole.

[0037] A second determination module, configured to determine the joint values of each joint of the drill bit when it is at the second position based on the joint values of each joint when the drill bit is at the current position; the second position and the current position are 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 from the ground.

[0038] A third determination module, configured to determine the joint values of each joint of the drill bit when it is at the third position based on the joint values of each joint when the drill bit is at the first position; the third position and the first position are 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 from the ground.

[0039] A fourth determination module, configured to determine the set of motion time points between the second position and the third position of the drill bit based on the preset motion duration and the data transmission frequency; the set of motion time points includes multiple time nodes.

[0040] A fifth determination module, configured to determine the joint values of each joint corresponding to each time node in the set of motion time points.

[0041] A path planning module, configured to determine a motion path of a target working arm based on joint values of each joint corresponding to each time node in a set of motion time points and joint values of each joint at a first position.

[0042] In a third aspect, an embodiment of the present invention provides an industrial control computer, including a memory and a processor. 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 steps of the method described in the first aspect or any possible implementation manner of the first aspect above.

[0043] In a fourth aspect, an embodiment of the present invention provides a four-arm raiseborer. The four-arm raiseborer includes four working arms. The structures of each working arm are the same and each works independently. A plurality of joints are provided on each working arm, and each working arm plans the motion path of the working arm according to the steps of the method described in the first aspect or any possible implementation manner of the first aspect above.

[0044] An embodiment of the present invention provides a method for path planning of a working arm of a raiseborer device. First, based on the pose relationship between the raiseborer 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 located at the current position and the first position respectively. 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 located at the second position based on the joint values of each joint when the drill bit is located at the current position. And determine the joint values of each joint when the drill bit is located at the third position based on the joint values of each joint when the drill bit is located at the first position. After determining the second position and the third position, it is also necessary to determine a set of motion time points between the second position and the third position of the drill bit based on a preset motion duration and data transmission frequency. Then, it is also necessary to determine the joint values of each joint corresponding to each time node in the set of motion time points. Finally, based on the joint values of each joint corresponding to each time node in the set of motion time points and the joint values of each joint at the first position, determine the motion path of the target working arm. The present invention can automatically calculate the joint values and motion speeds of each joint through the position of the drill hole, so that the working arm can move based on the set path, thereby accurately drilling and improving the accuracy of drilling positioning. In addition, in order to ensure that the working arm does not collide with the shaft during the motion process, it is also necessary to adjust the joint values of each joint based on the safe height from the ground, so as to ensure the normal operation of the raiseborer device. Description of the Drawings

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0046] Figure 1 is the implementation flowchart of the working arm path planning method for the raise borer equipment provided by the embodiments of the present invention;

[0047] Figure 2 is the working schematic diagram of the working arm of the raise borer equipment provided by the embodiments of the present invention;

[0048] Figure 3 is the structural schematic diagram of the raise borer equipment provided by the embodiments of the present invention;

[0049] Figure 4 is the schematic diagram of the raise borer equipment and the shaft coordinates provided by the embodiments of the present invention;

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

[0051] Figure 6 is the schematic diagram of calculating the displacement value of the linear oil cylinder based on the angle value of the joint provided by the embodiments of the present invention;

[0052] Figure 7 is the structural schematic diagram of the working arm path planning device for the raise borer equipment provided by the embodiments of the present invention;

[0053] Figure 8 is the schematic diagram of the industrial control computer provided by the embodiments of the present invention. Detailed implementation manners

[0054] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0055] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will be described through specific embodiments in conjunction with the drawings.

[0056] Traditional raise borer equipment can only be manually operated. For example, the four working arms in a four-arm raise borer require four operators to operate, and the operation needs to be carried out underground in the shaft. However, due to the different levels of proficiency of the operators, it is very easy to cause inaccurate positioning.

[0057] To solve the problems of the prior art, an embodiment of the present invention provides a method and device for path planning of the working arm of a raise boring machine, an industrial control computer, and a four-arm raise boring machine. First, the method for path planning of the working arm of the raise boring machine provided by the embodiment of the present invention will be introduced below.

[0058] See Figure 1-2 , which shows the implementation flowchart of the method for path planning of the working arm of the raise boring machine provided by the embodiment of the present invention, and is described in detail as follows:

[0059] S110. Based on the pose joints of the raise boring machine and the shaft and the positions of the drill holes corresponding to the target working arm, determine the joint values of each joint when the drill bits on the target working arm are located at the current position and the first position respectively.

[0060] Among them, the first position is the position when the drill bit is on the vertical line of the drill hole. The raise boring machine includes multiple working arms with exactly the same functions. Each working arm can work independently. Each working arm is provided with multiple joints, and a linear oil cylinder or an angle sensor can be set on each joint. The multiple joints on each working arm cooperate to change the pose of the drilling tool on the carriage, so as to complete the positioning work of the working arm for different target hole positions. It should be noted that the target working arm here is any one of the working arms.

[0061] See Figure 3 , the raise boring machine is a four-arm raise boring machine. The center of the four-arm raise boring machine is supported by a column. By extending the lower height-adjusting oil cylinder 13, the bottom foot 14 contacts the bottom of the shaft. The top of the raise boring machine contains a top support oil cylinder 11. By extending the top support oil cylinder 11, the oil cylinder supports against the shaft wall. The column 12 and the top support oil cylinder 11 work together to keep the raise boring machine stable during operation. The four-arm raise boring machine includes a working arm one 100, a working arm two 200, a working arm three 300, and a working arm four 400. The structures and functions of the 4 working arms are exactly the same. Taking the working arm one 100 as an example, the working arm one 100 includes a swing body 101, a moving arm 102, a turning arm 103, a carriage 104, a drilling tool 105, and a drill bit 106.

[0062] In this embodiment, it is necessary to determine the pose relationship between the raise boring machine and the shaft. The pose relationship between the raise boring machine and the shaft can be determined by obtaining the elongation of the oil cylinder of the raise boring machine. Among them, the elongation of the oil cylinder is obtained based on the displacement sensor of the height-adjusting oil cylinder installed on the raise boring machine.

[0063] Set the Cartesian coordinate system of the raise boring machine and the shaft coordinate system. The shaft uses a polar coordinate system. The origin of the raise boring machine coordinate system is located at the top center position of the raise boring machine column, and the origin of the shaft coordinate system is located at the center of the shaft bottom surface. As Figure 4As shown in the figure. Extend the height-adjusting cylinder until the bottom feet of the raiseborer touch the bottom surface of the shaft. According to the elongation of the height-adjusting cylinder, calculate the z-direction value of the origin of the shaft coordinate system in the raiseborer coordinate system. Since the shape of the shaft is circular, the specific direction of the x-axis does not affect the final result. Therefore, to simplify the calculation, it is set that the x-axis direction of the shaft is the same as the x-axis direction of the raiseborer. The Y-axis direction of the raiseborer coordinate system is determined according to the right-hand rule. The pose relationship between the finally determined raiseborer equipment coordinate system and the shaft coordinate system is represented by the transformation matrix denotes. Refers to the pose transformation matrix of the shaft coordinate system H relative to the raiseborer equipment coordinate system S. Figure 3 The target working arm in it includes 4 joints. The coordinate systems of each joint are shown in the figure, and joint four is arranged on the center line of the carriage bit.

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

[0065] The pose transformation matrix means that coordinate system 1 is translated and rotated to obtain a new coordinate system 2. The matrix containing the translation and rotation information is called the pose transformation matrix of coordinate system 2 relative to coordinate system 1. The structure of this matrix is

[0066]

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

[0068] In some embodiments, based on a preset hole layout plan, the position of the drilling hole corresponding to the target working arm can be determined. Thus, based on the position of the drilling hole corresponding to the target working arm, the final positions of each joint on the target working arm can be determined.

[0069] In this embodiment, the pose of the drilling hole corresponding to the working arm obtained from the hole layout plan includes the coordinates of the drilling hole in the shaft coordinate system and the pitch angle of the drilling hole, and is represented by the matrix denotes. Refers to the matrix representation of the pose information of drilling hole k in the shaft coordinate system H. According to Calculate the pose matrix of drilling hole k in the raiseborer equipment coordinate system S According to the selected working arm, calculate the pose matrix of the working arm coordinate system 0 in the raiseborer equipment coordinate system S According to Calculate the pose matrix of drilling hole k in the working arm coordinate system 0 Among them is the inverse matrix , that is

[0070] When the drill bit on the target arm is on the vertical line of the drill hole, the pose of the drill bit m in the working arm coordinate system 0 is equal to the pose of the drill hole 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. A linear oil cylinder drive is provided on each joint, and the first 3 joints are rotating angular joints. Therefore, the joint values of the first 3 joints are angular values, and the joint value of the last joint is a displacement value. Among them The transformation matrix on the right side of the formula is the matrix obtained by applying the D-H method for the working arm joint transformation, and it respectively includes the angle value α 1 of the first joint 2 the angle value α 3 of the second joint 0 the angle value α of the third joint, and the displacement value l of the fourth joint

[0071] S120. Based on the joint values of each joint when the drill bit is at the current position, determine the joint values of each joint when the drill bit is at the second position

[0072] Among them, the second position and the current position are 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 from the ground, that is, the second position and the current position only differ in the value of the Z direction, and the polar angle values are 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 the safe height from the ground according to the concave and convex conditions of the bottom of the shaft. The bottom surface conditions of the shaft are different, and the set safe height from the ground is also different, and it needs to be set according to the actual situation of the shaft. The safe height from the ground refers to the theoretical value set to avoid the working arm from colliding with these rocks during the movement process because the bottom of the shaft formed after the explosion is uneven and there may be rocks higher than the height of the support at the bottom of the umbrella drill. It should be greater than the distance between the highest point of the bottom rock and the support at the bottom of the foot

[0074] In order to prevent the lower end of the working arm from colliding with the bottom of the shaft, it is necessary to first raise the target working arm to the safe height from the ground at the current position, that is, it is necessary to adjust the joint value of the last joint

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

[0076] The second position and the current position are in the same plane. The second position and the current position only differ in the numerical value in the Z direction, and the polar angle numerical 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 the 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 the displacement value of the fourth joint

[0077] S130. 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.

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

[0079] Based on the same method in step S120, determine the joint values of each joint when the drill bit is in the third position. 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 the 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 the displacement value of the fourth joint

[0080] S140. Based on the preset motion duration and data transmission frequency, determine the set of motion time points when the drill bit moves from the second position to the third position.

[0081] Among them, the set of motion time points includes multiple time nodes.

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

[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 sending frequency is f, then the interval time period The total number of time nodes in the set of movement time points calculated according to the preset movement duration t is Then each time node is respectively 0, Δt, 2Δt…(n - 1)Δt.

[0084] S150. Determine the joint values of each joint corresponding to each time node in the set of movement time points.

[0085] In some embodiments, first, 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 fitted. Then, based on the movement trajectory, the joint values of each joint corresponding to each time node are determined. Among them, a first joint, a second joint, a third joint, and a fourth joint are sequentially connected on the target working arm.

[0086] In this embodiment, it has been determined previously that the joint values of each joint at the second position are respectively: the angle value of the first joint The angle value of the second joint The angle value of the third joint The displacement value of the fourth joint The joint values of each joint at the third position are respectively: the angle value of the first joint The angle value of the second joint The angle value of the third joint The displacement value of the fourth joint It is set that the speeds of each joint at the second position and at the third position are both 0. Thus, according to the preset movement duration, according to the cubic polynomial θ(t) = a0 + a1t + a2t 2 + a3t 3 The movement trajectory is fitted, and the values of coefficients a0 to a3 are obtained according to the joint values and speed values of each joint at the second position and the third position.

[0087] By fitting with a cubic polynomial, when the target working arm moves according to the fitting result, the action speeds of the cylinders of each joint change from slow to fast, and then change from fast to slow again when approaching the target point, saving the automatic positioning time of the working arm while ensuring the smoothness of the working arm movement.

[0088] In some embodiments, first, based on the motion trajectory, the first joint values of each joint corresponding to each time node can 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 carriage and the top support cylinder of the raiseborer at the target time node, and the joint differences 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) = a0 + a1t + a2t 2 + a3t 3 , the first joint values of each joint corresponding to each time node of 0, Δt, 2Δt…(n - 1)Δt can be calculated respectively, which can be denoted as where i represents the node number of each time node in the set of motion time points, and 1 ≤ i ≤ n.

[0092] In addition, referring to Figure 5 , in order to prevent the target working arm from colliding with the bottom of the shaft and prevent the top of the carriage of the target working arm from colliding with the top support cylinder of the raiseborer 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 obtained 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 from the ground, then the target working arm will collide with the bottom of the shaft. 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 from the ground.

[0094] Specifically, calculate at each time node i Obtain the height d of the drill bit m from the bottom of the shaft i . If d i < d f , where d f is the safe height from the ground, then calculate the displacement value of the fourth joint according to the calculation method of the joint value when the drill bit of the target working arm is at the safe height from the ground And let

[0095] In this embodiment, when the distance between the top of the carriage at the target time node and the top support cylinder of the raise borer is less than 0, it will cause a collision between the working arm and the top support cylinder of the raise borer. 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 pose of the top structure (taking the polygon vertices p1, p2,... pl at the top) of the working arm thruster carriage mechanism at each time node i in the coordinate system of the raise borer equipment can be calculated. And it is determined whether there will be a collision between each point at the top and the top support cylinder of the raise borer. If there is no collision, the next calculation is carried out. Otherwise, the angle value of the second joint is updated 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 joint and the third joint. The collision situation with the top support cylinder of the raise borer is recalculated for the newly obtained joint values at time node i, and so on until there is no collision between the top and the top support cylinder of the raise borer.

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

[0098] When the height of the drill bit from the bottom of the shaft is not lower than the safe ground clearance height and there is no collision between the top of the carriage mechanism and the top support cylinder of the raise borer, according to the four joint values of this node, it is calculated whether there is a collision between the working arm and the shaft wall. If there is a collision, it is considered that the target working arm cannot move to the drilling position, and the positioning of this drilling 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 ground clearance height, and the distance between the top of the carriage at all target time nodes and the top support cylinder of the raise borer 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 any collision risk, it is still 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 calculation formula for the angle difference is:

[0100]

[0101] Among them, is the numerical difference of the j-th joint between time node i and i + 1 in the set of motion time points, is the value of the j-th joint at time node i in the set of motion time points.

[0102] The calculation formula for the displacement difference is:

[0103]

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

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

[0106] If the difference of the j-th joint at time node i is greater than the maximum angular difference Δα max / displacement difference Δl max within the set time interval, then an intermediate point i1 is added between these two time nodes, and the joint value at this time or For the remaining joints where the difference is not greater than the maximum difference, or After adding, the number n2 of all position points changes from n to n + 1. At this time, calculate the angular difference / displacement difference of each joint between position points i1 and i + 1. If there are still or such situations, then continue to add intermediate point i2 according to the above method, and so on. Organize and combine the angular values or displacement values of the joints of the n2 position points as the set of motion time points.

[0107] S160. Based on the joint values of each joint corresponding to each time node in the set of motion time points, and the joint values of each joint at the first position, determine the motion path of the target working arm.

[0108] In some embodiments, the jumbo drill device is provided with four joints, each joint is driven by a linear oil cylinder. The first 3 joints are rotating angular joints, and the joint values of the first 3 joints are angular values. The joint value of the last joint is a displacement value. Angle sensors can be installed at each joint, so that based on the angular difference between two adjacent time nodes and the motion time of the two time nodes, the motion speed of each time node can be determined.

[0109] In some embodiments, the jumbo drill device is provided with four joints, each joint is driven by a linear oil cylinder. The first 3 joints are rotating angular joints, and the joint values of the first 3 joints are angular values. The joint value of the last joint is a displacement value. Displacement sensors can be installed at each joint. Since displacement sensors are installed, but the measured values are angular values, therefore, the angular values need to be converted into displacement values.

[0110] In some embodiments, first, based on the structure of the target working arm, 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 are calculated. All positions include each time node in the set of motion time points 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 motion duration, and the data sending frequency, the motion speeds of the linear cylinders of the four joints of the target working arm are determined.

[0112] Finally, 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.

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

[0114]

[0115] where α is the included angle value between the hinge point at the joint and the line connecting the head and tail of the cylinder, and L1 and L2 are the distances from the two end points of the cylinder to the joint hinge point respectively. The distance between the head and tail when the elongation of the linear cylinder is 0 is s0, then the displacement of the linear cylinder is s ′ = s - s0.

[0116] According to the displacement values of the linear cylinders at each time node and the interval time period, the action speed values of the linear cylinders at each time node are calculated. Calculate according to the formula for calculation,

[0117] where, represents the motion speed of the linear cylinder of the jth joint at the ith time node, represents the displacement value of the jth joint at the ith 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 anymore. Only need to calculate the motion speed of the fourth joint at each time node according to 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 set of motion time points and the joint values of each joint at the first position, these data can be sent to the control mechanism so that the linear cylinders at each joint of the target robotic arm move along 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 bits on the target working arm are located at the current position and the first position respectively, based on the pose relationship between the raise borer equipment and the shaft and the positions of the drill holes 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 at the second position based on the joint values of each joint when the drill bit is at the current position. And determine the joint values of each joint when the drill bit is at the third position based on the joint values of each joint when the drill bit is at the first position. After determining the second position and the third position, it is also necessary to determine the set of motion time points between the drill bit moving from the second position to the third position based on the preset motion duration and data sending frequency. Then, it is also necessary to determine the joint values of each joint corresponding to each time node in the set of motion time points. Finally, based on the joint values of each joint corresponding to each time node in the set of motion time points and the joint values of each joint at the first position, the motion path of the target working arm is determined. The present invention can automatically calculate the joint values and motion speeds of each joint through the positions of the drill holes, so as to enable the working arm to move based on the set path, thereby accurately drilling and improving the accuracy of drilling positioning. In addition, in order to ensure that the working arm does not collide with the shaft during the movement, it is also necessary to adjust the joint values of each joint based on the safe height from the ground, so as to ensure the normal operation of the raise borer equipment.

[0121] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0122] Based on the raise borer equipment working arm path planning method provided in the above embodiments, correspondingly, the present invention also provides a specific implementation manner of a raise borer equipment working arm path planning device applied to the raise borer equipment working arm path planning method. Please refer to the following embodiments.

[0123] As Figure 7 shown, a raise borer equipment working arm path planning device 700 is provided. The device includes:

[0124] A first determination module 710, configured to determine the joint values of each joint when the drill bits on the target working arm are located at the current position and the first position respectively, based on the pose relationship between the raise borer equipment and the shaft and the positions of the drill holes corresponding to the target working arm; wherein, the first position is the position when the drill bit is on the vertical line of the drill hole;

[0125] The second determination module 720 is configured 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; the second position and the current position are 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 from the ground;

[0126] The third determination module 730 is configured to determine the joint values of each joint when the drill bit is at the third position based on the joint values of each joint when the drill bit is at the first position; the third position and the first position are 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 from the ground;

[0127] The fourth determination module 740 is configured to determine a set of motion time points between the second position and the third position of the drill bit based on a preset motion duration and a data transmission frequency; the set of motion time points includes multiple time nodes;

[0128] The fifth determination module 750 is configured to determine the joint values of each joint corresponding to each time node in the set of motion time points;

[0129] The path planning module 760 is configured 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 set of motion time points and the joint values of each joint at the first position.

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

[0131] Determine a set of motion time points between the second position and the third position of the drill bit based on the preset motion duration and the interval time period.

[0132] In some embodiments, the fifth determination module 750 is configured to fit a 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 speeds at the second position and the third position are both 0;

[0133] Determine the joint values of each joint corresponding to each time node based on the motion trajectory.

[0134] In some embodiments, the fifth determination module 750 is configured 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 carriage and the support cylinder of the top of the jumbo 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, update the joint values of each joint corresponding to the target time node 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, determine the joint values of each joint corresponding to each time node.

[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] The fifth determination module 750 is configured to, when the height of the drill bit from the bottom of the shaft at the target time node is less than the safe height from the ground, 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 from the ground;

[0139] When the distance between the top of the carriage and the support cylinder of the top of the jumbo drill at the target time node is less than 0, update the joint values of the second joint, the third joint, and the fourth joint corresponding to the target time node;

[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 from the ground, and the distance between the top of the carriage and the support cylinder of the top of the jumbo 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 the preset difference threshold, add a new time node between adjacent nodes and determine the joint values of each joint corresponding to the new time node.

[0141] In some embodiments, the jumbo drill equipment is provided with four joints, each joint is driven by a linear cylinder, the first 3 joints are rotating angular joints, the joint values of the first 3 joints are angle values, and the joint value of the last joint is a displacement value;

[0142] The path planning module 760 is configured to calculate the displacement values of the linear cylinders corresponding to the angle values of the first 3 joints of the target working arm at all positions; all positions include each time node in the set of motion time points and the first position;

[0143] Based on the displacement values of the linear cylinders corresponding to the angle values of the first 3 joints of the target working arm at all positions, the displacement value of the last joint, the preset motion duration, and the data transmission frequency, determine the motion speeds of the linear cylinders of the 4 joints of the target working arm.

[0144] Determine the motion path of the target working arm based on the displacement values and velocity values of the linear cylinders of the 4 joints of the target working arm.

[0145] In some embodiments, the first determination module 710 is configured to obtain the elongation of the oil cylinders of the raiseboring jumbo and determine the pose relationship between the raiseboring jumbo and the shaft; wherein, the elongation of the oil cylinders is obtained based on the displacement sensors of the height-adjusting oil cylinders installed on the raiseboring jumbo.

[0146] The embodiment of the present invention provides a path planning device for the working arm of a raiseboring jumbo. First, based on the pose relationship between the raiseboring jumbo and the shaft and the positions of the drill holes corresponding to the target working arm, 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. 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, determine the joint values of each joint when the drill bit is at the third position. After determining the second position and the third position, it is also necessary to determine the set of motion time points between when the drill bit moves from the second position to the third position based on the preset motion duration and data transmission frequency. Then, it is also necessary to determine the joint values of each joint corresponding to each time node in the set of motion time points. Finally, based on the joint values of each joint corresponding to each time node in the set of motion time points and the joint values of each joint when at the first position, determine the motion path of the target working arm. The present invention can automatically calculate the joint values and motion speeds of each joint through the positions of the drill holes, and thus can realize the motion of the working arm along the set path, so as to accurately drill holes and improve the accuracy of drilling positioning. In addition, in order to ensure that the working arm does not collide with the shaft during the motion process, it is also necessary to adjust the joint values of each joint based on the safe height from the ground, so as to ensure the normal operation of the raiseboring jumbo.

[0147] Figure 8 It is a schematic diagram of the industrial control computer provided by the embodiment of the present invention. As Figure 8 shown, the industrial control 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, it implements the steps in the embodiments of the above various path planning methods for the working arm of the raiseboring jumbo, such as Figure 1 S110 to S160 shown. Or, when the processor 80 executes the computer program 82, it implements the functions of each module in the embodiments of the above various devices, such as Figure 7 the functions of the modules 710 to 760 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 capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 82 in the industrial control computer 8. For example, the computer program 82 may be divided into Figure 7 the modules 710 to 760 shown.

[0149] The industrial control computer 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art can understand that Figure 8 merely examples of the industrial control computer 8, which do not constitute a limitation to the industrial control computer 8, and may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the industrial control computer may further include input / output devices, network access devices, buses, etc.

[0150] The so-called processor 80 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0151] The memory 81 may be an internal storage unit of the industrial control computer 8, such as the hard disk or memory of the industrial control computer 8. The memory 81 may also be an external storage device of the industrial control computer 8, such as a plug-in hard disk equipped on the industrial control computer 8, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 81 may also include both the internal storage unit and the external storage device of the industrial control computer 8. The memory 81 is used to store the computer program and other programs and data required by the industrial control computer. The memory 81 may also be used to temporarily store data that has been output or will be output.

[0152] On the other hand, the present invention also provides a four-arm umbrella drill, which includes four working arms. The structures of each working arm are the same and each works independently. A plurality of joints are provided on each working arm, and each working arm plans the movement path of the working arm according to the method of any one of the first aspect.

[0153] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be repeated here.

[0154] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0155] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0156] In the embodiments provided by the present invention, it should be understood that the disclosed device / industrial control computer and method can be implemented in other ways. For example, the device / industrial control computer embodiments described above are only illustrative. For example, the division of the module or unit is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0157] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0158] In addition, in each embodiment of the present invention, each functional unit may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[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, to implement all or part of the processes in the above-mentioned embodiment methods of the present invention, it can also be completed by a computer program instructing related hardware. 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 above-mentioned embodiments of the path planning method for the working arm of each jumbo drill device can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0160] The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment 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 equipment 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; wherein the first position is the position when the drill bit is located on the vertical line of the drill hole; the umbrella drilling equipment 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; 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 a preset difference threshold, a new time node is added between the adjacent time 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 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: The 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 equipment and the shaft and the position of the borehole 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 borehole; the umbrella drilling equipment 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 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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