Measuring device suitable for wire saw rock cutting drilling positioning and control method

Abstract

The invention provides a measuring device suitable for wire saw rock cutting drilling positioning and a control method, and relates to the field of rock cutting construction. The plane position of a drilling machine and three-dimensional space attitude data of a drilling rod are obtained in real time through a GNSS receiver module arranged on drilling machine equipment, and the angle and the position of the drilling rod are accurately controlled through real-time monitoring of a multi-sensor module; the data processing module verifies and analyzes the received data, transmits an analysis result to the deviation judgment module and calculates the deviation value of the data, meanwhile, the HMI control module facilitates an operator to monitor the equipment state in real time, and when the deviation judgment module confirms that the deviation of all the data is within a preset threshold value, the HMI control module sends the data to the data processing module. The HMI module indicates the drilling machine to start drilling operation; the method is suitable for various rock cutting and drilling tasks, particularly in the environment needing high-precision positioning and drilling control, the accuracy and reliability of data are improved, and therefore the drilling precision and stability are improved.

Description

Technical Field

[0001] The invention relates to the field of rock cutting construction, and in particular to a measuring device and a control method suitable for rope saw rock cutting drilling positioning. Background Art

[0002] In rope saw rock cutting construction, for non-blasting rock excavation slopes, layered cutting is often required due to site and drill rod length restrictions. Traditional drilling positioning methods, such as setting up sample frames to hang plumb lines, manually aiming at the azimuth, or using a slope gauge to control the inclination, are labor-intensive, time-consuming, low-precision, and inefficient. For example, in high-slope step cutting, each layer of drill holes needs to be precisely connected and connected. Traditional methods are difficult to meet high-precision requirements, which can easily lead to subsequent rope saw drilling and rock cutting quality damage, affecting project progress and costs.

[0003] The following methods are used in the prior art: 1. The method of setting up a sample frame and hanging a plumb line is combined with a slope ruler (or geological compass). The azimuth of the borehole is determined by setting up a sample frame near the drilling position and then hanging a plumb line on the sample frame. For horizontal holes and inclined holes, it is necessary to combine the level ruler and the slope ruler to determine the azimuth and inclination through manual measurement and empirical judgment. In actual operation, the setting up of the sample frame requires a lot of time and manpower, and its stability and accuracy are difficult to guarantee. Due to the large subjectivity of manual aiming and measurement, errors are prone to occur, resulting in low positioning accuracy of the borehole, which can usually only reach decimeter level or even greater deviations. 2. Total station measurement and positioning method: Determine the coordinates of the target point by measuring the angle and distance. However, the total station needs to set the measuring station and the backsight point at a suitable position during use, and the instrument needs to be frequently moved for measurement during the drilling process, which is cumbersome to operate. Moreover, the total station measurement is easily affected by the construction site environment, such as line of sight conditions, dust, vibration, etc. These factors may cause measurement errors and affect the drilling positioning accuracy. At the same time, the processing and feedback of total station measurement data are relatively slow, making it difficult to achieve real-time correction, which requires a lot of human resources and significantly reduces construction efficiency.

[0004] In the current technical solutions, due to their respective measurement principles and operating methods, it is impossible to provide high-precision drilling positioning, resulting in uneven rock cutting surfaces, reduced rock cutting quality, and increased difficulty and cost of subsequent finishing work. Summary of the invention

[0005] The main purpose of the present invention is to provide a measuring device and control method suitable for rope saw rock cutting drilling positioning, so as to solve the technical problems of rock cutting drilling positioning being inaccurate, inefficient, labor-intensive and having limited adaptability in the prior art.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a measuring device suitable for positioning of drilling holes in rock cutting by a wire saw, comprising: GNSS receiver module, which is installed on the drilling rig equipment. Several GNSS receivers are installed on the top of the hydraulic drilling rig cabin and the top of the fixed drill arm respectively, and are used to obtain the plane position of the drilling rig and the three-dimensional spatial attitude data of the drill rod in real time; Multi-sensor module, including inertial navigation sensor and tilt sensor, used to monitor the three-dimensional spatial posture of the drill pipe and the tilt angle of the drill pipe in real time; The data processing module is connected with the GNSS receiver module and the multi-sensor module to obtain the corresponding test data of the two in real time, and perform corresponding data analysis and coordinate conversion after verifying the test data; The deviation judgment module is connected to the data processing module and is used to compare the corresponding data converted by the GNSS receiver module and the multi-sensor module with the initial data and calculate the corresponding data deviation values; The HMI control module is used to control the drilling equipment to perform drilling operations when the corresponding data deviation values ​​all meet the respective preset thresholds.

[0007] The preferred solution also includes a correction control module, which is used to perform a correction operation if the corresponding data deviation values ​​do not meet the respective preset thresholds, specifically: The real-time measured drilling rig position coordinates and drill rod posture data are compared with their respective preset thresholds, and the drill rod posture deviation is calculated using the vector angle algorithm, and the coordinate deviation is calculated using the Euclidean distance formula; the coordinate deviation threshold and the posture deviation threshold are set, and the deviation judgment is performed through a multi-dimensional judgment matrix: if the corresponding data deviation values ​​do not meet their respective preset thresholds, the drilling rig travel and drill rod adjustment mechanism are controlled, and the adjustment amount is calculated using an algorithm based on the PID control principle. During the correction process, an adaptive control algorithm is used to dynamically adjust the correction amount.

[0008] A measurement control method for positioning a drilling hole for rock cutting with a wire saw, applicable to the measurement device for positioning a drilling hole for rock cutting with a wire saw, comprises the following steps: S1: Initialization settings: including building a spatial coordinate system based on the platform of the drilling rig, calibrating various sensors, and pre-calculating the ideal cutting data for wire saw rock cutting. The cutting data includes the three-dimensional posture coordinates of the drilling equipment to be drilled, the drilling azimuth and inclination, and the drilling depth; S2: Real-time acquisition of current cutting data of the multi-sensor module, the current cutting data including initial three-dimensional spatial posture information of the drill rod, and the inclination sensor measuring the initial inclination angle of the drill rod; S3: Calculate the current cutting data and compare it with the ideal cutting data to calculate the deviation value; S4: If the current deviation value exceeds the preset threshold range, real-time deviation correction is performed; S5: The actual drilling center coordinates, inclination angle and azimuth of the borehole are measured multiple times to obtain the average value, the fuzzy control algorithm is used to dynamically adjust the correction amount, and the data is saved.

[0009] In the preferred solution, in step S1, a spatial coordinate system is constructed according to the platform of the drilling rig to obtain the initial plane position of the rig, and the formula is: S11: The signal propagation time measurement algorithm is used to calculate the distance between the receiver and the satellite, and the formula is: ; In the formula, is the spatial coordinate of satellite i, is the coordinate of the receiver, is the signal propagation time, that is, the time from signal transmission to reception; S12: Use the least squares positioning algorithm to obtain the initial plane position of the aircraft. The formula is: , ; In the formula, the observation vector is , the vector to be tested , is the design matrix, It is an element determined based on the relationship between the satellite coordinates and the unknown coordinates; In the formula, the observation vector , , is the design matrix, Determined based on the relationship between satellite coordinates and unknown coordinates; S13: Correction of the delay of positioning signals in the ionosphere and troposphere, including: Using dual-frequency GNSS signals for ionospheric delay correction, and , are two signals of different frequencies received by the GNSS receiver, and the corresponding ionospheric delays are and , According to the relationship between ionospheric delay and frequency, the correction formula is: ; For the tropospheric delay correction, the Saastamoinen model is used, assuming that the tropospheric delay is , the ground temperature is , the surface pressure is , the water vapor pressure is , then the calculation formula of tropospheric delay is: ; In the formula, is an empirical constant.

[0010] In the preferred solution, in step S2, the initial three-dimensional spatial posture of the drill rod is obtained, specifically: S21: Attitude solution algorithm based on accelerometer and gyroscope. Accelerometer is used to measure the acceleration of drill pipe, gyroscope is used to measure the angular velocity of drill pipe, and accelerometer is used to measure the angular velocity of drill pipe. The acceleration component on : , according to Newton's second law In a gravitational field, the acceleration measured by the accelerometer includes the gravitational acceleration The component of the acceleration of the drill rod and the component of the acceleration of the drill rod; the attitude of the drill rod is expressed by the Euler angle (pitch angle Roll Angle Yaw angle The relationship between the accelerometer measurement and the Euler angle is: ; In the formula, is the acceleration component of the drill rod motion; The gyroscope measures the angular velocity components of the drill pipe around the three axes , and , according to the measurement principle of the gyroscope, let the quaternion be , then the differential equation of the quaternion is: ; S22: Continuously iterate the EKF algorithm to perform prediction and update denoising, specifically: Define the state vector as , the observation vector is ; The state transfer equation of the system is: ;in is the state transfer matrix, determined according to the angular velocity and time interval measured by the gyroscope, is the process noise; the observation equation is: ,in is the observation matrix, which is determined according to the measurement principle of the accelerometer and gyroscope. is the observation noise.

[0011] In the preferred solution, in step S2, the tilt angle is calculated based on the gravity acceleration component, including: First: Assume that the installation direction of the inclination sensor on the drill pipe is known, and the component of the gravity acceleration measured by it in the sensor coordinate system is , and ; The inclination angle of the drill pipe (pitch angle and roll angle ) is related to the gravitational acceleration component as follows: ; Then establish a mathematical model of temperature and tilt angle error for compensation. The formula is: ; In the formula, is the temperature, and is the tilt angle error, , , and is the temperature compensation coefficient determined by experiment, , is the calibration temperature.

[0012] In the preferred solution, in step S3, the deviation includes coordinate deviation and posture deviation, specifically: S31: The spatial vector distance deviation formula calculates the coordinate deviation. The formula is: ; In the formula, Indicates the coordinate deviation value, is the current location, is a preset reference position; S31: Tilt angle deviation. The difference between the actual tilt angle and the designed tilt angle is calculated using the trigonometric function relationship formula. The formula is: ; The azimuth deviation formula is: ; In the formula, is the tilt angle deviation, is the azimuth deviation.

[0013] In the preferred embodiment, step S4 determines based on the deviation and sets the coordinate deviation threshold and attitude deviation threshold , ; Compare the obtained deviation value with the corresponding threshold value, and make a comprehensive judgment using a multi-dimensional judgment matrix. The matrix is: ; like and and , it is determined that the drilling position and drill rod posture meet the accuracy requirements, and the system continues to monitor in real time; if any deviation value exceeds the threshold range, it is determined that correction operation is required, and correction is performed.

[0014] In the preferred embodiment, step S5 is performed according to a preset deviation correction strategy, specifically: S51: Coordinate deviation correction, according to the coordinate deviation value and deviation direction (calculated by space vector), calculate the drilling rig travel mechanism , and Adjustment amount in direction , and , based on the proportional-integral-differential (PID) control principle, the formula is: ; ; ; In the formula, , and The coordinate deviations are , and The weight in direction, , and is the PID control parameter; S52: Posture deviation correction: for tilt angle deviation and azimuth deviation , according to the mechanical model of the drill rod adjustment mechanism and the current posture, calculate the hydraulic cylinder extension amount that needs to be adjusted and the rotation angle of the rotating mechanism , the formula is: ; ; In the formula, is the length parameter related to the drill pipe structure; S53: The adaptive control algorithm adjusts the PID control parameters according to the real-time monitoring data. The formulas are: ; ; ; In the formula, , , , , and are the initial parameters and adjustment coefficients, is the constant that controls the rate of change of the parameter, , and is the reference deviation value and its integral and differential values.

[0015] The preferred solution also includes S6: according to the calculation of coordinate deviation and posture deviation, multiple constraints are set, and deviation judgment based on Mamdani fuzzy logic is used to construct a comprehensive objective function, which is specifically: S61: Construct the deviation constraints and objective function in the three-dimensional direction of the coordinates: The constraints are: ; In the formula, is the maximum coordinate deviation distance allowed in three-dimensional space, is the actual location, is the preset reference position; The objective function is:

[0016] In the formula, are the weight coefficients of the deviations in the X, Y and Z directions respectively; S62: Construct deviation constraints and objective functions in posture, including: The constraints of the posture are: ; In the formula, and are the actual inclination and azimuth angles, and For the preset reference inclination angle and azimuth angle, the objective function of the attitude is: ; S63: , and are the weight coefficients of tilt angle deviation, azimuth deviation and comprehensive attitude deviation respectively; S64: using fuzzy logic to judge the deviation and constructing a comprehensive objective function to achieve comprehensive optimization of the coordinate deviation and the attitude deviation, specifically: defining corresponding fuzzy sets according to the size of the coordinate deviation and the attitude deviation, and using the Mamdani fuzzy reasoning method to obtain the deviation judgment result; Then construct the comprehensive objective function, the formula is: ; In the formula, and is the weight coefficient, and are coordinate deviation and attitude deviation.

[0017] The present invention provides a measuring device and method suitable for rope saw rock cutting drilling positioning. The drilling operation is performed by a drilling rig. A GNSS receiver module is arranged on the drilling rig to obtain the plane position of the drilling rig and the three-dimensional spatial posture data of the drill rod in real time. The multi-sensor module monitors the three-dimensional posture and inclination angle of the drill rod in real time to accurately control the angle and position of the drill rod. The data processing module verifies and analyzes the received data, and then transmits the analysis result to the deviation judgment module for comparison and calculation of the deviation value of the data. At the same time, the HMI control module facilitates the operator to monitor the equipment status in real time. When the deviation judgment module confirms that the deviation of all data is within the preset threshold, the HMI module will instruct the drilling rig to start the drilling operation. This embodiment is suitable for various rock cutting and drilling tasks, especially in environments requiring high-precision positioning and drilling control, such as mining, underground engineering, etc., which improves the accuracy and reliability of the data, thereby improving the drilling accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a flow chart of the measurement control method of the present invention; Figure 2 It is a schematic diagram of the installation of the measuring device of the present invention; Figure 3 It is the overall flow chart of data processing and error correction of the present invention; Figure 4 It is a schematic diagram of the data location interface of the HMI control module of the present invention; Figure 5 It is a schematic diagram of the drilling operation interface of the HMI control module of the present invention.

[0018] In the figure: multi-sensor module 1; data processing module 2; GNSS receiver module 3; HMI control module 4. DETAILED DESCRIPTION

[0019] Example 1 like Figure 1-5 As shown, a measuring device suitable for positioning drilling holes in rock cutting by a wire saw comprises: GNSS receiver module, which is installed on the drilling rig equipment. Several GNSS receivers are installed on the top of the hydraulic drilling rig cabin and the top of the fixed drill arm respectively, and are used to obtain the plane position of the drilling rig and the three-dimensional spatial attitude data of the drill rod in real time; Multi-sensor module, including inertial navigation sensor and tilt sensor, used to monitor the three-dimensional spatial posture of the drill pipe and the tilt angle of the drill pipe in real time; The data processing module is connected with the GNSS receiver module and the multi-sensor module to obtain the corresponding test data of the two in real time, and perform corresponding data analysis and coordinate conversion after verifying the test data; The deviation judgment module is connected to the data processing module and is used to compare the corresponding data converted by the GNSS receiver module and the multi-sensor module with the initial data and calculate the corresponding data deviation values; The HMI control module is used to control the drilling equipment to perform drilling operations when the corresponding data deviation values ​​all meet the respective preset thresholds.

[0020] In this embodiment, drilling operations are performed by means of a drilling rig, and a GNSS receiver module is provided on the drilling rig to obtain the planar position of the drilling rig and the three-dimensional spatial posture data of the drill rod in real time. The multi-sensor module monitors the three-dimensional posture and inclination angle of the drill rod in real time, and accurately controls the angle and position of the drill rod. The data processing module performs data verification and analysis on the received data, and then transmits the analysis results to the deviation judgment module for comparison and calculation of the deviation value of the data. At the same time, the HMI control module facilitates the operator to monitor the equipment status in real time. When the deviation judgment module confirms that the deviation of all data is within the preset threshold, the HMI module will instruct the drilling rig to start the drilling operation. This embodiment is suitable for various rock cutting and drilling tasks, especially in environments requiring high-precision positioning and drilling control, such as mining, underground engineering, etc., which improves the accuracy and reliability of the data, thereby improving the drilling accuracy and stability.

[0021] The drilling equipment of this embodiment includes a hydraulic drilling rig, a drill rod and a drilling rig platform. The equipment can be modified according to practical conditions.

[0022] In this embodiment, the GNSS receiver (Global Navigation Satellite System Receiver) is a device for receiving and processing signals from global navigation satellite systems (such as GPS, GLONASS, Galileo, Beidou, etc.). A high-precision Beidou positioning chip, a tilt sensor, and an inertial navigation sensor are integrated. The Beidou positioning chip and the inertial navigation sensor are integrated and packaged into a GNSS receiver. Several GNSS receivers are installed on the top of the hydraulic drilling rig cabin and the top of the fixed drill arm to obtain the plane position of the drilling rig and the three-dimensional spatial attitude information of the drill rod. The tilt sensor is installed on the fixed arm of the drill rod to monitor the inclination angle of the drill rod in real time.

[0023] Before drilling: establish a stable data connection between the measuring and positioning device and the drilling rig control system. After the drilling rig is turned on, the Beidou positioning chip receives satellite signals in real time to determine the three-dimensional coordinates (longitude, latitude, and elevation) of the drilling rig. Its principle is based on the positioning principle of the Beidou satellite navigation system. By measuring the distance between the satellite and the receiver, the position coordinates of the receiver are calculated using triangulation.

[0024] The inertial navigation sensor and the inclination sensor continuously collect the inclination angle (including pitch and roll angle) and azimuth information of the drill pipe. Based on the principle of inertial navigation, the inertial navigation sensor measures the acceleration and angular velocity of the object and uses integral calculation to infer the attitude and position change of the object, thereby obtaining attitude information such as the azimuth of the drill pipe. The inclination sensor uses the principle of gravity acceleration to calculate the inclination angle by measuring the component of gravity on the sensitive axis of the sensor. These data are transmitted to the drilling rig control system in real time via wireless transmission (such as Bluetooth, Wi-Fi) or data cable.

[0025] This embodiment can adopt the following installation positions, such as Figure 3 As shown, the multi-sensor module 1 is installed in a position where the three-dimensional spatial posture of the drill rod can be obtained and the inclination angle of the drill rod can be monitored. The data processing module 2 is electrically connected to the multi-sensor module for data encoding or processing. The GNSS receiver module 3 is respectively installed on the top of the hydraulic drilling rig cabin and the top of the fixed drill arm. The HMI control module 4 can be installed in specific application scenarios such as the cab, wherein the HMI control module 4 also includes a display.

[0026] The preferred solution also includes a correction control module, which is used to perform a correction operation if the corresponding data deviation values ​​do not meet the respective preset thresholds, specifically: The real-time measured drilling rig position coordinates and drill rod posture data are compared with their respective preset thresholds, and the drill rod posture deviation is calculated using the vector angle algorithm, and the coordinate deviation is calculated using the Euclidean distance formula; the coordinate deviation threshold and the posture deviation threshold are set, and the deviation judgment is performed through a multi-dimensional judgment matrix: if the corresponding data deviation values ​​do not meet their respective preset thresholds, the drilling rig travel and drill rod adjustment mechanism are controlled, and the adjustment amount is calculated using an algorithm based on the PID control principle. During the correction process, an adaptive control algorithm is used to dynamically adjust the correction amount.

[0027] In this embodiment, the correction control module ensures that the accuracy of the drilling rig and the drill rod is always maintained within a predetermined range, and performs timely corrections when data deviations are detected, thereby improving the accuracy of the system and also enhancing the stability and efficiency of the drilling operation.

[0028] In the preferred embodiment, Figure 1 As shown, a measurement control method for positioning a drilling hole for rock cutting by a wire saw is applicable to a measurement device for positioning a drilling hole for rock cutting by a wire saw, and comprises the following steps: S1: Initialization settings: including building a spatial coordinate system based on the platform of the drilling rig, calibrating various sensors, and pre-calculating the ideal cutting data for wire saw rock cutting. The cutting data includes the three-dimensional posture coordinates of the drilling equipment to be drilled, the drilling azimuth and inclination, and the drilling depth; S2: Real-time acquisition of current cutting data of the multi-sensor module, the current cutting data including initial three-dimensional spatial posture information of the drill rod, and the inclination sensor measuring the initial inclination angle of the drill rod; S3: Calculate the current cutting data and compare it with the ideal cutting data to calculate the deviation value; S4: If the current deviation value exceeds the preset threshold range, real-time deviation correction is performed; S5: The actual drilling center coordinates, inclination angle and azimuth of the borehole are measured multiple times to obtain the average value, the fuzzy control algorithm is used to dynamically adjust the correction amount, and the data is saved.

[0029] In this embodiment, a control method is executed on a measuring device. First, the settings are initialized. Subsequent comparison and control provide a target reference. The current cutting data of the multi-sensor module is acquired in real time. The drill rod posture and inclination information acquired in real time are compared with the preset ideal cutting data, and the deviation value is calculated. Then, real-time correction is performed. According to the current posture and coordinate deviation, the movement of the drill rig and the posture of the drill rod are adjusted to correct the deviation to ensure that the drilling path and depth are always within the ideal range. Finally, multiple measurements are taken and the correction amount is dynamically adjusted. The fuzzy control algorithm is used to flexibly adjust the correction amount. The entire correction process is smoother and more responsive. All measurement data and adjustment records are saved for subsequent analysis and optimization, thereby improving the accuracy of the drilling operation. The correction process is more intelligent and flexible, adapting to changing operating environments, reducing manual intervention, improving operating efficiency, reducing the risk of human errors, and improving the success rate and efficiency of drilling operations.

[0030] The following is further explained with specific data.

[0031] Traditional measurement and positioning methods rely on manual measurement. The general statistical results show that the drilling positioning deviation is generally greater than 100mm, and the drilling angle deviation usually exceeds ±2°. In addition, the deviation correction is delayed, requiring shutdown inspection and correction after manual inspection.

[0032] The above steps are the method steps specifically implemented in combination with the above device, which achieves high-precision drilling positioning and control, improves the efficiency of rock cutting engineering, and improves the quality of rock cutting. The following is an explanation based on specific implementation cases: 1. Preparation before construction: 1. Equipment installation and debugging First, according to the installation layout of the measurement and positioning device, the Beidou positioning chip and inertial navigation sensor (GNSS receiver) are accurately installed on the top of the hydraulic drilling rig cockpit to ensure that they are firmly installed and not affected by the vibration of the drilling rig, so as to ensure stable satellite signal reception. At the same time, a GNSS receiver is installed on the top of the fixed drill arm to fix its relative position with the drill rod, so as to accurately measure the drill rod posture. An inclination sensor is installed on the drill rod fixed arm so that it can accurately sense the change in the inclination angle of the drill rod. After the installation is completed, each sensor is debugged to check whether the data acquisition and transmission functions are normal, and to ensure a stable connection with the drilling rig control system.

[0033] 2. Perform the initialization settings in step S1, including importing design data and positioning the drilling rig According to the engineering design drawings, the preset error threshold of the drilling plane coordinates of this embodiment is ±3 cm, and the drill rod angle deviation exceeds ±0.1°.

[0034] Accurately input the detailed design data of the drilling (including the coordinates, inclination angles, azimuths, etc. of horizontal holes, vertical holes and inclined holes) into the drilling rig control system. Operate the drilling rig to move to the vicinity of the designed drilling position, use the measuring and positioning device to measure the current position coordinates of the drilling rig, and calculate the difference with the designed coordinates through the control system. If the deviation exceeds ±3cm, adjust the drilling rig's travel mechanism and rotation mechanism to control the drilling rig's position coordinate error within ±3cm, and complete the initial positioning.

[0035] (II) Drilling operation process 1. Start drilling and initial measurement In steps S2-S3, the drilling operation is started, the drilling rig starts working, the measurement and positioning device is started, the Beidou positioning chip obtains the initial position coordinates of the drilling rig, and the inclination sensor and inertial navigation sensor measure the initial posture of the drill pipe (tilt angle and azimuth). The control system records the initial measurement data, compares it with the design data, and calculates the initial deviation.

[0036] 2. Measurement and correction cycle during drilling In this embodiment, each preset deviation value can be set according to actual conditions, and the following content is described using the data in Table 1.

[0037] The specific contents of steps S4-S5 are: During the drilling process, according to the preset measurement frequency (every 0.2m in the initial stage of drilling until 1m, then every 0.5m / time until 2m, and then every 1m / time), the measurement and positioning device automatically collects the drilling rig position coordinates and drill rod posture data for real-time processing and deviation analysis.

[0038] If the drilling plane coordinate deviation exceeds ±3cm or the drill rod inclination angle deviation exceeds ±0.1°, the control system immediately generates a correction instruction. For example, when the drilling position deviation in the X-axis direction is +4cm (positive direction is right), the control system displays "X-axis direction deviation to the right 4cm, please move the drill rig to the left" on the display screen, and the voice prompts the operator to perform the corresponding operation. The operator operates the drilling rig travel mechanism to move to the left, and the measurement and positioning device continuously monitors the position change of the drilling rig during the movement. When the drill rod inclination angle deviation is +0.12° (positive direction is forward tilt), the HMI control system prompts "Drill rod forward tilt angle deviation 0.12°, please adjust the drill rod backward tilt". The operator controls the hydraulic cylinder of the drill rod fixed boom to slowly tilt the drill rod backward to adjust the angle. During the adjustment process, the inclination sensor feeds back the change of the drill rod inclination angle in real time until the angle deviation is controlled within ±0.1°.

[0039] Table 1 Reference table of preset deviation values ​​according to construction specifications

[0040] Note: Generally, the deviation of the pre-splitting drilling angle is usually required to be no more than ±1°. Due to the high accuracy of the inclination sensor and the high drilling accuracy requirement of the wire saw cutting hole, the inclination deviation threshold is increased to ±0.1° in the present invention.

[0041] 3. Fine control of adjacent design depth When the drilling depth is close to the designed depth (such as 1 meter remaining), the measurement frequency is increased to every 0.1 meter of drilling. At the same time, the drilling speed is appropriately reduced to more accurately control the drilling depth and posture, ensuring that the drilling can accurately reach the designed depth and achieve effective and accurate penetration of vertical holes, horizontal holes and inclined holes.

[0042] 4. Inspection and recording after drilling is completed After completing a borehole, use the measuring and positioning device to comprehensively measure the actual position of the borehole (including the actual drilling coordinates of the borehole center) and the posture (inclination angle, azimuth). Compare and analyze the measurement results in detail with the design data, calculate the deviation value and record it. If the deviation exceeds the allowable range, organize technical personnel to analyze the reasons, such as checking whether there are errors in the measuring and positioning device, whether the operator's operation is standardized, whether there are geological defects such as rock crushing or uneven hardness, etc., and take corresponding improvement measures, such as calibrating the measuring and positioning device and retraining the operator. At the same time, the measurement data and deviation of the borehole are sorted and archived to provide reference and experience for subsequent drilling operations.

[0043] The following is a related calculation method for cutting data in each step of this embodiment.

[0044] In the preferred solution, in step S1, a spatial coordinate system is constructed according to the platform of the drilling rig to obtain the initial plane position of the rig, and the formula is: S11: The signal propagation time measurement algorithm is used to calculate the distance between the receiver and the satellite, and the formula is: ; In the formula, is the spatial coordinate of satellite i, is the coordinate of the receiver, is the signal propagation time, that is, the time from signal transmission to reception.

[0045] S12: Use the least squares positioning algorithm to obtain the initial plane position of the aircraft. The formula is: , ; In the formula, the observation vector , , design matrix , Determined based on the relationship between satellite coordinates and unknown coordinates.

[0046] In this embodiment, the first equation is illustrated as follows: ; ; ; According to the least squares principle, we can solve The residual sum of squares formula is: .

[0047] If it is minimized, then about Taking the derivative and setting it to zero gives the normal equation: The initial plane position coordinates of the receiver can be obtained by solving ,The least square positioning algorithm improves the accuracy and reliability of ,positioning through comprehensive processing of multiple satellite signals.

[0048] S13: Correction of the delay of positioning signals in the ionosphere and troposphere, including: Satellite signals are affected by the ionosphere and troposphere during propagation, resulting in signal propagation delay, which in turn affects positioning accuracy. Dual-frequency GNSS signals are used to correct ionospheric delay. and , are two signals of different frequencies received by the GNSS receiver, and the corresponding ionospheric delays are and , According to the relationship between ionospheric delay and frequency (ionospheric delay is inversely proportional to the square of frequency), the correction formula is: ; For the tropospheric delay correction, the Saastamoinen model is used, assuming that the tropospheric delay is , the ground temperature is , the surface pressure is , the water vapor pressure is , then the calculation formula for tropospheric delay is: ; In the formula, is an empirical constant. By correcting the ionosphere and troposphere delays, the accuracy of GNSS positioning is improved.

[0049] In this embodiment, the inertial navigation sensor in the GNSS receiver includes an accelerometer and a gyroscope. The accelerometer is used to measure the acceleration of the drill rod, and the gyroscope is used to measure the angular velocity of the drill rod.

[0050] In the preferred solution, in step S2, the initial three-dimensional spatial posture of the drill rod is obtained, specifically: S21: Attitude solution algorithm based on accelerometer and gyroscope. Accelerometer is used to measure the acceleration of drill pipe, gyroscope is used to measure the angular velocity of drill pipe, and accelerometer is used to measure the angular velocity of drill pipe. The acceleration component on : , according to Newton's second law In a gravitational field, the acceleration measured by the accelerometer includes the gravitational acceleration , and the acceleration component of the drill rod motion. Assume that the drill rod posture is expressed by Euler angles (pitch angle Roll Angle Yaw angle ), the relationship between the accelerometer measurement value and the Euler angle is: ; in, is the acceleration component of the drill rod motion. By solving the above equations, the initial pitch angle and roll angle estimates can be obtained.

[0051] The gyroscope measures the angular velocity components of the drill pipe around the three axes , , According to the measurement principle of the gyroscope, the relationship between the angular velocity and the rate of change of the Euler angle can be described by the quaternion method. Let the quaternion be , then the differential equation of the quaternion is: ; By numerically integrating the differential equation (for example, using the fourth-order Runge-Kutta method), the change of the quaternion over time can be obtained, which is then converted into Euler angles to obtain the attitude information of the drill pipe.

[0052] S22: Continuously iterate the EKF algorithm to perform prediction and update denoising, specifically: Define the system state vector , the observation vector The state transition equation of the system is: ,in is the state transfer matrix, determined according to the angular velocity and time interval measured by the gyroscope, is the process noise; the observation equation is: ,in is the observation matrix, which is determined according to the measurement principle of the accelerometer and gyroscope. is the observation noise.

[0053] Theoretically: The steps of the EKF algorithm include prediction and update. Prediction step: based on the state estimate at the previous moment and the state transition equation to predict the current state estimate , the predicted state covariance matrix ,in is the process noise covariance matrix. Update step: According to the observation value at the current moment and predicted values , calculate the Kalman gain ,in is the observation noise covariance matrix. Then update the state estimate , update the state covariance matrix ,in is the unit matrix. By continuously iterating the EKF algorithm and integrating the data of the accelerometer and gyroscope, the accuracy and stability of the drill pipe attitude information can be improved.

[0054] In the preferred solution, in step S2, the tilt angle is calculated based on the gravity acceleration component, including: First: Assume that the installation direction of the inclination sensor on the drill pipe is known, and the component of the gravity acceleration measured by it in the sensor coordinate system is , , . Assume the inclination angle of the drill pipe (pitch angle and roll angle ) is related to the gravitational acceleration component as follows: ; According to the components of gravity acceleration in different axes, the pitch angle and roll angle of the drill pipe are calculated by the inverse tangent function, which intuitively reflects the inclination of the drill pipe relative to the gravity direction; Then establish a mathematical model of temperature and tilt angle error for compensation. The formula is: ; In the formula, is the temperature, and is the tilt angle error, , , and is the temperature compensation coefficient determined by experiment, , is the calibration temperature.

[0055] The tangent function calculates the pitch angle and roll angle of the drill pipe, which intuitively reflects the inclination of the drill pipe relative to the gravity direction. , the tilt angle error is calculated according to the temperature compensation model, and the measured tilt angle is corrected to improve the measurement accuracy. In the preferred solution, in step S3, the deviation includes coordinate deviation and posture deviation, specifically: S31: The spatial vector distance deviation formula calculates the coordinate deviation. The formula is: ; In the formula, Indicates the coordinate deviation value, is the current location, is a preset reference position; Based on the modulus calculation of the space vector, the spatial distance deviation between the actual position and the designed position is obtained by taking the square root of the sum of the squares of the differences of each coordinate component, which can intuitively measure the degree of position deviation.

[0056] S31: Tilt angle deviation, using the formula derived from the trigonometric function relationship to accurately calculate the difference between the actual tilt angle and the designed tilt angle. The formula is: ; Azimuth deviation, the formula is: ; in, is the tilt angle deviation, The two formulas use the properties of trigonometric functions, comprehensively consider the relationship between the tilt angle and the azimuth angle, and improve the accuracy of the attitude deviation.

[0057] In the preferred embodiment, step S4 determines based on the deviation and sets the coordinate deviation threshold and attitude deviation threshold , The calculated deviation value is compared with the corresponding threshold value, and a comprehensive judgment is made using a multi-dimensional judgment matrix. The matrix is: ; like and and , it is determined that the drilling position and drill rod posture meet the accuracy requirements, and the system continues to monitor in real time; if any deviation value exceeds the threshold range, it is determined that correction operation is required and enters the correction link.

[0058] The use of a multi-dimensional judgment matrix allows for intuitive comparison of multiple deviation dimensions at the same time, ensuring the accuracy and comprehensiveness of the judgment.

[0059] When deviation correction is required, the drilling rig control system operates according to the preset deviation correction strategy. The deviation correction operation requires precise control of the drilling rig's travel mechanism and drill rod adjustment mechanism to achieve effective correction of the deviation.

[0060] In the preferred embodiment, step S5 is performed according to a preset deviation correction strategy, specifically: S51: Coordinate deviation correction, according to the coordinate deviation value and deviation direction (calculated by space vector), calculate the drilling rig travel mechanism , and Adjustment amount in direction , and The calculation is performed using the formula derived from the proportional-integral-differential (PID) control principle, and the formulas are: ; ; ; In the formula, , and The coordinate deviations are , and The weight in direction, , and is the PID control parameter.

[0061] In this embodiment, the PID control principle is adopted, and the proportional term quickly responds to the deviation, the integral term eliminates the accumulated deviation, and the differential term predicts the deviation change trend. The precise adjustment amount is obtained by combining the effects of the three, thereby improving the timeliness and accuracy of the correction.

[0062] S52: Posture deviation correction: for tilt angle deviation and azimuth deviation , according to the mechanical model of the drill rod adjustment mechanism and the current posture, calculate the hydraulic cylinder extension amount that needs to be adjusted and the rotation angle of the rotating mechanism , the formula is: ; ; In the formula, is the length parameter related to the drill pipe structure. The first formula calculates the hydraulic cylinder extension required to correct the tilt angle deviation based on the trigonometric function relationship and the drill pipe structure parameters; the second formula directly uses the azimuth angle deviation as the rotation angle adjustment amount of the rotating mechanism to achieve precise adjustment of the drill pipe posture.

[0063] S53: Adaptive control algorithm adjusts PID control parameters based on real-time monitoring data , and : To adapt to different deviation conditions and drilling rig working conditions, the formula is: ; ; ; In the formula, , , , , and are the initial parameters and adjustment coefficients, is the constant that controls the rate of change of the parameter, , and The reference deviation value and its integral and differential values ​​are used to ensure the stability and accuracy of the deviation correction operation and avoid excessive deviation correction.

[0064] The preferred solution also includes S6: according to the calculation of coordinate deviation and posture deviation, multiple constraints are set, and deviation judgment based on Mamdani fuzzy logic is used to construct a comprehensive objective function, which is specifically: S61: Construct the deviation constraint conditions and objective function in the three-dimensional direction of the coordinates, including: The constraints are: ; in, is the maximum coordinate deviation distance allowed in three-dimensional space, is the actual location, The default reference position.

[0065] Furthermore, the horizontal constraints (X and Y directions) and vertical constraints (Z direction) can be independently established to meet the actual needs.

[0066] The above comprehensive considerations of the deviations in the horizontal and vertical directions more comprehensively reflect the deviations of the drilling position in space, which helps to control the overall accuracy of the drilling position.

[0067] The objective function is: ; in, They are the weight coefficients for the deviations in the X, Y and Z directions respectively.

[0068] The weight coefficient can be adjusted according to the actual needs and importance of the project. For example, in some specific wire saw rock cutting projects, the horizontal accuracy requirement is higher, so the weight coefficient can be appropriately increased. The objective function converts the coordinate deviation into a single numerical index by weighted summing of the squares of the deviations in each direction, which facilitates optimization calculation to achieve the goal of minimizing the coordinate deviation.

[0069] S62: Constructing attitude deviation constraints and objective functions, including: The constraints of the posture are: ; In the formula, and are the actual inclination and azimuth angles, and The tilt angle and azimuth angle of the preset reference, the objective function of the attitude, the formula is: ; In the formula, , and They are the weight coefficients of inclination angle deviation, azimuth angle deviation and comprehensive attitude deviation. The weight coefficient can be adjusted according to the importance of inclination angle and azimuth angle in actual engineering. The objective function converts the attitude deviation into an optimizable numerical indicator by weighted summation of different attitude deviation indicators, so as to minimize the attitude deviation while ensuring the drilling quality.

[0070] S64: Use fuzzy logic to judge the deviation and construct a comprehensive objective function to achieve comprehensive optimization of coordinate deviation and posture deviation. Specifically: According to the size of coordinate deviation and posture deviation, the corresponding fuzzy sets are defined, and the deviation judgment result is obtained by using Mamdani fuzzy reasoning method. Then construct the comprehensive objective function, the formula is: ; In the formula, and is the weight coefficient, and are coordinate deviation and attitude deviation; The comprehensive objective function linearly combines the objective functions of coordinate deviation and attitude deviation to form a unified optimization goal, so as to optimize the coordinate and attitude deviations at the same time in actual engineering and improve the overall accuracy of drilling positioning.

[0071] Furthermore, in this embodiment, fuzzy sets can be defined according to the size of coordinate deviation and posture deviation. For example, for coordinate deviation, fuzzy sets such as "small deviation", "medium deviation" and "large deviation" can be defined; for posture deviation, corresponding fuzzy sets can be defined. Then, a corresponding fuzzy rule base is established: when the coordinate deviation is "small deviation" and the posture deviation is "small deviation", the overall deviation is judged to be "qualified"; when the coordinate deviation is "medium deviation" and the posture deviation is "large deviation", the overall deviation is judged to be "unqualified"; through the fuzzy reasoning method, a comprehensive deviation judgment result is obtained.

[0072] The Mamdani fuzzy reasoning method is used to search for matching rules in the fuzzy rule library according to the input coordinate deviation and posture deviation, and the final deviation judgment conclusion is obtained through fuzzy synthesis operation. This fuzzy logic deviation judgment method can handle complex deviation situations more flexibly, comprehensively consider the influence of multiple factors, and improve the accuracy and reliability of deviation judgment.

[0073] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A measuring device for positioning drilling holes in rock cutting with a wire saw, characterized in that: include: GNSS receiver module, which is installed on the drilling rig equipment. Several GNSS receivers are installed on the top of the hydraulic drilling rig cabin and the top of the fixed drill arm to obtain the plane position of the drilling rig and the three-dimensional spatial attitude data of the drill rod in real time; Multi-sensor module, including inertial navigation sensor and tilt sensor, used to monitor the three-dimensional spatial posture of the drill pipe on the drilling rig equipment and monitor the inclination angle of the drill pipe in real time; The data processing module is connected with the GNSS receiver module and the multi-sensor module to obtain the corresponding test data of the two in real time, and perform corresponding data analysis and coordinate conversion after verifying the test data; The deviation judgment module is connected to the data processing module and is used to compare the corresponding data converted by the GNSS receiver module and the multi-sensor module with the initial data and calculate the corresponding data deviation values; The HMI control module is used to control the drilling equipment to perform drilling operations when the corresponding data deviation values ​​all meet the respective preset thresholds.

2. The measuring device for positioning drilling holes in wire saw rock cutting according to claim 1, characterized in that: It also includes a correction control module, which is used to perform a correction operation if the corresponding data deviation values ​​do not meet the respective preset thresholds, specifically: The real-time measured drilling rig position coordinates and drill rod posture data are compared with their respective preset thresholds, and the drill rod posture deviation is calculated using the vector angle algorithm, and the coordinate deviation is calculated using the Euclidean distance formula; the coordinate deviation threshold and the posture deviation threshold are set, and the deviation judgment is performed through a multi-dimensional judgment matrix: if the corresponding data deviation values ​​do not meet their respective preset thresholds, the drilling rig travel and drill rod adjustment mechanism are controlled, and the adjustment amount is calculated using an algorithm based on the PID control principle. During the correction process, an adaptive control algorithm is used to dynamically adjust the correction amount.

3. A measurement control method for positioning drilling holes for rope saw rock cutting, applicable to the measurement device for positioning drilling holes for rope saw rock cutting according to any one of claims 1 to 2, characterized in that: The following steps are involved: S1: Initialization settings: including building a spatial coordinate system based on the platform of the drilling rig, calibrating various sensors, and pre-calculating the ideal cutting data for wire saw rock cutting. The cutting data includes the three-dimensional posture coordinates of the drilling equipment to be drilled, the drilling azimuth and inclination, and the drilling depth; S2: Real-time acquisition of current cutting data of the multi-sensor module, the current cutting data including initial three-dimensional spatial posture information of the drill rod, and the inclination sensor measuring the initial inclination angle of the drill rod; S3: Calculate the current cutting data and compare it with the ideal cutting data to calculate the deviation value; S4: If the current deviation value exceeds the preset threshold range, real-time deviation correction is performed; S5: The actual drilling center coordinates, inclination angle and azimuth of the borehole are measured multiple times to obtain the average value, the fuzzy control algorithm is used to dynamically adjust the correction amount, and the data is saved.

4. The measurement and control method for positioning drilling holes for rock cutting by a wire saw according to claim 3, characterized in that: In step S1, a spatial coordinate system is constructed according to the platform of the drilling rig to obtain the initial plane position of the rig. The formula is: S11: The signal propagation time measurement algorithm is used to calculate the distance between the receiver and the satellite. The formula is: ； In the formula, is the spatial coordinate of satellite i, are the coordinates of the receiver, is the signal propagation time, that is, the time from signal transmission to reception; S12: Use the least squares positioning algorithm to obtain the initial plane position of the aircraft. The formula is: ， ； In the formula, the observation vector is , the vector to be tested , is the design matrix, It is an element determined based on the relationship between the satellite coordinates and the unknown coordinates; In the formula, the observation vector , , is the design matrix, Determined based on the relationship between satellite coordinates and unknown coordinates; S13: Correction of the delay of positioning signals in the ionosphere and troposphere, including: Using dual-frequency GNSS signals for ionospheric delay correction, and , are two signals of different frequencies received by the GNSS receiver, and the corresponding ionospheric delays are and , According to the relationship between ionospheric delay and frequency, the correction formula is: ； For the tropospheric delay correction, the Saastamoinen model is used, assuming that the tropospheric delay is , the ground temperature is , the surface pressure is , the water vapor pressure is , then the calculation formula of tropospheric delay is: ； In the formula, is an empirical constant.

5. The measurement and control method for positioning drilling holes for rock cutting by a wire saw according to claim 3, characterized in that: In step S2, the initial three-dimensional spatial posture of the drill rod is obtained, specifically: S21: Attitude solution algorithm based on accelerometer and gyroscope. Accelerometer is used to measure the acceleration of drill pipe, gyroscope is used to measure the angular velocity of drill pipe, and accelerometer is used to measure the angular velocity of drill pipe. The acceleration component on : , according to Newton's second law In a gravitational field, the acceleration measured by the accelerometer includes the gravitational acceleration The component of the acceleration of the drill pipe movement; The drill rod's posture is expressed in Euler angles (pitch angle Roll Angle Yaw angle The relationship between the accelerometer measurement and the Euler angle is: ； In the formula, is the acceleration component of the drill rod motion; The gyroscope measures the angular velocity components of the drill pipe around the three axes , , , according to the measurement principle of the gyroscope, let the quaternion be , then the differential equation of the quaternion is: ； S22: Continuously iterate the EKF algorithm to perform prediction and update denoising, specifically: Define the state vector as , the observation vector is ; The state transfer equation of the system is: ;in is the state transfer matrix, determined according to the angular velocity and time interval measured by the gyroscope, is the process noise; the observation equation is: ,in is the observation matrix, which is determined according to the measurement principle of the accelerometer and gyroscope. is the observation noise.

6. The measurement and control method for positioning drilling holes for rock cutting by a wire saw according to claim 3, characterized in that: In step S2, the tilt angle is calculated based on the gravity acceleration component, including: First: Assume that the installation direction of the inclination sensor on the drill pipe is known, and the component of the gravity acceleration measured by it in the sensor coordinate system is , and ; The inclination angle of the drill pipe (pitch angle and roll angle ) is related to the gravitational acceleration component as follows: ； Then establish a mathematical model of temperature and tilt angle error for compensation. The formula is: ； In the formula, is the temperature, , is the tilt angle error, , , and is the temperature compensation coefficient determined by experiment, , is the calibration temperature.

7. The measurement and control method for positioning drilling holes for rock cutting by a wire saw according to claim 3, characterized in that: In step S3, the deviation includes coordinate deviation and posture deviation, specifically: S31: The spatial vector distance deviation formula calculates the coordinate deviation. The formula is: ； In the formula, Indicates the coordinate deviation value, is the current location, is a preset reference position; S31: Tilt angle deviation. The difference between the actual tilt angle and the designed tilt angle is calculated using the trigonometric function relationship formula. The formula is: ； The azimuth deviation formula is: ； In the formula, is the tilt angle deviation, is the azimuth deviation.

8. The measurement and control method for positioning drilling holes for rock cutting by a wire saw according to claim 3, characterized in that: Step S4 determines based on the deviation and sets the coordinate deviation threshold and attitude deviation threshold , ; Compare the obtained deviation value with the corresponding threshold value, and make a comprehensive judgment using a multi-dimensional judgment matrix. The matrix is: ； like and and , it is determined that the drilling position and drill rod posture meet the accuracy requirements, and the system continues to monitor in real time; if any deviation value exceeds the threshold range, it is determined that correction operation is required, and correction is performed.

9. The measurement and control method for positioning drilling holes for rock cutting by a wire saw according to claim 3, characterized in that: Step S5 is performed according to the preset deviation correction strategy, specifically: S51: Coordinate deviation correction, according to the coordinate deviation value and deviation direction (calculated by space vector), calculate the drilling rig travel mechanism , and Adjustment amount in direction , and , based on the proportional-integral-differential (PID) control principle, the formula is: ； ； ； In the formula, , and The coordinate deviations are , and The weight in direction, , and is the PID control parameter; S52: Posture deviation correction: for tilt angle deviation and azimuth deviation , according to the mechanical model of the drill rod adjustment mechanism and the current posture, calculate the hydraulic cylinder extension amount that needs to be adjusted and the rotation angle of the rotating mechanism , the formula is: ； ； In the formula, is the length parameter related to the drill pipe structure; S53: The adaptive control algorithm adjusts the PID control parameters according to the real-time monitoring data. The formulas are: ； ； ； In the formula, , , , , and are the initial parameters and adjustment coefficients, is the constant that controls the rate of change of the parameter, , and is the reference deviation value and its integral and differential values.

10. The measurement and control method for positioning drilling holes for rock cutting by a wire saw according to claim 3, characterized in that: It also includes S6: according to the calculation of coordinate deviation and posture deviation, multiple constraints are set, and deviation judgment based on Mamdani fuzzy logic is used to construct a comprehensive objective function, which is specifically: S61: Construct the deviation constraints and objective function in the three-dimensional direction of the coordinates: The constraints are: ; In the formula, is the maximum coordinate deviation distance allowed in three-dimensional space, is the actual location, is the preset reference position; The objective function is: In the formula, are the weight coefficients of the deviations in the X, Y and Z directions respectively; S62: Construct deviation constraints and objective functions in posture, including: The constraints of the posture are: ； In the formula, and are the actual inclination and azimuth angles, and For the preset reference inclination angle and azimuth angle, the objective function of the attitude is: ； S63: , and are the weight coefficients of tilt angle deviation, azimuth deviation and comprehensive attitude deviation respectively; S64: using fuzzy logic to judge the deviation and constructing a comprehensive objective function to achieve comprehensive optimization of the coordinate deviation and the attitude deviation, specifically: defining corresponding fuzzy sets according to the size of the coordinate deviation and the attitude deviation, and using the Mamdani fuzzy reasoning method to obtain the deviation judgment result; Then construct the comprehensive objective function, the formula is: ； In the formula, and is the weight coefficient, and are coordinate deviation and attitude deviation.

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