Automatic blasthole patrolling and finding device of vertical shaft construction hydraulic drilling rig and operation method of automatic blasthole patrolling and finding device

Abstract

The invention discloses an automatic blasthole patrolling and finding device of a vertical shaft construction hydraulic drilling rig and an operation method thereof. The automatic blasthole patrolling and finding device comprises a control server, a control box, a pump station, a supporting column, a swing arm, an oil cylinder and a drilling rig propelling frame. The control server and the control box are arranged at the top of the supporting column; one end of the swing arm is connected with the supporting column, the other end of the swing arm is connected with the drilling machine propelling frame, the drilling machine propelling frame is connected with the hydraulic drilling machine, and the oil cylinders are arranged on the supporting column, the swing arm and the drilling machine propelling frame respectively. Through research and development of advanced blasthole positioning algorithm, driving control, drill boom dynamic adjustment and sensor group coupling technologies, the intelligent hole searching precision of the blasthole is improved through multi-dimensional visual verification under complex geological conditions and variable environments, the blasthole is accurately identified and positioned, personal errors are reduced to the maximum extent, and the precision of the blasthole searching is improved. And accurate drilling arrangement operation is realized.

Description

Technical Field

[0001] The invention relates to the technical field of blast hole search and hole arrangement, and more particularly to an automatic blast hole search device for a vertical shaft construction hydraulic drilling rig and an operation method thereof. Background Art

[0002] All kinds of vertical shaft projects involved in coal mines, non-coal mines, subways, tunnels and other underground projects require blasting construction, also known as ordinary drilling and blasting excavation construction, which is widely used, especially for working faces with complex engineering geology and hydrogeology. The ordinary drilling and blasting excavation construction technology for vertical shafts lacks systematic and complete technical equipment in terms of mechanization and automatic control, and the operation of the equipment is mainly manual operation on the job site.

[0003] Ordinary drilling and blasting tunneling construction requires drilling and blasting. The quality of drilling is related to the smooth installation of blasting explosives, blasting effect and safe production. Hydraulic drilling rig is the most effective tool for vertical shaft drilling and blasting construction. Due to the complex working environment and high risk factor of ordinary drilling and blasting tunneling, traditional operators have to operate the hydraulic drilling rig drill arm to patrol holes one by one according to the design drawings. There are high requirements for safety and operation technology. In addition, due to the narrow space, high dust, low visibility and high noise at the work site, there are problems such as low control efficiency and large errors, which affect the blasting quality and work efficiency. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to provide a device for automatically patrolling and finding blasting holes for a hydraulic drilling rig in vertical shaft construction and an operating method thereof, so as to realize automatic patrol and arrangement of blasting holes in the vertical shaft by ordinary drilling and blasting method, reduce the number of workers on the working face, and improve the work efficiency and safety of the patrol process in the vertical shaft by ordinary drilling and blasting method.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A device for automatically patrolling blasting holes for a hydraulic drilling rig in vertical shaft construction comprises a control server, a control box, a pump station, a support column, a swing arm, a cylinder and a drilling rig propulsion frame; the control server and the control box are arranged on the top of the support column; one end of the swing arm is connected to the support column, the other end of the swing arm is connected to the drilling rig propulsion frame, the drilling rig propulsion frame is connected to the hydraulic drilling rig, and the cylinders are respectively arranged on the support column, the swing arm and the drilling rig propulsion frame.

[0007] The above-mentioned automatic blasting hole patrol device for vertical shaft construction hydraulic drilling rig, the support column is vertically supported on the shaft working surface, the upper end of the support column is provided with an umbrella drill top plate, the control server and the control box are respectively installed on the bracket of the umbrella drill top plate;

[0008] The control server is connected to the control center located in the ground control room through a wired or wireless network, and the control server receives control instructions from the control center; the control server is connected to the control box, and executes the instructions of the control server by controlling the pump station and the cylinder; the control box includes a receiving controller, an execution controller and a monitoring data acquisition module; the receiving controller is used to receive signals from the control server, the execution controller is used to drive the cylinder to move, and the monitoring data acquisition module is used to collect signals from the inclination sensor.

[0009] The above-mentioned automatic blasting hole patrol device for a vertical shaft construction hydraulic drilling rig, the oil cylinder comprises a supporting oil cylinder and a rotating oil cylinder;

[0010] One end of the support oil cylinder is fixedly connected to the umbrella drill top plate, and the other end of the support oil cylinder abuts against the wall of the vertical shaft to fix and support the support column; there are three support oil cylinders, which are evenly arranged along the circumference of the umbrella drill top plate;

[0011] The rotating oil cylinder is installed on the top of the supporting column and is located below the umbrella drill top plate. The power output end of the rotating oil cylinder is drivingly connected to a rotating bracket, and the rotating bracket is sleeved on the outer side of the supporting column; the rotating oil cylinder drives the rotating bracket to rotate around the supporting column.

[0012] The above-mentioned automatic blasting hole patrol device for a vertical shaft construction hydraulic drilling rig, the oil cylinder also includes an arm oil cylinder, a tilt oil cylinder and a propulsion oil cylinder;

[0013] One end of the swing arm is hinged to the upper part of the rotating bracket, and one end of the swing arm is hinged to the outer wall of the propulsion cylinder;

[0014] The outer cylinder end of the arm cylinder is hinged to the lower part of the rotating bracket, and the piston rod end of the arm cylinder is hinged to the upper outer side wall of the swing arm;

[0015] The outer cylinder end of the tilt oil cylinder is hinged to the lower outer side wall of the swing arm, and the piston rod end of the tilt oil cylinder is hinged to the outer side wall of the drilling rig propulsion frame;

[0016] The piston rod of the propulsion oil cylinder is hinged to the upper part of the drilling rig propulsion frame, and the outer cylinder end of the propulsion oil cylinder is fixedly connected to the middle part of the drilling rig propulsion frame.

[0017] The above-mentioned automatic blasting hole patrol device for a hydraulic drilling rig in vertical shaft construction, the top of the hydraulic drilling rig is fixedly connected to the drilling rig propulsion frame, and the middle and lower parts of the drill rod of the hydraulic drilling rig are fixedly connected to the drilling rig propulsion frame through limiting buckles, thereby reducing the shaking of the drill rod of the hydraulic drilling rig during the drilling process.

[0018] The above-mentioned automatic blasting hole patrol device for vertical shaft construction hydraulic drilling rig is provided with two inclination sensors on the swing arm, and the inclination sensors are respectively arranged at the connection between the support arm cylinder and the tilt cylinder and the swing arm; an inclination sensor is arranged at the connection between the drilling rig propulsion frame and the propulsion cylinder; the signal output end of the inclination sensor is connected to the control box;

[0019] The high-precision electro-hydraulic controlled proportional valve group is installed on the drilling rig propulsion frame, and the pump station is respectively connected to the supporting cylinder, rotating cylinder, tilting cylinder and propulsion cylinder through the high-precision electro-hydraulic controlled proportional valve group; the signal output end of the high-precision electro-hydraulic controlled proportional valve group is connected to the control box.

[0020] The operating method of the automatic blasting hole inspection device using the vertical shaft construction hydraulic drilling rig comprises the following steps:

[0021] (A) Arranging the above-mentioned vertical shaft construction hydraulic drilling rig automatic blasting hole patrol device on the shaft working surface;

[0022] (B) The operator in the ground control room enters the blast hole design information into the computer of the control center, and the control center sends the design information to the control server through the network. The control server receives the design information, processes it through the intelligent hole patrol algorithm software, determines the location of the drill hole, and sends the control command to the receiving controller of the control box;

[0023] (C) The execution controller of the control box issues a movement command based on the drilling position obtained. The pump station controls the rotary cylinder, arm cylinder, tilt cylinder and thrust cylinder through a high-precision electro-hydraulic proportional valve group to achieve the movement of the swing arm and the drilling rig push frame, thereby driving the hydraulic drilling to reach the drilling position;

[0024] (D) Drilling with hydraulic drilling rig.

[0025] The above-mentioned method for operating a device for automatically patrolling and finding blasting holes for a vertical shaft construction hydraulic drilling rig, wherein the intelligent hole patrol algorithm includes a drill arm coordinate algorithm and an automatic hole finding algorithm;

[0026] In the automatic hole finding algorithm, the bottom end of the support column is set as the origin to establish a fixed global coordinate system XYZ coordinate system:

[0027] The first degree of freedom: the rotation of the rotating bracket about the vertical axis Z axis, the rotation angle is θ;

[0028] The second degree of freedom: extension of the arm cylinder, the arm cylinder stroke is l2;

[0029] The third degree of freedom: extension of the tilt cylinder, the stroke of the tilt cylinder is l3;

[0030] The fourth degree of freedom: the extension of the propulsion cylinder, the position change of the Z axis is z;

[0031] The coordinate position of the support column is calculated by the forward kinematics formula, which is:

[0032] p=Rz(θ)×(l2,l3,z)T+(x0,y0,z0)T;

[0033] Where Rz(θ) is the rotation matrix around the Z axis, θ is the rotation angle; (x0, y0, z0)T is the position of the robot base in the global coordinate system, and (l2, l3, z)T is the displacement determined by the second, third and fourth degrees of freedom;

[0034] Drill arm coordinate algorithm: By establishing the world coordinate system and the local coordinate system, using the forward and inverse kinematics models, and the angles or positions of each joint of the drill arm, the end effector, i.e. the hydraulic drill, can be precisely positioned and adjusted in posture:

[0035] The bottom end of the support column is set as the origin O, and a world coordinate system X, Y, and Z is established;

[0036] Take point b as the origin of the local coordinate system, point b is the hinge point between the rotating bracket and the swing arm, then the X, Y, and Z coordinates of point b relative to the relative origin O are:

[0037] Xob=L3*sinα1, Yob=-L10*sinβ1, Zob=L3*cosα1;

[0038] Take point c as the origin of the local coordinate system, point c is the hinge point between the propulsion cylinder and the swing arm, and its coordinate relative to point b is:

[0039] Xbc=[(L4*sinα5) 2 -Zbc 2 ] 0.5 , Ybc=(L4 2 -Xbc 2 -Zbc 2 ) 0.5 , Zbc=-L4*sinα2;

[0040] Take point d as the origin of the local coordinate system. Point d is the hinge point between the tilt cylinder and the drilling rig propulsion frame. The X, Y, and Z coordinates of point d relative to point c are:

[0041] Xcd=-L11*sinβ1, Ycd=-L11*cosβ1, Zcd=0;

[0042] Take point e as the origin of the local coordinate system. Point e is the point extending from point c to the axis of the drilling rig propulsion frame. The X, Y, and Z coordinates of point e relative to point d are:

[0043] Xde=L12*cosα3cosβ1, Yde=-L12*cosα3sinβ1, Zde=L12*sinα3;

[0044] Take point f as the origin of the local coordinate system, point f is the bottom end of the drilling rig propulsion frame, and the X, Y, and Z coordinates of point f relative to point e are: Xef = 0, Yef = 0, Zef = -L7;

[0045] Take point g as the origin of the local coordinate system, point g is the bottom end of the hydraulic drill, and the X, Y, and Z coordinates of point g relative to point f are:

[0046] Xfg=L13*cosα3cosβ1, Yfg=-L13*cosα3sinβ1, Zfg=L13*sinα3;

[0047] The X, Y, and Z coordinates of point g relative to the origin O.

[0048] Xog=Xob+Xbc+Xcd+Xde+Xef+Xfg,

[0049] Yog=Yob+Ybc+Ycd+Yde+Yef+Yfg,

[0050] Zog=Zob+Zbc+Zcd+Zde+Zef+Zfg, which is the coordinate value of the drilling arm hole finding point;

[0051] Wherein, L3 is the distance from the origin O at the bottom of the support column to point b; α1 is the angle between the line connecting the origin O and point b and the support column; β1 is the rotation angle of the rotating bracket; L10 is the distance from the rotating axis of the rotating bracket to the hinge point between the rotating bracket and the swing arm;

[0052] L4 is the length of the swing arm, α2 is the angle between the swing arm and the horizontal direction, and α5 is the angle between the swing arm and the drilling rig propulsion frame;

[0053] L11 is the distance between the swing arm and the drilling rig propulsion frame; L12 is the horizontal distance from the rotation axis of the rotating bracket to the farthest end of the drilling rig propulsion frame; α3 is the angle between the support column and the drilling rig propulsion frame; L7 is the distance from the hinge point between the propulsion cylinder and the swing arm to the bottom end of the drilling rig propulsion frame; L13 is the distance between the lowest end point of the hydraulic drilling rig and the lowest end point of the drilling rig propulsion frame.

[0054] The above-mentioned operation method of the automatic blasting hole inspection device of the vertical shaft construction hydraulic drilling rig includes the following steps in step C:

[0055] (C-1) Realize the left and right movement of the swing arm: The pump station controls the rotation of the rotary cylinder through a high-precision electro-hydraulic proportional valve. The power output end of the rotary cylinder drives the rotary bracket to rotate. The pump station controls the extension and retraction of the support arm cylinder through a high-precision electro-hydraulic proportional valve, and uses the support arm cylinder to push the swing arm, thereby realizing the left and right movement of the swing arm;

[0056] (C-2) Realize the forward and backward movement of the drilling rig propulsion frame: The pump station controls the extension and retraction of the tilt cylinder through a high-precision electro-hydraulic proportional valve to realize the forward and backward movement of the drilling rig propulsion frame;

[0057] (C-3) Realize the up and down movement of the drilling rig propulsion frame: The pump station controls the extension and retraction of the propulsion cylinder through a high-precision electro-hydraulic proportional valve to realize the up and down movement of the drilling rig propulsion frame.

[0058] The above-mentioned method for operating the automatic blasting hole inspection device of the vertical shaft construction hydraulic drilling rig comprises the following steps:

[0059] In (D), the lower end of the drilling rig propulsion frame is abutted against the wellbore working surface and fixed, and the hydraulic drilling rig connected to the drilling rig propulsion frame performs drilling construction as required.

[0060] The technical solution of the present invention achieves the following beneficial technical effects:

[0061] 1. The automatic blasting hole patrol device and operation method of the vertical shaft construction hydraulic drilling rig of the present application can be applied to the blasting hole arrangement process of ordinary drilling and blasting method construction, and realize unmanned blasting hole arrangement operation.

[0062] 2. Based on the pre-designed hole location drawings, the operator inputs the drawing information into the control server, which forms a control algorithm program. The control server issues control instructions to the control box. The control box controls the high-precision electro-hydraulic proportional valve, controls the extension and retraction of the oil cylinder, and realizes the movement of the drill arm to patrol and arrange holes. At the same time, the control box receives and collects relevant sensor information to accurately sense the oil cylinder stroke and the position of the drill arm, and promptly feeds back to the control server. The control server adjusts the algorithm program in real time and issues control instructions to achieve accurate patrol and arrangement of holes.

[0063] 3. The automatic blasting hole patrol device of the hydraulic drilling rig for vertical shaft construction has developed advanced blasting hole positioning algorithms, drive control, dynamic adjustment of the drill arm and sensor group coupling technology. It improves the intelligent hole-finding accuracy of blasting holes through multi-dimensional visual verification under complex geological conditions and changing environments, and can accurately identify and locate blasting holes, thereby minimizing human errors and achieving precise drilling layout operations. It improves operating efficiency under the premise of safe production and takes a solid step towards promoting the advancement of intelligent technology in drilling and blasting construction.

[0064] 4. This application sets up two intelligent hole inspection algorithms. The automatic hole finding algorithm has significant advantages in improving detection efficiency and accuracy and is suitable for a variety of application scenarios. The drill arm coordinate algorithm performs well in high accuracy and flexibility and can be selected according to the on-site construction conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A structural schematic diagram of a device for automatically patrolling and finding blasting holes for a hydraulic drilling rig for vertical shaft construction according to the present invention;

[0066] Figure 2 A partial enlarged view of the top structure of the support column;

[0067] Figure 3 A partial enlarged view of the drilling rig propulsion frame, tilt cylinder, propulsion cylinder and hydraulic drilling rig;

[0068] Figure 4a It is a schematic diagram of coordinate calculation when the drilling rig swing arm and the drilling rig propulsion frame are combined; Figure 4b It is a schematic diagram of coordinate calculation when the drilling rig swing arm and the drilling rig propulsion frame are in the open state; Figure 4c This is a schematic diagram of the overhead coordinate calculation when the drilling rig swing arm and drilling rig propulsion frame are in the open state.

[0069] The reference numerals in the figure are as follows: 1-control server; 2-control box; 3-pump station; 4-rotating bracket; 5-support column; 6-support cylinder; 7-rotating cylinder; 8-support arm cylinder; 9-tilt cylinder; 10-propulsion cylinder; 11-high-precision electro-hydraulic proportional valve group; 12-tilt sensor; 13-ground control room; 14-wellbore working surface; 16-control center; 17-well wall; 18-swing arm; 19-drilling rig propulsion frame; 20-umbrella drill top plate; 21-hydraulic drilling rig. DETAILED DESCRIPTION

[0070] Embodiment 1: Automatic blast hole search device for hydraulic drilling rig in vertical shaft construction

[0071] like Figure 1 As shown, it includes a control server 1, a control box 2, a pump station 3, a support column 5, a swing arm 18, a cylinder and a drilling rig propulsion frame 19; the control server 1 and the control box 2 are arranged on the top of the support column 5; one end of the swing arm 18 is connected to the support column 5, and the other end of the swing arm 18 is connected to the drilling rig propulsion frame 19, the drilling rig propulsion frame 19 is connected to the hydraulic drilling rig, and the cylinders are respectively arranged on the support column 5, the swing arm 18 and the drilling rig propulsion frame 19.

[0072] like Figure 2As shown in the enlarged view of the invention, the support column 5 is vertically supported on the wellbore working surface 14, supporting the swing arm 18, the drilling rig propulsion frame 19 and the hydraulic drilling rig; an umbrella drill top plate 20 is provided at the upper end of the support column 5, and the control server 1 and the control box 2 are respectively installed on the brackets of the umbrella drill top plate 20;

[0073] The control server 1 is connected to the control center 16 located in the ground control room 13 through a wired or wireless network communication, and the control server 1 receives control instructions from the control center 16; the operator enters the blasting hole design information into the control center in the ground control room, and the computer in the control center sends the design information to the control server through the network. The control server receives the design information, processes it through the intelligent hole patrol algorithm software, and sends out control commands.

[0074] The control server 1 is connected to the control box 2 in communication, and executes the instructions of the control server 1 by controlling the pump station 3 and the oil cylinder. The control box 2 contains a control unit, which is the execution component of the intelligent hole patrol and hole arrangement of the rock drill, and is composed of a receiving controller, an execution controller and a monitoring data acquisition module. The receiving controller is used to receive signals from the control server 1, the execution controller is used to drive the oil cylinder to move, and the monitoring data acquisition module is used to collect signals from the inclination sensor.

[0075] The cylinders include a supporting cylinder 6, a rotating cylinder 7, an arm cylinder 8, a tilting cylinder 9 and a propulsion cylinder 10;

[0076] 1. The rotating oil cylinder 7 is installed on the top of the supporting column 5 and is located below the umbrella drill top plate 20. The power output end of the rotating oil cylinder 7 is drivingly connected to the rotating bracket 4. The rotating bracket 4 is sleeved on the outside of the supporting column 5. The rotating oil cylinder 7 drives the rotating bracket 4 to rotate around the supporting column 5.

[0077] 2. One end of the supporting oil cylinder 6 is fixedly connected to the umbrella drill top plate 20, and the other end of the supporting oil cylinder 6 is against the vertical shaft wall 17, which is used to fix and support the supporting column 5; there are three supporting oil cylinders 6, which are evenly arranged along the circumference of the umbrella drill top plate 20; there are three supporting oil cylinders 6, each of which is 120 degrees apart. Start the pump station 3, operate the high-precision electro-hydraulic proportional valve group 11, support the three supporting oil cylinders on the vertical shaft wall 17, support the supporting column 5 on the working surface 14, adjust the supporting oil cylinder so that the supporting column is perpendicular to the working surface, and ensure the normal drilling posture of the hydraulic drilling rig.

[0078] 3. One end of the swing arm 18 is hinged to the upper part of the rotating bracket 4, and the other end of the swing arm 18 is hinged to the outer wall of the propulsion cylinder 10;

[0079] The outer cylinder end of the arm cylinder 8 is hinged to the lower part of the rotating bracket 4, and the piston rod end of the arm cylinder 8 is hinged to the upper outer side wall of the swing arm 18;

[0080] 4. The outer cylinder end of the tilt cylinder 9 is hinged to the lower outer wall of the swing arm 18, and the piston end of the tilt cylinder 9 is hinged to the outer wall of the drilling rig propulsion frame 19;

[0081] 5. The piston rod end of the propulsion cylinder 10 is hinged to the upper part of the drilling rig propulsion frame 19, and the outer tube end of the propulsion cylinder 10 is fixedly connected to the middle part of the drilling rig propulsion frame 19.

[0082] 6. The top of the hydraulic drill rig 21 is fixedly connected to the drill rig propulsion frame 19, and the middle and lower parts of the drill rod of the hydraulic drill rig 21 are fixedly connected to the drill rig propulsion frame 19 through limiting buckles, thereby reducing the shaking of the drill rod of the hydraulic drill rig 21 during the drilling process.

[0083] 7. Two inclination sensors 12 are provided on the swing arm 18, and the inclination sensors 12 are respectively arranged at the connection between the arm cylinder 8 and the tilt cylinder 9 and the swing arm 18; an inclination sensor 12 is arranged at the connection between the drilling rig propulsion frame 19 and the propulsion cylinder 10; the signal output end of the inclination sensor 12 is connected to the control box 2;

[0084] 8. The high-precision electro-hydraulic controlled proportional valve group 11 is installed on the drilling rig propulsion frame 19. The pump station 3 is respectively connected to the supporting cylinder 6, the rotating cylinder 7, the tilting cylinder 9 and the propulsion cylinder 10 through the high-precision electro-hydraulic controlled proportional valve group 11; the signal output end of the high-precision electro-hydraulic controlled proportional valve group 11 is connected to the control box 2.

[0085] The control server is connected to the computer in the control room on the ground through a network. The operator enters the blasting hole design information into the computer in the ground control room. The computer sends the design information to the control server through the network. The control server sends a control command, which is transmitted to the control box. The control box controls the cylinders (support cylinder, rotating cylinder, arm cylinder, tilt cylinder, thrust cylinder) through high-precision electro-hydraulic proportional valves to perform related operations and carry out hole inspection and hole layout operations on the working face.

[0086] Embodiment 2: Operation method of automatic blast hole search device of hydraulic drilling rig for vertical shaft construction

[0087] A. Arrangement of automatic blast hole inspection device for hydraulic drilling rig in vertical shaft construction: hoist hydraulic drilling rig 21, drilling rig propulsion frame 19, swing arm 18 and support column 5 to the working surface of the shaft, connect pump station 3 with the hydraulic pipeline of drilling rig, and then connect with support cylinder 6, support cylinder 6 is installed on the umbrella drill top plate 20 at the top of support column 5, three support cylinders, each with an angle of 120 degrees, start pump station, operate high-precision electro-hydraulic proportional valve 11, support three support cylinders on the shaft wall 17, support column 5 on the working surface 14, adjust support cylinder, make support column perpendicular to the working surface, and ensure the normal drilling posture of drilling rig. The control server 1 and the control box 2 are respectively installed on the bracket of the umbrella drill top plate 20.

[0088] B. The operator in the ground control room 13 enters the blast hole design information into the computer of the control center 16, and the control center 16 sends the design information to the control server 1 through the network. The control server 1 receives the design information, processes it through the intelligent hole patrol algorithm software, and sends the control command to the receiving controller of the control box 2;

[0089] C. The execution controller of the control box 2 sends out a movement command, and the pump station 3 controls the rotating cylinder 7, the arm cylinder 8, the tilting cylinder 9 and the thrust cylinder 10 through the high-precision electro-hydraulic proportional valve group 11 to realize the movement of the swing arm 18 and the drilling rig push frame 19, thereby driving the hydraulic drilling rig to reach the drilling position.

[0090] C-1. Realize the left and right movement of the swing arm 18: The pump station 3 controls the rotation of the rotary cylinder 7 through a high-precision electro-hydraulic proportional valve. The power output end of the rotary cylinder 7 drives the rotary bracket 4 to rotate. The pump station 3 controls the extension and retraction of the support arm cylinder 8 through a high-precision electro-hydraulic proportional valve. The support arm cylinder 8 is used to push the swing arm 18, thereby realizing the left and right movement of the swing arm 18;

[0091] C-2. Realize the forward and backward movement of the drilling rig propulsion frame 19: The pump station 3 controls the extension and retraction of the tilting cylinder 9 through a high-precision electro-hydraulic proportional valve to realize the forward and backward movement of the drilling rig propulsion frame 19;

[0092] C-3. Realizing the up and down movement of the drilling rig propulsion frame 19: The pump station 3 controls the extension and retraction of the propulsion cylinder 10 through a high-precision electro-hydraulic controlled proportional valve to realize the up and down movement of the drilling rig propulsion frame 19.

[0093] D. Drilling with a hydraulic drill: The lower end of the drill propulsion frame 19 is abutted against the shaft working surface 14 and fixed, and the hydraulic drill connected to the drill propulsion frame 19 performs drilling construction as required.

[0094] In step B, the intelligent hole patrol algorithm includes two algorithms: a drill arm coordinate algorithm and an automatic hole finding algorithm.

[0095] 1. Automatic hole finding algorithm.

[0096] To calculate the tool coordinate points of a four-degree-of-freedom robot such as a drill, first, you need to establish a coordinate system suitable for the drill. The common practice is to set the base of the robot as the origin, establish a fixed global coordinate system, usually an XYZ coordinate system, and define the local coordinate system of each joint of the robot on this basis.

[0097] In the automatic hole finding algorithm, the bottom end of the support column 5 is set as the origin to establish a fixed global coordinate system XYZ coordinate system:

[0098] First degree of freedom: rotation of the rotating bracket 4 about the vertical axis Z axis, with an angle of θ;

[0099] The second degree of freedom: extension of the arm cylinder 8, the arm cylinder stroke is l2;

[0100] The third degree of freedom: extension of the tilt cylinder 9, the tilt cylinder stroke is l3;

[0101] The fourth degree of freedom: the extension of the propulsion cylinder 10, the position change of the Z axis is z;

[0102] The coordinate position of the support column 5 is calculated by the forward kinematics formula, which is:

[0103] p=Rz(θ)×(l2,l3,z)T+(x0,y0,z0)T;

[0104] Where Rz(θ) is the rotation matrix around the Z axis, θ is the rotation angle; (x0,y0,z0)T is the position of the robot base in the global coordinate system, and (l2,l3,z)T is the displacement determined by the second, third and fourth degrees of freedom.

[0105] Advantages of automatic hole finding algorithm:

[0106] (1) High efficiency: The automatic hole finding algorithm can quickly scan and identify holes in the target area, greatly improving the detection efficiency and reducing the time and labor intensity of manual detection.

[0107] (2) High precision: Combining computer vision and machine learning technology, the automatic hole finding algorithm can accurately identify and locate the position and size of holes, ensuring the accuracy of the detection results.

[0108] (3) Consistency: The automated process eliminates the influence of human factors, ensures the consistency and reliability of each test result, and avoids differences caused by different operators.

[0109] (4) Strong adaptability: The automatic hole finding algorithm can be trained and optimized to adapt to surfaces of different types and materials, and is suitable for a variety of application scenarios, such as metal plates, concrete structures, etc.

[0110] (5) Real-time feedback: The algorithm can process detection data in real time and provide instant feedback to help operators discover and solve problems in a timely manner and improve work efficiency.

[0111] (6) Data recording and analysis: The automatic hole finding algorithm can automatically record the detection data, which is convenient for subsequent data analysis and report generation, and helps long-term monitoring and management.

[0112] There are also some disadvantages:

[0113] (1) Complex initial setup: The automatic hole finding algorithm requires complex initial setup and calibration, including camera calibration, lighting condition adjustment, etc., which may require professional technicians and a long time.

[0114] (2) High computing resource requirements: High-precision image processing and machine learning algorithms require powerful computing resources, especially when processing large amounts of data in real time, which may place high demands on hardware performance.

[0115] (3) Environmental sensitivity: The automatic hole finding algorithm is sensitive to environmental conditions (such as illumination, reflection, occlusion, etc.), and adverse environmental conditions may affect the accuracy of the detection results.

[0116] (4) Risk of false detection and missed detection: Although the algorithm can improve the detection accuracy, there may still be risks of false detection and missed detection in some complex situations, especially for holes with irregular shapes or stains on the surface.

[0117] (5) Maintenance cost: The automatic hole finding system requires regular maintenance and calibration to ensure its long-term stable operation, which will increase the maintenance cost of the system.

[0118] (6) Large initial investment: Building and deploying an automatic hole-finding system requires a high initial investment, including the cost of purchasing high-performance hardware, developing software, and training technicians.

[0119] The automatic hole finding algorithm has significant advantages in improving detection efficiency and accuracy, and is suitable for a variety of application scenarios. However, its complex initial setup, high computing resource requirements, and environmental sensitivity also need to be considered and resolved in practical applications. When choosing whether to use the automatic hole finding algorithm, a comprehensive evaluation should be conducted based on specific needs and conditions.

[0120] 2. Drill arm coordinate algorithm.

[0121] The drill arm coordinate algorithm is a mathematical method and technology used to determine and control the position and posture of the drill arm in three-dimensional space. The algorithm establishes a world coordinate system and a local coordinate system, and uses forward and inverse kinematic models to calculate the angle or position of each joint of the drill arm to achieve precise positioning and posture adjustment of the end effector (such as the drill bit). In addition, the algorithm also includes trajectory planning and feedback control, ensuring that the drill arm moves smoothly along the predetermined path, and improving the accuracy of position and posture estimation through multi-sensor data fusion. The drill arm coordinate algorithm is widely used in engineering drilling, construction, robotic surgery, and automated manufacturing to ensure the efficiency and accuracy of drilling operations.

[0122] The specific algorithm is as shown in the figure:

[0123] By establishing the world coordinate system and the local coordinate system, using the forward and inverse kinematics models, and the angles or positions of the joints of the drill arm, the end effector, i.e. the hydraulic drill, can be precisely positioned and its posture adjusted:

[0124] The bottom end of the support column 5 is set as the origin O, and a world coordinate system X, Y, Z coordinate system is established;

[0125] With point b as the origin of the local coordinate system, point b is the hinge point between the rotating bracket 4 and the swing arm 18, then the X, Y, and Z coordinates of point b relative to the relative origin O are:

[0126] Xob=L3*sinα1, Yob=-L10*sinβ1, Zob=L3*cosα1;

[0127] Point c is taken as the origin of the local coordinate system. Point c is the hinge point between the propulsion cylinder 10 and the swing arm 18. The coordinate relative to point b is:

[0128] Xbc=[(L4*sinα5) 2 -Zbc 2 ] 0.5 , Ybc=(L4 2 -Xbc 2 -Zbc 2 ) 0.5 , Zbc=-L4*sinα2;

[0129] Take point d as the origin of the local coordinate system. Point d is the hinge point between the tilt cylinder 9 and the drilling rig propulsion frame 19. The X, Y, and Z coordinates of point d relative to point c are:

[0130] Xcd=-L11*sinβ1, Ycd=-L11*cosβ1, Zcd=0;

[0131] Take point e as the origin of the local coordinate system. Point e is the point extending from point c to the axis of the drilling rig propulsion frame 19. The X, Y, and Z coordinates of point e relative to point d are:

[0132] Xde=L12*cosα3cosβ1, Yde=-L12*cosα3sinβ1, Zde=L12*sinα3;

[0133] Take point f as the origin of the local coordinate system, point f is the bottom end of the drilling rig propulsion frame 19, and the X, Y, and Z coordinates of point f relative to point e are: Xef=0, Yef=0, Zef=-L7;

[0134] Take point g as the origin of the local coordinate system, point g is the bottom end of the hydraulic drill rig 21, and the X, Y, and Z coordinates of point g relative to point f are:

[0135] Xfg=L13*cosα3cosβ1, Yfg=-L13*cosα3sinβ1, Zfg=L13*sinα3;

[0136] The X, Y, and Z coordinates of point g relative to the origin O,

[0137] Xog=Xob+Xbc+Xcd+Xde+Xef+Xfg,

[0138] Yog=Yob+Ybc+Ycd+Yde+Yef+Yfg,

[0139] Zog=Zob+Zbc+Zcd+Zde+Zef+Zfg, which is the coordinate value of the drilling arm hole finding point;

[0140] Wherein, L3 is the distance from the origin O at the bottom of the support column 5 to point b; α1 is the angle between the line connecting the origin O and point b and the support column 5; β1 is the rotation angle of the rotating bracket 4; L10 is the distance from the rotation axis of the rotating bracket 4 to the hinge point of the rotating bracket 4 and the swing arm 18;

[0141] L4 is the length of the swing arm 18, α2 is the angle between the swing arm 18 and the horizontal direction, and α5 is the angle between the swing arm 18 and the drilling rig propulsion frame 19;

[0142] L11 is the distance between the swing arm 18 and the drilling rig propulsion frame 19; L12 is the horizontal distance from the rotation axis of the rotating bracket 4 to the farthest end of the drilling rig propulsion frame 19; α3 is the angle between the support column 5 and the drilling rig propulsion frame 19; L7 is the distance from the hinge point between the propulsion cylinder 10 and the swing arm 18 to the bottom end of the drilling rig propulsion frame 19; L13 is the distance between the lowest end point of the hydraulic drill rig 21 and the lowest end point of the drilling rig propulsion frame 19.

[0143] The method involves the following steps:

[0144] (1) Coordinate system establishment: World coordinate system: defines a global reference coordinate system, which is usually fixed and used to describe the spatial layout of the entire working environment. Local coordinate system: Each joint or segment has its own local coordinate system, which is used to describe the position and posture relative to its parent node.

[0145] (2) Kinematic modeling: Forward kinematics: Calculate the position and posture of the end effector of the drill arm in the world coordinate system based on the angle or position of each joint.

[0146] Inverse kinematics: Calculate the required angles or positions of each joint based on the desired end effector position and posture.

[0147] (3) Control strategy: Trajectory planning: Design the movement path of the drill arm from the starting position to the target position to ensure smooth and efficient movement.

[0148] Feedback control: The position and posture of the drill arm are monitored in real time through sensors (such as encoders, force sensors, etc.), and the control signal is adjusted to correct the error.

[0149] (4) Sensor fusion: Multi-sensor data fusion: Combining data from multiple sensors (such as position sensors, angle sensors, force sensors, etc.) to improve the accuracy and robustness of position and attitude estimation.

[0150] Working principle:

[0151] (1) Initialization: Establish the world coordinate system and the local coordinate system, and initialize the position and posture of each joint.

[0152] (2) Target setting: Set the target position and posture of the drill arm end effector.

[0153] (3) Inverse kinematics calculation: Based on the target position and posture, the inverse kinematics algorithm is used to calculate the required angle or position of each joint.

[0154] (4) Trajectory planning: Design the motion trajectory from the current position to the target position to ensure smooth and collision-free motion.

[0155] (5) Control execution: Send control signals to each joint to drive the drill arm to move along the planned trajectory.

[0156] (6) Real-time monitoring and adjustment: The position and posture of the drill arm are monitored in real time through sensors, and the control signal is adjusted using feedback control algorithms to ensure that the drill arm reaches the target position accurately.

[0157] Advantages and disadvantages of the drill arm coordinate algorithm:

[0158] advantage:

[0159] (1) High precision: Through precise mathematical models and sensor feedback, the drill arm coordinate algorithm can achieve high-precision positioning and posture control to ensure the accuracy of drilling operations.

[0160] (2) Flexibility: By using inverse kinematics and trajectory planning, the drill arm can move flexibly in complex three-dimensional space and adapt to various working environments and task requirements.

[0161] (3) Real-time: The real-time monitoring and feedback control system can quickly respond to environmental changes and errors, and adjust the position and posture of the drill arm in time to ensure the real-time and stability of the operation.

[0162] (4) Versatility: The drill arm coordinate algorithm is suitable for a variety of application scenarios, including engineering drilling, construction, robotic surgery, and automated manufacturing, and has wide applicability and scalability.

[0163] (5) Safety: Through precise control and real-time monitoring, the drill arm can be effectively prevented from colliding with other objects, thus improving the safety of operation.

[0164] shortcoming:

[0165] (1) Computational complexity:

[0166] Inverse kinematics and trajectory planning involve complex mathematical calculations, especially in multi-degree-of-freedom drill arms, which require large amounts of computation and require high-performance computing resources.

[0167] (2) Sensor dependence: High-precision control relies on data from multiple sensors. Sensor failure or error will affect the performance of the algorithm and increase the complexity and cost of the system.

[0168] (3) Initialization requirements: The drill arm coordinate algorithm requires accurate initial position and attitude data. Any initial error may accumulate in subsequent calculations and affect the accuracy of the final result.

[0169] (4) Environmental adaptability: In complex or changing working environments, the arm coordinate algorithm may need to frequently adjust parameters and models, increasing the complexity and maintenance difficulty of the system.

[0170] (5) Cost: Implementing a high-precision drill arm coordinate algorithm requires high-performance hardware and sensors, which increases the overall cost of the system and may not be suitable for application scenarios with limited budgets.

[0171] The arm coordinate algorithm excels in high accuracy and flexibility, but it has certain limitations in terms of computational complexity, sensor dependence, and environmental adaptability. When choosing whether to use the algorithm, it is necessary to weigh the needs and conditions of the specific application scenario.

[0172] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the claims of this patent application.

Claims

1. A device for automatically patrolling and finding blasting holes for a hydraulic drilling rig in vertical shaft construction, characterized in that: The invention comprises a control server (1), a control box (2), a pump station (3), a support column (5), a swing arm (18), a cylinder and a drilling rig propulsion frame (19); the control server (1) and the control box (2) are arranged on the top of the support column (5); one end of the swing arm (18) is connected to the support column (5), the other end of the swing arm (18) is connected to the drilling rig propulsion frame (19), the drilling rig propulsion frame (19) is connected to the hydraulic drilling rig, and the cylinders are arranged on the support column (5), the swing arm (18) and the drilling rig propulsion frame (19) respectively.

2. The automatic blasting hole-finding device for a vertical shaft construction hydraulic drilling rig according to claim 1 is characterized in that: The support column (5) is vertically supported on the wellbore working surface (14), an umbrella drill top plate (20) is provided at the upper end of the support column (5), and the control server (1) and the control box (2) are respectively installed on the bracket of the umbrella drill top plate (20); The control server (1) is connected to a control center (16) located in a ground control room (13) via a wired or wireless network, and the control server (1) receives control instructions from the control center (16); the control server (1) is connected to the control box (2) via a communication connection, and executes the instructions of the control server (1) by controlling the pump station (3) and the oil cylinder; the control box (2) comprises a receiving controller, an execution controller and a monitoring data acquisition module; the receiving controller is used to receive signals from the control server (1), the execution controller is used to drive the oil cylinder to move, and the monitoring data acquisition module is used to collect signals from the inclination sensor.

3. The automatic blasting hole-finding device for a vertical shaft construction hydraulic drilling rig according to claim 2 is characterized in that: The oil cylinder comprises a supporting oil cylinder (6) and a rotating oil cylinder (7); One end of the support oil cylinder (6) is fixedly connected to the umbrella drill top plate (20), and the other end of the support oil cylinder (6) abuts against the shaft wall (17) to fix and support the support column (5); there are three support oil cylinders (6) which are evenly arranged along the circumference of the umbrella drill top plate (20); The rotating oil cylinder (7) is installed on the top of the supporting column (5) and is located below the umbrella drill top plate (20); the power output end of the rotating oil cylinder (7) is drivingly connected to a rotating bracket (4); the rotating bracket (4) is sleeved on the outside of the supporting column (5); the rotating oil cylinder (7) drives the rotating bracket (4) to rotate around the supporting column (5).

4. The automatic blasting hole-finding device for a vertical shaft construction hydraulic drilling rig according to claim 3 is characterized in that: The oil cylinder also includes an arm oil cylinder (8), a tilt oil cylinder (9) and a propulsion oil cylinder (10); One end of the swing arm (18) is hinged to the upper part of the rotating bracket (4), and the other end of the swing arm (18) is hinged to the outer wall of the propulsion cylinder (10); The outer cylinder end of the support arm oil cylinder (8) is hinged to the lower part of the rotating bracket (4), and the piston rod end of the support arm oil cylinder (8) is hinged to the upper outer side wall of the swing arm (18); The outer cylinder end of the tilt cylinder (9) is hinged to the lower outer side wall of the swing arm (18), and the piston rod end of the tilt cylinder (9) is hinged to the outer side wall of the drilling rig propulsion frame (19); The piston rod end of the propulsion cylinder (10) is hinged to the upper part of the drilling rig propulsion frame (19), and the outer tube end of the propulsion cylinder (10) is fixedly connected to the middle part of the drilling rig propulsion frame (19).

5. The automatic blasting hole-finding device for a vertical shaft construction hydraulic drilling rig according to claim 4 is characterized in that: The top of the hydraulic drill rig (21) is fixedly connected to the drill rig propulsion frame (19), and the middle and lower parts of the drill rod of the hydraulic drill rig (21) are fixedly connected to the drill rig propulsion frame (19) via limiting buckles, thereby reducing the shaking of the drill rod of the hydraulic drill rig (21) during the drilling process.

6. The automatic blasting hole-finding device for a vertical shaft construction hydraulic drilling rig according to claim 4 is characterized in that: Two inclination sensors (12) are provided on the swing arm (18), and the inclination sensors (12) are respectively arranged at the connection points where the support arm cylinder (8) and the tilt cylinder (9) are hinged with the swing arm (18); an inclination sensor (12) is arranged at the connection point between the drilling rig propulsion frame (19) and the propulsion cylinder (10); the signal output end of the inclination sensor (12) is connected to the control box (2); The high-precision electro-hydraulic proportional valve group (11) is installed on the drilling rig propulsion frame (19); the pump station (3) is respectively connected to the supporting cylinder (6), the rotating cylinder (7), the tilting cylinder (9) and the propulsion cylinder (10) through the high-precision electro-hydraulic proportional valve group (11); and the signal output end of the high-precision electro-hydraulic proportional valve group (11) is connected to the control box (2).

7. An operating method using the automatic blasting hole inspection device of a vertical shaft construction hydraulic drilling rig according to any one of claims 1 to 6, characterized in that: The steps include: (A) Arranging the automatic blasting hole-finding device for the vertical shaft construction hydraulic drilling rig as described in any one of claims 1 to 6 on the shaft working surface; (B) An operator in the ground control room (13) enters the blast hole design information into the computer of the control center (16), and the control center (16) sends the design information to the control server (1) via the network. The control server (1) receives the design information, processes it with the intelligent hole patrol algorithm software, determines the location of the drill hole, and sends a control command to the receiving controller of the control box (2); (C) The execution controller of the control box (2) issues a movement command based on the obtained drilling position, and the pump station (3) controls the rotating cylinder (7), the arm cylinder (8), the tilting cylinder (9) and the thrust cylinder (10) through the high-precision electro-hydraulic proportional valve group (11) to realize the movement of the swing arm (18) and the drilling rig push frame (19), thereby driving the hydraulic drilling to reach the drilling position; (D) Drilling with hydraulic drilling rig: The lower end of the drilling rig propulsion frame (19) is abutted against the wellbore working surface (14) and fixed, and the hydraulic drilling rig connected to the drilling rig propulsion frame (19) performs drilling construction as required.

8. The operating method of the automatic blasting hole search device of a vertical shaft construction hydraulic drilling rig according to claim 7 is characterized in that: The intelligent hole patrol algorithm includes a drill arm coordinate algorithm and an automatic hole finding algorithm; In the automatic hole finding algorithm, the bottom end of the support column (5) is set as the origin to establish a fixed global coordinate system XYZ coordinate system: First degree of freedom: rotation of the rotating bracket (4) about the vertical axis Z axis, with a rotation angle of θ; Second degree of freedom: extension of the arm cylinder (8), the arm cylinder stroke is l2; The third degree of freedom: extension of the tilt cylinder (9), the stroke of the tilt cylinder is l3; Fourth degree of freedom: extension of the propulsion cylinder (10), the position change of the Z axis is z; The coordinate position of the support column (5) is calculated by the forward kinematics formula, which is: p=Rz(θ)×(l2,l3,z)T+(x0,y0,z0)T; Where Rz(θ) is the rotation matrix around the Z axis, θ is the rotation angle; (x0, y0, z0)T is the position of the robot base in the global coordinate system, and (l2, l3, z)T is the displacement determined by the second, third and fourth degrees of freedom; Drill arm coordinate algorithm: By establishing the world coordinate system and the local coordinate system, using the forward and inverse kinematics models, and the angles or positions of each joint of the drill arm, the end effector, i.e. the hydraulic drill, can be precisely positioned and adjusted in posture: The bottom end of the support column (5) is set as the origin O, and a world coordinate system X, Y, Z coordinate system is established; With point b as the origin of the local coordinate system, point b is the hinge point between the rotating bracket (4) and the swing arm (18), then the X, Y, and Z coordinates of point b relative to the relative origin O are: Xob=L3*sinα1, Yob=-L10*sinβ1, Zob=L3*cosα1; Point c is taken as the origin of the local coordinate system. Point c is the hinge point between the propulsion cylinder (10) and the swing arm (18). Its coordinate relative to point b is: Xbc[(L4*sinα5) 2 -Zbc 2 ] 0.5 ,Ybc6(L4 2 -Xbc 2 -Zbc 2 ) 0.5 ,Zbc6-L4*sinα2 Take point d as the origin of the local coordinate system. Point d is the hinge point between the tilt cylinder (9) and the drilling rig propulsion frame (19). The X, Y, and Z coordinates of point d relative to point c are: Xcd=-L11*sinβ1, Ycd=-L11*cosβ1, Zcd=0; With point e as the origin of the local coordinate system, point e is the point extending from point c to the axis of the drilling rig propulsion frame (19), and the X, Y, and Z coordinates of point e relative to point d are: Xde=L12*cosα3cosβ1, Yde=-L12*cosα3sinβ1, Zde=L12*sinα3; Take point f as the origin of the local coordinate system, point f is the bottom end of the drilling rig propulsion frame (19), and the X, Y, and Z coordinates of point f relative to point e are: Xef=0, Yef=0, Zef=-L7; Take point g as the origin of the local coordinate system, point g is the bottom end of the hydraulic drilling rig (21), and the X, Y, and Z coordinates of point g relative to point f are: Xfg=L13*cosα3cosβ1, Yfg=-L13*cosα3sinβ1, Zfg=L13*sinα3; The X, Y, and Z coordinates of point g relative to the origin O, Xog=Xob+Xbc+Xcd+Xde+Xef+Xfg, Yog=Yob+Ybc+Ycd+Yde+Yef+Yfg, Zog=Zob+Zbc+Zcd+Zde+Zef+Zfg, which is the coordinate value of the drilling arm hole finding point; Wherein, L3 is the distance from the origin O at the bottom end of the support column (5) to point b; α1 is the angle between the line connecting the origin O and point b and the support column (5); β1 is the rotation angle of the rotating bracket (4); L10 is the distance from the rotation axis of the rotating bracket (4) to the hinge point between the rotating bracket (4) and the swing arm (18); L4 is the length of the swing arm (18), α2 is the angle between the swing arm (18) and the horizontal direction, and α5 is the angle between the swing arm (18) and the drilling rig propulsion frame (19); L11 is the distance between the swing arm (18) and the drilling rig propulsion frame (19); L12 is the horizontal distance from the rotation axis of the rotating bracket (4) to the farthest end of the drilling rig propulsion frame (19); α3 is the angle between the support column (5) and the drilling rig propulsion frame (19); L7 is the distance from the hinge point between the propulsion cylinder (10) and the swing arm (18) to the bottom end of the drilling rig propulsion frame (19); and L13 is the distance between the lowest end point of the hydraulic drilling rig (21) and the lowest end point of the drilling rig propulsion frame (19).

9. The operating method of the automatic blasting hole search device of a vertical shaft construction hydraulic drilling rig according to claim 7 is characterized in that: In step C, the following is included: (C-1) Realizing the left-right movement of the swing arm (18): the pump station (3) controls the rotation of the rotary cylinder (7) through a high-precision electro-hydraulic proportional valve, the power output end of the rotary cylinder (7) drives the rotary bracket (4) to rotate, the pump station (3) controls the extension and retraction of the support arm cylinder (8) through a high-precision electro-hydraulic proportional valve, and uses the support arm cylinder (8) to push the swing arm (18), thereby realizing the left-right movement of the swing arm (18); (C-2) Realizing the forward and backward movement of the drilling rig propulsion frame (19): the pump station (3) controls the extension and retraction of the tilting cylinder (9) through a high-precision electro-hydraulic proportional valve to realize the forward and backward movement of the drilling rig propulsion frame (19); (C-3) Realizing the up and down movement of the drilling rig propulsion frame (19): The pump station (3) controls the extension and retraction of the propulsion cylinder (10) through a high-precision electro-hydraulic proportional valve to realize the up and down movement of the drilling rig propulsion frame (19).

10. The operating method of the automatic blasting hole search device of a vertical shaft construction hydraulic drilling rig according to claim 9, characterized in that: In step (D), the lower end of the drilling rig propulsion frame (19) is abutted against the wellbore working surface (14) and fixed, and the hydraulic drilling rig (21) connected to the drilling rig propulsion frame (19) performs drilling construction as required.

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