RTK rod hole coordinate positioning method for drilling and poling machine

Abstract

The invention discloses an RTK rod hole coordinate positioning method for a drilling and poling machine, which comprises the following steps of: measuring the position coordinates of a drill rod of the drilling and poling machine by adopting an RTK positioning device, obtaining a posture signal of an operation arm through an angle sensor on the movable arm of the drilling and poling machine, and finally obtaining the real-time position coordinates of the drill rod in a geometric calculation mode. The position coordinate of the drill rod is the position coordinate of the rod hole. And the monitored object is converted into a drill rod of a drilling machine, and the RTK positioning device is arranged on a platform of the drilling and poling machine. Angles of the two movable arms relative to the horizontal line are measured through the angle sensors respectively, pitching motion of the two movable arms is controlled through the two actuators respectively, and position coordinates of a drill rod are recorded and fed back in real time by matching with the master antenna and the slave antenna on the central axes of the two movable arms on a drilling and erecting machine platform. The position coordinate of the drill rod is the position coordinate of the rod hole, so that the self-positioning, recording and feedback of the rod hole coordinate in the drilling construction process can be realized, and the positioning precision is high; the RTK positioning device is fixed and far away from a drill bit vibration source, and damage to the precision positioning device is small; manual operation is not needed, the positioning device is disassembled and moved, digital control is convenient, and the construction efficiency is high.

Description

Technical Field

[0001] The present invention belongs to the field of distribution network pole assembly equipment, and specifically relates to an RTK pole hole coordinate positioning method for a drilling pole erecting machine. Background Art

[0002] In the distribution network line planning process, each pole has a precise coordinate positioning, but in the actual construction process, it is often necessary to adjust the pole coordinates according to factors such as construction geology and construction environment. In order to meet the digital industrial control of the construction process, it is necessary to detect and upload the pole coordinates in a timely manner. With the continuous advancement of the mechanized transformation and upgrading of distribution network construction, many mechanized equipment for the assembly and construction of distribution network poles have emerged. However, due to the violent vibrations caused by the drilling process of the drilling device, the precise positioning device cannot be installed directly above the drilling rig. At present, the method of "mechanized equipment drilling + manual handheld RTK locator detection" is still used, which is inefficient and inconvenient to use. Summary of the invention

[0003] The purpose of the present invention is to provide a RTK rod hole coordinate positioning method for a drilling pole erecting machine which can autonomously and accurately detect the rod hole position coordinates during the drilling process.

[0004] The RTK rod hole coordinate positioning method for a drilling pole erector provided by the present invention adopts an RTK positioning device to measure the drill rod position coordinates of the drilling pole erector, obtains the posture signal of the working arm through the angle sensor on the drilling pole erector boom, and finally obtains the real-time coordinates of the drill rod position through geometric calculation. The drill rod position coordinates are the rod hole position coordinates.

[0005] When the above method is implemented, the movable arm includes a first movable arm and a second movable arm which are hinged to each other.

[0006] When the above method is implemented, the drilling pole erecting machine used moves on crawlers, a turntable is set at the front end of the platform on which the crawlers are installed, the rear end of the first boom is hinged to the turntable, and the front end of the second boom is hinged to the drilling rig.

[0007] When the above method is implemented, a first actuator is hinged between the first arm and the turntable for controlling the pitching movement of the first arm, and a second actuator is hinged between the first arm and the second arm for controlling the pitching movement of the second arm.

[0008] When the above method is implemented, the first movable arm is provided with a first angle sensor, and the second movable arm is provided with a second angle sensor.

[0009] When the above method is implemented, the RTK positioning device includes a main antenna and a slave antenna arranged on the platform, the main antenna and the slave antenna are located behind the slave antenna, and the connection line between the main antenna and the slave antenna is located on the axial center line of the first boom and the second boom.

[0010] When the above method is implemented, the following steps are included:

[0011] Step 1: The first angle sensor measures the angle θ between the two ends of the first boom and the horizontal line. 1 , the second angle sensor measures the angle θ3 of the line connecting the hinge points at both ends of the second movable arm relative to the horizontal line;

[0012] Step 2: According to θ 1 and θ3 to calculate the horizontal distance H between the hinge point at the rear end of the first boom and the hinge point at the front end of the second boom;

[0013] Step 3: Combine the latitude and longitude coordinates O(x, y) of the main antenna and the angle α between the main antenna and the slave antenna relative to the true north direction to finally obtain the current latitude and longitude coordinates P(x 1 ,y 1 ).

[0014] When the above method is implemented, in step 2, the calculation formula for the horizontal distance H between the hinge point at the rear end of the first boom and the hinge point at the front end of the second boom is as follows:

[0015] H=L 2 cos(θ 1 +θ 2 )+L 1 cosθ 1

[0016] In the above formula, L 1 L is the length of the line connecting the two ends of the first boom. 2 is the length of the line connecting the hinge points at both ends of the second boom, in mm; θ 1 The angle measured by the first angle sensor, θ 2 =θ 1 -θ 3 .

[0017] When the above method is implemented, in step 3, the current longitude and latitude coordinates P (x 1 ,y 1 ) is calculated as follows:

[0018]

[0019]

[0020] In the above formula, L is the horizontal distance from the central axis of the main antenna to the first movable arm and the turning table hinge point, in mm, and R is the radius of the earth, in mm.

[0021] The present invention mainly has two clever innovative ideas. The first is to convert the monitored object into the drill rod of the drilling rig, and the second is to set the RTK positioning device on the platform of the drilling pole machine. Angle sensors are respectively set on the two movable arms of the drilling pole machine, and the angles of the two movable arms relative to the horizontal line are respectively measured by the angle sensors. The pitching motion of the two movable arms is respectively controlled by two actuators, and the master and slave antennas on the central axis of the two movable arms on the platform of the drilling pole machine are used to record and feedback the position coordinates of the drill rod in real time, and the position of the drill rod and the position of the drill hole are also recorded and fed back. The drill rod position coordinates are the rod hole position coordinates, so the present invention can realize the autonomous positioning and recording feedback of the rod hole coordinates during the drilling construction process, with high positioning accuracy; the RTK positioning device is fixed and away from the vibration source of the drill bit, and has little damage to the precision positioning device; there is no need for manual operation, disassembly, and movement of the positioning device, and the digital control is convenient and the construction efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is a schematic diagram of the structure of a drilling device of a drilling pole erecting machine in one embodiment of the present invention.

[0023] Figure 2 for Figure 1 Schematic top view of .

[0024] Detailed serial numbers in the figure:

[0025] 1. crawler; 2. platform; 3. main antenna; 4. slave antenna; 5. first boom; 6. first actuator; 7. first angle sensor; 8. second actuator; 9. second angle sensor; 10. second boom; 11. drill rod. DETAILED DESCRIPTION

[0026] The RTK rod hole coordinate positioning method of the drilling pole erector disclosed in this embodiment has the following general inventive concept: an RTK positioning device is used to measure the drill rod position coordinates of the drilling pole erector, the posture signal of the working arm is obtained through the angle sensor on the drilling pole erector boom, and finally the real-time coordinates of the drill rod position are obtained through geometric calculation. The drill rod position coordinates are the rod hole position coordinates.

[0027] The drilling pole erecting machine moves on a crawler 1, and the boom includes a first boom 5 and a second boom 10 that are hinged to each other. A turntable is set at the front end of the platform 2 on which the crawler is installed, the rear end of the first boom 5 is hinged to the turntable, and the front end of the second boom is hinged to the drilling machine. A first actuator 6 is hinged between the first boom and the turntable, and a second actuator 8 is hinged between the first boom and the second boom. A first angle sensor 7 is set on the first boom, and a second angle sensor 9 is set on the second boom.

[0028] The first actuator and the second actuator are both retractable actuators, which respectively control the pitching motion of the first movable arm and the second movable arm.

[0029] Figure 1 Each hinge shown is hinged by a pin and can rotate around the pin. Under the effect of gravity and hinge point C, the drill rod 11 of the drilling rig moves vertically downward.

[0030] The RTK positioning device includes a main antenna 3 and a slave antenna 4 arranged on the platform. The main antenna and the slave antenna are located behind the slave antenna. The connection line between the main antenna and the slave antenna is located on the axial center line of the first boom 5 and the second boom 10.

[0031] The coordinate positioning of the pole hole includes the following steps:

[0032] Step 1: The first angle sensor 7 measures the angle θ between the connecting points at both ends of the first boom and the horizontal line. 1 , the second angle sensor 9 measures the angle θ3 of the line connecting the hinge points at both ends of the second movable arm relative to the horizontal line;

[0033] Step 2: According to θ 1 and θ3 to calculate the horizontal distance H between the hinge point at the rear end of the first boom and the hinge point at the front end of the second boom:

[0034] H=L 2 cos(θ 1 +θ 2 )+L 1 cosθ 1

[0035] In the above formula, L 1 L is the length of the line connecting the two ends of the first boom. 2 θ is the length of the line connecting the hinge points at both ends of the second boom, in mm. 1 The angle measured by the first angle sensor, θ 2 =θ 1 -θ 3 .

[0036] Step 3: Combine the latitude and longitude coordinates O(x, y) of the main antenna and the angle α between the main antenna and the slave antenna relative to the true north direction to finally obtain the current latitude and longitude coordinates P(x 1 ,y 1 ):

[0037]

[0038] Wherein, L is the horizontal distance from the central axis of the main antenna to the hinge point between the first movable arm and the turntable, in mm; R is the radius of the earth, in mm.

[0039] The present invention mainly has two ingenious innovative ideas. One is to convert the monitored object into a drill rod of a drilling rig, and the other is to set an RTK positioning device on the platform of the drilling pole erecting machine.

[0040] Angle sensors are respectively arranged on the two movable arms of the drilling pole erector, and the angles of the two movable arms relative to the horizontal line are respectively measured by the angle sensors. The pitching motion of the two movable arms is respectively controlled by two actuators, and the position coordinates of the drill rod and the position of the drill rod and the position of the drill hole are recorded and fed back in real time in cooperation with the master and slave antennas on the central axis of the two movable arms on the drilling pole erector platform.

[0041] The drill rod position coordinates are the rod hole position coordinates, so the present invention can realize the autonomous positioning and recording feedback of the rod hole coordinates during the drilling construction process, with high positioning accuracy; the RTK positioning device is fixed and far away from the drill bit vibration source, causing little damage to the precision positioning device; there is no need for manual operation, disassembly, or movement of the positioning device, digital control is convenient, and construction efficiency is high.

Claims

1. A method for RTK pole hole coordinate positioning of a drilling pole machine, characterized in that: This method uses an RTK positioning device to measure the drill rod position coordinates of a drilling pole erector, obtains the attitude signal of the working arm through the angle sensor on the drilling pole erector's boom, and finally obtains the real-time coordinates of the drill rod position through geometric calculation. The drill rod position coordinates are the rod hole position coordinates.

2. The RTK pole hole coordinate positioning method of the drilling pole machine according to claim 1, characterized in that: The movable arm comprises a first movable arm and a second movable arm which are hinged to each other.

3. The RTK pole hole coordinate positioning method of the drilling pole machine according to claim 2, characterized in that: The adopted drilling pole erecting machine travels by crawlers, a rotating table is arranged at the front end of a platform on which the crawlers are installed, the rear end of the first movable arm is hinged to the rotating table, and the front end of the second movable arm is hinged to the drilling machine.

4. The RTK pole hole coordinate positioning method of the drilling pole erecting machine according to claim 3, characterized in that: A first actuator is hinged between the first movable arm and the slewing table for controlling the pitching movement of the first movable arm. A second actuator is hinged between the first movable arm and the second movable arm for controlling the pitching movement of the second movable arm.

5. The RTK pole hole coordinate positioning method of the drilling pole machine according to claim 4, characterized in that: A first angle sensor is disposed on the first movable arm, and a second angle sensor is disposed on the second movable arm.

6. The RTK pole hole coordinate positioning method of the drilling pole erecting machine according to claim 5, characterized in that: The RTK positioning device comprises a main antenna and a slave antenna arranged on a platform, the main antenna and the slave antenna are located behind the slave antenna, and a connecting line of the main antenna and the slave antenna is located on an axial center line of a first movable arm and a second movable arm.

7. The RTK pole hole coordinate positioning method of the drilling pole erecting machine according to claim 6, characterized in that The following steps are involved: Step 1: The first angle sensor measures the angle θ1 of the line connecting the two ends of the first movable arm relative to the horizontal line, and the second angle sensor measures the angle θ3 of the line connecting the two ends of the second movable arm relative to the horizontal line; Step 2: Calculate the horizontal distance H between the hinge point at the rear end of the first boom and the hinge point at the front end of the second boom according to θ1 and θ3; Step 3: Combine the latitude and longitude coordinates O(x, y) of the main antenna and the angle α between the main antenna and the slave antenna relative to the true north direction to finally obtain the current latitude and longitude coordinates P(x1, y1) of the hole drilled by the drilling pole machine.

8. The RTK pole hole coordinate positioning method of the drilling pole erecting machine according to claim 7, characterized in that: In step 2, the calculation formula for the horizontal distance H between the hinge point at the rear end of the first boom and the hinge point at the front end of the second boom is as follows: H=L2cos(θ1+θ2)+L1cosθ1 In the above formula, L1 is the length of the line connecting the hinge points at both ends of the first boom, and L2 is the length of the line connecting the hinge points at both ends of the second boom, both in units of mm; θ1 is the angle measured by the first angle sensor, and θ2 = θ1-θ3.

9. The RTK pole hole coordinate positioning method of the drilling pole erecting machine according to claim 7, characterized in that: In step 3, the current latitude and longitude coordinates P(x1, y1) of the hole drilled by the drilling pole machine are calculated using the following formula: Wherein, L is the horizontal distance from the central axis of the main antenna to the hinge point between the first movable arm and the turntable, in mm; R is the radius of the earth, in mm.

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