A method for positioning a hole coordinate of a drilling vertical rod machine RTK rod hole

Abstract

The application discloses a kind of hole vertical rod machine RTK rod hole coordinate positioning method, the position coordinates of drill rod of hole vertical rod machine are measured using RTK positioning device, the attitude signal of operating arm is obtained through angle sensor on hole vertical rod machine arm, and finally the real-time coordinates of drill rod position are obtained by the way of geometric calculation, and the position coordinates of drill rod are rod hole position coordinates.Monitoring object is converted into the drill rod of drilling machine, and RTK positioning device is set on the platform of hole vertical rod machine.The angle of two movable arms relative to horizontal line is measured by angle sensor, the pitch movement of two movable arms is controlled by two actuators, and the position coordinates of drill rod are recorded and fed back in real time by cooperating master and slave antennas on the central axis of corresponding two movable arms on the platform of hole vertical rod machine.The position coordinates of drill rod are rod hole position coordinates, so the application can realize the autonomous positioning and recording feedback of rod hole coordinates in the process of drilling construction, with high positioning accuracy;RTK positioning device is fixed and far away from the vibration source of drill bit, with little damage to precision positioning device;manual operation, disassembly and movement of positioning device are not needed, digital control is convenient, and 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] During the distribution network line planning process, each pole has a precise coordinate position. However, during actual construction, the pole coordinates often need to be adjusted based on factors such as the construction geology and construction environment. To meet the requirements of digital industrial control during the construction process, the pole coordinate positions need to be detected and uploaded in a timely manner. With the continuous advancement of the mechanized transformation and upgrading of distribution network construction, a large number of mechanized equipment for the assembly and construction of distribution network poles have emerged. However, due to the severe vibrations generated by the drilling process, the precise positioning device cannot be installed directly above the drilling rig. The current method of "mechanized drilling equipment + manual handheld RTK positioning device detection" is still used, which is inefficient and inconvenient. 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 of the 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's movable arm, 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 that 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 where 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, a first angle sensor is provided on the first movable arm, and a second angle sensor is provided on the second movable arm.

[0009] When the above method is implemented, the RTK positioning device includes a master antenna and a slave antenna arranged on the platform, the master antenna and the slave antenna are located behind the slave antenna, and the connecting line of the master 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 θ1 of the line connecting the hinge points at both 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 hinge points at both ends of the second movable arm relative to the horizontal line;

[0012] 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 based on θ1 and θ3;

[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(x1, y1) of the hole drilled by the drilling pole machine.

[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=L2cos(θ1+θ2)+L1cosθ1

[0016] 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 mm; θ1 is the angle measured by the first angle sensor, and θ2 = θ1-θ3.

[0017] When the above method is implemented, in step 3, the current latitude and longitude coordinates P(x1, y1) of the hole drilled by the drilling machine are calculated using the following formula:

[0018]

[0019]

[0020] In the above formula, L is the horizontal distance from the central axis of the main antenna to the first boom and the hinge point of the turntable, 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 erector. Angle sensors are respectively set 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 master and slave antennas on the central axis of the two movable arms on the drilling pole erector platform are used to record and feedback the position coordinates of the drill rod in real time, as well as the position of the drill rod and the position of the drill hole. 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 causes 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is a schematic structural diagram 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. Track; 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 attitude signal of the working arm is obtained through the angle sensor on the drilling pole erector's movable arm, 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 and erecting machine travels on crawler tracks 1. Its booms consist of a first boom 5 and a second boom 10, which are hinged to each other. A turntable is located at the front end of the platform 2 on which the crawler tracks are mounted. The rear end of the first boom 5 is hinged to the turntable, while the front end of the second boom is articulated to the drilling rig. A first actuator 6 is hinged between the first boom and the turntable, while a second actuator 8 is hinged between the first and second booms. A first angle sensor 7 is located on the first boom, and a second angle sensor 9 is located 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 shown hinge 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, and the connecting line of 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 θ1 of the line connecting the hinge points at both ends of the first movable arm relative to the horizontal line, and 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: 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 based on θ1 and θ3:

[0034] H=L2cos(θ1+θ2)+L1cosθ1

[0035] 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 mm. θ1 is the angle measured by the first angle sensor, and θ2 = θ1 - θ3.

[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 true north to obtain the current latitude and longitude coordinates P(x1, y1) of the hole drilled by the drilling machine:

[0037]

[0038] Wherein, L is the horizontal distance from the central axis of the main antenna to the first movable arm and the hinge point of 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 the drill rod of the drilling rig, and the other is to set the RTK positioning device on the platform of the drilling pole machine.

[0040] Angle sensors are respectively set on the two movable arms of the drilling pole erector to measure the angles of the two movable arms relative to the horizontal line. The two actuators are used to control the pitching motion of the two movable arms respectively. The master and slave antennas on the central axis of the two movable arms on the drilling pole erector platform are used to record and feedback the position coordinates of the drill rod in real time, as well as the position of the drill rod and the position of the drill hole.

[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, which causes 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 by: The 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 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; the boom includes a first boom and a second boom that are hinged to each other; the drilling pole erector uses crawler tracks to move, and a turntable is provided at the front end of the platform on which the crawler tracks 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; a first angle sensor is provided on the first boom, and a second angle sensor is provided on the second boom; The RTK positioning device includes a master antenna and a slave antenna arranged on the platform, the master antenna and the slave antenna are located behind the slave antenna, and the connecting line of the master antenna and the slave antenna is located on the axial center line of the first movable arm and the second movable arm; The positioning steps are as follows: Step 1: The first angle sensor measures the angle of the line connecting the hinge points at both ends of the first boom relative to the horizontal line θ 1. The second angle sensor measures the angle of the line connecting the hinge points at both ends of the second boom relative to the horizontal line θ 3 ; Step 2: According to θ 1 and θ 3 Calculate the horizontal distance between the hinge point at the rear end of the first boom and the hinge point at the front end of the second boom H ; Step 3: Combine the latitude and longitude coordinates O of the main antenna ( x,y ) and the angle α between the main antenna and the slave antenna relative to the true north direction, and finally obtain the current latitude and longitude coordinates P ( x 1 ，y 1 ) is calculated as follows: Where 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.

2. The RTK pole hole coordinate positioning method for a drilling pole erecting machine according to claim 1, characterized in that: A first actuator is hinged between the first movable arm and the turntable 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.

3. The RTK pole hole coordinate positioning method for a drilling pole erecting machine according to claim 1, characterized in that: In step 2, the horizontal distance between the hinge point at the rear end of the first boom and the hinge point at the front end of the second boom H The calculation formula is as follows: in, is the length of the line connecting the hinge points at both ends of the first boom, It is the length of the line connecting the hinge points at both ends of the second boom, and the unit is mm.

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