Anti-deflection control method and system of rock drilling device, storage medium and equipment

Abstract

The invention discloses an anti-deflection control method and system of a rock drilling device, a storage medium and equipment. The anti-deflection control method of the rock drilling device comprises the steps that the three-dimensional coordinates of a drilling hole opening and the dip angle and azimuth angle of a drilling arm are obtained; comparing the obtained three-dimensional coordinate of the drilling hole opening and the inclination angle and azimuth angle of the drilling arm with the three-dimensional information of the designed hole position to obtain the deviation value of the position and posture of the drilling arm; when the deviation value of the position and posture of the drill arm exceeds a preset deviation value, adjusting parameters of the drill arm are output; when the deviation value of the drill boom pose does not exceed the preset deviation value, the propelling pressure of a hydraulic system of the rock drilling device and the rotating torque of the rock drilling device during drilling are obtained; in response to sudden change of the obtained propelling pressure and rotating torque, adjusting parameters of the hydraulic system of the rock drilling device are output according to the sudden change direction. Dynamic monitoring and real-time correction of the whole drilling process are achieved, and the problem of drilling deflection is effectively solved.

Description

Technical Field

[0001] The present invention relates to a method, system, storage medium and device for controlling deviation prevention of a rock drilling device, and belongs to the technical field of rock drilling device control. Background Art

[0002] A rock drilling jumbo is the core equipment for drilling blast holes in drill and blast method construction, and is widely used in fields such as mine exploitation, tunnel excavation, and water conservancy projects. The working environment of the rock drilling jumbo is harsh and the working conditions are complex and changeable. During the drilling process, the drill rod often deflects when encountering sudden changes in rock properties such as fissures, uneven hardness, interlayers, and karst caves. Therefore, during the drilling process, especially when drilling medium-deep holes, due to the increase in the slenderness ratio of the drill rod resulting in a decrease in stiffness, the deviation problem is more prominent. Drilling deviation seriously affects the subsequent blasting effect, leading to an increase in the large block rate of the blasted rock. Deviation of the surrounding drill holes will result in serious overbreak and underbreak phenomena, and additional support costs are required due to overbreak, and secondary treatment is required for underbreak. When the drill rod deflects severely, sticking and drill rod fracture accidents will also occur, which has a great impact on the service life of the drill bit, drill rod and rock drill.

[0003] During the operation of the rock drilling jumbo, the drill rod often deflects, and there is still no good solution for controlling the drill rod deflection. At present, there are mainly two types of control solutions for drill rod deflection in the industry. The overall deviation prevention effect is not ideal by improving the mechanical structure and adding a control system to achieve deviation prevention of the drill rod.

[0004] For achieving drill rod deviation prevention by improving the mechanical structure, the effect is not obvious, and new problems will also be brought.

[0005] For example, the utility model patent with the publication number CN213144395U discloses a deviation prevention drill rod, which realizes deviation prevention by arranging deviation prevention blocks on the circumference of the drill rod and improving the drill rod structure. This improvement seriously affects the slag discharge effect, increases the resistance of the drilling tool, causes serious wear, and affects the drilling efficiency.

[0006] For example, the utility model patent with the publication number CN214273514U discloses a mine deviation prevention drill bit, which realizes deviation prevention by installing a guiding and positioning body at the axis of the drill bit matrix and improving the drill bit structure. This improvement has a certain deviation prevention effect on the formation with uneven hardness, but for the sudden change formation such as fissures and karst caves, the guiding and positioning body installed at the axis of the drill bit end cannot play a good deviation prevention role, and the overall deviation prevention effect is poor.

[0007] For achieving drill rod deviation prevention by increasing relevant controls, the error of deviation judgment is large, the probability of misjudgment is very high, and some functions are difficult to apply in practice.

[0008] For example, the invention patent with the publication number CN106351900A discloses an anti-deviation rock drilling control system, which controls the hydraulic valve to act on the propulsion cylinder, hydraulic motor and impact mechanism by adding a deviation control system. In the face of complex drilling geology, especially in formations with rich fissures, the data collected during drilling is inaccurate. And when this data is compared and processed with empirical data, the empirical data cannot cover all complex geological conditions and rock drilling working conditions, which will cause the deviation control system to make wrong decisions and affect the anti-deviation effect and rock drilling efficiency.

[0009] For example, the utility model patent with the publication number CN203145832U discloses an anti-deviation control system for rock drilling tools. Stress sensors are evenly arranged in the drill pipe, and the processed sensor signals are compared and analyzed with the standard characteristic waveforms to judge whether the drill tool has a tendency to deviate. According to the judgment result, the control actuator is guided to make corresponding adjustments to the rock drilling parameters. Since the drill pipe is relatively thin, it is very difficult to install stress sensors in the drill pipe. Even if the installation is achieved, during the drilling process, the drill pipe is affected by impacts and the rock at the front end, and the vibration is relatively large, seriously affecting the accuracy of the data collected by the stress sensors. Summary of the Invention

[0010] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an anti-deviation control method, system, storage medium and device for a rock drilling device, which can realize the dynamic monitoring and real-time correction of the whole drilling process and effectively solve the problem of drilling deviation. To achieve the above purpose, the present invention is implemented by the following technical solutions:

[0011] In the first aspect, the present invention provides an anti-deviation control method for a rock drilling device, including:

[0012] Obtain the three-dimensional coordinates of the drilling hole orifice, the inclination angle and azimuth angle of the drill arm;

[0013] Compare the obtained three-dimensional coordinates of the drilling hole orifice, the inclination angle and azimuth angle of the drill arm with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill arm pose;

[0014] Judge whether the deviation amount of the drill arm pose exceeds the preset deviation value; when the deviation amount of the drill arm pose exceeds the preset deviation value, output the adjustment parameters of the drill arm; when the deviation amount of the drill arm pose does not exceed the preset deviation value, obtain the propulsion pressure of the hydraulic system of the rock drilling device and the rotation torque of the rock drilling device during drilling;

[0015] In response to the sudden change in the propulsion pressure of the hydraulic system of the rock drilling device and the rotation torque of the rock drilling device obtained, output the adjustment parameters of the hydraulic system of the rock drilling device according to the sudden change direction.

[0016] In combination with the first aspect, optionally, the deviation amount of the drilling boom pose includes: the spatial position deviation amount of the drilling hole orifice and the drilling axis direction deviation amount; comparing the three-dimensional coordinates of the drilling hole orifice, the inclination angle and azimuth angle of the drilling boom obtained with the three-dimensional information of the designed hole position to obtain the deviation amount of the drilling boom pose, including:

[0017] Based on the obtained three-dimensional coordinates of the drilling hole orifice and the three-dimensional coordinates of the designed hole position , calculate the spatial position deviation amount of the drilling hole orifice :

[0018] ;

[0019] Based on the obtained inclination angle of the drilling boom and azimuth angle , obtain the unit vector in the direction of the drilling axis :

[0020] ,

[0021] wherein, is the component of the unit vector in the direction of the drilling axis in the direction, is the component of the unit vector in the direction of the drilling axis in the direction, is the component of the unit vector in the direction of the drilling axis in the direction;

[0022] Based on the unit vector in the direction of the drilling axis and the direction vector of the drilling axis of the designed hole position , calculate the drilling axis direction deviation amount :

[0023] ,

[0024] wherein, is the component of the direction vector of the drilling axis of the designed hole position in the direction, is the component of the direction vector of the drilling axis of the designed hole position in the direction, is the component of the direction vector of the drilling axis of the designed hole position in the direction.

[0025] In combination with the first aspect, optionally, when the deviation amount of the drill boom pose exceeds a preset deviation value, the adjustment parameters of the drill boom are output, including:

[0026] When the spatial position deviation amount of the drill hole orifice > preset position deviation value or the drill axis direction deviation amount > preset direction deviation value at this time,

[0027] Based on the three-dimensional coordinates of the designed hole position and the three-dimensional coordinates of the obtained drill hole orifice, the adjustment parameters of the drill boom pitch displacement and the drill boom yaw displacement are obtained;

[0028] Based on the direction vector of the drill axis of the designed hole position and the unit vector of the drill axis direction, the adjustment parameters of the drill boom rotary joint are obtained.

[0029] In combination with the first aspect, optionally, the adjustment parameters of the hydraulic system of the rock drilling device output according to the mutation direction include:

[0030] If the mutation direction is an increase exceeding a preset amplitude change threshold, output the adjustment parameters of the hydraulic system to reduce the propulsion pressure, increase the impact pressure and increase the rotation speed;

[0031] If the mutation direction is a decrease exceeding a preset amplitude change threshold, output the adjustment parameters of the hydraulic system to increase the propulsion pressure, decrease the impact pressure and increase the rotation speed.

[0032] In combination with the first aspect, optionally, if the mutation direction is an increase exceeding a preset amplitude change threshold, it is determined as a mutation from soft rock to hard rock, and output the adjustment parameters of the hydraulic system of the rock drilling device with the propulsion pressure reduced by 10%, the impact pressure increased by 15% and the rotation speed increased by 20%.

[0033] In combination with the first aspect, optionally, if the mutation direction is a decrease exceeding a preset amplitude change threshold, it is determined as a mutation from hard rock to soft rock or fractured formation, and output the adjustment parameters of the hydraulic system of the rock drilling device with the propulsion pressure increased by 15%, the impact pressure decreased by 10% and the rotation speed increased by 25%.

[0034] In combination with the first aspect, optionally, when the deviation amount of the drill boom pose does not exceed the preset deviation value, output an instruction for the rock drilling device to enter the drilling stage; in response to the instruction for the rock drilling device to enter the drilling stage, the hydraulic system of the rock drilling device operates and outputs the propulsion pressure and the rotation torque of the rock drilling device.

[0035] In a second aspect, the present invention provides an anti-deviation control system for a rock drilling device, including a decision-making module, a sensing module connected to the decision-making module, and an execution module;

[0036] The sensing module includes:

[0037] A laser guiding device for collecting the three-dimensional coordinates of the borehole orifice;

[0038] An angle sensor for collecting the inclination angle and azimuth angle of the drill boom;

[0039] A pressure sensor for collecting the propulsion pressure of the hydraulic system of the rock drilling device;

[0040] A torque sensor for collecting the rotational torque of the rock drilling device;

[0041] The decision-making module includes a controller configured to:

[0042] Compare the three-dimensional coordinates of the borehole orifice, the inclination angle and azimuth angle of the drill boom obtained, with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill boom pose;

[0043] Judge whether the deviation amount of the drill boom pose exceeds a preset deviation value; when the deviation amount of the drill boom pose exceeds the preset deviation value, output the adjustment parameters of the drill boom; when the deviation amount of the drill boom pose does not exceed the preset deviation value, obtain the propulsion pressure of the hydraulic system of the rock drilling device and the rotational torque of the rock drilling device during drilling;

[0044] In response to the sudden change of the propulsion pressure of the hydraulic system of the rock drilling device and the rotational torque of the rock drilling device obtained, output the adjustment parameters of the hydraulic system of the rock drilling device according to the mutation direction;

[0045] The execution module includes:

[0046] A hydraulic cylinder and / or a servo motor for driving the drill boom to adjust its pose according to the adjustment parameters of the drill boom output by the decision-making module;

[0047] The hydraulic system of the rock drilling device for regulating the propulsion pressure, impact pressure and rotational speed according to the adjustment parameters output by the decision-making module.

[0048] In a third aspect, the present invention provides a computer-readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the anti-deviation control method of the rock drilling device described in the first aspect are implemented.

[0049] In a fourth aspect, the present invention provides a computer device, including:

[0050] A memory for storing computer programs / instructions;

[0051] A processor for executing the computer programs / instructions to implement the steps of the anti-deviation control method of the rock drilling device described in the first aspect.

[0052] Compared with the prior art, the beneficial effects achieved by a method, system, storage medium, and device for controlling anti-deviation of a rock drilling device provided by an embodiment of the present invention include:

[0053] The present invention compares the three-dimensional coordinates of the drilling hole orifice, the inclination angle and azimuth angle of the drill boom obtained, with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill boom pose; when the deviation amount of the drill boom pose exceeds a preset deviation value, adjustment parameters of the drill boom are output; the present invention calculates the deviation amount of the drill boom pose in real time and actively outputs the adjustment parameters of the drill boom, which can ensure the accuracy of the hole opening position; the present invention avoids the initial deviation risk caused by the positioning error of the drill boom. Especially during medium-depth drilling, it can greatly reduce the orifice positioning deviation and lay a foundation for subsequent drilling;

[0054] When the deviation amount of the drill boom pose does not exceed the preset deviation value, the present invention obtains the propulsion pressure of the hydraulic system of the rock drilling device and the rotation torque of the rock drilling device during drilling; in response to the sudden change of the propulsion pressure of the hydraulic system of the rock drilling device and the rotation torque of the rock drilling device obtained, adjustment parameters of the hydraulic system of the rock drilling device are output according to the sudden change direction; the present invention can judge the deviation tendency caused by formation changes in real time and dynamically adjust the parameters of the hydraulic system. The present invention can effectively suppress the deviation of the drill pipe in complex formations such as fissures and karst caves;

[0055] The present invention integrates the three-dimensional coordinates of the drilling hole orifice, the inclination angle and azimuth angle of the drill boom, the propulsion pressure and rotation torque of the hydraulic system, avoiding the monitoring defects of a single stress sensor or pressure signal in the prior art; the present invention first calibrates the pose of the hole-opening drill boom and then monitors the drilling parameters, which can improve the accuracy rate of deviation judgment, ensure the drilling quality, improve the subsequent blasting effect, reduce the incidence of failures such as drill pipe jamming and drill pipe fracture caused by drill pipe deviation, and extend the service life of the drill tool;

[0056] The present invention realizes the full-process closed-loop control from the calibration of the hole-opening drill boom pose to the adjustment of the drilling parameters, without manual experience intervention, solving the problems of lagging response and insufficient accuracy in traditional manual adjustment; the present invention can automatically adapt to complex formations such as uneven hardness and interlayers, significantly improving the degree of automation of the rock drilling operation. Especially suitable for unmanned tunneling scenarios, it can greatly improve the drilling efficiency and construction quality;

[0057] The present invention realizes the precise monitoring and dynamic correction of the entire drilling process through multi-source data fusion and phased closed-loop control. Description of the Drawings

[0058] Figure 1 is a flowchart of a method for controlling anti-deviation of a rock drilling device in Embodiment 1 of the present invention. Detailed Embodiments

[0059] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention.

[0060] Embodiment 1:

[0061] As Figure 1 shown, this embodiment provides a method for controlling the anti-deviation of a rock drilling device, including:

[0062] Obtain the three-dimensional coordinates of the hole opening, the inclination angle and the azimuth angle of the drill arm;

[0063] Compare the three-dimensional coordinates of the hole opening of the drill hole, the inclination angle and the azimuth angle of the drill arm obtained with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill arm pose;

[0064] When the deviation amount of the drill arm pose exceeds the preset deviation value, output the adjustment parameters of the drill arm;

[0065] When the deviation amount of the drill arm pose does not exceed the preset deviation value, obtain the propulsion pressure of the hydraulic system of the rock drilling device during drilling and the rotational torque of the rock drilling device;

[0066] In response to the sudden change in the propulsion pressure of the hydraulic system of the rock drilling device and the rotational torque of the rock drilling device obtained, output the adjustment parameters of the hydraulic system of the rock drilling device according to the sudden change direction.

[0067] The specific steps include:

[0068] Step 1: Before the rock drilling device starts drilling, obtain the three-dimensional coordinates of the hole opening, the inclination angle and the azimuth angle of the drill arm.

[0069] The inclination angle of the drill arm represents the angle between the drill arm and the horizontal plane, and the azimuth angle of the drill arm represents the angle of horizontal rotation of the drill arm.

[0070] Step 2: Compare the three-dimensional coordinates of the hole opening of the drill hole, the inclination angle and the azimuth angle of the drill arm obtained with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill arm pose.

[0071] The deviation amount of the drill arm pose includes: the spatial position deviation amount of the hole opening of the drill hole and the deviation amount of the drill hole axis direction.

[0072] Step 2.1: According to the three-dimensional coordinates of the hole opening of the drill hole obtained and the three-dimensional coordinates of the designed hole position , calculate the spatial position deviation amount of the hole opening of the drill hole :

[0073] .

[0074] Step 2.2: According to the inclination angle of the drill arm obtained and the azimuth angle , obtain the unit vector in the direction of the drilling axis :

[0075] ,

[0076] wherein, is the component of the unit vector in the direction of the drilling axis in the direction, is the component of the unit vector in the direction of the drilling axis in the direction, is the component of the unit vector in the direction of the drilling axis in the direction.

[0077] Step 2.3: According to the unit vector in the direction of the drilling axis and the direction vector of the drilling axis of the designed hole position, calculate the deviation amount of the drilling axis direction:

[0078] ,

[0079] wherein, is the component of the direction vector of the drilling axis of the designed hole position in the direction, is the component of the direction vector of the drilling axis of the designed hole position in the direction, is the component of the direction vector of the drilling axis of the designed hole position in the direction.

[0080] Step 3: Determine whether the deviation amount of the drill arm pose exceeds the preset deviation value.

[0081] If there is a deviation, enter Step 3.1 to adjust the pose of the opening drill arm. If there is no deviation, enter Step 4 to enter the drilling stage and monitor the drilling parameters.

[0082] Step 3.1: When the deviation amount of the drill arm pose exceeds the preset deviation value, output the adjustment parameters of the drill arm.

[0083] When the spatial position deviation amount of the drilling hole mouth > the preset position deviation value or the deviation amount of the drilling axis direction > the preset direction deviation value

[0084] Step 3.1.1: Based on the three-dimensional coordinates of the designed hole positions and the obtained three-dimensional coordinates of the drill hole orifices, obtain the adjustment parameters for the pitch displacement of the drill boom and the adjustment parameters for the yaw displacement of the drill boom.

[0085] Specifically, according to the value in the currently obtained three-dimensional coordinates of the drill hole orifices and the value in the three-dimensional coordinates of the designed hole positions, determine the adjustment parameters for the pitch displacement of the drill boom. According to the value in the currently obtained three-dimensional coordinates of the drill hole orifices and the value in the three-dimensional coordinates of the designed hole positions, determine the adjustment parameters for the yaw displacement of the drill boom.

[0086] Step 3.1.2: Based on the direction vector of the drill axis of the designed hole position and the unit vector of the drill axis direction, obtain the adjustment parameters for the rotary joints of the drill boom.

[0087] Specifically, according to the structures of different rock drilling devices, the adjustment parameters for the rotary joints of the drill boom are different.

[0088] Step 3.2: After the drill boom adjustment is completed, return to Step 1 and Step 2 until the deviation amount of the drill boom pose does not exceed the preset deviation value.

[0089] It should be noted that the preset deviation value can be flexibly adjusted according to different working conditions such as mine exploitation and tunnel tunneling to balance accuracy and construction efficiency.

[0090] In this embodiment, the deviation amount of the drill boom pose is calculated in real time, and the adjustment parameters of the drill boom are actively output, which can ensure the accuracy of the hole opening position.

[0091] This embodiment can avoid the risk of initial deviation caused by the positioning error of the drill boom. Especially during medium-depth drilling, it can greatly reduce the hole orifice positioning deviation and lay a foundation for subsequent drilling.

[0092] Step 4: When the deviation amount of the drill boom pose does not exceed the preset deviation value, obtain the propulsion pressure of the hydraulic system of the rock drilling device during drilling and the rotary torque of the rock drilling device.

[0093] Step 4.1: When the deviation amount of the drill boom pose does not exceed the preset deviation value, the drill boom pose is confirmed, and an instruction for the rock drilling device to enter the drilling stage is output, and the rock drilling device enters the drilling stage.

[0094] Step 4.2: In response to the instruction for the rock drilling device to enter the drilling stage, the hydraulic system of the rock drilling device operates and outputs the propulsion pressure and the rotary torque of the rock drilling device.

[0095] Step 4.3: Analyze the propulsion pressure of the hydraulic system of the rock drilling device and the rotary torque of the rock drilling device in real time.

[0096] Step 5: In response to the sudden changes in the propulsion pressure of the hydraulic system of the rock drilling device and the rotary torque of the rock drilling device, output the adjustment parameters of the hydraulic system of the rock drilling device according to the direction of the sudden change.

[0097] When sudden changes occur in the propulsion pressure of the hydraulic system of the obtained rock drilling device and the rotary torque of the rock drilling device, the drill pipe has a tendency to deflect.

[0098] Specifically, the borehole deviation includes two cases. Case 1: When entering hard rock from soft rock, both the propulsion pressure and the rotary torque suddenly increase, and the direction of the sudden change is that the increase amplitude exceeds the preset amplitude change threshold. Case 2: When entering soft rock (including working conditions such as fissures and karst caves) from hard rock, both the propulsion pressure and the rotary torque suddenly decrease, and the direction of the sudden change is that the decrease amplitude exceeds the preset amplitude change threshold.

[0099] If the direction of the sudden change is that the increase amplitude exceeds the preset amplitude change threshold, output the adjustment parameters of reducing the propulsion pressure, increasing the impact pressure, and increasing the rotary speed of the hydraulic system.

[0100] Specifically, output the adjustment parameters of reducing the propulsion pressure of the hydraulic system of the rock drilling device by 10%, increasing the impact pressure by 15%, and increasing the rotary speed by 20%.

[0101] If the direction of the sudden change is that the decrease amplitude exceeds the preset amplitude change threshold, output the adjustment parameters of increasing the propulsion pressure, reducing the impact pressure, and increasing the rotary speed of the hydraulic system.

[0102] Specifically, output the adjustment parameters of increasing the propulsion pressure of the hydraulic system of the rock drilling device by 15%, reducing the impact pressure by 10%, and increasing the rotary speed by 25%.

[0103] This embodiment can judge the deflection tendency caused by the formation change in real time and dynamically adjust the parameters of the hydraulic system. The present invention can effectively suppress the deflection of the drill pipe in complex formations such as fissures and karst caves.

[0104] This embodiment integrates the three-dimensional coordinates of the borehole orifice, the inclination angle and azimuth angle of the drill boom, the propulsion pressure and rotary torque of the hydraulic system, avoiding the monitoring defects of a single stress sensor or pressure signal in the prior art; this embodiment calibrates the pose of the opening drill boom first and then monitors the drilling parameters, which can improve the accuracy of deflection judgment, ensure the borehole quality, improve the subsequent blasting effect, reduce the incidence of faults such as drill pipe jamming and drill pipe fracture caused by drill pipe deflection, and extend the service life of the drill tool.

[0105] This embodiment realizes the full-process closed-loop control from the calibration of the opening drill boom pose to the adjustment of the drilling parameters, without manual experience intervention, solving the problems of lagging response and insufficient accuracy in traditional manual adjustment; the present invention can automatically adapt to complex formations with uneven hardness, interlayers, etc., significantly improving the degree of automation of the rock drilling operation, especially suitable for unmanned tunneling scenarios, and can greatly improve the drilling efficiency and construction quality.

[0106] In summary, through multi-source data fusion and phased closed-loop control, this embodiment realizes precise monitoring and dynamic correction of the entire drilling process.

[0107] Embodiment 2:

[0108] This embodiment provides an anti-deviation control system for a rock drilling device, including: a decision-making module, a sensing module connected to the decision-making module, and an execution module.

[0109] The sensing module includes:

[0110] A laser guiding device for collecting the three-dimensional coordinates of the drilling hole orifice;

[0111] An angle sensor for collecting the inclination angle and azimuth angle of the drill arm;

[0112] A pressure sensor for collecting the propulsion pressure of the hydraulic system of the rock drilling device;

[0113] A torque sensor for collecting the rotational torque of the rock drilling device;

[0114] The decision-making module includes a controller configured to:

[0115] Compare the three-dimensional coordinates of the drilling hole orifice, the inclination angle and azimuth angle of the drill arm obtained, with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill arm pose;

[0116] Judge whether the deviation amount of the drill arm pose exceeds a preset deviation value; when the deviation amount of the drill arm pose exceeds the preset deviation value, output the adjustment parameters of the drill arm; when the deviation amount of the drill arm pose does not exceed the preset deviation value, obtain the propulsion pressure of the hydraulic system of the rock drilling device and the rotational torque of the rock drilling device during drilling;

[0117] In response to the sudden change in the propulsion pressure of the hydraulic system of the rock drilling device and the rotational torque of the rock drilling device obtained, output the adjustment parameters of the hydraulic system of the rock drilling device according to the mutation direction.

[0118] The controller specifically executes the steps of the anti-deviation control method for the rock drilling device described in Embodiment 1.

[0119] The execution module includes:

[0120] A hydraulic cylinder and / or a servo motor for driving the drill arm to adjust its pose according to the adjustment parameters of the drill arm output by the decision-making module;

[0121] The hydraulic system of the rock drilling device for regulating the propulsion pressure, impact pressure and rotational speed according to the adjustment parameters output by the decision-making module.

[0122] Embodiment 3:

[0123] This embodiment provides a computer-readable storage medium, on which a computer program / instructions are stored. It is characterized in that when the computer program / instructions are executed by a processor, the steps of the anti-deviation control method of the rock drilling device described in Embodiment 1 are implemented.

[0124] Embodiment 4:

[0125] This embodiment provides a computer device, including:

[0126] A memory for storing computer programs / instructions;

[0127] A processor for executing the computer programs / instructions to implement the steps of the anti-deviation control method of the rock drilling device described in Embodiment 1.

[0128] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0130] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process or a plurality of processes and / or blocks. Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps of a block or a plurality of blocks.

[0132] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative rather than restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope of the present invention as protected by the claims. These all fall within the protection scope of the present invention.

Claims

1. A method for controlling anti-deviation of a rock drilling device, characterized in that, Including: Obtain the three-dimensional coordinates of the drill hole orifice, the inclination angle and azimuth angle of the drill arm; Compare the obtained three-dimensional coordinates of the drill hole orifice, the inclination angle and azimuth angle of the drill arm with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill arm pose; Judge whether the deviation amount of the drill arm pose exceeds the preset deviation value; When the deviation amount of the drill arm pose exceeds the preset deviation value, output the adjustment parameters of the drill arm; When the deviation amount of the drill arm pose does not exceed the preset deviation value, obtain the propulsion pressure of the hydraulic system of the rock drilling device and the rotational torque of the rock drilling device during drilling; In response to the sudden change in the obtained propulsion pressure of the hydraulic system of the rock drilling device and the rotational torque of the rock drilling device, output the adjustment parameters of the hydraulic system of the rock drilling device according to the sudden change direction.

2. The anti-deviation control method of the rock drilling device according to claim 1, characterized in that The deviation amount of the drill arm pose includes: the spatial position deviation amount of the drill hole orifice and the drill axis direction deviation amount; the comparing the obtained three-dimensional coordinates of the drill hole orifice, the inclination angle and azimuth angle of the drill arm with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill arm pose includes: According to the obtained three-dimensional coordinates of the borehole orifice and the three-dimensional coordinates of the designed hole position , calculate the spatial position deviation of the borehole orifice : ； According to the obtained inclination angle of the drill boom and azimuth angle , the unit vector in the direction of the drilling axis is obtained : ， Among them, is the unit vector in the direction of the drilling axis The component in the direction, is the unit vector in the direction of the drilling axis The component in the direction, is the unit vector in the direction of the drilling axis The component in the direction; According to the unit vector of the drilling axis direction and the direction vector of the drilling axis of the designed hole position , calculate the deviation amount of the drilling axis direction : ， Among them, is the direction vector of the drilling axis of the designed hole position in the direction component, is the direction vector of the drilling axis of the designed hole position in the direction component, is the direction vector of the drilling axis of the designed hole position in the direction component.

3. The anti-deviation control method of the rock drilling device according to claim 2, characterized in that If the deviation amount of the drill arm pose exceeds the preset deviation value, outputting the adjustment parameters of the drill arm includes: When the spatial position deviation amount of the drill hole orifice > the preset position deviation value or the drill axis direction deviation amount > the preset direction deviation value at this time Based on the three-dimensional coordinates of the designed hole position and the obtained three-dimensional coordinates of the drill hole orifice, obtain the adjustment parameters of the drill arm pitch displacement and the drill arm yaw displacement; Based on the direction vector of the drill axis of the designed hole position and the unit vector of the drill axis direction, obtain the adjustment parameters of the drill arm rotary joint.

4. The anti-deviation control method of the rock drilling device according to claim 1, characterized in that The outputting the adjustment parameters of the hydraulic system of the rock drilling device according to the sudden change direction includes: If the sudden change direction is that the increase exceeds the preset amplitude change threshold, output the adjustment parameters of the hydraulic system to reduce the propulsion pressure, increase the impact pressure and increase the rotary speed; If the sudden change direction is that the decrease exceeds the preset amplitude change threshold, output the adjustment parameters of the hydraulic system to increase the propulsion pressure, reduce the impact pressure and increase the rotary speed.

5. The anti-deviation control method of the rock drilling device according to claim 4, characterized in that, If the sudden change direction is that the increase exceeds the preset amplitude change threshold, it is determined as a sudden change from soft rock to hard rock, and output the adjustment parameters of reducing the propulsion pressure of the hydraulic system of the rock drilling device by 10%, increasing the impact pressure by 15% and increasing the rotary speed by 20%; 6. The anti-deviation control method of the rock drilling device according to claim 4, characterized in that, If the sudden change direction is that the decrease exceeds the preset amplitude change threshold, it is determined as a sudden change from hard rock to soft rock or fractured formation, and output the adjustment parameters of increasing the propulsion pressure of the hydraulic system of the rock drilling device by 15%, reducing the impact pressure by 10% and increasing the rotary speed by 25%.

7. The anti-deviation control method of the rock drilling device according to claim 1, characterized in that When the deviation amount of the drill arm pose does not exceed the preset deviation value, output an instruction for the rock drilling device to enter the drilling stage; in response to the instruction for the rock drilling device to enter the drilling stage, the hydraulic system of the rock drilling device operates and outputs the propulsion pressure and the rotational torque of the rock drilling device.

8. An anti-deviation control system for a rock drilling device, characterized in that, Including a decision module, a sensing module connected to the decision module and an execution module; The sensing module includes: A laser guiding device for collecting the three-dimensional coordinates of the drill hole orifice; An angle sensor for collecting the inclination angle and azimuth angle of the drill arm; A pressure sensor for collecting the propulsion pressure of the hydraulic system of the rock drilling device; A torque sensor for collecting the rotational torque of the rock drilling device; The decision module includes a controller configured to: Compare the three-dimensional coordinates of the drill hole orifice, the inclination angle and azimuth angle of the drill boom obtained with the three-dimensional information of the designed hole position to obtain the deviation amount of the drill boom pose. Determine whether the deviation amount of the drill boom pose exceeds a preset deviation value; when the deviation amount of the drill boom pose exceeds the preset deviation value, output the adjustment parameters of the drill boom; when the deviation amount of the drill boom pose does not exceed the preset deviation value, obtain the propulsion pressure of the hydraulic system of the rock drilling device and the rotation torque of the rock drilling device during drilling. In response to the sudden change in the propulsion pressure of the hydraulic system of the rock drilling device and the rotation torque of the rock drilling device obtained, output the adjustment parameters of the hydraulic system of the rock drilling device according to the sudden change direction. The execution module includes: Hydraulic cylinders and / or servo motors for driving the drill boom to adjust its pose according to the adjustment parameters of the drill boom output by the decision module. The hydraulic system of the rock drilling device for regulating the propulsion pressure, impact pressure and rotation speed according to the adjustment parameters output by the decision module.

9. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by a processor, the steps of the anti-deviation control method of the rock drilling device according to any one of claims 1-7 are implemented.

10. A computer device, characterized in that, It includes: A memory for storing computer programs / instructions; A processor for executing the computer programs / instructions to implement the steps of the anti-deviation control of the rock drilling device according to any one of claims 1-7.

Images