Drill boom compound control system and method

Abstract

The invention discloses a drill boom compound control system and method, and belongs to the technical field of drill jumbo drill boom control, and the device comprises a pose detection unit which is used for collecting drill boom joint angle and telescopic length data in real time; the contour modeling unit is used for scanning known points of a tunnel wall to realize trolley positioning, acquiring 3D point cloud data of a tunnel face and a tunnel contour, generating an actual tunnel contour, and comparing the actual tunnel contour with a preset theoretical contour to generate back break data; the visual monitoring unit is used for capturing construction images in real time and identifying drill arm pose offset and a tunnel contour change area; the central control unit is respectively connected with the pose detection unit, the contour modeling unit and the visual monitoring unit, and the execution unit is used for driving a drill arm to act; according to the invention, high-precision composite control of the drill boom is realized, and the problems of poor adaptability and poor application effect when the intelligent drill jumbo performs tunneling hole drilling construction are solved.

Description

Technical Field

[0001] The present invention relates to a drill arm composite control system and method, belonging to the technical field of drill arm control of a rock drilling rig. Background Art

[0002] Drilling rigs are a key piece of equipment in drill-and-blast construction. In recent years, with increasing national safety requirements for drilling and blasting operations, and the growing maturity of intelligent construction processes, automatic control technologies, and network communication technologies employed by domestic and international manufacturers, drilling rigs have begun to evolve towards intelligent and information-based systems. However, when drilling tunnel cross-section boreholes, especially peripheral boreholes, intelligent control systems have proven ineffective due to factors such as tunnel profile flatness, large over- and underbreak deviations, and volatile face conditions. This has hindered fully automated drilling of blastholes across the entire cross-section, impacting both the effectiveness of the intelligent drilling rigs and tunnel construction efficiency. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a drill arm composite control system and method to achieve high-precision composite control of the drill arm, thereby solving the problems of poor adaptability and poor application effect of intelligent drilling rigs during drilling construction of excavation holes.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a drill boom composite control system, comprising: The posture detection unit is set at each moving joint of the drill arm to collect the drill arm joint angle and telescopic length data in real time; The contour modeling unit is installed on the vehicle body and is used to scan known points on the tunnel wall to realize the positioning of the trolley, obtain 3D point cloud data of the tunnel face and tunnel contour, and generate the actual tunnel contour. The actual tunnel contour is compared with the preset theoretical contour to generate overbreak and underbreak data; The visual monitoring unit is installed on the vehicle body and is used to capture construction images in real time and identify the deviation of the drill arm posture and the area where the tunnel contour changes; The central control unit is connected to the posture detection unit, the contour modeling unit and the visual monitoring unit respectively, and is used to: Analyzing the real-time posture of the drill arm based on the drill arm joint angle and telescopic length data, and generating an initial control instruction according to the deviation between the real-time posture of the drill arm and the target posture; Based on the detected tunnel contour change area, a rescanning signal is sent to the contour modeling unit to generate rescanned over-break and under-break data and the actual tunnel contour; Dynamically correcting the initial control instruction according to the rescanned overbreak and underbreak data and the actual tunnel profile to generate a first corrected control instruction; Dynamically correct the initial control instruction according to the drill arm posture offset and the real-time posture of the drill arm to generate a second corrected control instruction; The execution unit is provided in the drill arm motion solenoid valve group, and is used for receiving the initial control instruction, the first correction control instruction and the second correction control instruction and driving the drill arm motion.

[0005] Furthermore, the contour modeling unit performs: The trolley is positioned by scanning two known points on the tunnel wall using a 3D laser scanner and employing a coordinate transformation algorithm. The tunnel face and tunnel contour are scanned based on the positioning results to generate the 3D point cloud data, and the actual tunnel contour is constructed through point cloud data processing.

[0006] Furthermore, the visual monitoring unit performs: The construction images are acquired through a pan-tilt camera, and a visual recognition algorithm is used to analyze the drill arm posture offset and the tunnel contour change area; The coordinates of the tunnel contour change area are sent to the contour modeling unit to trigger local rescanning.

[0007] Furthermore, the posture detection unit includes: An angle sensor, used for collecting the drill arm joint angle; The length sensor is used to collect the data of the telescopic length of the drill arm.

[0008] Furthermore, the system also includes a human-computer interaction unit, which is arranged in the cab and is used to display the real-time position of the drill arm, the actual contour of the tunnel and the overbreak and underbreak data.

[0009] Furthermore, the execution unit adopts a proportional solenoid valve group, and its control signal is associated with the joint motion parameters in the initial control instruction, the first correction control instruction and the second correction control instruction.

[0010] In a second aspect, the present invention provides a drill arm composite control method, comprising: The drill arm joint angle and telescopic length data are collected through the posture detection unit; Performed by the Contour Modeling Unit: Scanning known points on the tunnel wall to achieve trolley positioning; Acquire 3D point cloud data of the tunnel face and tunnel profile and generate the actual tunnel profile, and compare the actual tunnel profile with the preset theoretical profile to generate overbreak and underbreak data; Capturing construction images through a visual monitoring unit to identify drill boom posture deviations and areas where tunnel contours have changed; Executed via the central control unit: Analyzing the real-time posture of the drill arm based on the drill arm joint angle and telescopic length data, and generating an initial control instruction according to the deviation between the real-time posture of the drill arm and the target posture; Based on the detected tunnel contour change area, a rescanning signal is sent to the contour modeling unit to generate rescanned over-break and under-break data and the actual tunnel contour; Dynamically correcting the initial control instruction according to the rescanned overbreak and underbreak data and the actual tunnel profile to generate a first corrected control instruction; Dynamically correct the initial control instruction according to the drill arm posture offset and the real-time posture of the drill arm to generate a second corrected control instruction; The execution unit drives the drill arm to move according to the initial control instruction, the first correction control instruction and the second correction control instruction.

[0011] Furthermore, generating over-excavation and under-excavation data includes: Performing noise reduction and surface reconstruction processing on the 3D point cloud data; The reconstructed surface is spatially overlapped with the design theoretical contour to output a three-dimensional distribution map of over-excavation and under-excavation.

[0012] Furthermore, after the tunnel contour change area is identified, the coordinates of the tunnel contour change area are sent to the contour modeling unit to trigger a local rescan.

[0013] Furthermore, the method also includes: displaying the real-time position of the drill arm, the actual contour of the tunnel and the overbreak and underbreak data through a human-computer interaction unit.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a composite control system and method for a drill arm. By integrating three systems, namely, a posture detection unit for detecting the position of the drill arm, a contour modeling unit for scanning the actual contour of the tunnel, and a visual monitoring unit for visually identifying the construction status, high-precision composite control of the drill arm is achieved, solving the problems of poor adaptability and poor application effect of intelligent rock drilling rigs during drilling construction of excavation holes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a principle block diagram of an electrical control system for a drill arm composite control method and system according to the present disclosure; Figure 2 This is a control principle diagram of a drill arm composite control method and system according to the present disclosure; Figure 3 The present invention discloses a control logic flow chart of a drill arm composite control method and system. DETAILED DESCRIPTION

[0016] 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 are not intended to limit the scope of protection of the present invention.

[0017] Example 1: This example introduces a drill arm composite control system, including: a posture detection unit, a contour modeling unit, a visual monitoring unit, a central control unit, and a human-computer interaction unit, wherein: The posture detection unit is provided at each motion joint of the drill arm for real-time acquisition of drill arm joint angle and telescopic length data; including: an angle sensor for acquiring the drill arm joint angle; a length sensor for acquiring the drill arm telescopic length data; The contour modeling unit is provided on the vehicle body and is used to scan known points on the tunnel wall to realize trolley positioning, obtain 3D point cloud data of the tunnel face and tunnel contour, and generate the actual tunnel contour. Specifically, the trolley is positioned by scanning two known points on the tunnel wall with a 3D laser scanner and adopting a coordinate conversion algorithm. Based on the positioning results, the tunnel face and tunnel contour are scanned to generate the 3D point cloud data, and the actual tunnel contour is constructed through point cloud data processing. The actual tunnel contour is compared with the preset theoretical contour to generate overbreak and underbreak data. The visual monitoring unit is installed on the vehicle body and is used to capture construction images in real time and identify the drill arm posture offset and tunnel contour change areas. Specifically, the visual monitoring unit acquires construction images using a pan-tilt camera and uses a visual recognition algorithm to analyze the drill arm posture offset and tunnel contour change areas. The coordinates of the tunnel contour change areas are sent to the contour modeling unit to trigger local rescanning. The central control unit is connected to the posture detection unit, the contour modeling unit and the visual monitoring unit respectively, and is used to: analyze the real-time posture of the drill arm based on the drill arm joint angle and telescopic length data, and generate an initial control instruction according to the deviation between the real-time posture of the drill arm and the target posture; send a rescanning signal to the contour modeling unit based on the detected tunnel contour change area to generate rescanned over-underbreak data and the actual tunnel contour; dynamically correct the initial control instruction according to the rescanned over-underbreak data and the actual tunnel contour to generate a first corrected control instruction; dynamically correct the initial control instruction according to the drill arm posture offset and the real-time posture of the drill arm to generate a second corrected control instruction; The execution unit is provided in the drill arm motion solenoid valve group, and is used to receive the initial control instruction, the first correction control instruction and the second correction control instruction and drive the drill arm motion; the execution unit adopts a proportional solenoid valve group, and its control signal is associated with the joint motion parameters in the initial control instruction, the first correction control instruction and the second correction control instruction; The human-machine interaction unit is arranged in the cab and is used to display the real-time position of the drill arm, the actual contour of the tunnel and the overbreak and underbreak data.

[0018] The following describes the contents involved in the above embodiment in conjunction with a preferred embodiment.

[0019] like Figures 1 to 3 As shown, in one aspect of the present disclosure, a drill arm composite control method and system are provided, including a controller, a display, a sensor, a three-dimensional laser scanner, a pan-tilt camera and a solenoid valve. The controller is arranged in a control box, the display is arranged in the operating console part in the cab, the sensor is arranged at each moving joint of the drill arm, the three-dimensional laser scanner and the pan-tilt camera are arranged on the vehicle body, and the solenoid valve is arranged on the drill arm action solenoid valve group.

[0020] The control system detects the angle of each rotary joint of the drill arm through an angle sensor and detects the telescopic length of each rotary joint of the drill arm through a length sensor.

[0021] This control system uses a dedicated high-performance controller to collect motion data from each joint of the drill arm, analyze the drill arm position and motion status through kinematic algorithms, and display them in real time on the monitor; This control system uses a dedicated high-performance controller to analyze the target angle and length of each joint of the drill arm according to the preset hole layout through kinematic algorithms, and gives control output to the solenoid valve to realize the motion control of the drill arm; This control system uses a three-dimensional laser scanner to scan two known points on the tunnel wall and realizes the positioning of the trolley through a coordinate transformation algorithm.

[0022] This control system uses a 3D laser scanner to scan the tunnel face and its surrounding tunnel contours to obtain 3D point cloud data of the tunnel. Through point cloud data processing, the actual tunnel contour is obtained. By comparing it with the preset theoretical contour, the actual over-break and under-break data of the tunnel are obtained.

[0023] This control system uses the actual tunnel contour obtained to correct the target angles and lengths of each joint of the drill arm analyzed by the kinematic algorithm, achieving high-precision control while avoiding interference between the drill arm and the tunnel wall.

[0024] This control system uses a pan-tilt camera to obtain real-time image information of the construction process, and uses a visual recognition algorithm to obtain the position and motion status of the drill arm, thereby assisting in optimizing the intelligent control of the drill arm.

[0025] This control system uses a pan-tilt camera to obtain real-time image information of the construction process. Through a visual recognition algorithm, it obtains changes in the tunnel contour, guides the 3D laser scanner to rescan the changed position of the tunnel, obtains the latest actual contour of the tunnel, and makes real-time corrections to the intelligent control of the drill arm.

[0026] Example 2: This example provides a drill arm composite control method, applicable to the system described in any one of Example 1, including: The drill arm joint angle and telescopic length data are collected through the posture detection unit; Performed by the Contour Modeling Unit: Scanning known points on the tunnel wall to achieve trolley positioning; Acquire 3D point cloud data of the tunnel face and tunnel profile and generate the actual tunnel profile, and compare the actual tunnel profile with the preset theoretical profile to generate overbreak and underbreak data; Capturing construction images through a visual monitoring unit to identify drill boom posture deviations and areas where tunnel contours have changed; Executed via the central control unit: Analyzing the real-time posture of the drill arm based on the drill arm joint angle and telescopic length data, and generating an initial control instruction according to the deviation between the real-time posture of the drill arm and the target posture; Based on the detected tunnel contour change area, a rescanning signal is sent to the contour modeling unit to generate rescanned over-break and under-break data and the actual tunnel contour; Dynamically correcting the initial control instruction according to the rescanned overbreak and underbreak data and the actual tunnel profile to generate a first corrected control instruction; Dynamically correct the initial control instruction according to the drill arm posture offset and the real-time posture of the drill arm to generate a second corrected control instruction; The execution unit drives the drill arm to move according to the initial control instruction, the first correction control instruction and the second correction control instruction.

[0027] Generating over-excavation and under-excavation data includes: Performing noise reduction and surface reconstruction processing on the 3D point cloud data; The reconstructed surface is spatially overlapped with the design theoretical contour to output a three-dimensional distribution map of over-excavation and under-excavation.

[0028] After the tunnel contour change area is identified, the coordinates of the tunnel contour change area are sent to the contour modeling unit to trigger local rescanning.

[0029] The method further includes: displaying the real-time position of the drill arm, the actual contour of the tunnel, and overbreak and underbreak data through a human-computer interaction unit.

[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A drill arm composite control system, characterized in that: include: The posture detection unit is set at each moving joint of the drill arm to collect the drill arm joint angle and telescopic length data in real time; The contour modeling unit is installed on the vehicle body and is used to scan known points on the tunnel wall to realize the positioning of the trolley, obtain 3D point cloud data of the tunnel face and tunnel contour, and generate the actual tunnel contour. The actual tunnel contour is compared with the preset theoretical contour to generate overbreak and underbreak data; The visual monitoring unit is installed on the vehicle body and is used to capture construction images in real time and identify the drilling arm posture offset and tunnel contour change areas; The central control unit is connected to the posture detection unit, the contour modeling unit and the visual monitoring unit respectively, and is used to: Analyzing the real-time posture of the drill arm based on the drill arm joint angle and telescopic length data, and generating an initial control instruction according to the deviation between the real-time posture of the drill arm and the target posture; Based on the detected tunnel contour change area, a rescanning signal is sent to the contour modeling unit to generate rescanned over-break and under-break data and the actual tunnel contour; Dynamically correcting the initial control instruction according to the rescanned overbreak and underbreak data and the actual tunnel profile to generate a first corrected control instruction; Dynamically correct the initial control instruction according to the drill arm posture offset and the real-time posture of the drill arm to generate a second corrected control instruction; The execution unit is provided in the drill arm motion solenoid valve group, and is used for receiving the initial control instruction, the first correction control instruction and the second correction control instruction and driving the drill arm motion.

2. The drill arm composite control system according to claim 1, characterized in that: The contour modeling unit performs: The trolley is positioned by scanning two known points on the tunnel wall using a 3D laser scanner and employing a coordinate transformation algorithm. The tunnel face and tunnel contour are scanned based on the positioning results to generate the 3D point cloud data, and the actual tunnel contour is constructed through point cloud data processing.

3. The drill arm composite control system according to claim 1, characterized in that: The visual monitoring unit performs: The construction images are acquired through a pan-tilt camera, and a visual recognition algorithm is used to analyze the drill arm posture offset and the tunnel contour change area; The coordinates of the tunnel contour change area are sent to the contour modeling unit to trigger local rescanning.

4. The drill arm composite control system according to claim 1, characterized in that: The posture detection unit includes: An angle sensor, used for collecting the drill arm joint angle; The length sensor is used to collect the data of the telescopic length of the drill arm.

5. The drill arm composite control system according to claim 1, characterized in that: The system also includes a human-computer interaction unit, which is arranged in the cab and is used to display the real-time position of the drill arm, the actual contour of the tunnel and the overbreak and underbreak data.

6. The drill arm composite control system according to claim 1, characterized in that: The execution unit adopts a proportional solenoid valve group, and its control signal is associated with the joint motion parameters in the initial control instruction, the first correction control instruction and the second correction control instruction.

7. A drill arm composite control method, characterized in that: include: The drill arm joint angle and telescopic length data are collected through the posture detection unit; Performed by the Contour Modeling Unit: Scanning known points on the tunnel wall to achieve trolley positioning; Acquire 3D point cloud data of the tunnel face and tunnel profile and generate the actual tunnel profile, and compare the actual tunnel profile with the preset theoretical profile to generate overbreak and underbreak data; Capturing construction images through a visual monitoring unit to identify drill boom posture deviations and areas where tunnel contours have changed; Executed via the central control unit: Analyzing the real-time posture of the drill arm based on the drill arm joint angle and telescopic length data, and generating an initial control instruction according to the deviation between the real-time posture of the drill arm and the target posture; Based on the detected tunnel contour change area, a rescanning signal is sent to the contour modeling unit to generate rescanned over-break and under-break data and the actual tunnel contour; Dynamically correcting the initial control instruction according to the rescanned overbreak and underbreak data and the actual tunnel profile to generate a first corrected control instruction; Dynamically correct the initial control instruction according to the drill arm posture offset and the real-time posture of the drill arm to generate a second corrected control instruction; The execution unit drives the drill arm to move according to the initial control instruction, the first correction control instruction and the second correction control instruction.

8. The drill arm composite control method according to claim 7, characterized in that: Generating over-excavation and under-excavation data includes: Performing noise reduction and surface reconstruction processing on the 3D point cloud data; The reconstructed surface is spatially overlapped with the design theoretical contour to output a three-dimensional distribution map of over-excavation and under-excavation.

9. The drill arm composite control method according to claim 7, characterized in that: After the tunnel contour change area is identified, the coordinates of the tunnel contour change area are sent to the contour modeling unit to trigger local rescanning.

10. The drill arm composite control method according to claim 7, characterized in that: The method further includes: displaying the real-time position of the drill arm, the actual contour of the tunnel, and overbreak and underbreak data through a human-computer interaction unit.

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