Method for automatically replacing drill rod of miner-bolter

Abstract

The invention discloses a method for automatically replacing a drill rod of a miner-bolter, which relates to the technical field of drill rod replacement of miner-bolter, and comprises the following steps of: starting an automatic drill rod replacement mode through a control system of the miner-bolter, detecting the current state of equipment, ensuring that all parts are at initial positions, and generating an initial state signal for subsequent calling. Through comprehensive application of real-time monitoring, step-by-step control, anomaly prediction, action synchronous optimization and modular design, the safety, reliability and intelligent level of the automatic drill rod replacing system of the bolter-miner are remarkably improved. The sensor network acquires data in real time, and dynamically adjusts operation to avoid equipment damage in combination with closed-loop feedback and an abnormal prediction mechanism; seamless connection of all modules is ensured through action synchronous optimization, and efficient and independent operation and tight cooperation are achieved through modular design. According to the technologies, the maintenance cost is reduced, the shutdown loss is reduced, the working efficiency is improved, the efficient requirement of modern construction is met, and comprehensive guarantee is provided for stable operation of equipment.

Description

Technical Field

[0001] The invention relates to the technical field of drill rod replacement for anchor miners, and in particular to a method for automatically replacing drill rods for anchor miners. Background Art

[0002] Automatic drill rod replacement for bolter miners is a technology designed to automatically replace drill rods during operation. Specifically, bolter miners require multiple drill rod changes to reach the desired depth during drilling operations. Automatic drill rod replacement technology, through the coordination of mechanical or hydraulic systems and control programs, enables bolter miners to automatically remove used drill rods and load new ones without human intervention. This significantly improves efficiency, reduces operation time, and reduces both labor intensity and safety risks for operators.

[0003] The existing technology has the following deficiencies:

[0004] In the process of automatic drill rod replacement in anchor miners of the prior art, synchronization anomalies in the operation of the control program may lead to serious consequences. Specifically, when the anchor miner automatically changes the drill rod, mechanical actions (such as clamping, removing and inserting the drill rod) need to be strictly coordinated with the hydraulic system, and the control program accurately manages the sequence and timing of each action. If an anomaly occurs in the program, such as signal delay or command loss, it may cause the moving device to start prematurely when the clamping is not completely released, or the hydraulic system force may be out of sync with the mechanical action. This problem may cause overload damage to mechanical components, breakage of the drill rod, and even leakage or explosion of the hydraulic system, seriously threatening the safety of the equipment and the life of the operator.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0006] The present invention aims to provide a method for automatically changing drill rods for anchor miners. Through the integrated application of real-time monitoring, step-by-step control, anomaly prediction, synchronized motion optimization, and modular design, the system significantly enhances safety, reliability, and intelligence. A sensor network collects data in real time, and combined with closed-loop feedback and anomaly prediction mechanisms, it dynamically adjusts operations to prevent equipment damage. Synchronized motion optimization ensures seamless integration between modules, and the modular design enables efficient, independent, and collaborative operation. These technologies not only reduce maintenance costs and downtime losses, but also improve operational efficiency, meeting the efficiency demands of modern construction and providing comprehensive assurance for stable equipment operation, thereby addressing the aforementioned issues in the background art.

[0007] In order to achieve the above object, the present invention provides the following technical solution: a method for automatically changing a drill rod of an anchor miner, comprising the following steps:

[0008] The automatic drill rod change mode is activated through the bolter miner control system to detect the current status of the equipment, ensure that all components are in their initial positions, and generate an initial status signal for subsequent use;

[0009] Based on the initial state signal, the control system sends instructions to the clamping device to gradually release the drill rod. At the same time, the pressure of the clamping device is monitored in real time through sensors to ensure that the drill rod will not trigger subsequent movement instructions if it is not completely released.

[0010] After the clamping device is completely released, the drill rod moving device is activated to remove the old drill rod from the borehole and transfer it to the drill rod storage rack. During this process, the position of the drill rod is monitored by a displacement sensor to ensure that the removal path is unobstructed and to prevent the drill rod from falling off due to vibration and external force.

[0011] Select a new drill rod from the storage rack, start the clamping device to clamp the new drill rod, and move it to the rod replacement position through the coordinated control of the hydraulic system to ensure synchronous movement and clamping strength to avoid damage to the new drill rod and loading failure;

[0012] Based on real-time status monitoring data, optimization algorithms are used to dynamically adjust the sequence and timing parameters of clamping, removal, and loading, ensuring efficient coordination between the mechanical and hydraulic systems. Potential deviations are corrected instantly through feedback control mechanisms.

[0013] The embedded adaptive algorithm analyzes real-time operating data to predict potential abnormal conditions. When potential problems are predicted, the control strategy is adjusted in advance and the system enters a safe mode to prevent failures.

[0014] Preferably, the specific steps of starting the automatic drill rod changing mode through the control system of the anchor miner, detecting the current state of the equipment, ensuring that all components are in the initial position, and generating the initial state signal for subsequent call are as follows:

[0015] Start the control system and initialize the automatic mode, activate the hardware module and load the operating parameters to provide a stable operating benchmark for the automatic drill rod changing mode;

[0016] The sensors collect equipment status data and comprehensively detect the current status of the clamping device, hydraulic system and drill rod position;

[0017] Calibrate the initial position of components based on reference values, and suspend operation and issue warnings when an abnormality is detected to ensure stable operation of the equipment;

[0018] After confirming that the equipment status is normal, an initial status signal package is generated for subsequent drill rod replacement operation process to call, achieving control accuracy and consistency.

[0019] Preferably, the control system sends instructions to the clamping device according to the initial state signal to ensure that the drill rod does not trigger subsequent movement instructions when the clamp is not completely released. The specific steps are as follows:

[0020] Analyze the initial status signal to confirm the pressure status of the clamping device and the position of the drill rod, and provide data support for the gradual release of the drill rod;

[0021] Reduce the clamping device pressure in stages according to preset parameters to ensure a smooth release process and avoid damage to equipment and drill pipe;

[0022] Real-time monitoring of clamping device pressure changes ensures a safe and controllable release process through a closed-loop feedback mechanism;

[0023] Verify the locked state after the clamping force is completely released to avoid misoperation and provide safety for subsequent drill pipe removal.

[0024] Preferably, the specific steps of starting the drill rod moving device and gradually removing the old drill rod are as follows:

[0025] After confirming the status of the clamping device, start the moving device and smoothly move the drill rod out of the borehole to avoid damage to the equipment due to excessive torque;

[0026] The displacement sensor monitors the path in real time and dynamically adjusts the movement trajectory to ensure that the drill rod moves out along the optimal route;

[0027] Real-time vibration monitoring and execution of compensation algorithms ensure the stability and safety of the drill pipe in complex environments;

[0028] Detects abnormal external forces and triggers emergency controls, stopping operations in time to protect equipment and drill pipe.

[0029] Preferably, the specific steps for transferring the old drill pipe to the storage rack and completing the fixation are as follows:

[0030] Move the drill rod to the storage location, ensuring alignment and precise control through sensors and positioning devices;

[0031] Use the alignment device and clamping mechanism to complete the initial fixation of the drill pipe to prevent slippage and positioning deviation;

[0032] Verify the drill pipe position and vibration status, and fine-tune the storage position to ensure the stability and safety of the storage process;

[0033] After confirming the storage status, a completion signal is sent to ensure that the drill rod is securely fixed and unlock the system to enter the next stage of operation.

[0034] Preferably, the specific steps for selecting new drill rods from the storage rack, ensuring synchronization of movements and clamping strength, and avoiding damage to the new drill rods and loading failures are as follows:

[0035] Sensors monitor the status of drill rods in the storage rack, select the drill rod that meets the task requirements, and calibrate the grabbing path;

[0036] Start the clamping device and gradually apply force, and monitor the force in real time to ensure the drill pipe is safely grasped and avoid damage;

[0037] Coordinate the hydraulic system and the clamping device to smoothly move the drill rod to the rod-changing position to prevent vibration and loosening during movement;

[0038] Verify the drill pipe positioning and clamping status, and unlock the next stage of operation permissions after confirming that they meet the standards.

[0039] Preferably, based on real-time status monitoring data, an optimization algorithm is used to dynamically adjust the sequence and timing parameters of clamping, removal, and loading to ensure efficient coordination between the mechanical and hydraulic systems. Potential deviations are corrected instantly through a feedback control mechanism. The specific steps are as follows:

[0040] The sensor network collects real-time data on the displacement status of the clamping device, hydraulic system, and drill pipe. The acquired data is normalized and a dynamically adjusted reference coefficient is generated based on the initial state. The generation formula is as follows:

[0041] Where, is the real-time clamping force of the clamping device at the i-th data point, is the pressure of the hydraulic system at the i-th data point, is the current position of the drill rod at the i-th data point, n is the total number of collected data points, β is the calibration coefficient, K init is the initial adjustment factor;

[0042] According to the initial adjustment coefficient K init , optimize the dynamic release time parameters of the clamping force to ensure the coordination of the clamping device and the hydraulic system. The formula is as follows:

[0043] Where γ is the adjustment factor, T c is the time required for the clamping device to release.

[0044] Preferably, the removal path and speed of the drill rod are optimized using the real-time displacement, real-time speed, and the time required for the clamping device to release. The optimization formula is as follows:

[0045] Where α is the path smoothing factor, is the target removal position, η is the deceleration coefficient, ζ is the real-time speed adjustment coefficient, V t is the real-time speed, V opt is the removal speed;

[0046] Combined removal speed Vopt and the time required for the clamping device to release T c , optimize the synchronization of the hydraulic system during the loading phase, and calculate the loading synchronization parameters. The calculation formula is as follows:

[0047] Where S sync is the synchronization adjustment parameter of the loading action, and δ is the dynamic response coefficient of the drill pipe material and the clamping device.

[0048] Preferably, the embedded adaptive algorithm analyzes the real-time operation data to predict potential abnormal conditions, and adjusts the control strategy in advance when potential problems are predicted to enter a safe mode to prevent failures. The specific steps are as follows:

[0049] The control system collects real-time equipment operation data through a multi-sensor network, including clamping device pressure, hydraulic system flow, drill pipe position deviation, and vibration amplitude. To reduce the impact of noise on prediction, a weighted sliding average is used to smooth the data. The formula is as follows:

[0050] Where w j is the data weight at the pjth moment, X p-j is the original data value at the pjth moment, m is the total number of time points, is the smoothed data value at the pth moment, in, is the smoothed clamping device pressure data value, is the smoothed hydraulic system flow data value, is the smoothed drill rod position deviation data value, is the smoothed vibration amplitude data value;

[0051] Based on the smoothed data, the abnormality index of each operating parameter is calculated to quantify the potential abnormality level. The abnormality index formula is as follows:

[0052] Where Z p is the comprehensive abnormality index, P avg is the mean pressure, P std is the standard deviation of pressure, Q avg and Q std are the mean and standard deviation of the flow, x thresh is the position deviation threshold, A thresh is the threshold of the vibration amplitude, A, B, C and D are weight coefficients, representing the smoothed clamping device pressure data values. Hydraulic system flow data values Drill rod position deviation data value Vibration amplitude data value The impact ratio on abnormal indicators.

[0053] Preferably, use historical data and current abnormality indicator Z p , predict the future abnormal index value through the long short-term memory neural network model, the formula is as follows: h t =f(W h ·h t-1 +W x ·X t +b), Z p+1 =g(h t ), where h t is the hidden state at time step t, W h is the weight matrix of the hidden state, W x is the input weight matrix, X t is the current input, b is the bias vector, a constant term in the linear transformation, independent of the input variable X t and hidden state h t-1 , h t-1 is the hidden state of the previous time step, Z p+1 is the predicted future anomaly indicator value, f is the activation function, and g is the output function;

[0054] According to the predicted future abnormal index value Z p+1 and the abnormal threshold Z thresh The relationship between Z and , determines whether to enter safe mode: p+1 >Z thresh , start safe mode; if Z p+1 ≤Z thresh , continue normal operation;

[0055] When entering safety mode, adjust key parameters, reduce hydraulic system flow and clamping device pressure, the formula is as follows: Where Q s is the hydraulic system flow data after adjustment, ω is the flow adjustment coefficient, P s is the adjusted clamping pressure, and θ is the pressure adjustment coefficient.

[0056] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0057] By applying technologies such as real-time monitoring, step-by-step control, and anomaly prediction, this automatic drill rod replacement system for anchor miners significantly improves operational safety and reliability. A sensor network collects equipment operating data in real time and, in conjunction with a closed-loop feedback mechanism, dynamically adjusts operations, preventing equipment damage and drill rod failure caused by excessive pressure, abnormal vibration, or path deviation. An anomaly prediction mechanism proactively identifies potential risks, while synchronized optimization ensures seamless operation across modules. A multi-layered protection mechanism covers every aspect, from pressure monitoring to path control. This design not only reduces equipment maintenance costs but also minimizes losses caused by failures or downtime during production, providing comprehensive protection for stable equipment operation under complex operating conditions.

[0058] This invention significantly improves the operational efficiency and intelligence level of automatic drill rod changing in anchor miners through synchronized optimization and modular design. During operation, real-time monitoring and path planning enable precise control. An optimization algorithm dynamically adjusts time parameters to ensure smooth transitions between steps and avoid resource waste. The modular design ensures that each operational step is independent and efficient, while also ensuring close collaboration. This increased intelligence enables the system to autonomously identify equipment status and potential risks, automatically adjust operational strategies, reduce the complexity of manual intervention, improve operational efficiency, and minimize unplanned downtime, providing a highly effective solution for modern construction needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction to the drawings required for use in the embodiments will be given below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0060] Figure 1 The present invention is a flowchart of a method for automatically changing drill rods of an anchor miner. DETAILED DESCRIPTION

[0061] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that the description of this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0062] The present invention provides Figure 1 The method for automatically changing a drill rod of an anchor miner shown in the figure comprises the following steps:

[0063] The automatic drill rod change mode is activated through the bolter miner control system to detect the current status of the equipment, including the position of the clamping device, hydraulic system and drill rod, to ensure that all components are in the initial position, and to generate an initial status signal for subsequent use;

[0064] The specific steps for starting the automatic drill rod change mode through the bolter miner control system, detecting the current status of the equipment, ensuring that all components are in their initial positions, and generating an initial status signal for subsequent use are as follows:

[0065] Start the control system and initialize the automatic mode, activate the hardware module and load the operating parameters to provide a stable operating benchmark for the automatic drill rod changing mode;

[0066] First, the operator activates the bolter miner's control system through the control panel or remote terminal and selects "Automatic Rod Change Mode." The system then follows a pre-set startup procedure, activating the relevant hardware modules, including the sensor array, clamping device, hydraulic system, and central processing unit. The system also loads initial operating parameters, such as the motion sequence, position reference values, and warning thresholds, providing a clear baseline for subsequent operations. This step is crucial to ensuring that all subsystems are functioning properly, preventing errors in subsequent steps due to inactive hardware.

[0067] The sensors collect equipment status data and comprehensively detect the current status of the clamping device, hydraulic system and drill rod position;

[0068] Upon startup, a sensor network immediately collects data on the current equipment status, including the pressure status of the clamping device, the oil pressure level in the hydraulic system, and the current position of the drill pipe. This data is transmitted via a high-speed bus to a central controller for analysis to determine whether the equipment is in its initial position. For example, the clamping device's pressure sensor detects whether it is applying force to the drill pipe, the hydraulic sensor ensures that there are no abnormal pressure fluctuations in the system, and the position sensor confirms that the drill pipe is at the specified starting point. This comprehensive status monitoring ensures that the equipment starts operation from a stable initial state, reducing the risk of unexpected failures.

[0069] Calibrate the initial position of components based on reference values, and suspend operation and issue warnings when an abnormality is detected to ensure stable operation of the equipment;

[0070] Based on the detection of the equipment status, the initial position of the component is calibrated according to the preset reference value. For example, if the position sensor detects that the drill rod has deviated from the initial point, the system will trigger the fine-tuning function of the hydraulic system to move the drill rod to the correct position; if the clamping device applies excess pressure, it will be commanded to loosen to restore the initial state. In addition, the system will perform a consistency check on the collected data. If an anomaly is found (such as hydraulic fluctuations exceeding the threshold or sensor signal loss), the rod change mode will be suspended and a warning will be issued to the operator to avoid continued operation and damage to the equipment.

[0071] After confirming that the equipment is in normal state, an initial state signal package is generated for subsequent drill pipe replacement operation process to achieve control accuracy and consistency;

[0072] After confirming that all components are in their initial positions and functioning properly, an initial status signal packet is generated, containing key equipment status information. This packet includes the clamping device pressure value, the current hydraulic system pressure, drill rod position information, and a confirmation flag indicating normal system operation. The signal packet is stored in the central controller's cache for subsequent drill rod replacement operations. This standardized data packaging ensures that subsequent steps can quickly access critical status information, enabling precise control operations.

[0073] Based on the initial state signal, the control system sends instructions to the clamping device to gradually release the drill rod. At the same time, the pressure of the clamping device is monitored in real time through sensors to ensure that the drill rod will not trigger subsequent movement instructions if it is not completely released.

[0074] The control system sends instructions to the clamping device based on the initial state signal to ensure that the drill rod does not trigger subsequent movement instructions when it is not completely released. The specific steps are as follows:

[0075] Analyze the initial status signal to confirm the pressure status of the clamping device and the position of the drill rod, and provide data support for the gradual release of the drill rod;

[0076] After receiving the initial status signal, the control system analyzes the clamping device pressure status, the current hydraulic system status, and the drill rod position data contained in the signal. The system confirms that the clamping device is in a force-applying state and extracts key information from the signal, such as the current pressure value and position status, as a baseline for operation. Simultaneously, the clamping device release sequence is initiated, setting it to gradually reduce the clamping force to ensure stability during the drill rod release process. This step aligns with the previous initialization phase, providing clear data support for subsequent pressure adjustments.

[0077] Reduce the clamping device pressure in stages according to preset parameters to ensure a smooth release process and avoid damage to equipment and drill pipe;

[0078] The control system reduces the pressure on the clamping device in stages, based on the pressure reference value provided by the initial state signal. The hydraulic control unit precisely adjusts the pressure applied to the drill pipe, gradually reducing it to avoid vibration or damage to the clamping device caused by sudden release. Each pressure reduction stage is accompanied by real-time monitoring by sensors to ensure that the magnitude and speed of pressure reduction meet preset safety parameters, avoiding unnecessary impact on the equipment and drill pipe.

[0079] Real-time monitoring of clamping device pressure changes ensures a safe and controllable release process through a closed-loop feedback mechanism;

[0080] As the pressure gradually decreases, the control system collects real-time data from the clamping device's built-in pressure sensors and transmits this data to the central controller for dynamic analysis. If an abnormal pressure is detected, such as a rapid drop or exceeding the allowable fluctuation range, the system immediately suspends the release operation and conducts a secondary test to determine whether operational parameters need to be readjusted. This mechanism, through real-time closed-loop feedback, ensures that the clamping device remains under control throughout the entire process, preventing equipment failure or drill pipe damage due to loss of control.

[0081] Verify the locked state after the clamping force is completely released to avoid misoperation and provide safety for subsequent drill pipe removal;

[0082] When the clamping device pressure drops below a safe threshold, the control system verifies that the clamping force has been fully released using sensor data and checks whether the drill pipe is loose. If the clamping force is fully released and the drill pipe is able to move freely, the system sends a status lock signal, prohibiting subsequent movement commands until verification is complete. This status lock function effectively prevents damage to the drill pipe caused by misoperation or premature commands, while also ensuring a safe foundation for subsequent movement operations.

[0083] After the clamping device is completely released, the drill rod moving device is activated to remove the old drill rod from the borehole and transfer it to the drill rod storage rack. During this process, the position of the drill rod is monitored by a displacement sensor to ensure that the removal path is unobstructed and to prevent the drill rod from falling off due to vibration and external force.

[0084] The specific steps to start the drill rod moving device and gradually remove the old drill rod are as follows:

[0085] After confirming the status of the clamping device, start the moving device and smoothly move the drill rod out of the borehole to avoid damage to the equipment due to excessive torque;

[0086] After the clamping device is fully released and locked, the control system verifies the drill pipe can move freely using initial status signals and real-time feedback data. The system then activates the drill pipe moving mechanism, which slowly removes the drill pipe from the borehole via a motor or hydraulic system. This step is crucial for a smooth start, avoiding instantaneous excessive torque that could damage the drill pipe or equipment. It also ensures that the movement is precisely managed by the control program, eliminating any external influences.

[0087] The displacement sensor monitors the path in real time and dynamically adjusts the movement trajectory to ensure that the drill rod moves out along the optimal route;

[0088] Using displacement sensors to monitor the drill rod's current position in real time, the system dynamically calculates any deviations in the rod's movement path and adjusts them based on a pre-set path model, ensuring that removal always proceeds along the optimal route. If any deviation is detected, the system immediately pauses operations and replans the movement path to prevent the rod from straying and colliding with surrounding structures. This real-time path control effectively reduces risk during drill rod removal and improves operational precision.

[0089] Real-time vibration monitoring and execution of compensation algorithms ensure the stability and safety of the drill pipe in complex environments;

[0090] During the removal process, the system monitors the operating status of the mobile mechanism through vibration sensors, promptly detecting vibrations caused by equipment movement or the external environment. If the vibration amplitude exceeds a safe threshold, the system immediately adjusts the movement speed or pauses operation, while also initiating a compensation algorithm to reduce the impact of vibration on the drill pipe. This mechanism ensures the stability of the drill pipe in vibrating environments, preventing it from falling or being damaged, while also providing enhanced safety in complex operating environments.

[0091] Detect abnormal external forces and trigger emergency control, stopping operations in time to protect equipment and drill pipe;

[0092] During the movement process, the system also uses force sensors to monitor external forces acting on the drill pipe, preventing unexpected interference that could cause movement failure. If an abnormal external force is detected, such as sudden heavy pressure or drag, the system triggers an emergency control program, halting the movement and sounding an alarm to prevent further damage to the equipment or drill pipe. This mechanism adds a layer of active safety protection to the entire movement process, which is particularly important in harsh working conditions.

[0093] The specific steps to transfer the old drill pipe to the storage rack and complete the fixation are as follows:

[0094] Move the drill rod to the storage location, ensuring alignment and precise control through sensors and positioning devices;

[0095] After the drill rod is removed, the control system drives the mobile device to gradually move the drill rod to the storage area based on the preset position of the storage rack. The system uses displacement sensors and the storage rack's positioning device to ensure precise alignment of the drill rod with the storage location. As the drill rod approaches the target location, the system automatically slows down to avoid positioning deviations due to inertia and create stable conditions for securing the drill rod.

[0096] Use the alignment device and clamping mechanism to complete the initial fixation of the drill pipe to prevent slippage and positioning deviation;

[0097] As the drill rod is about to enter the storage rack, the system activates the alignment mechanism, using mechanical guidance or sensor assistance to ensure the rod contacts the rack at the optimal angle. Simultaneously, the rack's clamping mechanism activates, providing initial securing force to prevent the rod from slipping during subsequent operations. This coordinated alignment and securing design effectively improves the stability and safety of the storage process, which is particularly important during multiple rod changes.

[0098] Verify the drill pipe position and vibration status, and fine-tune the storage position to ensure the stability and safety of the storage process;

[0099] During the drill rod placement process, the system once again verifies the drill rod's positioning using vibration and displacement sensors. If positional deviation or excessive vibration is detected, the control system initiates a compensation process, fine-tuning the drill rod's storage position or pausing operation to allow for stabilization. This verification mechanism ensures that the drill rod is optimally secured in the storage rack, preventing potential problems associated with improper storage during subsequent operations.

[0100] After confirming the storage status, a completion signal is sent to ensure that the drill rod is securely fixed and unlock the system to enter the next stage of operation;

[0101] Finally, the system uses pressure sensors to confirm that the rack's clamping device has applied sufficient force, and displacement sensors to verify the final position of the drill rod. When all parameters meet the requirements, the system sends a confirmation signal, completing the storage process and unlocking control permissions to proceed to the next stage of operation. This step not only ensures the integrity of the storage process but also ensures the continuity of the entire automated rod-changing operation.

[0102] Select a new drill rod from the storage rack, start the clamping device to clamp the new drill rod, and move it to the rod replacement position through the coordinated control of the hydraulic system to ensure synchronous movement and clamping strength to avoid damage to the new drill rod and loading failure;

[0103] The specific steps for selecting new drill rods from the storage rack, ensuring synchronization and clamping strength, and avoiding damage to the new drill rods and loading failures are as follows:

[0104] Sensors monitor the status of drill rods in the storage rack, select the drill rod that meets the task requirements, and calibrate the grabbing path;

[0105] The control system uses sensors to monitor the status of each drill rod in the storage rack, including parameters such as position, length, and diameter, and selects the appropriate new drill rod to match the current task requirements. The system automatically marks the target drill rod's location and uses a positioning device to calibrate the mechanical gripper's operating path to ensure accurate gripping of the target drill rod. This step relies on the standardization of previous storage operations. Through effective data retrieval and status confirmation, precise drill rod selection and seamless integration with subsequent processes are achieved.

[0106] Start the clamping device and gradually apply force, and monitor the force in real time to ensure the drill pipe is safely grasped and avoid damage;

[0107] Based on the selected new drill pipe position, the control system sends a command to activate the clamping device. The clamping device gradually applies clamping force via hydraulic or electric drive. Sensors monitor the clamping force in real time to ensure that the clamping force is within the drill pipe's structural tolerances, preventing damage to the drill pipe caused by excessive clamping force. If the clamping force is detected to be abnormal or below the expected value, the system automatically adjusts the clamping parameters or suspends the operation to ensure safe and reliable clamping.

[0108] Coordinate the hydraulic system and the clamping device to smoothly move the drill rod to the rod-changing position to prevent vibration and loosening during movement;

[0109] After clamping, the control system activates the hydraulic system, slowly removing the drill rod from the storage rack and transporting it to the rod replacement location. Sensors monitor displacement and angle during transport, and the control system dynamically adjusts the hydraulic system's trajectory and speed to ensure smooth movement of the drill rod along the planned path. During this process, the control program synchronizes the force applied by the clamping device to prevent the drill rod from loosening or falling due to vibration or external forces during movement.

[0110] Verify the drill pipe positioning and clamping status, and unlock the next stage of operation authority after confirming that it meets the standards;

[0111] After the drill rod reaches the rod change position, the system uses position sensors to verify that the final positioning of the drill rod matches the preset position and also checks the stability of the clamping mechanism. If all parameters meet the standards, the system sends a status confirmation signal and unlocks the next stage of operation, preparing for the rod change. If positioning errors or unstable clamping are detected, the system initiates an automatic calibration process to ensure that the new drill rod is in optimal condition for the rod change process.

[0112] Based on real-time status monitoring data, optimization algorithms are used to dynamically adjust the sequence and timing parameters of clamping, removal, and loading, ensuring efficient coordination between the mechanical and hydraulic systems. Potential deviations are corrected instantly through feedback control mechanisms.

[0113] Based on real-time condition monitoring data, an optimization algorithm is used to dynamically adjust the sequence and timing parameters of clamping, removal, and loading. This ensures efficient coordination between the mechanical and hydraulic systems, and a feedback control mechanism is used to instantly correct potential deviations. The specific steps are as follows:

[0114] The sensor network collects real-time data on the clamping device, hydraulic system, and drill rod displacement status, including clamping force, hydraulic system pressure, current drill rod position, and speed. The acquired data is normalized to relative values ​​within the range of [0, 1] for subsequent calculations. Based on the initial state, a dynamically adjusted reference coefficient is generated. The generation formula is as follows:

[0115] Where, is the real-time clamping force of the clamping device at the i-th data point, is the pressure of the hydraulic system at the i-th data point, is the current position of the drill rod at the i-th data point, n is the total number of collected data points, β is the calibration coefficient used to adjust the relative weight of the clamping force and hydraulic pressure, K init is the initial adjustment factor;

[0116] The core of this step is to generate the initial adjustment coefficient K init , serves as the benchmark for subsequent optimization calculations to ensure data unification and parameter comparability.

[0117] According to the initial adjustment coefficient K init , optimize the dynamic release time parameters of the clamping force to ensure the coordination of the clamping device and the hydraulic system. The formula is as follows:

[0118] Where γ is the adjustment factor, which depends on the pressure resistance of the drill pipe material, T c is the time required for the clamping device to release;

[0119] Optimized T c This ensures that the speed of clamping and releasing matches the pressure changes in the hydraulic system, avoiding equipment damage or drill pipe breakage due to asynchronous actions, and stores the results for use in subsequent steps.

[0120] The real-time displacement, real-time speed, and the time required to release the clamping device are used to optimize the drill rod removal path and speed. The optimization formula is as follows:

[0121] Where α is the path smoothing factor, which is used to reduce the drastic change of speed. is the target removal position, η is the deceleration coefficient, which depends on the safe distance between the drill pipe and the storage rack, ζ is the real-time speed adjustment coefficient, which represents the weight of the current speed to the target speed optimization, V t is the real-time speed, V opt is the removal speed;

[0122] Optimized V opt Ensure that the drill rod is removed smoothly, efficiently and avoids obstacles, providing better movement conditions for subsequent loading.

[0123] Combined removal speed V opt The time required for the clamping device to release is used to optimize the synchronization of the hydraulic system during the loading phase and calculate the loading synchronization parameters. The calculation formula is as follows:

[0124] Where S sync is the synchronization adjustment parameter of the loading action, and δ is the dynamic response coefficient of the drill pipe material and the clamping device.

[0125] Optimized S sync It provides synchronization correction guidance during the loading phase, corrects deviations in real time through a feedback mechanism, and ultimately achieves efficient coordination of loading actions to avoid damage or failure.

[0126] The embedded adaptive algorithm analyzes real-time operating data to predict potential abnormal conditions. When potential problems are predicted, the control strategy is adjusted in advance and a safe mode is entered to prevent failures.

[0127] The embedded adaptive algorithm analyzes real-time operating data to predict potential abnormal conditions. When potential problems are predicted, the control strategy is adjusted in advance to enter a safe mode to prevent failures. The specific steps are as follows:

[0128] The control system collects real-time equipment operation data through a multi-sensor network, including clamping device pressure, hydraulic system flow, drill pipe position deviation, and vibration amplitude. To reduce the impact of noise on prediction, a weighted sliding average is used to smooth the data. The formula is as follows:

[0129] Where w j is the data weight at the pjth moment, X p-j is the original data value at the pjth moment, m is the total number of time points, is the smoothed data value at the pth moment, in, is the smoothed clamping device pressure data value, is the smoothed hydraulic system flow data value, is the smoothed drill rod position deviation data value, is the smoothed vibration amplitude data value;

[0130] This step generates smoothed pressure flow Position deviation Vibration amplitude For subsequent analysis.

[0131] Based on the smoothed data, the abnormality index of each operating parameter is calculated to quantify the potential abnormality level. The abnormality index formula is as follows:

[0132] Where Z p It is a comprehensive abnormality index used to measure the abnormality of the current state. avg is the mean pressure, P std is the standard deviation of pressure, Q avg and Q std are the mean and standard deviation of the flow, x thresh is the position deviation threshold, A thresh is the threshold of the vibration amplitude, A, B, C and D are weight coefficients, representing the smoothed clamping device pressure data values. Hydraulic system flow data values Drill rod position deviation data value Vibration amplitude data value The impact ratio on abnormal indicators;

[0133] Calculated Z p The value is used for subsequent anomaly prediction.

[0134] Using historical data and current abnormal indicator Z p , predict the future abnormal index value through the long short-term memory neural network (LSTM) model, the formula is as follows: h t =f(W h ·h t-1 +W x ·X t +b), Z p+1 =g(h t ), where h t is the hidden state at time step t, W h is the weight matrix of the hidden state, the weight matrix W h is the connection between the current time step hidden state h t and the hidden state h at the previous time step t-1 The linear transformation coefficient, W x Is the input weight matrix, weight matrix W x Is the connection input variable X t and hidden state h t The linear transformation coefficient, X t is the current input b is the bias vector, a constant term in the linear transformation, independent of the input variable X t and hidden state h t-1 , h t-1 is the hidden state of the previous time step, Z p+1 is the predicted future anomaly indicator value, f is the activation function, and g is the output function;

[0135] Predicted value Z p+1 Used to determine whether the control strategy needs to be adjusted.

[0136] According to the predicted future abnormal index value Z p+1 and the abnormal threshold Z thresh The relationship between Z and , determines whether to enter safe mode: p+1 >Z thresh , start safe mode; if Z p+1 ≤Z thresh , continue normal operation;

[0137] When entering safety mode, adjust key parameters, reduce hydraulic system flow and clamping device pressure, the formula is as follows: Where Q s is the adjusted hydraulic system flow data, ω is the flow adjustment coefficient, which is used to dynamically adjust the proportion of hydraulic flow, P s is the adjusted clamping pressure, and θ is the pressure adjustment coefficient.

[0138] Finally, the adjusted parameter set (Q s , P s ) and keep the equipment running in a safe state until the abnormal condition is resolved.

[0139] Implementation 1: In this implementation, the bolter miner's control system combines a high-precision sensor network with a central controller to achieve real-time monitoring and precise control of the entire drill rod replacement process. This system, centered around a step-by-step process, divides the entire process into independent steps: rod release, removal, storage, and new rod selection and loading. Each step is driven by real-time monitoring data, and closed-loop feedback ensures precise and reliable operation.

[0140] During the drill pipe release phase, the sensor suite includes pressure sensors for the clamping mechanism, a hydraulic system status monitor, and a drill pipe position sensor. Based on real-time data from these sensors, the controller gradually reduces the clamping force to ensure that a sudden release of the clamping mechanism does not cause the drill pipe to fall out or excessive equipment vibration. Monitoring and feedback during this phase are implemented through closed-loop control. After each reduction in clamping force, the system verifies that the current pressure is within a safe range and that the drill pipe remains stable. This gradual release of the clamping mechanism avoids equipment damage caused by rapid release.

[0141] During drill rod removal and storage, sensors record the drill rod's movement trajectory, vibration amplitude, and storage rack status in real time. Based on this information, the central controller dynamically adjusts the speed and direction of the moving device to ensure smooth movement of the drill rod along the preset path while preventing vibration from causing the drill rod to fall out. The system also monitors the application of external forces in real time. For example, if unexpected resistance or collision is detected during drill rod movement, the system will immediately stop operation and prompt the operator to investigate the problem. This mechanism ensures smooth drill rod removal and storage accuracy while further enhancing operational safety.

[0142] During the selection and loading of new drill rods, the controller precisely selects the appropriate drill rod from the storage rack based on the rack status and the current task requirements. The controller then activates the clamping mechanism, gradually applying an appropriate clamping force to grasp the drill rod, avoiding surface damage caused by over-clamping or grip failure caused by excessive looseness. During the transport of the new drill rod to the replacement location, the system combines path planning with real-time adjustments to ensure smooth arrival of the drill rod at the target location. Furthermore, sensors monitor the stability of the clamping mechanism and the coordination of the hydraulic system in real time to minimize the risk of failure during operation.

[0143] This step-by-step control system based on real-time monitoring and feedback significantly improves the accuracy and stability of the automatic drill rod replacement of the anchor drill through independent control and dynamic adjustment of each link. It not only solves the synchronization problem, but also improves the efficiency and safety of the overall operation.

[0144] Implementation 2: This implementation combines a motion synchronization optimization algorithm with an anomaly prediction mechanism to achieve highly intelligent control of the automatic drill rod changing process for bolter miners. During the automatic drill rod changing process, the sequence and timing of each operation must be highly synchronized, otherwise operational errors or even equipment failures may occur. The motion synchronization optimization algorithm dynamically adjusts the operating parameters of each step by analyzing real-time data from the control system, ensuring seamless operation between modules such as the clamping device, hydraulic system, and moving device. Simultaneously, the anomaly prediction mechanism analyzes historical and current operating data to proactively identify potential failures and take preventative measures.

[0145] During synchronized motion optimization, the control system collects key data in real time, including the clamping device's force application status, the hydraulic system's response time, and the drill pipe's current position. An optimization algorithm comprehensively calculates this data to generate the optimal operation sequence and time interval for each module. For example, during the drill pipe release phase, the algorithm dynamically adjusts the hydraulic system's activation time based on the clamping device's pressure drop rate and the real-time changes in the drill pipe's displacement. This ensures that the clamping device is fully released before the drill pipe movement device is activated, thus avoiding damage to the drill pipe caused by premature operation.

[0146] The anomaly prediction mechanism continuously monitors sensor data to detect potential abnormal signals. For example, if the rate of change of pressure in a clamping device exceeds a preset range, or if a hydraulic system experiences a delay in its response, the anomaly prediction algorithm immediately flags the operation as high-risk and proactively adjusts subsequent operations or suspends the current process. Furthermore, the mechanism leverages historical data to build a fault prediction model. By comparing current operating status with historical fault signatures, it provides early warning of potential equipment anomalies.

[0147] This approach, which combines synchronized optimization with anomaly prediction, not only resolves the issue of insufficient synchronization during drill rod changes in anchor miners but also significantly improves system safety and reliability through proactive preventative measures. This intelligent control approach is suitable for complex working conditions, and is particularly advantageous in scenarios with frequent drill rod changes.

[0148] Implementation 3: Modular Design divides the bolter miner's automated drill rod changing process into several independent modules, such as the clamping and release module, the drill rod removal module, the storage module, and the loading module. Each module has its own dedicated control logic and safety protection mechanisms. Coordination between these modules ensures efficient operation of the entire process. This design approach not only simplifies system development and maintenance but also effectively reduces operational risks through multi-layered safety protection.

[0149] In the clamp-release module, the system uses pressure sensors to monitor the clamping force in real time and gradually releases the clamping force using a multi-stage pressure release strategy to prevent the drill pipe from slipping due to sudden release. Furthermore, the module has a built-in emergency stop mechanism that immediately suspends operation and prompts maintenance if it detects any abnormalities in the clamping mechanism or unstable drill pipe movement.

[0150] The drill rod removal module ensures smooth removal and transport of drill rods. Using vibration sensors and displacement monitoring devices, the control system precisely monitors the movement of the drill rods and dynamically adjusts their speed and path. If excessive vibration or an obstructed path is detected during removal, the module triggers vibration compensation or rerouting to ensure safe arrival of the drill rods at their storage location.

[0151] The loading module focuses on ensuring the gripping and securing of new drill rods. Using a positioning device, it precisely calibrates the positional relationship between the clamping device and the drill rod. Incorporating a clamping force feedback mechanism, this module ensures the new drill rod is securely gripped and protected from damage due to over-clamping. When loading the drill rod into the rod-changing position, the module also performs a position check to ensure the final state of the drill rod meets subsequent operational requirements.

[0152] The modular design significantly improves system flexibility and reliability by dividing complex operational processes into multiple, independently controllable components. Furthermore, each module's multi-layered protection ensures safety throughout the entire drill rod replacement process, making it particularly suitable for automated bolter miner operation in complex working environments.

[0153] By applying technologies such as real-time monitoring, step-by-step control, and anomaly prediction, this automatic drill rod replacement system for anchor miners significantly improves operational safety and reliability. A sensor network collects equipment operating data in real time and, in conjunction with a closed-loop feedback mechanism, dynamically adjusts operations, preventing equipment damage and drill rod failure caused by excessive pressure, abnormal vibration, or path deviation. An anomaly prediction mechanism proactively identifies potential risks, while synchronized optimization ensures seamless operation across modules. A multi-layered protection mechanism covers every aspect, from pressure monitoring to path control. This design not only reduces equipment maintenance costs but also minimizes losses caused by failures or downtime during production, providing comprehensive protection for stable equipment operation under complex operating conditions.

[0154] This invention significantly improves the operational efficiency and intelligence level of automatic drill rod changing in anchor miners through synchronized optimization and modular design. During operation, real-time monitoring and path planning enable precise control. An optimization algorithm dynamically adjusts time parameters to ensure smooth transitions between steps and avoid resource waste. The modular design ensures that each operational step is independent and efficient, while also ensuring close collaboration. This increased intelligence enables the system to autonomously identify equipment status and potential risks, automatically adjust operational strategies, reduce the complexity of manual intervention, improve operational efficiency, and minimize unplanned downtime, providing a highly effective solution for modern construction needs.

[0155] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0156] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

[0157] It should be noted that, in this document, if there are relational terms such as first and second, etc., they are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0158] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0159] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0160] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0161] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0162] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0163] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0164] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A method for automatically changing drill rods of an anchor miner, characterized in that: The following steps are involved: The automatic drill rod change mode is activated through the bolter miner control system to detect the current status of the equipment, ensure that all components are in their initial positions, and generate an initial status signal for subsequent use; Based on the initial state signal, the control system sends instructions to the clamping device to gradually release the drill rod. At the same time, the pressure of the clamping device is monitored in real time through sensors to ensure that the drill rod will not trigger subsequent movement instructions if it is not completely released. After the clamping device is completely released, the drill rod moving device is activated to remove the old drill rod from the borehole and transfer it to the drill rod storage rack. During this process, the position of the drill rod is monitored by a displacement sensor to ensure that the removal path is unobstructed and to prevent the drill rod from falling off due to vibration and external force. Select a new drill rod from the storage rack, start the clamping device to clamp the new drill rod, and move it to the rod replacement position through the coordinated control of the hydraulic system to ensure synchronous movement and clamping strength to avoid damage to the new drill rod and loading failure; Based on real-time status monitoring data, optimization algorithms are used to dynamically adjust the sequence and timing parameters of clamping, removal, and loading, ensuring efficient coordination between the mechanical and hydraulic systems. Potential deviations are corrected instantly through feedback control mechanisms. The embedded adaptive algorithm analyzes real-time operating data to predict potential abnormal conditions. When potential problems are predicted, the control strategy is adjusted in advance and the system enters a safe mode to prevent failures.

2. The method for automatically changing drill rods of an anchor miner according to claim 1, characterized in that: The specific steps for starting the automatic drill rod change mode through the bolter miner control system, detecting the current status of the equipment, ensuring that all components are in their initial positions, and generating an initial status signal for subsequent use are as follows: Start the control system and initialize the automatic mode, activate the hardware module and load the operating parameters to provide a stable operating benchmark for the automatic drill rod changing mode; The sensors collect equipment status data and comprehensively detect the current status of the clamping device, hydraulic system and drill rod position; Calibrate the initial position of components based on reference values, and suspend operation and issue warnings when an abnormality is detected to ensure stable operation of the equipment; After confirming that the equipment status is normal, an initial status signal package is generated for subsequent drill rod replacement operation process to call, achieving control accuracy and consistency.

3. The method for automatically changing drill rods of an anchor miner according to claim 1, characterized in that: The control system sends instructions to the clamping device based on the initial state signal to ensure that the drill rod does not trigger subsequent movement instructions when it is not completely released. The specific steps are as follows: Analyze the initial status signal to confirm the pressure status of the clamping device and the position of the drill rod, and provide data support for the gradual release of the drill rod; Reduce the clamping device pressure in stages according to preset parameters to ensure a smooth release process and avoid damage to equipment and drill pipe; Real-time monitoring of clamping device pressure changes ensures a safe and controllable release process through a closed-loop feedback mechanism; Verify the locked state after the clamping force is completely released to avoid misoperation and provide safety for subsequent drill pipe removal.

4. The method for automatically changing drill rods of an anchor miner according to claim 1, characterized in that: The specific steps to start the drill rod moving device and gradually remove the old drill rod are as follows: After confirming the status of the clamping device, start the moving device and smoothly move the drill rod out of the borehole to avoid damage to the equipment due to excessive torque; The displacement sensor monitors the path in real time and dynamically adjusts the movement trajectory to ensure that the drill rod moves out along the optimal route; Real-time vibration monitoring and execution of compensation algorithms ensure the stability and safety of the drill pipe in complex environments; Detects abnormal external forces and triggers emergency controls, stopping operations in time to protect equipment and drill pipe.

5. The method for automatically changing drill rods of an anchor miner according to claim 1, characterized in that: The specific steps to transfer the old drill pipe to the storage rack and complete the fixation are as follows: Move the drill rod to the storage location, ensuring alignment and precise control through sensors and positioning devices; Use the alignment device and clamping mechanism to complete the initial fixation of the drill pipe to prevent slippage and positioning deviation; Verify the drill pipe position and vibration status, and fine-tune the storage position to ensure the stability and safety of the storage process; After confirming the storage status, a completion signal is sent to ensure that the drill rod is securely fixed and unlock the system to enter the next stage of operation.

6. The method for automatically changing drill rods of an anchor miner according to claim 1, characterized in that: The specific steps for selecting new drill rods from the storage rack, ensuring synchronization and clamping strength, and avoiding damage to the new drill rods and loading failures are as follows: Sensors monitor the status of drill rods in the storage rack, select the drill rod that meets the task requirements, and calibrate the grabbing path; Start the clamping device and gradually apply force, and monitor the force in real time to ensure the drill pipe is safely grasped and avoid damage; Coordinate the hydraulic system and the clamping device to smoothly move the drill rod to the rod-changing position to prevent vibration and loosening during movement; Verify the drill pipe positioning and clamping status, and unlock the next stage of operation permissions after confirming that they meet the standards.

7. The method for automatically changing drill rods of an anchor miner according to claim 1, characterized in that: Based on real-time condition monitoring data, an optimization algorithm is used to dynamically adjust the sequence and timing parameters of clamping, removal, and loading. This ensures efficient coordination between the mechanical and hydraulic systems, and a feedback control mechanism is used to instantly correct potential deviations. The specific steps are as follows: The sensor network collects real-time data on the displacement status of the clamping device, hydraulic system, and drill pipe. The acquired data is normalized and a dynamically adjusted reference coefficient is generated based on the initial state. The generation formula is as follows: Where, is the real-time clamping force of the clamping device at the i-th data point, is the pressure of the hydraulic system at the i-th data point, is the current position of the drill rod at the i-th data point, n is the total number of collected data points, β is the calibration coefficient, K init is the initial adjustment factor; According to the initial adjustment coefficient K init , optimize the dynamic release time parameters of the clamping force to ensure the coordination of the clamping device and the hydraulic system. The formula is as follows: Where γ is the adjustment factor, T c is the time required for the clamping device to release.

8. The method for automatically changing drill rods of an anchor miner according to claim 7, characterized in that: The real-time displacement, real-time speed, and the time required to release the clamping device are used to optimize the drill rod removal path and speed. The optimization formula is as follows: Where α is the path smoothing factor, is the target removal position, η is the deceleration coefficient, ζ is the real-time speed adjustment coefficient, V t is the real-time speed, V opt is the removal speed; Combined removal speed V opt and the time required for the clamping device to release T c , optimize the synchronization of the hydraulic system during the loading phase, and calculate the loading synchronization parameters. The calculation formula is as follows: Where S sync is the synchronization adjustment parameter of the loading action, and δ is the dynamic response coefficient of the drill pipe material and the clamping device.

9. The method for automatically changing drill rods of an anchor miner according to claim 1, characterized in that: The embedded adaptive algorithm analyzes real-time operating data to predict potential abnormal conditions. When potential problems are predicted, the control strategy is adjusted in advance to enter a safe mode to prevent failures. The specific steps are as follows: The control system collects real-time equipment operation data through a multi-sensor network, including clamping device pressure, hydraulic system flow, drill pipe position deviation, and vibration amplitude. To reduce the impact of noise on prediction, a weighted sliding average is used to smooth the data. The formula is as follows: Where w j is the data weight at the pjth moment, X p-j is the original data value at the pjth moment, m is the total number of time points, is the smoothed data value at the pth moment, in, is the smoothed clamping device pressure data value, is the smoothed hydraulic system flow data value, is the smoothed drill rod position deviation data value, is the smoothed vibration amplitude data value; Based on the smoothed data, the abnormality index of each operating parameter is calculated to quantify the potential abnormality level. The abnormality index formula is as follows: Where Z p is the comprehensive abnormality index, P avg is the mean pressure, P std is the standard deviation of pressure, Q avg and Q std are the mean and standard deviation of the flow, x thresh is the position deviation threshold, A thresh is the threshold of the vibration amplitude, A, B, C and D are weight coefficients, representing the smoothed clamping device pressure data values. Hydraulic system flow data values Drill rod position deviation data value Vibration amplitude data value The impact ratio on abnormal indicators.

10. The method for automatically changing drill rods of an anchor miner according to claim 9, characterized in that: Using historical data and current abnormal indicator Z p , predict the future abnormal index value through the long short-term memory neural network model, the formula is as follows: h t =f(W h ·h t-1 +W x ·X t +b), Z p+1 =g(h t ), where h t is the hidden state at time step t, W h is the weight matrix of the hidden state, W x is the input weight matrix, X t is the current input, b is the bias vector, a constant term in the linear transformation, independent of the input variable X t and hidden state h t-1 , h t-1 is the hidden state of the previous time step, Z p+1 is the predicted future anomaly indicator value, f is the activation function, and g is the output function; According to the predicted future abnormal index value Z p+1 and the abnormal threshold Z thresh The relationship between Z and , determines whether to enter safe mode: p+1 >Z thresh , start safe mode; if Z p+1 ≤Z thresh , continue normal operation; When entering safety mode, adjust key parameters, reduce hydraulic system flow and clamping device pressure, the formula is as follows: Where Q s is the hydraulic system flow data after adjustment, ω is the flow adjustment coefficient, P s is the adjusted clamping pressure, and θ is the pressure adjustment coefficient.

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