Intelligent sidesway safety protection method and device for magnetic drill press based on multi-parameter monitoring

Abstract

The invention discloses an intelligent sidesway safety protection method and device for a magnetic drill press based on multi-parameter monitoring, and relates to the technical field of magnetic drill press control. The intelligent sidesway safety protection method and device for the magnetic drill press based on multi-parameter monitoring comprise the steps that S1, operation sensing data of the magnetic drill press are collected, and preprocessing of the operation sensing data of the magnetic drill press is completed; s2, executing magnetic drill press operation state combined judgment, completing magnetic drill press operation disturbance evaluation, judging whether a structure disturbance behavior exists or not, and generating an operation disturbance data set; s3, constructing a lateral displacement analysis basic data set, executing structure displacement trend identification, judging whether a structure lateral displacement behavior exists or not, and completing shutdown control and displacement state marking; and S4, drill bit abrasion tendency evaluation is completed, the execution unit is controlled to switch the operation state of the magnetic drill press in a linkage mode according to the evaluation result, and closed-loop intelligent maintenance control is achieved. The problems of structure lateral displacement and follow-up operation risks caused by the fact that tiny angle deviation is difficult to recognize in time after equipment stalling are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic seat drill control, in particular to a magnetic seat drill intelligent side shift safety protection method and device based on multi-parameter monitoring. BACKGROUND

[0002] With the continuous improvement of industrial intelligent level, the safety and reliability requirements of equipment operation state perception, process abnormality monitoring and fault self-checking control in complex operation environment are increasingly improved. Especially under the working condition of high load, strong disturbance and multi-variable coupling, the traditional single signal monitoring method is difficult to meet the needs of fine state recognition and process control, and there are problems such as recognition delay, high misjudgment rate and untimely maintenance strategy response.

[0003] For example, the invention with publication number CN113741325B discloses a kind of equipment control system safety monitoring circuit, controller is connected in series in the control signal loop of actuator, the control contact of safety relay, only when the control contact of safety relay works normally, actuator can be closed under the control of the control signal of controller, can monitor and judge whether the fault state of controller and other emergency occurs, when controller fails, can immediately make safety relay act, make actuator safe shutdown and automatically keep shutdown, until controller fault is eliminated and manually confirmed after pressing reset button, actuator can work normally, avoid actuator automatic re-act after controller fault elimination.

[0004] For example, the invention with publication number CN119225245A proposes a kind of intelligent laboratory environment safety monitoring system, including area division unit, environmental monitoring point, partition environmental data management unit, data record alarm unit and visual display background, wherein area division unit first carries out grid processing to laboratory space, forms several laboratory partitions, and divides monitoring layer in each laboratory partition, the environmental monitoring point in the corresponding monitoring layer of each experimental partition at least has two groups, sends the environmental data collected by environmental monitoring point to partition environmental data management unit, the partition environmental data management unit carries out the data of all environmental monitoring points, and the environmental data of corresponding monitoring layer in each laboratory partition is drawn time data relationship curve according to time, the data record alarm unit records time data relationship curve, and sets limiting interval in different time periods.

[0005] However, although the above technical solutions have made certain progress in control safety monitoring and environmental data management, it is still difficult to meet the systematic, multi-level and intelligent control requirements of disturbance identification, structure side shift determination and wear trend evaluation in the operation process of high disturbance and high coupling characteristic operation equipment.

[0006] Therefore, in view of the above problems, there is an urgent need for a magnetic seat drilling intelligent side shift safety protection method and device based on multi-parameter monitoring. SUMMARY

[0007] Technical problems to be solved In view of the deficiencies of the prior art, the present application provides a magnetic seat drilling intelligent side shift safety protection method and device based on multi-parameter monitoring, which solves the problem of structural side shift and subsequent operation risk caused by difficulty in timely identification of small angle deviation after equipment stall.

[0008] Technical scheme To achieve the above purpose, the present application is implemented by the following technical scheme: a magnetic seat drilling intelligent side shift safety protection method and device based on multi-parameter monitoring, comprising: S1, collecting magnetic seat drilling operation sensing data, and completing spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic seat drilling operation sensing data to obtain preprocessed magnetic seat drilling operation sensing data; S2, performing magnetic seat drilling operation state joint determination based on the preprocessed operation sensing data set, constructing a sampling window, completing magnetic seat drilling operation disturbance evaluation, determining whether there is a structural disturbance behavior and generating an operation disturbance data set; S3, calling the operation disturbance data set and selecting a before-and-after comparative analysis window, constructing a side shift analysis basic data set, performing structural displacement trend identification, judging whether there is a structural side shift behavior, and completing shutdown control and displacement state marking; S4, extracting angular velocity fluctuation, feed stability and suction current offset characteristics based on the operation disturbance data set, completing drill bit wear tendency evaluation, and switching the magnetic seat drilling operation state according to the evaluation result to realize closed-loop intelligent maintenance control.

[0009] Further, the specific steps of collecting magnetic seat drilling operation sensing data and completing spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic seat drilling operation sensing data to obtain preprocessed magnetic seat drilling operation sensing data are as follows: real-time collection of magnetic seat drilling operation sensing data, including spindle angular velocity, electromagnet suction current, instantaneous angular acceleration, drilling axial thrust, magnetic seat vibration frequency, cutter feed rate and spindle output torque; synchronous sampling processing of multi-channel asynchronous signals in the magnetic seat drilling operation sensing data through time tag alignment method; spatial offset conversion processing of the magnetic seat drilling spindle angular displacement data through the mapping relationship between angle and displacement; abnormal value elimination and integrity check processing of the magnetic seat drilling operation sensing data through sliding window statistical rules; structural unification and standardization processing of the magnetic seat drilling operation sensing data through field analysis and format arrangement method; normalization processing of the magnetic seat drilling operation sensing data through unit conversion and scale normalization method.

[0010] Furthermore, based on the preprocessed operation perception data set, a joint judgment of the operation status of the magnetic drill is performed, and the specific steps of constructing a sampling window are as follows: based on the preprocessed operation perception data, a joint judgment of the operation status of the magnetic drill is performed: whether the spindle angular velocity exceeds the angular velocity threshold; the spindle angular velocity is time-integrated to calculate the cumulative angular displacement of the spindle, and whether the cumulative angular displacement of the spindle exceeds the offset threshold; whether the cutter head feed rate is lower than the feed rate lower limit; whether the electromagnet suction current is lower than the set suction current lower limit; when any judgment condition is met, the magnetic drill operation disturbance assessment is triggered, and the triggering moment is marked as the disturbance triggering moment; with the disturbance triggering moment as a reference, a sampling window of fixed length is constructed, and a continuous sampling sequence of the magnetic base vibration frequency and the drilling axial thrust within the sampling window is extracted; a sliding average calculation is performed on each group of sequences to obtain the average value of the magnetic base vibration frequency and the average value of the drilling axial thrust, respectively.

[0011] Furthermore, the specific steps for completing the disturbance assessment of the magnetic base drill operation, determining whether there is structural disturbance behavior and generating the operation disturbance data set are as follows: taking the absolute value of the difference between the vibration frequency of the magnetic base and the average value of the vibration frequency of the magnetic base in the sampling window, and then averaging it in the sampling window as the vibration fluctuation intensity item; dividing the absolute value of the instantaneous angular acceleration by the acceleration threshold, as the spindle impact response item; subtracting the average value of the drilling axial thrust from the average value of the drilling axial thrust and dividing it by the average value of the drilling axial thrust, taking the absolute value of this ratio as the drilling load change item; adding the spindle impact response item to the drilling load change item Add one as the disturbance adjustment coefficient; multiply the vibration fluctuation intensity term by the disturbance adjustment coefficient to obtain the magnetic base drill operation disturbance assessment value; compare the magnetic base drill operation disturbance assessment value with the disturbance judgment threshold in real time; if the magnetic base drill operation disturbance assessment value is less than or equal to the disturbance judgment threshold, maintain the current operation state of the magnetic base drill; if the magnetic base drill operation disturbance assessment value is greater than the disturbance judgment threshold, it is determined that there is currently a structural disturbance behavior, and a disturbance abnormality judgment signal is generated. At the same time, the magnetic base drill operation perception data at the current moment is frozen, and combined with the magnetic base drill operation disturbance assessment value and the disturbance trigger time to form an operation disturbance data set.

[0012] Further, the specific steps of constructing the side shift analysis basic data set and executing the structural displacement trend identification based on the running disturbance data set are as follows: extracting the running disturbance data set, selecting two fixed time length sampling windows before and after the disturbance trigger time, calculating the average value of the main shaft cumulative angular displacement, the electromagnet suction current and the tool head feed rate in each sampling window, and constructing the side shift analysis basic data set; based on the side shift analysis basic data set, executing the magnetic base drill structural displacement trend identification: subtracting the main shaft cumulative angular displacement average value of the post-disturbance window from the main shaft cumulative angular displacement average value of the pre-disturbance window, and then dividing by the center time interval of the pre-disturbance window and the post-disturbance window, as the main shaft angular displacement change rate term; taking the reciprocal of the average value of the tool head feed rate of the pre-disturbance window plus a minimum term, as the feed lag modulation term; multiplying the main shaft angular displacement change rate term by the feed lag modulation term, as the displacement rate regulation factor; subtracting the electromagnet suction current average value of the post-disturbance window from the electromagnet suction current average value of the pre-disturbance window, and then dividing by the electromagnet suction current average value of the pre-disturbance window, taking the absolute value of the comparison value and adding one, as the suction decay modulation term; multiplying the displacement rate regulation factor by the suction decay modulation term to obtain the magnetic base drill side shift evaluation value.

[0013] Further, the specific steps of judging whether there is a structural side shift behavior and completing the shutdown control and displacement state marking are as follows: comparing the magnetic base drill side shift evaluation value with the displacement judgment threshold value, if the magnetic base drill side shift evaluation value is less than or equal to the displacement judgment threshold value, it is judged that the current disturbance does not cause effective structural displacement, and the current running state of the magnetic base drill is maintained; if the magnetic base drill side shift evaluation value is greater than the displacement judgment threshold value, it is judged that the current disturbance behavior has caused structural side shift, a structural side shift judgment signal is generated, and a shutdown control instruction is output to the control execution unit to cut off the main motor power supply circuit and terminate the drilling process.

[0014] Further, the specific steps of extracting the angular velocity fluctuation, feed stability and suction current offset characteristics based on the running disturbance data set are as follows: under the condition that the structural side shift judgment result is true, extracting the running disturbance data set, selecting a fixed time length sampling window centered on the disturbance trigger time, and extracting the continuous sampling sequence of the main shaft angular velocity, the main shaft output torque, the tool head feed rate and the electromagnet suction current in the sampling window; calculating the main shaft angular velocity standard deviation, the tool head feed rate standard deviation, the electromagnet suction current standard deviation, and the main shaft output torque average value, the tool head feed rate average value and the electromagnet suction current average value of the continuous sampling sequence respectively.

[0015] Further, the specific steps of completing the drill bit wear tendency evaluation are as follows: evaluating the drill bit wear trend: dividing the standard deviation of the spindle angular velocity by the sum of the average value of the spindle output torque and the minimum term to form an angular kinetic energy disturbance term; dividing the standard deviation of the cutter feed rate by the sum of the average value of the cutter feed rate and the minimum term, and adding one to form a feed stability correction term; dividing the standard deviation of the electromagnet suction force current by the sum of the average value of the suction force current and the minimum term, and adding one to form a suction stability correction term; multiplying the angular kinetic energy disturbance term, the feed stability correction term, and the suction stability correction term in sequence to obtain the drill bit wear tendency evaluation value.

[0016] Further, the specific steps of switching the magnetic base drilling operation state of the execution unit according to the evaluation result to realize closed-loop intelligent maintenance control are as follows: comparing the drill bit wear tendency evaluation value with the wear threshold value in real time, if the drill bit wear tendency evaluation value is greater than the wear threshold value, sending the wear warning information to the operation interface, and switching the magnetic base drilling state to the manual maintenance standby mode through the linkage control of the execution unit; otherwise, switching the magnetic base drilling state to the technical self-check standby mode; in the technical self-check standby mode, the operation is paused but the running state monitoring is kept, and the operator is allowed to select to continue running or enter the maintenance process according to the wear evaluation result through the operation interface; only when the instruction of manual confirmation of resumption is received, the magnetic base drilling state is switched to the running preparation state, and the operation process is re-entered.

[0017] The second aspect of the present application provides a magnetic base drilling intelligent side shift safety protection device based on multi-parameter monitoring, comprising: a running perception data acquisition and preprocessing module, an abnormal state recognition and side shift judgment module, a side shift trend evaluation and decision control module, and a drill bit wear recognition and maintenance control module, wherein: the running perception data acquisition and preprocessing module is used for acquiring the magnetic base drilling running perception data, and completing spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic base drilling running perception data to obtain the preprocessed magnetic base drilling running perception data; the abnormal state recognition and side shift judgment module is used for performing joint judgment of the magnetic base drilling running state based on the preprocessed running perception data set, constructing a sampling window and completing magnetic base drilling running disturbance evaluation to generate a running disturbance data set; the side shift trend evaluation and decision control module is used for calling the running disturbance data set and selecting a before-and-after comparison analysis window, constructing a side shift analysis basic data set, performing structure displacement trend recognition, judging whether there is structure side shift behavior, and completing shutdown control and displacement state marking; the drill bit wear recognition and maintenance control module is used for extracting angular velocity fluctuation, feed stability and suction current offset features based on the running disturbance data set, completing drill bit wear tendency evaluation, switching the magnetic base drilling operation state of the execution unit according to the evaluation result to realize closed-loop intelligent maintenance control.

[0018] Beneficial effects The present application has the following beneficial effects: (1) The intelligent side shift safety protection method and device for magnetic drill based on multi-parameter monitoring, through pre-processed magnetic drill operation perception data, combines the spindle angular velocity, spindle cumulative angular displacement, cutter head feed rate and electromagnet suction current and other multi-source operation parameters to build an operation status joint judgment mechanism, which can trigger disturbance assessment in real time when any key indicator exceeds the set threshold, effectively enhance the response sensitivity and recognition accuracy of unstable working conditions, and improve the integrity and reliability of abnormal state recognition.

[0019] (2) The intelligent side shift safety protection method and device for magnetic drill based on multi-parameter monitoring uses the window fluctuation based on the magnetic base vibration frequency as the main disturbance perception indicator, combines the spindle impact response item and the drilling load change item to construct the disturbance adjustment coefficient, and forms the magnetic drill operation disturbance evaluation value. It can comprehensively reflect the multi-source disturbance characteristics in the drilling process, realize the accurate identification of structural vibration, impact anomaly and thrust fluctuation, and significantly improve the quantitative modeling capability of disturbance behavior.

[0020] (3) This intelligent side shift safety protection method and device for magnetic drills based on multi-parameter monitoring constructs a comparative analysis window centered on the disturbance triggering moment, extracts the window mean of the spindle's cumulative angular displacement, the electromagnet's suction current, and the cutter head's feed rate, establishes a basic data set for side shift analysis, and calculates the angular displacement change rate, the feed hysteresis modulation term, and the suction attenuation modulation term to form a structural displacement trend assessment model. This method can accurately determine whether a disturbance causes structural side shift, provide precise criteria for shutdown control, and build a safety response closed loop.

[0021] (4) The intelligent side shift safety protection method and device for magnetic drill based on multi-parameter monitoring extracts the spindle angular velocity fluctuation, feed rate stability and suction current offset characteristics by using the operation disturbance data set, constructs a drill wear tendency assessment model, determines the wear trend by combining the set threshold, and controls the execution unit to switch the magnetic drill operation state, supports manual maintenance or technical self-inspection standby, realizes the wear state identification and closed-loop adjustment of the operation control strategy, and effectively improves the equipment operation stability and intelligent maintenance capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a flow chart of the intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring; Figure 2 This is a structural diagram of the intelligent side shift safety protection device for magnetic drills based on multi-parameter monitoring; Figure 3 A bar graph for determining the side shift of the magnetic drill structure; Figure 4 The circuit diagram for the magnetic drill side shift protection function; Figure 5 A line chart for determining drill bit wear tendency. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0024] Please refer to Figures 1-5 The embodiments of the present application provide a technical solution: a magnetic seat drill intelligent side shift safety protection method and device based on multi-parameter monitoring, comprising: S1, collecting magnetic seat drill operation sensing data, and completing spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic seat drill operation sensing data to obtain preprocessed magnetic seat drill operation sensing data; S2, performing magnetic seat drill operation state joint determination based on the preprocessed operation sensing data set, constructing a sampling window, completing magnetic seat drill operation disturbance evaluation, determining whether there is a structure disturbance behavior and generating an operation disturbance data set; S3, calling the operation disturbance data set and selecting a before-and-after comparison analysis window, constructing a side shift analysis basic data set, performing structure displacement trend identification, judging whether there is a structure side shift behavior, and completing shutdown control and displacement state marking; S4, extracting angular velocity fluctuation, feeding stability and suction current offset characteristics based on the operation disturbance data set, completing drill bit wear tendency evaluation, and switching the magnetic seat drill operation state of the execution unit according to the evaluation result to realize closed-loop intelligent maintenance control.

[0025] Specifically, the magnetic base drill operation sensing data is collected, and the spindle angular displacement mapping, abnormality elimination and standardization processing are completed, and the specific steps of the pre-processed magnetic base drill operation sensing data are as follows: first, the magnetic base drill operation sensing data is collected in real time by a plurality of sensors installed at key positions of the magnetic base drill, the magnetic base drill operation sensing data includes spindle angular velocity, electromagnet suction current, instantaneous angular acceleration, drilling axial thrust, magnetic base vibration frequency, tool head feed rate and spindle output torque. By time tag alignment method, the unified timestamp mechanism is used to align and resample the various asynchronous signals in the above magnetic base drill operation sensing data, to ensure data synchronization and time consistency, and to construct high-precision multi-dimensional time series data. Among them, the time tag alignment method refers to taking the global unified time axis as the reference, mapping the asynchronously collected multi-channel signals to the same time point through window aggregation, to realize the alignment and consistency processing of the data in the time domain. Subsequently, based on the mapping relationship between the angle and the spatial displacement, combined with the spindle rotation radius and the tool structure parameters, the spatial offset conversion processing of the magnetic base drill spindle angular displacement data is carried out, to form a physical quantity index that can reflect the displacement trend. The sliding window statistical rule is adopted, the window width and the sliding step are set, the abnormal outliers in the window are identified, and the abnormal values in the magnetic base drill operation sensing data are eliminated by combining the range method and the median deviation method, and the sampling continuity and data integrity are checked item by item. Through the field analysis and format arrangement method, the original field name and structure collected from different data sources are unified into the standardized data field form, to complete the field standardization and data structure cleaning. Finally, the unit conversion rule is used to unify different physical quantities into the set measurement unit system, the maximum and minimum value normalization strategy and the mean standard deviation normalization strategy are combined, and the magnetic base drill operation sensing data is normalized, to ensure the numerical consistency and calculation stability in the subsequent feature extraction and evaluation process.

[0026] In the embodiment, through the multi-step processing of the magnetic base drill operation sensing data, the data quality and the calculation reliability are improved. The spindle angular velocity, electromagnet suction current, instantaneous angular acceleration, drilling axial thrust, magnetic base vibration frequency, tool head feed rate and spindle output torque are collected in real time by a plurality of sensors, and the time tag alignment method is used to complete the synchronization processing of the multi-channel asynchronous signals, to effectively ensure the time sequence consistency of the data; the angular displacement mapping relationship is used to complete the spatial offset conversion of the spindle angular displacement data, to enhance the displacement expression ability; the sliding window statistical rule is introduced to eliminate abnormal values and check the data integrity, to improve the stability of the data; the field analysis and format arrangement method is used to realize the structure unification, and the unit conversion and scale normalization strategy are combined to complete the normalization processing, to significantly improve the standardization and applicability of the sensing data, to provide high-accuracy and high-consistency basic data support for the subsequent operation disturbance identification and state evaluation.

[0027] Specifically, the specific steps of performing the magnetic base drill running state joint determination based on the pre-processed running perception data set are as follows: performing joint determination of the magnetic base drill running state based on the pre-processed running perception data: determining whether the spindle angular velocity exceeds the angular velocity threshold, the spindle angular velocity being obtained by a high-speed rotary encoder at a fixed sampling frequency; time-integrating the spindle angular velocity to obtain the spindle cumulative angular displacement by a numerical integration method, and determining whether the spindle cumulative angular displacement exceeds the offset threshold; determining whether the tool head feed rate is lower than the lower limit of the feed rate obtained by the test calibration, the feed rate being obtained by real-time measurement of a high-precision displacement sensor; determining whether the electromagnet suction force current is lower than the lower limit of the suction force current, the suction force current being continuously obtained by a signal acquisition module connected to a current sensor; when any of the determination conditions is met, immediately triggering the magnetic base drill running disturbance evaluation, and marking the triggering time as the disturbance triggering time; taking the disturbance triggering time as the time reference, constructing a front-back symmetric fixed time length sampling window, extracting the continuous sampling sequence of the magnetic base drill vibration frequency and the drilling axial thrust in the window, the magnetic base drill vibration frequency being obtained by Fourier analysis of a three-axis acceleration sensor, and the drilling axial thrust being obtained by real-time acquisition of an axial force sensor; applying a sliding average filtering algorithm to each group of sampling sequences for processing, respectively obtaining the average value of the magnetic base drill vibration frequency and the average value of the drilling axial thrust, to provide stable input for subsequent disturbance feature extraction and trend identification.

[0028] In the embodiment, by performing multi-dimensional joint determination on the pre-processed running perception data, and constructing a fixed time length sampling window based on the disturbance triggering time, the running disturbance behavior can be identified in time when any of the spindle angular velocity, spindle cumulative angular displacement, tool head feed rate, and electromagnet suction force current is abnormal; by synchronously extracting the continuous sampling sequence of the magnetic base drill vibration frequency and the drilling axial thrust, and combining the sliding average processing method, the stability and anti-interference ability of the perception data are effectively improved; the above processing strategy not only enhances the real-time and accuracy of disturbance identification, but also provides a high credibility data basis for subsequent magnetic base drill structure displacement trend analysis and drill bit wear tendency evaluation, significantly strengthening the rigor and controllability of the running state abnormal triggering logic.

[0029] Specifically, the specific steps of completing the magnetic base drill running disturbance evaluation, determining whether there is a structural disturbance behavior and generating a running disturbance data set are as follows: taking the absolute value of the difference between the magnetic base vibration frequency and the average value of the magnetic base vibration frequency in the sampling window, point by point accumulating the difference at each time in the sampling window, and dividing by the number of sampling points to obtain the vibration fluctuation intensity term, to characterize the non-steady state characteristics of the magnetic base body vibration signal during the disturbance trigger; the absolute value of the instantaneous angular acceleration is proportional to the acceleration threshold value to form the main shaft impact response term, which is used to measure the high-frequency impact characteristics in the rotation process of the main shaft; the axial thrust of the drill hole is subtracted from the average value of the axial thrust of the drill hole, and then divided by the average value of the axial thrust of the drill hole, and the absolute value of the ratio is calculated as the drilling load change term, reflecting the dynamic fluctuation trend of the applied load in the drilling process; the main shaft impact response term is added to the drilling load change term and then added by one to form the disturbance adjustment coefficient, to adjust the response sensitivity of the vibration fluctuation intensity term under different working conditions; the vibration fluctuation intensity term and the disturbance adjustment coefficient are multiplied to obtain the magnetic base drill running disturbance evaluation value, which is used as a key indicator to judge the stability of the current operation state; the magnetic base drill running disturbance evaluation value is compared with the disturbance judgment threshold value in real time, if the magnetic base drill running disturbance evaluation value is less than or equal to the disturbance judgment threshold value, it is determined that the current running state is stable, and the current running mode of the magnetic base drill is maintained; if the magnetic base drill running disturbance evaluation value is greater than the disturbance judgment threshold value, it is determined that there is a structural disturbance behavior at present, a disturbance abnormality judgment signal is generated, the magnetic base drill running perception data at this moment is frozen, the complete sampling data of the signal channels corresponding to the main shaft angular velocity, the electromagnet suction force current, the tool head feed rate, the main shaft output torque and the magnetic base vibration frequency at this moment are extracted, and the magnetic base drill running disturbance evaluation value and the disturbance trigger time are combined to form a running disturbance data set, which is used as the input basis for subsequent structural lateral displacement trend analysis and drill wear evaluation.

[0030] wherein the specific calculation formula of the magnetic base drill running disturbance evaluation value is: ; In the formula, D represents the magnetic base drill running disturbance evaluation value, represents the magnetic base vibration frequency, represents the average value of the magnetic base vibration frequency, represents the instantaneous angular acceleration, represents the acceleration threshold value, represents the axial thrust of the drill hole, represents the average value of the axial thrust of the drill hole, and N represents the number of sampling points.

[0031] In this embodiment, by fusing the magnetic seat vibration frequency, the instantaneous angular acceleration and the three types of key operation sensing data of the axial thrust of the drill hole, the vibration wave intensity term, the main shaft impact response term and the drill load change term are constructed, and the disturbance adjustment coefficient is introduced to realize the adaptive regulation of the disturbance sensing sensitivity, and finally the magnetic seat drill operation disturbance evaluation value is generated, which can accurately quantify the occurrence degree of non-steady state working condition in the operation process. The evaluation mechanism realizes real-time quantitative discrimination of the running state of the magnetic seat drill, and through the dynamic comparison of the running disturbance evaluation value and the disturbance judgment threshold, the structural disturbance behavior is effectively identified. At the same time, by freezing the multi-channel running sensing data at the moment of running disturbance occurrence, the running disturbance data set is constructed, which provides high integrity and high precision time series data support for subsequent structural displacement trend identification and drill bit wear tendency evaluation, thereby establishing an intelligent sensing closed loop mechanism with disturbance behavior as the core.

[0032] Specifically, the operation disturbance data set is retrieved and the before and after comparison analysis windows are selected to construct a basic data set for lateral displacement analysis. The specific steps for performing structural displacement trend identification are as follows: extract the operation disturbance data set, select two fixed-time sampling windows before and after the disturbance triggering moment as the center, and extract the continuous sampling sequences of the spindle cumulative angular displacement, the electromagnet suction current and the tool head feed rate from each sampling window; perform sliding average processing on each group of sampling sequences, calculate the mean value of the spindle cumulative angular displacement in the window before the disturbance, the mean value of the spindle cumulative angular displacement in the window after the disturbance, the mean value of the electromagnet suction current in the window before the disturbance, the mean value of the electromagnet suction current in the window after the disturbance, and the mean value of the tool head feed rate in the window before the disturbance, and construct a basic data set for lateral displacement analysis; based on the constructed lateral displacement data set, the basic data set for lateral displacement analysis is constructed. The displacement trend identification of the magnetic drill structure is performed based on the displacement analysis basic data set: the average value of the spindle cumulative angular displacement in the window before the disturbance is subtracted from the average value of the spindle cumulative angular displacement in the window before the disturbance, and then divided by the time interval between the centers of the windows before and after the disturbance as the spindle angular displacement change rate term, which is used to characterize the rotational displacement change rate characteristics before and after the disturbance; the average value of the tool head feed rate in the window before the disturbance is added to the minimum term and the reciprocal is taken as the feed hysteresis modulation term, which is used to reflect the sensitivity modulation effect of the displacement response when the feed rate is insufficient; the minimum term is a small positive constant, which is used to avoid the mathematical reciprocal infinity phenomenon when the feed rate mean is extremely low, and to ensure the numerical stability and differentiability of the calculation process, thereby enhancing the adaptability and physical rationality of the algorithm under the boundary conditions of low-speed operation. The spindle angular displacement change rate term is multiplied by the feed hysteresis modulation term as the displacement rate control factor, which is used to comprehensively measure the combined effect of angular displacement change and feed hysteresis. The mean value of the electromagnet suction current in the window before disturbance is subtracted from the mean value of the electromagnet suction current in the window after disturbance, and then divided by the mean value of the electromagnet suction current in the window before disturbance. The absolute value of this ratio is taken and then added with one to form the suction attenuation modulation term, which is used to correct the structural stability deviation caused by the change in the magnetic base adhesion ability. Finally, the displacement rate control factor is multiplied by the suction attenuation modulation term to obtain the magnetic base drill side displacement assessment value, which provides a quantitative basis for determining the structural displacement trend.

[0033] The specific calculation formula for the magnetic drill side shift evaluation value is: ; Where, S represents the evaluation value of the magnetic drill side shift, represents the mean cumulative angular displacement of the main axis of the window before the disturbance, represents the mean cumulative angular displacement of the main axis of the window after disturbance, represents the time interval between the center of the window before and after the disturbance, v represents the mean feed rate of the tool head in the window before the disturbance, represents a minimum term, represents the mean value of the electromagnet attraction current in the window before the disturbance, Represents the mean value of the window electromagnet attraction current after the disturbance.

[0034] In this embodiment, Table 1 is a data table of the lateral displacement evaluation value of the magnetic base drill. The table lists the key parameter values ​​in the process of identifying the lateral displacement trend of the magnetic base drill structure under 5 abnormal disturbance situations, including the average cumulative angular displacement of the spindle in the window before the disturbance, the average cumulative angular displacement of the spindle in the window after the disturbance, the time interval between the centers of the front and rear windows, the average feed rate of the tool head in the window before the disturbance, the minimum term, the average electromagnet suction current in the window before the disturbance, the average electromagnet suction current in the window after the disturbance, and the lateral displacement evaluation value of the magnetic base drill obtained by calculation according to the evaluation formula. Among them, in disturbance 1, the average cumulative angular displacement of the spindle in the window before disturbance is 110.22, the average cumulative angular displacement of the spindle in the window after disturbance is 94.32, the time interval between the center of the front and rear windows is 2.0, the average feed rate of the tool head in the window before disturbance is 1.22, the average electromagnet suction current in the window before disturbance is 2.48, the average electromagnet suction current in the window after disturbance is 1.78, and the corresponding magnetic base drill side shift evaluation value is 8.35; in disturbance 2, the average cumulative angular displacement of the spindle in the window before disturbance is 116.96, the average cumulative angular displacement of the spindle in the window after disturbance is 94.32, the time interval between the center of the front and rear windows is 2.0, the average feed rate of the tool head in the window before disturbance is 1.22, the average electromagnet suction current in the window before disturbance is 2.48, the average electromagnet suction current in the window after disturbance is 1.78, and the corresponding magnetic base drill side shift evaluation value is 8.35. The average value of the axis cumulative angular displacement is 107.02, the time interval between the front and rear window centers is 2.0, the average feed rate of the tool head in the window before disturbance is 0.82, the average value of the electromagnet suction current in the window before disturbance is 2.22, and the average value of the electromagnet suction current in the window after disturbance is 1.83, and the corresponding magnetic drill side shift evaluation value is 7.12; in disturbance 3, the average value of the spindle cumulative angular displacement in the window before disturbance is 118.80, and the average value of the spindle cumulative angular displacement in the window after disturbance is 110.81, the time interval between the front and rear window centers is 2.0, and the average value of the perturbation window before disturbance is 2.22. The average feed rate of the cutter head is 0.76, the average suction current of the electromagnet in the window before the disturbance is 1.90, and the average suction current of the electromagnet in the window after the disturbance is 1.04. The corresponding magnetic drill side shift evaluation value is 7.63. In disturbance 4, the average cumulative angular displacement of the spindle in the window before the disturbance is 113.45, and the average cumulative angular displacement of the spindle in the window after the disturbance is 104.35. The time interval between the front and rear window centers is 2.0, the average feed rate of the cutter head in the window before the disturbance is 1.14, and the average suction current of the electromagnet in the window before the disturbance is 2.40. The average value of the electromagnet suction current in the window after the disturbance is 1.01, and the corresponding magnetic base drill side shift evaluation value is 6.30; in disturbance 5, the average value of the cumulative angular displacement of the spindle in the window before the disturbance is 110.06, and the average value of the cumulative angular displacement of the spindle in the window after the disturbance is 90.48, the time interval between the center of the front and rear windows is 2.0, the average value of the tool head feed rate in the window before the disturbance is 1.36, the average value of the electromagnet suction current in the window before the disturbance is 1.51, and the average value of the electromagnet suction current in the window after the disturbance is 1.12, and the corresponding magnetic base drill side shift evaluation value is 9.05. Table 1 Magnetic base drill side shift evaluation value data table like Figure 3The figure shows a bar chart of the magnetic drill's structural lateral displacement determination. The horizontal axis represents the disturbance number, and the vertical axis represents the magnetic drill's lateral displacement assessment value. The figure uses a blue dashed line to indicate the displacement determination threshold, which serves as the standard line for determining whether structural lateral displacement has occurred. The color of the column is determined based on the comparison between the magnetic drill's lateral displacement assessment value and the displacement determination threshold: green indicates no structural lateral displacement has occurred; red indicates structural lateral displacement has occurred. As can be seen from the figure, the assessment values ​​of disturbances 1, 3, and 5 are higher than the displacement determination threshold, indicating that structural lateral displacement has occurred; while the assessment values ​​of disturbances 2 and 4 are lower than the displacement determination threshold, indicating that structural lateral displacement has not occurred. This figure intuitively reflects the structural displacement trend assessment results of the magnetic drill under different disturbance conditions, which helps to visualize the lateral displacement identification and determination process and provide quantitative auxiliary decision-making for the operating status.

[0035] In this implementation, by constructing a before-and-after comparative analysis window for the operating disturbance data set, and constructing a basic data set for lateral displacement analysis using the window average of the spindle's cumulative angular displacement, the electromagnet suction current, and the cutter head feed rate, the changing trends of key operating parameters before and after the disturbance can be accurately captured. By calculating the spindle angular displacement change rate term, the feed hysteresis modulation term, and the suction attenuation modulation term, a coupled expression of the displacement rate control factor and the suction attenuation modulation term is formed to comprehensively evaluate the displacement trend of the magnetic base drill structure under the influence of the disturbance. This method enhances the ability to analyze the linkage of the magnetic base drill's rotational angular displacement response, electromagnetic suction changes, and cutter head feed status, significantly improving the accuracy and robustness of structural lateral displacement identification, and providing a high-confidence judgment basis for subsequent shutdown control and operating status marking.

[0036] Specifically, the steps for determining whether there is structural lateral displacement and completing shutdown control and displacement status marking are as follows: The magnetic drill lateral displacement assessment value is compared with the set displacement judgment threshold in real time. If the magnetic drill lateral displacement assessment value is less than or equal to the displacement judgment threshold, it is determined that the current disturbance has not caused effective structural displacement, the current operating state of the magnetic drill is maintained, and the collection, processing, and status monitoring of the operating perception data are continued. If the magnetic drill lateral displacement assessment value is higher than the displacement judgment threshold, it is determined that the current disturbance behavior has caused a structural lateral displacement trend, and the structural lateral displacement determination signal is immediately triggered. The current magnetic drill operating perception data is frozen and the displacement status marking is completed. After the structural lateral displacement determination signal is generated, a shutdown command is issued to the magnetic drill power-off module through the control execution unit. The transistor is triggered to conduct using the signal TG, cutting off the trigger signal of the bidirectional thyristor, realizing the rapid disconnection of the main motor power supply circuit, and thus the main magnetic drill enters the shutdown state.

[0037] like Figure 4The figure shows the circuit diagram of the magnetic drill side shift protection function, which shows the hardware implementation structure of the magnetic drill side shift protection function. Its key components include: power input terminals AC-N and AC-L, which are the neutral and live wire inputs of the AC power supply, respectively, and are used to provide working power for the magnetic drill; motor working power lines M1 and M2, which are connected to the main motor of the magnetic drill and are used to drive the motor to run, where M1 is the main circuit switch control line and M2 is the auxiliary power supply channel; bidirectional thyristor Q, as the main power control device, controls the on and off of the AC power in the motor circuit to achieve direct control of the magnetic drill motor; current sampling point CURIN, set in the motor power supply path, is used to collect the working current of the main motor in real time, and provide input basis for the side shift protection judgment; filtering and triggering circuit composed of resistor R6 and capacitor C11 After the network smoothes the sampled signal, it amplifies the signal level and controls its conduction through transistor Q2. The base of transistor Q2 is regulated by the sampled current signal, and its conduction state directly determines the validity of the output trigger signal TG. Power supply voltage divider resistors R5, R7, and R8 are used for voltage offset adjustment and current limiting, ensuring stable and reliable operation of transistor Q2. GND in the circuit represents the ground terminal, serving as the zero potential reference point for the entire circuit and the return path for the current loop. It ensures a uniform voltage reference for all components, a closed current path, and stable signal processing, making it a critical foundational connection for proper circuit operation and electrical safety. The sideways shift protection function signal point TG is the trigger logic control output interface. When transistor Q2 is turned on, TG outputs a valid voltage level, driving the subsequent control logic and issuing a sideways shift protection trigger signal. This protection circuit can quickly respond to main motor current fluctuations. When an abnormal sideways shift trend is detected, it promptly shuts off the power supply, preventing the magnetic drill from continuing to operate and ensuring the safety of the drilling task. It is a key circuit component for implementing closed-loop sideways shift protection control.

[0038] In this implementation, the magnetic drill's lateral displacement assessment value is compared with the displacement determination threshold in real time, and a structural lateral displacement determination signal is generated in conjunction with it. Combined with a shutdown command from the control execution unit and the automatic operation of the electrical disconnection control device, the magnetic drill's main motor power supply circuit is rapidly disconnected, effectively terminating the drilling process at its source. This control strategy integrates a full-process safety linkage mechanism encompassing structural displacement trend identification and determination, operational sensor data freezing, status marking, and power-off execution. This enables timely intervention and handling at the initial stages of structural lateral displacement, enhancing the magnetic drill's autonomous response to unstable working conditions and strengthening the closed-loop safety assurance system for displacement risk identification and intervention control.

[0039] Specifically, the specific steps of extracting the angular velocity fluctuation, feed stability and suction current offset features based on the running disturbance data set are as follows: under the condition that the structure side shift determination result is true, the running disturbance data set corresponding to the disturbance abnormality determination signal is extracted, a fixed time length sampling window with the disturbance trigger time as the time reference is selected, and the start and end time of the sampling window is locked; the continuous sampling sequences of the main shaft angular velocity, the main shaft output torque, the tool head feed rate and the electromagnet suction current in the sampling window are extracted respectively, the time consistency of the sampling data of each channel is checked and the missing value is interpolated, and the integrity of the feature extraction process is ensured; the standard deviation of the main shaft angular velocity sampling sequence is calculated by using the sliding statistical method, which is used as a quantitative index reflecting the angular momentum fluctuation of the main shaft; the standard deviation and the average value of the tool head feed rate sampling sequence are calculated to evaluate the dynamic change of the tool head feed stability; the standard deviation and the average value of the electromagnet suction current sampling sequence are calculated to construct the evaluation parameter reflecting the suction current offset amplitude; all statistical indicators, disturbance numbers and sampling window time stamps are recorded synchronously and stored in the feature parameter buffer area to form the input basis for subsequent drill bit wear tendency evaluation.

[0040] In the embodiment, by accurately extracting the running disturbance data set with the disturbance trigger time as the reference on the basis that the structure side shift determination result is true, and carrying out time consistency checking and sliding statistical calculation on the continuous sampling sequences of the main shaft angular velocity, the main shaft output torque, the tool head feed rate and the electromagnet suction current, the main shaft angular velocity standard deviation, the tool head feed rate standard deviation, the electromagnet suction current standard deviation, the main shaft output torque average value, the tool head feed rate average value and the electromagnet suction current average value are effectively obtained, which provides feature data support with dynamic response characteristics for subsequent drill bit wear tendency evaluation, and significantly enhances the sensitivity and robustness of wear state recognition.

[0041] Specifically, the specific steps of completing the drill bit wear tendency evaluation are as follows: based on the feature parameters obtained in the running disturbance data set, the drill bit wear trend evaluation is carried out: first, the main shaft angular velocity standard deviation is divided by the sum of the main shaft output torque average value and the minimum term, to form the angular kinetic energy disturbance term, reflecting the dynamic instability of the main shaft rotation state relative to the load output during the disturbance; secondly, the tool head feed rate standard deviation is divided by the sum of the tool head feed rate average value and the minimum term, and one is added on this basis to construct the feed stability correction term, to quantify the adjustment influence of the fluctuation degree in the feed process on the evaluation model; then, the electromagnet suction current standard deviation is divided by the sum of the suction current average value and the minimum term, and one is added after construction to construct the suction stability correction term, to evaluate the interference effect of the stability of the electromagnetic adhesion state on the drill bit positioning accuracy; finally, the angular kinetic energy disturbance term and the feed stability correction term and the suction stability correction term are multiplied in turn to obtain the drill bit wear tendency evaluation value, which is used as a comprehensive criterion index reflecting the tool health state, to provide a basis for subsequent maintenance control strategy.

[0042] The specific calculation formula for the drill bit wear tendency evaluation value is: Where M represents the drill bit wear tendency assessment value, represents the standard deviation of the spindle angular velocity, Indicates the average spindle output torque, represents a minimum term, represents the standard deviation of the tool head feed rate, Indicates the average feed rate of the tool head, Indicates the standard deviation of the electromagnet attraction current, Indicates the average value of the electromagnet attraction current.

[0043] In this embodiment, Table 2 is a drill bit wear tendency evaluation value data table, and the table lists the values of various characteristic parameters in the data window of the magnetic base drill running disturbance under 5 structural lateral shift conditions, including the standard deviation of the spindle angular velocity, the average value of the spindle output torque, the standard deviation of the tool head feed rate, the average value of the tool head feed rate, the standard deviation of the electromagnetic attraction current, the average value of the electromagnetic attraction current, and the drill bit wear tendency evaluation value calculated according to the evaluation formula. Among them, in the structural lateral shift 1, the standard deviation of the spindle angular velocity is 4.12, the average value of the spindle output torque is 2.93, the standard deviation of the tool head feed rate is 3.46, the average value of the tool head feed rate is 1.90, the standard deviation of the electromagnetic attraction current is 0.99, the average value of the electromagnetic attraction current is 1.81, and the corresponding drill bit wear tendency evaluation value is 6.08; in the structural lateral shift 2, the standard deviation of the spindle angular velocity is 5.50, the average value of the spindle output torque is 1.82, the standard deviation of the tool head feed rate is 2.36, the average value of the tool head feed rate is 1.28, the standard deviation of the electromagnetic attraction current is 1.17, the average value of the electromagnetic attraction current is 2.55, and the corresponding drill bit wear tendency evaluation value is 12.39; in the structural lateral shift 3, the standard deviation of the spindle angular velocity is 3.17, the average value of the spindle output torque is 2.80, the standard deviation of the tool head feed rate is 3.20, the average value of the tool head feed rate is 2.06, the standard deviation of the electromagnetic attraction current is 0.82, the average value of the electromagnetic attraction current is 3.44, and the corresponding drill bit wear tendency evaluation value is 3.55; in the structural lateral shift 4, the standard deviation of the spindle angular velocity is 4.30, the average value of the spindle output torque is 1.94, the standard deviation of the tool head feed rate is 3.22, the average value of the tool head feed rate is 1.21, the standard deviation of the electromagnetic attraction current is 1.15, the average value of the electromagnetic attraction current is 2.23, and the corresponding drill bit wear tendency evaluation value is 12.15; in the structural lateral shift 5, the standard deviation of the spindle angular velocity is 4.37, the average value of the spindle output torque is 2.68, the standard deviation of the tool head feed rate is 2.40, the average value of the tool head feed rate is 1.77, the standard deviation of the electromagnetic attraction current is 1.51, the average value of the electromagnetic attraction current is 1.59, and the corresponding drill bit wear tendency evaluation value is 7.42.

[0044] Table 2 Drill bit wear tendency evaluation value data table As Figure 5As shown, it is a drill bit wear tendency determination broken line graph, in which the horizontal coordinate is the structure side shift number, and the vertical coordinate is the magnetic base drill drill bit wear tendency evaluation value. In the figure, the blue dashed line is used to indicate the wear determination threshold value, which is used as a standard reference for judging whether the magnetic base drill has a potential drill bit wear trend. The broken line in the figure is used to connect the evaluation values corresponding to each structure side shift, and the data point color is assigned according to the comparison result of the wear tendency evaluation value and the determination threshold value: green indicates that the evaluation value does not exceed the wear determination threshold value, and the magnetic base drill state is determined as the technical self-check standby mode; red indicates that the evaluation value exceeds the wear determination threshold value, and the magnetic base drill state is determined as the manual maintenance standby mode. As can be seen from the figure, the wear tendency evaluation values of structure side shifts 2, 4 and 5 are higher than the wear determination threshold value, and are determined as the manual maintenance standby mode; while the evaluation values of structure side shifts 1 and 2 are lower than the wear determination threshold value, and are determined as the manual maintenance standby mode. The figure clearly presents the judgment result of the drill bit wear trend analysis based on the running disturbance data set after the disturbance event, which helps to realize the dynamic monitoring and intelligent closed-loop management of the maintenance control of the operation state.

[0045] In the embodiment, by standardizing and multiplying the spindle angular velocity standard deviation, the spindle output torque average value, the tool head feed rate standard deviation, the tool head feed rate average value, the electromagnet suction force current standard deviation and the suction force current average value, the angular kinetic energy disturbance term, the feed stability correction term and the suction stability correction term are constructed, which effectively depict the multi-source running disturbance characteristics of the magnetic base drill in the structure side shift state. The joint influence of the spindle dynamic fluctuation, the feed behavior stability and the adsorption state change on the drill bit health state is comprehensively reflected, which significantly improves the sensitivity and precision of the drill bit wear trend identification, provides a quantitative basis for the operation state switching, and enhances the maintenance initiative and safety protection ability of the magnetic base drill in the running process.

[0046] Specifically, the specific steps of switching the magnetic drill operation state based on the evaluation result and realizing closed-loop intelligent maintenance control are as follows: the drill wear tendency evaluation value is compared with the wear threshold in real time. If the drill wear tendency evaluation value is greater than the wear threshold, a data warning message containing the current drill wear tendency evaluation value, the wear threshold reference line and the corresponding sampling timestamp is immediately sent to the operation interface, and the control execution unit is linked to switch the magnetic drill operation state from the running state to the manual maintenance standby mode, suspending all drilling instructions and power module outputs to ensure that the operator can carry out manual maintenance operations under no-load conditions; if the drill wear tendency evaluation value is less than or equal to the wear threshold, the magnetic drill operation state is switched to the technical self-inspection standby mode. In this state, the magnetic drill actively suspends the drilling process and continuously collects operation perception data such as the spindle angular velocity, the electromagnet suction current and the cutter head feed rate to maintain continuous monitoring of key operating parameters. In the technical self-check standby mode, the operation interface provides interactive command options, allowing the operator to manually choose to continue the operation process or enter the subsequent maintenance process based on the current wear trend data; only after receiving the manual confirmation recovery command entered by the operator through the interface, the control execution unit allows the magnetic drill operation status to be switched from the technical self-check standby mode to the operation ready state, restore the waiting process and re-enter the subsequent drilling task logic, realizing the state switching closed-loop control and intelligent maintenance autonomous linkage.

[0047] In this implementation, by comparing the drill bit wear tendency assessment value with the wear threshold in real time and linking the control execution unit to switch the magnetic drill operating state, a closed-loop control process from wear identification to operating state switching is established, significantly improving the safety of magnetic drill operations and the autonomy of maintenance response. When the assessment result reaches the warning level, it can automatically switch to manual maintenance standby mode to ensure the safety of personnel operations; when the assessment result does not trigger the warning condition, it enters the technical self-inspection standby mode, maintains operating status monitoring and provides decision-making basis for operators, and can only re-enter the operational preparation state after manual confirmation of recovery. This control logic ensures a high degree of coupling between drill bit wear trend identification and magnetic drill operating status, improving operational stability and intelligent maintenance closed-loop capabilities.

[0048] like Figure 2As shown, the second aspect of the present invention provides an intelligent lateral shift safety protection device for a magnetic base drill based on multi-parameter monitoring, including: an operation perception data acquisition preprocessing module, an abnormal state identification and lateral shift determination module, a lateral shift trend evaluation and decision control module and a drill bit wear identification and maintenance control module, wherein: the operation perception data acquisition preprocessing module is used to collect the magnetic base drill operation perception data, and complete the spindle angular displacement mapping, abnormality elimination and standardization processing of the magnetic base drill operation perception data to obtain the preprocessed magnetic base drill operation perception data; the abnormal state identification and lateral shift determination module is used to perform the magnetic base drill operation status joint analysis based on the preprocessed operation perception data set. Determination, construction of sampling window and completion of magnetic base drill operation disturbance assessment, generation of operation disturbance data set; lateral displacement trend assessment and decision control module, used to call the operation disturbance data set and select the before and after comparison analysis window, construction of lateral displacement analysis basic data set, execution of structural displacement trend identification, determination of whether there is structural lateral displacement behavior, and completion of shutdown control and displacement status marking; drill bit wear identification and maintenance control module, used to extract angular velocity fluctuation, feed stability and suction current offset characteristics based on the operation disturbance data set, completion of drill bit wear tendency assessment, linkage control execution unit switching magnetic base drill operation state according to the assessment results, realization of closed-loop intelligent maintenance control.

[0049] In this implementation, a multi-module collaborative structure consisting of an operational sensing data acquisition and preprocessing module, an abnormal state identification and lateral shift determination module, a lateral shift trend assessment and decision-making control module, and a drill bit wear identification and maintenance control module has been constructed to establish a full-process closed-loop control system from magnetic drill operation data acquisition, state identification, lateral shift trend determination, to drill bit wear assessment. Based on the spindle angular displacement mapping, angular velocity fluctuations, feed stability, and suction current offset characteristics, this device accurately identifies structural lateral shift behavior and drill bit wear trends. Based on the comprehensive evaluation results of the operational disturbance data set, the control execution unit is linked to switch the magnetic drill operation state, thereby improving the structural safety assurance capability and tool health management capability during the operation process, and significantly enhancing the monitoring accuracy, response efficiency, and autonomous maintenance level of the magnetic drill operation process.

[0050] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any 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, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0051] The preferred embodiments of the application disclosed above are only to facilitate the elucidation of the application. The preferred embodiments do not describe all the details of the application and limit the application to the specific embodiments described. Obviously, many modifications and variations can be made in light of the teachings above. The description is chosen and described in order to best explain the principles of the application and its practical application to thereby enable others skilled in the art to best utilize the application and get the best results from the application. The application is only limited by the claims and their full scope and equivalents.

Claims

1. The intelligent side shift safety protection method of magnetic drill based on multi-parameter monitoring is characterized by: The following steps are involved: S1, collects magnetic drill operation perception data, and completes spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic drill operation perception data to obtain pre-processed magnetic drill operation perception data; S2, based on the pre-processed operation perception data set, performs joint determination of the magnetic drill operation status, constructs a sampling window, completes the magnetic drill operation disturbance assessment, determines whether there is structural disturbance behavior, and generates an operation disturbance data set; S3: Retrieve the operating disturbance data set and select the before-after comparison analysis window to construct the basic data set for lateral displacement analysis. Perform structural displacement trend identification to determine whether there is structural lateral displacement behavior, and complete shutdown control and displacement status marking. S4 extracts angular velocity fluctuation, feed stability, and suction current offset characteristics based on the operating disturbance data set to complete the drill wear tendency assessment. Based on the assessment results, the execution unit is controlled to switch the magnetic drill operation status to achieve closed-loop intelligent maintenance control.

2. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 1 is characterized by: The specific steps of collecting the magnetic drill operation perception data, and completing the spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic drill operation perception data to obtain the pre-processed magnetic drill operation perception data are as follows: Real-time collection of magnetic drill operation perception data, including spindle angular velocity, electromagnet suction current, instantaneous angular acceleration, drilling axial thrust, magnetic base vibration frequency, cutter head feed rate and spindle output torque; The multi-channel asynchronous signals in the magnetic drill operation perception data are synchronously sampled and processed by the time tag alignment method. The spatial offset conversion process of the magnetic drill spindle angular displacement data is performed through the mapping relationship between angle and displacement; The sliding window statistical rules are used to remove abnormal values ​​and perform integrity verification on the magnetic drill operation perception data; The magnetic drill operation perception data is structured and standardized through field parsing and formatting methods; The magnetic drill operation perception data is normalized through unit conversion and scale normalization methods.

3. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 1 is characterized by: The specific steps of performing joint determination of the magnetic drill operation status based on the preprocessed operation perception data set and constructing a sampling window are as follows: The operation status of the magnetic drill is jointly determined based on the pre-processed operation perception data: whether the spindle angular velocity exceeds the angular velocity threshold; Perform time integration on the spindle angular velocity to calculate the cumulative spindle angular displacement, and determine whether the cumulative spindle angular displacement exceeds the offset threshold; determine whether the tool head feed rate is lower than the feed rate lower limit; and determine whether the electromagnet suction current is lower than the set suction current lower limit. When any judgment condition is met, the magnetic drill is triggered to run the disturbance assessment, and the triggering moment is marked as the disturbance triggering moment; Taking the disturbance triggering moment as a reference, a sampling window of fixed length is constructed, and the continuous sampling sequences of the magnetic base vibration frequency and the drilling axial thrust within the sampling window are extracted. The sliding average calculation is performed on each set of sequences to obtain the average values ​​of the magnetic base vibration frequency and the drilling axial thrust, respectively.

4. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 3 is characterized by: The specific steps for completing the magnetic drill operation disturbance assessment, determining whether there is structural disturbance behavior, and generating an operation disturbance data set are as follows: The absolute value of the difference between the vibration frequency of the magnetic base and the average value of the vibration frequency of the magnetic base within the sampling window is taken, and then the average is calculated within the sampling window to serve as the vibration fluctuation intensity term; the absolute value of the instantaneous angular acceleration is divided by the acceleration threshold to serve as the spindle impact response term; the drilling axial thrust is subtracted from the average value of the drilling axial thrust and then divided by the average value of the drilling axial thrust, and the absolute value of the comparison value is taken as the drilling load change term; the spindle impact response term is added to the drilling load change term and then added with one to serve as the disturbance adjustment coefficient; the vibration fluctuation intensity term is multiplied by the disturbance adjustment coefficient to obtain the disturbance assessment value of the magnetic base drill operation; The magnetic drill operation disturbance assessment value is compared with the disturbance judgment threshold in real time. If the magnetic drill operation disturbance assessment value is less than or equal to the disturbance judgment threshold, the current operation state of the magnetic drill is maintained. If the magnetic drill operation disturbance assessment value is greater than the disturbance judgment threshold, it is determined that there is currently structural disturbance behavior, and a disturbance abnormality judgment signal is generated. At the same time, the magnetic drill operation perception data at the current moment is frozen and combined with the magnetic drill operation disturbance assessment value and the disturbance trigger time to form an operation disturbance data set.

5. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 1 is characterized in that: The specific steps of retrieving the running disturbance data set and selecting the before-after comparison analysis window to construct the basic data set for lateral displacement analysis and perform structural displacement trend identification are as follows: Extract the running disturbance data set, select two fixed-length sampling windows centered around the disturbance trigger moment, and calculate the mean of the spindle's cumulative angular displacement, the electromagnet's suction current, and the tool head's feed rate within each sampling window to construct a basic data set for side shift analysis. Based on the basic data set of lateral displacement analysis, the displacement trend identification of the magnetic base drill structure is performed: the spindle angular displacement change rate term is obtained by subtracting the spindle angular displacement mean value in the window before disturbance from the spindle angular displacement mean value in the window before disturbance, and then dividing the result by the time interval between the centers of the windows before and after disturbance; the feed hysteresis modulation term is obtained by adding the minimum term to the mean value of the cutter head feed rate in the window before disturbance; the spindle angular displacement change rate term is multiplied by the feed hysteresis modulation term as the displacement rate control factor; the suction current in the window before disturbance is subtracted from the electromagnet suction current in the window after disturbance, and then divided by the electromagnet suction current in the window before disturbance, and the absolute value of the comparison value is added to obtain the suction attenuation modulation term; the displacement rate control factor is multiplied by the suction attenuation modulation term to obtain the lateral displacement evaluation value of the magnetic base drill.

6. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 1 is characterized in that: The specific steps of determining whether there is structural lateral displacement and completing shutdown control and displacement status marking are as follows: The magnetic drill lateral displacement evaluation value is compared with the displacement judgment threshold. If the magnetic drill lateral displacement evaluation value is less than or equal to the displacement judgment threshold, it is determined that the current disturbance has not caused effective structural displacement, and the current operating state of the magnetic drill is maintained; if the magnetic drill lateral displacement evaluation value is greater than the displacement judgment threshold, it is determined that the current disturbance behavior has caused structural lateral displacement, a structural lateral displacement judgment signal is generated, and a shutdown control command is output to the control execution unit to cut off the main motor power supply circuit and terminate the drilling process.

7. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 1 is characterized in that: The specific steps of extracting angular velocity fluctuation, feed stability and suction current offset characteristics based on the running disturbance data set are as follows: Under the condition that the structural side shift judgment result is valid, the running disturbance data set is extracted, and a fixed-length sampling window centered on the disturbance trigger moment is selected. The continuous sampling sequences of the spindle angular velocity, spindle output torque, tool head feed rate and electromagnet suction current within the sampling window are extracted respectively. The standard deviation of the spindle angular velocity, tool head feed rate and electromagnet suction current, as well as the average values ​​of the spindle output torque, tool head feed rate and electromagnet suction current are calculated for the continuous sampling sequences.

8. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 7 is characterized in that: The specific steps for completing the drill bit wear tendency assessment are as follows: Evaluate the drill wear tendency: divide the standard deviation of the spindle angular velocity by the sum of the average value and the minimum term of the spindle output torque to form the angular kinetic energy disturbance term; divide the standard deviation of the cutter head feed rate by the sum of the average value and the minimum term of the cutter head feed rate, and add one to form the feed stability correction term; divide the standard deviation of the electromagnet suction current by the sum of the average value and the minimum term of the suction current, and add one to form the suction stability correction term; multiply the angular kinetic energy disturbance term by the feed stability correction term and the suction stability correction term in sequence to obtain the drill wear tendency evaluation value.

9. The intelligent side shift safety protection method for magnetic drill based on multi-parameter monitoring according to claim 1 is characterized by: The specific steps of controlling the execution unit to switch the magnetic drill operation state based on the evaluation results to achieve closed-loop intelligent maintenance control are as follows: The drill bit wear tendency assessment value is compared with the wear threshold in real time. If the drill bit wear tendency assessment value is greater than the wear threshold, a wear warning message is sent to the operation interface, and the execution unit is controlled to switch the magnetic base drill state to manual maintenance standby mode; Otherwise, the magnetic drill status will be switched to the technical self-test standby mode; In the technical self-check standby mode, the operation is suspended but the operating status is monitored, allowing the operator to choose to continue operation or enter the maintenance process through the operation interface based on the wear assessment results; only after receiving the operator's manual confirmation of recovery instruction, the magnetic drill status is switched to the operation ready state and the operation process is re-entered.

10. The intelligent side shift safety protection device for magnetic drill based on multi-parameter monitoring is characterized by: include: Operation perception data acquisition preprocessing module, abnormal state identification and side shift determination module, side shift trend assessment and decision control module and drill bit wear identification and maintenance control module, among which: The operation perception data acquisition and preprocessing module is used to collect the magnetic base drill operation perception data, and complete the spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic base drill operation perception data to obtain the preprocessed magnetic base drill operation perception data; The abnormal state identification and side shift determination module is used to perform joint determination of the magnetic drill operation state based on the preprocessed operation perception data set, construct a sampling window and complete the magnetic drill operation disturbance assessment to generate an operation disturbance data set; The lateral displacement trend assessment and decision control module is used to retrieve the operation disturbance data set and select the before-after comparison analysis window to construct the lateral displacement analysis basic data set, perform structural displacement trend identification, determine whether there is structural lateral displacement behavior, and complete shutdown control and displacement status marking; The drill wear identification and maintenance control module is used to extract angular velocity fluctuations, feed stability, and suction current offset characteristics based on the operating disturbance data set, complete the drill wear tendency assessment, and control the execution unit to switch the magnetic base drilling operation status according to the assessment results, thereby realizing closed-loop intelligent maintenance control.

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