Multi-parameter monitoring based magnetic base drilling intelligent lateral shift safety protection method and device

Abstract

The application discloses a magnetic base drill intelligent side shift safety protection method and device based on multi-parameter monitoring and relates to the technical field of magnetic base drill control. The magnetic base drill intelligent side shift safety protection method and device based on multi-parameter monitoring comprises the following steps: S1, collecting magnetic base drill operation sensing data and completing preprocessing of the magnetic base drill operation sensing data; S2, performing magnetic base drill operation state joint determination, completing magnetic base drill operation disturbance evaluation, determining whether there is a structure disturbance behavior and generating an operation disturbance data set; S3, 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; and S4, completing drill bit wear tendency evaluation, switching the magnetic base drill operation state of the execution unit according to the evaluation result, and realizing closed-loop intelligent maintenance control. The problems that it is difficult to identify the structure side shift and subsequent operation risks caused by the small angle deviation after the equipment is blocked 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

[0008] 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.

[0009] Technical scheme

[0010] 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, determining 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 of the execution unit according to the evaluation result to realize closed-loop intelligent maintenance control.

[0011] 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.

[0012] Further, 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 the magnetic base drill running state joint determination based on the pre-processed running perception data: determining whether the main shaft angular velocity exceeds the angular velocity threshold; performing time integration on the main shaft angular velocity to calculate the main shaft cumulative angular displacement, and determining whether the main shaft cumulative angular displacement exceeds the offset threshold; determining whether the tool head feed rate is lower than the lower limit of the feed rate; determining whether the electromagnet suction force current is lower than the set lower limit of the suction force current; when any of the determination conditions is met, triggering the magnetic base drill running disturbance evaluation, and marking the triggering time as the disturbance triggering time; taking the disturbance triggering time as a reference, constructing a fixed-length sampling window, and extracting the continuous sampling sequences of the magnetic base vibration frequency and the drilling axial thrust force in the sampling window; performing sliding average calculation on each sequence to obtain the average values of the magnetic base vibration frequency and the drilling axial thrust force, respectively.

[0013] Further, the specific steps of completing the magnetic base drill running disturbance evaluation and 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, and then taking the average value in the sampling window as the vibration fluctuation intensity term; dividing the absolute value of the instantaneous angular acceleration by the acceleration threshold value as the main shaft impact response term; subtracting the average value of the drilling axial thrust force from the drilling axial thrust force, and then dividing the result by the average value of the drilling axial thrust force, taking the absolute value of the ratio as the drilling load change term; adding the main shaft impact response term and the drilling load change term, and then adding one as the disturbance adjustment coefficient; multiplying the vibration fluctuation intensity term by the disturbance adjustment coefficient to obtain the magnetic base drill running disturbance evaluation value; comparing the magnetic base drill running disturbance evaluation value with the disturbance determination threshold value in real time, if the magnetic base drill running disturbance evaluation value is less than or equal to the disturbance determination threshold value, maintaining the current running state of the magnetic base drill; if the magnetic base drill running disturbance evaluation value is greater than the disturbance determination threshold value, it is determined that there is a structural disturbance behavior at present, and a disturbance abnormality determination signal is generated, and the magnetic base drill running perception data at the current time is frozen, which, together with the magnetic base drill running disturbance evaluation value and the disturbance triggering time, constitutes the running disturbance data set.

[0014] Further, the specific steps of calling the running disturbance data set and selecting the before-and-after comparison analysis window to construct the side shift analysis basic data set and executing the structural displacement trend identification are as follows: extracting the running disturbance data set, selecting two fixed time length sampling windows before and after the disturbance trigger time as the center, respectively 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-and post-window, as the main shaft angular displacement change rate term; taking the inverse of the average value of the tool head feed rate of the pre-disturbance window plus the 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.

[0015] 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.

[0016] Further, the specific steps of extracting the angular velocity fluctuation, the feed stability and the 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 respectively 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] Beneficial effects

[0021] The present application has the following beneficial effects:

[0022] (1) The magnetic seat drill intelligent side shift safety protection method and device based on multi-parameter monitoring can effectively enhance the response sensitivity and identification accuracy of unstable working conditions, and improve the integrity and reliability of abnormal state identification, by constructing an operation state joint determination mechanism with the pre-processed magnetic seat drill operation sensing data, the main shaft angular velocity, the main shaft cumulative angular displacement, the tool head feed rate, and the electromagnet suction force current and other multi-source operation parameters. Real-time disturbance evaluation can be triggered when any key indicator exceeds the set threshold.

[0023] (2) The magnetic seat drill intelligent side shift safety protection method and device based on multi-parameter monitoring can comprehensively reflect the multi-source disturbance characteristics in the drilling process, realize accurate identification of structural vibration, impact abnormalities and thrust fluctuation, and significantly improve the disturbance behavior quantitative modeling capability, by taking the window fluctuation based on the magnetic seat vibration frequency as the disturbance perception main indicator, combining the main shaft impact response term and the drilling load change term to construct the disturbance adjustment coefficient, and forming the magnetic seat drill operation disturbance evaluation value.

[0024] (3) The magnetic seat drill intelligent side shift safety protection method and device based on multi-parameter monitoring can accurately determine whether the disturbance causes structural side shift and provide accurate criteria for shutdown control by constructing a comparative analysis window centered on the disturbance trigger time, extracting the window mean of the main shaft cumulative angular displacement, the electromagnet suction force current and the tool head feed rate, establishing a side shift analysis basic data set, and calculating the angular displacement change rate, the feed lag modulation term and the suction force attenuation modulation term to form a structural displacement trend evaluation model.

[0025] (4) The magnetic seat drill intelligent side shift safety protection method and device based on multi-parameter monitoring can realize wear state identification and operation control strategy closed-loop adjustment, effectively improve the equipment operation stability and intelligent maintenance capability, by extracting the main shaft angular velocity fluctuation, the feed rate stability and the suction force current offset characteristics from the operation disturbance data set to construct a drill bit wear tendency evaluation model, determining the wear trend in combination with the set threshold, and switching the magnetic seat drill operation state through the control execution unit. Artificial maintenance or technical self-check standby is supported. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The magnetic seat drill intelligent side shift safety protection method flowchart based on multi-parameter monitoring;

[0027] Figure 2 The magnetic seat drill intelligent side shift safety protection device structure diagram based on multi-parameter monitoring;

[0028] Figure 3 The magnetic seat drill structural side shift determination column chart;

[0029] Figure 4The circuit diagram for the magnetic seat drill side shift protection function group is composed of

[0030] Figure 5 The broken line graph for the drill bit wear tendency determination. DETAILED DESCRIPTION

[0031] 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 those skilled in the art without creative work are within the protection scope of the present application.

[0032] 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 comparative 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, switching the magnetic seat drill operation state of the execution unit according to the evaluation result, and realizing closed-loop intelligent maintenance control.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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 main shaft rotation process; the drilling axial thrust is subtracted from the drilling axial thrust average value, and then divided by the drilling axial thrust average value, 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, a disturbance abnormality judgment signal is generated, the magnetic base drill running perception data at this time 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 time 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 side shift trend analysis and drill wear evaluation.

[0038] wherein the specific calculation formula of the magnetic base drill running disturbance evaluation value is:

[0039] ;

[0040] 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 drilling axial thrust, represents the average value of the drilling axial thrust, and N represents the number of sampling points.

[0041] In the 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.

[0042] Specifically, the specific steps of calling the running disturbance data set and selecting the before-and-after comparison analysis window to construct the side shift analysis basic data set and performing the structural displacement trend identification are as follows: extracting the running disturbance data set, selecting two fixed time length sampling windows before and after the disturbance trigger time as the center, respectively extracting the continuous sampling sequence of the main shaft cumulative angular displacement, the electromagnet suction current and the tool head feeding rate from each sampling window; performing sliding average processing on each group of sampling sequences respectively, calculating to obtain the main shaft cumulative angular displacement average of the window before the disturbance, the main shaft cumulative angular displacement average of the window after the disturbance, the electromagnet suction current average of the window before the disturbance, the electromagnet suction current average of the window after the disturbance, and the tool head feeding rate average of the window before the disturbance, and constructing the side shift analysis basic data set; based on the constructed side shift analysis basic data set, performing the structural displacement trend identification of the magnetic base drill: subtracting the main shaft cumulative angular displacement average of the window before the disturbance from the main shaft cumulative angular displacement average of the window after the disturbance, and then dividing by the center time interval of the before-and-after windows, as the main shaft angular displacement change rate term, which is used to depict the rotational displacement change rate characteristics before and after the disturbance; taking the inverse of the tool head feeding rate average of the window before the disturbance plus a minimum term as the feeding lag modulation term, which is used to reflect the sensitivity modulation effect of the displacement response when the feeding rate is insufficient; wherein the minimum term is a small positive constant, which is used to avoid the phenomenon of mathematical infinite large in the case of extremely low feeding rate average, and to ensure the numerical stability and differentiability in the calculation process, thereby enhancing the adaptability and physical reasonableness of the algorithm under the low speed running boundary condition. Multiply the main shaft angular displacement change rate term by the feeding lag modulation term to obtain the displacement rate regulation factor, which is used to comprehensively measure the combined effect of angular displacement change and feeding lag; subtracting the electromagnet suction current average of the window after the disturbance from the electromagnet suction current average of the window before the disturbance, and then dividing by the electromagnet suction current average of the window before the disturbance, taking the absolute value of the ratio and adding one to obtain the suction decay modulation term, which is used to correct the structural stability deviation caused by the change of the magnetic base adhesion capacity; finally, multiplying the displacement rate regulation factor by the suction decay modulation term to obtain the magnetic base drill side shift evaluation value, which provides a quantitative basis for the structural displacement trend identification.

[0043] The specific calculation formula of the magnetic base drill side shift evaluation value is as follows:

[0044] ;

[0045] In the formula, S represents the magnetic base drill side shift evaluation value, represents the main shaft cumulative angular displacement average of the window before the disturbance, represents the main shaft cumulative angular displacement average of the window after the disturbance, represents the center time interval of the before-and-after windows, and v represents the tool head feeding rate average of the window before the disturbance, represents the minimum term, represents the electromagnet suction current average of the window before the disturbance, Mean of window magnet suction current after disturbance.

[0046] In this embodiment, Table 1 is a magnetic base drill side shift evaluation value data table, and the key parameter values in the magnetic base drill structure side shift trend identification process under five disturbance abnormal conditions are listed in the table, including the mean of window main shaft cumulative angular displacement before disturbance, the mean of window main shaft cumulative angular displacement after disturbance, the center time interval of front and rear windows, the mean of window tool head feed rate before disturbance, the minimum term, the mean of window magnet suction current before disturbance, the mean of window magnet suction current after disturbance, and the magnetic base drill side shift evaluation value calculated according to the evaluation formula. In disturbance 1, the mean of window main shaft cumulative angular displacement before disturbance is 110.22, the mean of window main shaft cumulative angular displacement after disturbance is 94.32, the center time interval of front and rear windows is 2.0, the mean of window tool head feed rate before disturbance is 1.22, the mean of window magnet suction current before disturbance is 2.48, the mean of window magnet suction current after disturbance is 1.78, and the corresponding magnetic base drill side shift evaluation value is 8.35; in disturbance 2, the mean of window main shaft cumulative angular displacement before disturbance is 116.96, the mean of window main shaft cumulative angular displacement after disturbance is 107.02, the center time interval of front and rear windows is 2.0, the mean of window tool head feed rate before disturbance is 0.82, the mean of window magnet suction current before disturbance is 2.22, the mean of window magnet suction current after disturbance is 1.83, and the corresponding magnetic base drill side shift evaluation value is 7.12; in disturbance 3, the mean of window main shaft cumulative angular displacement before disturbance is 118.80, the mean of window main shaft cumulative angular displacement after disturbance is 110.81, the center time interval of front and rear windows is 2.0, the mean of window tool head feed rate before disturbance is 0.76, the mean of window magnet suction current before disturbance is 1.90, the mean of window magnet suction current after disturbance is 1.04, and the corresponding magnetic base drill side shift evaluation value is 7.63; in disturbance 4, the mean of window main shaft cumulative angular displacement before disturbance is 113.45, the mean of window main shaft cumulative angular displacement after disturbance is 104.35, the center time interval of front and rear windows is 2.0, the mean of window tool head feed rate before disturbance is 1.14, the mean of window magnet suction current before disturbance is 2.40, the mean of window magnet suction current after disturbance is 1.01, and the corresponding magnetic base drill side shift evaluation value is 6.30; in disturbance 5, the mean of window main shaft cumulative angular displacement before disturbance is 110.06, the mean of window main shaft cumulative angular displacement after disturbance is 90.48, the center time interval of front and rear windows is 2.0, the mean of window tool head feed rate before disturbance is 1.36, the mean of window magnet suction current before disturbance is 1.51, the mean of window magnet suction current after disturbance is 1.12, and the corresponding magnetic base drill side shift evaluation value is 9.05. Table 1 is a magnetic base drill side shift evaluation value data table

[0047]

[0048] AsFigure 3 As shown, it is a magnetic base drill structure lateral displacement judgment histogram, the horizontal coordinate is the disturbance number, and the vertical coordinate is the magnetic base drill lateral displacement evaluation value. The blue dotted line in the figure indicates the displacement judgment threshold value as the standard line to judge whether the structural lateral displacement occurs. The column color is colored according to the comparison result of the magnetic base drill lateral displacement evaluation value and the displacement judgment threshold value: green represents no structural lateral displacement; red represents that the structural lateral displacement has been triggered. As can be seen from the figure, the evaluation values of disturbances 1, 3 and 5 are higher than the displacement judgment threshold value, and it is judged that the structural lateral displacement has been triggered; while the evaluation values of disturbances 2 and 4 are lower than the displacement judgment threshold value, and it is judged that the structural lateral displacement has not been triggered. The figure directly reflects the structural displacement trend evaluation result of the magnetic base drill under different disturbance conditions, which helps to realize the visual presentation of the lateral displacement recognition and judgment process and the quantitative auxiliary decision of the running state.

[0049] In this embodiment, by constructing the comparison analysis window before and after the running disturbance data set, and constructing the lateral displacement analysis basic data set with the window mean values of the main shaft cumulative angular displacement, the electromagnet suction force current and the tool head feed rate, the change trend of the key operating parameters before and after the disturbance can be accurately captured. By calculating the main shaft angular displacement change rate term, the feed hysteresis modulation term and the suction force attenuation modulation term, and then forming the coupling expression of the displacement rate regulation factor and the suction force attenuation modulation term, the displacement trend of the magnetic base drill structure under the influence of the disturbance is comprehensively evaluated. This method strengthens the linkage analysis capability of the rotational angular displacement response of the magnetic base drill, the electromagnetic suction force change and the tool head feed state, significantly improves the accuracy and robustness of the structural lateral displacement recognition, and provides a high confidence judgment basis for the subsequent shutdown control and running state marking.

[0050] Specifically, the specific steps of judging whether there is a structural lateral displacement behavior and completing the shutdown control and displacement state marking are as follows: the magnetic base drill lateral displacement evaluation value is compared with the set displacement judgment threshold value in real time, if the magnetic base drill lateral displacement evaluation value is less than or equal to the displacement judgment threshold value, it is judged that the current disturbance does not trigger effective structural displacement, the current running state of the magnetic base drill is maintained, and the collection, processing and state monitoring of the running perception data are continued; if the magnetic base drill lateral displacement evaluation value is higher than the displacement judgment threshold value, it is judged that the current disturbance behavior has triggered the structural lateral displacement trend, the structural lateral displacement judgment signal is triggered immediately, and the current magnetic base drill running perception data is frozen to complete the displacement state marking. After the generation of the structural lateral displacement judgment signal, the shutdown instruction is sent to the magnetic base drill power-off module through the control execution unit, the signal TG triggers the conduction of the transistor, the trigger signal of the bidirectional thyristor is cut off, the main motor power supply circuit is quickly disconnected, and thus the main machine of the magnetic base drill enters the shutdown state.

[0051] As Figure 4As shown, it is a circuit diagram of the magnetic base drill side shift protection function, which shows the hardware implementation structure of the magnetic base drill side shift protection function, and the key components include: power input end AC-N and AC-L, which are respectively the zero line and live line input of the alternating current power supply, used to provide working power for the magnetic base drill; motor working power lines M1 and M2, which are connected to the main motor of the magnetic base drill, used to drive the motor to run, wherein 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-off of alternating current in the motor circuit, realizing direct control of the magnetic base drill motor; current sampling point CURIN is arranged in the motor power supply path, used to collect the working current through the main motor in real time, and provide input basis for side shift protection judgment; the filter network composed of resistor R6 and capacitor C11 smoothes the sampling signal, and then realizes level amplification and conduction control through triode Q2; the base of triode Q2 is controlled by the sampling current signal, and its conduction state directly determines whether the output trigger signal TG is effective; power divider resistors R5, R7 and R8 are used for voltage bias adjustment and current limitation to ensure the stable and reliable operation of triode Q2; GND in the circuit represents the ground end, which is used as the zero potential reference point of the whole circuit and the return channel of the current loop, ensuring the uniformity of voltage reference of each device, the closure of current path and the stability of signal processing, and is the key basic connection node for realizing normal operation of the circuit and electrical safety; side shift protection function signal point TG is a trigger logic control output interface, when triode Q2 is turned on, TG point outputs an effective level to drive the subsequent control logic to act and send a side shift protection trigger signal. The protection function circuit can quickly respond to the fluctuation of the main motor current, and cut off the power supply when the structure side shift trend is detected, preventing the magnetic base drill from continuing to work, ensuring the safe operation of the drilling task, and is an important circuit composition for realizing closed-loop side shift protection control.

[0052] In the embodiment, the magnetic base drill side shift evaluation value is compared with the displacement judgment threshold value in real time, and a structure side shift judgment signal is generated in parallel, combined with the stop command issued by the control execution unit and the automatic action of the electrical control device, to realize the quick cut-off of the magnetic base drill main motor power supply circuit, and terminate the drilling process from the source. The control strategy integrates the whole process safety linkage mechanism of structure displacement trend recognition judgment, running sensing data freezing, state marking and power-off execution, can intervene and deal in time at the initial stage of structure side shift, improves the autonomous response ability of the magnetic base drill to unstable working conditions, and strengthens the closed-loop safety guarantee system of displacement risk identification and intervention control.

[0053] 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.

[0054] 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 the wear state recognition.

[0055] 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.

[0056] wherein the specific calculation formula of the drill bit wear tendency evaluation value is:

[0057]

[0058] In the formula, M represents the drill bit wear tendency evaluation value, represents the spindle angular velocity standard deviation, represents the spindle output torque average value, represents the minimum term, represents the tool head feed rate standard deviation, represents the tool head feed rate average value, represents the electromagnet suction force current standard deviation, represents the electromagnet suction force current average value.

[0059] 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.

[0060] Table 2 Drill bit wear tendency evaluation value data table

[0061]

[0062] 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.

[0063] 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.

[0064] Specifically, the specific steps of the closed-loop intelligent maintenance control realized by switching the magnetic base drilling operation state of the evaluation result linkage control execution unit are as follows: the drill bit wear tendency evaluation value is compared with the wear threshold value in real time, if the drill bit wear tendency evaluation value is greater than the wear threshold value, data warning information containing the current drill bit wear tendency evaluation value, the wear threshold reference line and the corresponding sampling time stamp is immediately sent to the operation interface, and the magnetic base drilling operation state is switched from the running state to the manual maintenance standby mode by the linkage control execution unit, all drilling instructions and power module outputs are suspended to ensure that the operator can carry out manual maintenance operation under no load condition; if the drill bit wear tendency evaluation value is less than or equal to the wear threshold value, the magnetic base drilling operation state is switched to the technical self-check standby mode, in which the magnetic base drilling actively suspends the drilling process and continuously collects operating sensing data such as spindle angular velocity, electromagnet suction current and tool head feed rate, and continuously monitors the key operating parameters. In the technical self-check standby mode, the operation interface provides interactive instruction options to allow the operator to manually select to continue running the process or enter the subsequent maintenance process based on the current wear trend data; only after receiving the manual confirmation recovery instruction input by the operator through the interface, the control execution unit allows the magnetic base drilling operation state to be switched from the technical self-check standby mode to the running preparation state, restores the standby start process and reenters the subsequent drilling task logic, realizes the closed-loop control of state switching and intelligent maintenance autonomous linkage.

[0065] In the embodiment, by comparing the drill bit wear tendency evaluation value with the wear threshold value in real time, and linkage control execution unit switches the magnetic base drilling operation state, a closed-loop control process from wear identification to operation state switching is constructed, which significantly improves the operation safety of the magnetic base drilling and the autonomy of the maintenance response. When the evaluation result reaches the warning level, it can be automatically switched to the manual maintenance standby mode to ensure the safety of personnel operation; when the evaluation result does not trigger the warning condition, it enters the technical self-check standby mode, keeps the operating state monitoring and provides the decision basis for the operator, and only after the manual confirmation of recovery, it can reenter the running preparation state. The control logic ensures the high coupling between the drill bit wear trend identification and the magnetic base drilling operation state, improves the running stability and the intelligent maintenance closed-loop capability.

[0066] As Figure 2As shown, the second aspect of the present application provides a magnetic seat drill intelligent side slip safety protection device based on multi-parameter monitoring, comprising: a running perception data acquisition preprocessing module, an abnormal state recognition and side slip judgment module, a side slip trend evaluation and decision control module, and a drill bit wear recognition and maintenance control module, wherein: the running perception data acquisition preprocessing module is used to acquire magnetic seat drill running perception data, and complete spindle angular displacement mapping, abnormality elimination and standardization processing on the magnetic seat drill running perception data to obtain preprocessed magnetic seat drill running perception data; the abnormal state recognition and side slip judgment module is used to perform magnetic seat drill running state joint determination based on the preprocessed running perception data set, construct a sampling window and complete magnetic seat drill running disturbance evaluation to generate a running disturbance data set; the side slip trend evaluation and decision control module is used to call the running disturbance data set and select a before-and-after comparison analysis window, construct a side slip analysis basic data set, perform structure displacement trend identification, judge whether there is a structure side slip behavior, and complete shutdown control and displacement state marking; the drill bit wear recognition and maintenance control module is used to extract angular velocity fluctuation, feed stability and suction current offset features based on the running disturbance data set, complete drill bit wear trend evaluation, and switch the magnetic seat drill operation state according to the evaluation result to realize closed-loop intelligent maintenance control.

[0067] In the embodiment, by constructing a multi-module cooperative structure composed of a running perception data acquisition preprocessing module, an abnormal state recognition and side slip judgment module, a side slip trend evaluation and decision control module, and a drill bit wear recognition and maintenance control module, a full-process closed-loop control system from magnetic seat drill running data acquisition, state recognition, side slip trend judgment to drill bit wear evaluation is established. Based on spindle angular displacement mapping, angular velocity fluctuation, feed stability and suction current offset features, the device realizes accurate identification of structure side slip behavior and drill bit wear trend, and according to the comprehensive evaluation result of the running disturbance data set, the magnetic seat drill operation state is switched by the linkage control execution unit, thereby improving the structure safety protection capability and tool health management capability in the operation process, and significantly enhancing the monitoring accuracy, response efficiency and autonomous maintenance level of the magnetic seat drill running process.

[0068] It should be noted that in this document, relationship terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device.

[0069] 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. A magnetic base drilling intelligent sidetracking safety protection method based on multi-parameter monitoring, characterized in that, The method comprises the following steps: S1, collecting magnetic base drill operation sensing data, and performing spindle angular displacement mapping, abnormality rejection and standardization processing on the magnetic base drill operation sensing data to obtain preprocessed magnetic base drill operation sensing data; S2, performing magnetic base drill operation state joint determination based on the preprocessed operation sensing data set, constructing a sampling window, completing magnetic base 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 front and back comparative analysis window, constructing a lateral displacement analysis basic data set, performing structure displacement trend identification, determining whether there is a structure lateral displacement 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 base drill operation state according to the evaluation result to realize closed-loop intelligent maintenance control; The specific steps of performing magnetic base drill operation state joint determination based on the preprocessed operation sensing data set and constructing a sampling window are as follows: Perform joint determination on the magnetic base drill operation state based on the preprocessed operation sensing data: determine whether the spindle angular velocity exceeds the angular velocity threshold value; Time integrate the spindle angular velocity to calculate the spindle cumulative angular displacement, determine whether the spindle cumulative angular displacement exceeds the offset threshold value, determine whether the tool head feed rate is lower than the lower limit of the feed rate, and determine whether the electromagnet suction current is lower than the set lower limit of the suction current; When any of the determination conditions is met, trigger the magnetic base drill operation disturbance evaluation, and mark the triggering time as the disturbance triggering time; With the disturbance triggering time as the reference, a fixed-length sampling window is constructed, and the continuous sampling sequences of the magnetic base drill vibration frequency and the drilling axial thrust in the sampling window are extracted; the sliding average calculation is performed on each sequence to obtain the average values of the magnetic base drill vibration frequency and the drilling axial thrust, respectively; The specific steps of calling the operation disturbance data set and selecting a front and back comparative analysis window, constructing a lateral displacement analysis basic data set, and performing structure displacement trend identification are as follows: Extract the operation disturbance data set, select two fixed-length sampling windows before and after the disturbance triggering time as the center, calculate the average values of the spindle cumulative angular displacement, the electromagnet suction current and the tool head feed rate in each sampling window, and construct a lateral displacement analysis basic data set; Based on the lateral displacement analysis basic data set, perform magnetic base drill structure displacement trend identification: subtract the average value of the spindle cumulative angular displacement in the post-disturbance window from the average value of the spindle cumulative angular displacement in the pre-disturbance window, then divide by the time interval between the centers of the two windows to obtain the spindle angular displacement change rate term; take the reciprocal of the average value of the tool head feed rate in the pre-disturbance window plus a minimum term to obtain the feed lag modulation term; multiply the spindle angular displacement change rate term by the feed lag modulation term to obtain the displacement rate regulation factor; subtract the average value of the electromagnet suction current in the post-disturbance window from the average value of the electromagnet suction current in the pre-disturbance window, then divide by the average value of the electromagnet suction current in the pre-disturbance window, take the absolute value of the comparison value and add one to obtain the suction decay modulation term; multiply the displacement rate regulation factor by the suction decay modulation term to obtain the magnetic base drill lateral displacement evaluation value; The specific steps for completing the drill bit wear tendency evaluation are as follows: The evaluation of drill bit wear trend: the standard deviation of the spindle angular velocity is divided by the sum of the average value and the minimum value of the spindle output torque, which constitutes the angular kinetic energy disturbance term; the standard deviation of the cutter feed rate is divided by the sum of the average value and the minimum value of the cutter feed rate, and then one is added to constitute the feed stability correction term; the standard deviation of the electromagnet suction current is divided by the sum of the average value and the minimum value of the suction current, and then one is added to constitute the suction stability correction term; the angular kinetic energy disturbance term is multiplied by the feed stability correction term and the suction stability correction term in turn to obtain the drill bit wear tendency evaluation value.

2. The multi-parameter monitoring based magnetic seat drill intelligent side- trip safety protection method of claim 1, wherein: The specific steps for collecting the magnetic base drill running sensing data and completing the spindle angular displacement mapping, abnormality rejection and standardization processing of the magnetic base drill running sensing data are as follows: Real-time collection of magnetic base drill running sensing data, including spindle angular velocity, electromagnet suction current, instantaneous angular acceleration, drilling axial thrust, magnetic base vibration frequency, cutter feed rate and spindle output torque; Synchronous sampling processing of the multi-channel asynchronous signals in the magnetic base drill running sensing data through the time tag alignment method; Spatial offset conversion processing of the magnetic base drill spindle angular displacement data through the mapping relationship between angle and displacement; Abnormal value rejection and integrity checking processing of the magnetic base drill running sensing data through the sliding window statistical rule; Structure unification and standardization processing of the magnetic base drill running sensing data through the field analysis and format arrangement method; Normalization processing of the magnetic base drill running sensing data through the unit conversion and scale normalization method.

3. The multi-parameter monitoring based magnetic seat drill intelligent side- trip safety protection method of claim 2, wherein: The specific steps for 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: 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 is taken, and the average value in the sampling window is taken as the vibration fluctuation intensity term; the absolute value of the instantaneous angular acceleration is divided by the acceleration threshold value 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 one is added as the disturbance adjustment coefficient; the vibration fluctuation intensity term is multiplied by the disturbance adjustment coefficient to obtain the magnetic base drill running disturbance evaluation value; Real-time comparison of the magnetic base drill running disturbance evaluation value and the disturbance determination threshold value, if the magnetic base drill running disturbance evaluation value is less than or equal to the disturbance determination threshold value, the current running state of the magnetic base drill is maintained; if the magnetic base drill running disturbance evaluation value is greater than the disturbance determination threshold value, it is determined that there is a structural disturbance behavior at present, and a disturbance abnormality determination signal is generated, and the current time magnetic base drill running sensing data is frozen, and the magnetic base drill running disturbance evaluation value and the disturbance triggering time are combined to constitute a running disturbance data set.

4. The multi-parameter monitoring based magnetic seat drill intelligent side- track safety protection method of claim 1, wherein: The specific steps for determining whether there is a structural side shift behavior and completing the shutdown control and displacement state marking are as follows: The magnetic base drill lateral displacement evaluation value is compared with a displacement determination threshold value, if the magnetic base drill lateral displacement evaluation value is less than or equal to the displacement determination threshold value, it is determined that the current disturbance does not cause effective structure displacement, and the current running state of the magnetic base drill is maintained; if the magnetic base drill lateral displacement evaluation value is greater than the displacement determination threshold value, it is determined that the current disturbance behavior has caused structure lateral displacement, a structure lateral displacement determination signal is generated, and a stop control instruction is output to the control execution unit, the main motor power supply circuit is cut off, and the drilling process is terminated.

5. The multi-parameter monitoring based magnetic seat drill intelligent side- track safety protection method according to claim 1, characterized in that: 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 structure lateral displacement determination result is true, a running disturbance data set is extracted, a fixed time length sampling window centered on the disturbance triggering time is selected, and 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 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 calculated respectively.

6. The multi-parameter monitoring based magnetic seat drill intelligent side- track safety protection method according to claim 1, characterized in that: The specific steps of switching the magnetic base drill operating state according to the evaluation result and controlling the execution unit to realize closed-loop intelligent maintenance control are as follows: The drill bit wear tendency evaluation value is compared with the wear threshold value in real time, if the drill bit wear tendency evaluation value is greater than the wear threshold value, the wear warning information is sent to the operation interface, and the magnetic base drill state is switched to the manual maintenance standby mode by the control execution unit; Otherwise, the magnetic base drill state is switched to the technical self-check standby mode; In the technical self-check standby mode, the operation is suspended but the running state monitoring is maintained, 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 after receiving the manual confirmation instruction of the operator to resume, the magnetic base drill state is switched to the running preparation state, and the operation process is reentered.

7. The magnetic base drilling intelligent side shift safety protection device based on multi-parameter monitoring, using the magnetic base drilling intelligent side shift safety protection method based on multi-parameter monitoring as claimed in claim 1, characterized in that: It comprises: The running perception data acquisition and preprocessing module, the abnormal state recognition and lateral displacement determination module, the lateral displacement trend evaluation and decision control module and the drill bit wear recognition and maintenance control module, wherein: The running perception data acquisition and preprocessing module is used for acquiring the magnetic base drill running perception data, and completing the main shaft angular displacement mapping, abnormality elimination and standardization processing on the magnetic base drill running perception data to obtain the preprocessed magnetic base drill running perception data; The abnormal state recognition and lateral displacement determination module is used for performing the magnetic base drill running state joint determination based on the preprocessed running perception data set, constructing a sampling window and completing the magnetic base drill running disturbance evaluation to generate a running disturbance data set; The lateral displacement 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 lateral displacement analysis basic data set, performing structure displacement trend recognition, judging whether there is structure lateral displacement behavior, and completing stop control and displacement state marking; The drill bit wear identification and maintenance control module is used for extracting angular velocity fluctuation, feeding stability and suction current offset features based on the running disturbance data set, completing drill bit wear tendency evaluation, and switching the magnetic base drilling operation state of the execution unit according to the evaluation result, so as to realize closed-loop intelligent maintenance control.

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