Monitoring method and device during operation of high-arm drilling machine

Abstract

The invention discloses a monitoring method and device during operation of a high-arm drilling machine, and belongs to the technical field of engineering machine.The monitoring method comprises the steps that sensing data output by sensors arranged on all parts of the high-arm drilling machine are obtained; comparing each piece of sensing data with a corresponding threshold range, acquiring a sensor corresponding to the sensing data not within the threshold range, and marking a part where the sensor is located as a fault occurrence part; acquiring a camera arranged on the high-arm drilling machine, wherein the view field of the camera covers the fault occurrence part, controlling the camera to follow the fault occurrence part and acquiring video data; and uploading the video data to a display terminal for display, and performing highlight display on the fault occurrence part. Through two-stage judgment, faults can be found in time, and the safety of operation of the high-arm drilling machine is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a monitoring method and device for a high-arm drilling rig during operation. Background Art

[0002] The high-boom drill rig is a new type of equipment specifically designed for mountain slope protection and cavern construction. With a drill boom height of up to 30 meters, it is particularly suitable for slope protection construction in steep and complex terrain. It is primarily used for drilling operations, providing foundational support for subsequent slope protection projects (such as the installation of anchor bolts, retaining walls, and slope protection piles). In cavern construction (such as tunnels, underground mines, and underground warehouses), the high-boom drill rig is a very important piece of machinery, primarily used for drilling operations, including excavation, support, and blasthole drilling. Due to its flexibility and efficiency, the high-boom drill rig is particularly well-suited for the complex environments and confined spaces of cavern construction.

[0003] Because the high-boom drilling rig's construction surface is far from the ground, construction workers cannot visually observe the drilling process and the working surface conditions. Failure to provide timely warnings and address any malfunctions can have serious consequences. Existing technology relies solely on single-sensor data for fault diagnosis, making it difficult to fully perceive the drilling rig's status. Furthermore, single sensors are susceptible to interference in complex working conditions, leading to false alarms and disrupting construction progress. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a monitoring method and device for the operation of a high-arm drilling rig. The operation of the high-arm drilling rig is monitored by sensors and cameras. Compared with the traditional monitoring solution that relies on a single sensor, the method and device can detect faults in a timely manner and ensure the safety of the operation of the high-arm drilling rig.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a method for monitoring a high-arm drilling rig during operation, comprising: Acquiring sensor data output by sensors provided at various locations on the high-arm drilling rig; Compare each sensor data with the corresponding threshold range, obtain the sensor corresponding to the sensor data that is not within the threshold range, and mark the location where the sensor is located as the fault location; Obtaining a camera provided on the high-arm drilling rig with a field of view covering the fault location, and controlling the camera to follow the fault location and collect video data; The video data is uploaded to a display terminal for display and the fault location is highlighted.

[0006] In a second aspect, the present invention provides a monitoring device for a high-arm drilling rig during operation, comprising: a data acquisition module configured to acquire sensor data output by sensors provided at various locations on the high-arm drilling rig; a fault detection module configured to compare each sensor data with a corresponding threshold range, obtain sensors corresponding to sensor data that is not within the threshold range, and mark the location of the sensor as a fault location; an image acquisition module configured to acquire a camera provided on the high-arm drilling rig whose field of view covers the fault location, and control the camera to follow the fault location and acquire video data; The location display module is configured to upload the video data to a display terminal for display and highlight the location where the fault occurs.

[0007] In a third aspect, the present invention provides an electronic device, including a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the above method.

[0008] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0009] In a fifth aspect, the present invention provides a computer program product, comprising a computer program / instruction, which implements the steps of the above method when executed by a processor.

[0010] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method and device for monitoring the operation of a high-boom drilling rig. Sensor data output by sensors installed at various locations on the high-boom drilling rig is used to perform preliminary fault detection on each location. When a fault is detected, a camera installed on the high-boom drilling rig captures the faulty location and transmits the image to a display terminal for the driver to make a secondary judgment. The faulty location is highlighted during the display process, ensuring that the driver can conduct dynamic observation and fault judgment during the operation of the high-boom drilling rig. In summary, the present invention, through two-level judgment, can promptly detect faults and ensure the safety of the high-boom drilling rig's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 1 is a flow chart of a method for monitoring a high-arm drilling rig during operation provided by an embodiment of the present invention; Figure 2 It is a structural diagram of a monitoring method for a high-arm drilling rig during operation provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0012] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0013] Example 1:

[0014] like Figure 1 As shown, an embodiment of the present invention provides a method for monitoring a high-arm drilling rig during operation, comprising the following steps: Step S1: Acquire sensor data output by sensors installed at various locations on the high-boom drilling rig.

[0015] In this embodiment, the sensor includes but is not limited to a pressure sensor, a temperature sensor, a vibration sensor, and a torque sensor.

[0016] Pressure sensors are deployed at various pressure detection points in the hydraulic system to prevent pressure overload or underload. Pressure detection points such as the oil inlet of the drilling rig propulsion cylinder.

[0017] Temperature sensors are deployed at various temperature detection points in the hydraulic system to prevent overheating damage, such as the bottom of the hydraulic oil tank.

[0018] Vibration sensors are deployed on each drill arm joint to prevent damage to the mechanical structure.

[0019] The torque sensor is deployed at the output end of each hydraulic motor to prevent abnormal torque fluctuations.

[0020] Step S2: Compare each sensor data with the corresponding threshold range, obtain the sensor corresponding to the sensor data that is not within the threshold range, and mark the location where the sensor is located as the fault location.

[0021] Step S3: Obtain a camera on the high-arm drilling rig whose field of view covers the fault location, and control the camera to follow the fault location and collect video data.

[0022] In this embodiment, the camera is rotatable, and its field of view is adjusted by adjusting its rotation and pitch angles. The maximum field of view of the rotatable camera is achieved when the rotation and pitch angles are at their extreme values. When the fields of view of multiple cameras simultaneously meet the coverage requirements, the camera with the rotation and pitch angles closest to the initial position is prioritized to facilitate subsequent adjustments.

[0023] In this embodiment, controlling the camera to follow the fault location and collect video data includes: (1) Detect the fault location through image recognition technology and obtain the position coordinates of the center position of the detection frame of the fault location on the video frame image; (2) Calculate the error distance between the center position of the detection frame and the center position of the video frame image on the X-axis and Y-axis based on the position coordinates; (3) According to the error distance on the X-axis, the PID control algorithm is used to calculate the adjustment amount of the camera on the rotation angle. According to the error distance on the Y-axis, the PID control algorithm is used to calculate the adjustment amount of the camera on the pitch angle.

[0024] Taking the X-axis as an example, the calculation formula of the PID control algorithm is:

[0025] in: To control the amount, is the error distance, , are the X-axis coordinate values ​​of the center position of the detection frame and the center position of the video frame image respectively; are PID parameters.

[0026] Adjust the driving signal of the driving motor corresponding to the rotation angle according to the control amount :

[0027] in: is the maximum duty cycle and minimum duty cycle of the PWM signal, is the maximum and minimum amplitude of the PWM signal.

[0028] In the above step (1), the image recognition technology detects the fault location including: Collect sample images of various parts of the high-boom drill rig, and use image annotation software to annotate the parts in the sample images to form a training set; Build an image recognition model based on Yolov5 and train it using the training set until the loss function converges or the maximum number of iterations is reached to obtain a trained image recognition model. Deploy and apply the trained image recognition model to detect the fault location.

[0029] Step S4: Upload the video data to the display terminal for display and highlight the fault location.

[0030] Similarly, the fault location is detected using image recognition technology to obtain a detection frame of the fault location; then, the pixel values ​​of the pixels on the detection frame are edited using a color tone editor to display the target color.

[0031] Highlighting the fault location makes it easier for the driver to observe and judge it. If a problem is found, it can be dealt with promptly to reduce the damage caused by the fault. In addition, an audible and visual alarm can be added to the display terminal. When the fault location is determined, an audible and visual reminder will be issued to remind the driver to observe the highlighted fault location on the display terminal.

[0032] Example 2:

[0033] like Figure 2 As shown, an embodiment of the present invention provides a monitoring device for a high-arm drilling rig during operation, comprising: A data acquisition module is configured to acquire sensor data output by sensors provided at various locations on the high-arm drilling rig; a fault detection module configured to compare each sensor data with a corresponding threshold range, obtain sensors corresponding to sensor data that is not within the threshold range, and mark the location of the sensor as a fault location; An image acquisition module is configured to acquire a camera provided on the high-arm drilling rig whose field of view covers the fault location, control the camera to follow the fault location and acquire video data; The location display module is configured to upload the video data to the display terminal for display and highlight the location where the fault occurs.

[0034] Example 3:

[0035] Based on the monitoring method for the high-arm drill during operation provided in the first embodiment, an embodiment of the present invention provides an electronic device including a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the above method.

[0036] Example 4:

[0037] Based on the monitoring method for the high-arm drilling rig during operation provided in Example 1, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0038] Embodiment 5:

[0039] Based on the monitoring method for the high-arm drilling rig during operation provided in Example 1, an embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the steps of the above method when executed by a processor.

[0040] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0041] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0042] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0043] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for monitoring a high-arm drilling rig during operation, characterized in that: include: Acquiring sensor data output by sensors provided at various locations on the high-arm drilling rig; Compare each sensor data with the corresponding threshold range, obtain the sensor corresponding to the sensor data that is not within the threshold range, and mark the location where the sensor is located as the fault location; Obtaining a camera provided on the high-arm drilling rig with a field of view covering the fault location, and controlling the camera to follow the fault location and collect video data; The video data is uploaded to a display terminal for display and the fault location is highlighted.

2. The method for monitoring the operation of a high-arm drilling rig according to claim 1, characterized in that: The sensor comprises: Pressure sensors are deployed at various pressure detection points in the hydraulic system; Temperature sensors are deployed at various temperature detection points in the hydraulic system; Vibration sensors are deployed on each drill arm joint; The torque sensor is deployed at the output end of each hydraulic motor.

3. The method for monitoring the operation of a high-arm drilling rig according to claim 1, characterized in that: The camera is a rotatable camera, and the field of view is adjusted by adjusting its rotation angle and pitch angle.

4. The method for monitoring the operation of a high-arm drilling rig according to claim 3, characterized in that: The controlling the camera to follow the fault location and collect video data includes: Detecting the fault location using image recognition technology to obtain the position coordinates of the center of the detection frame of the fault location on the video frame image; Calculate the error distance between the center position of the detection frame and the center position of the video frame image on the X axis and the Y axis according to the position coordinates; According to the error distance on the X-axis, a PID control algorithm is used to calculate the adjustment amount of the camera on the rotation angle, and according to the error distance on the Y-axis, a PID control algorithm is used to calculate the adjustment amount of the camera on the pitch angle.

5. The method for monitoring the operation of a high-arm drilling rig according to claim 4, characterized in that: The detecting the fault location by using image recognition technology includes: Collecting sample images of various parts of the high-boom drill rig, and using image annotation software to annotate the parts in the sample images to form a training set; Constructing an image recognition model based on Yolov5, and training the image recognition model using the training set until the loss function converges or the maximum number of iterations is reached, thereby obtaining a trained image recognition model; The trained image recognition model is deployed and applied to detect the location where the fault occurs.

6. The method for monitoring the operation of a high-arm drilling rig according to claim 1, characterized in that: The highlighting of the fault location includes: The fault location is detected by image recognition technology to obtain a detection frame of the fault location; and the pixel values ​​of the pixels on the detection frame are edited by a color tone editor to display the target color.

7. A monitoring device for a high-arm drilling rig during operation, characterized in that: include: a data acquisition module configured to acquire sensor data output by sensors provided at various locations on the high-arm drilling rig; a fault detection module configured to compare each sensor data with a corresponding threshold range, obtain sensors corresponding to sensor data that is not within the threshold range, and mark the location of the sensor as a fault location; an image acquisition module configured to acquire a camera provided on the high-arm drilling rig whose field of view covers the fault location, and control the camera to follow the fault location and acquire video data; The location display module is configured to upload the video data to a display terminal for display and highlight the location where the fault occurs.

8. An electronic device, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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