A hydraulic control method and system for a multi-degree-of-freedom drilling boom

Abstract

The present application relates to the technical field of hydraulic control, in particular to a kind of multi-degree-of-freedom drilling boom hydraulic control method and system, comprising the following steps: monitoring the posture change of drilling boom and generating intervention signal, freezing main control path and identifying candidate auxiliary oil cylinder, screening path matching posture demand, sequencing trigger action and recording result, extension control boundary forms hydraulic control scheme.In the present application, by comparing the current posture with historical trajectory in structure rotation, posture deviation and angle rollover change can be quickly identified, abnormal judgment accuracy is improved, path efficient screening is realized by combining driving path locking and auxiliary element grouping, linkage path group is formed based on displacement and posture demand matching analysis and paths that do not meet the conditions are eliminated, cylinder action priority trigger is realized by angle sequencing, and stroke boundary is dynamically corrected by combining completed action, so that control parameters can adapt to structure change in real time, and action stability, path coordination and posture control accuracy are improved.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology, and in particular to a hydraulic control method and system for a multi-degree-of-freedom drilling boom. Background Technology

[0002] Hydraulic control technology primarily involves the regulation and control of the motion of actuators using hydraulic drive systems. Its core aspects include hydraulic energy conversion, coordinated movement of hydraulic cylinders or motors, proportional adjustment of hydraulic valves, and synchronous control of multiple degrees of freedom in complex mechanical systems. It is widely used in engineering machinery, mining equipment, and automated complete sets of equipment. This technology emphasizes control precision, system response speed, and multi-axis linkage coordination performance, and is one of the fundamental technologies for achieving precise control of complex mechanical structures. Traditional multi-degree-of-freedom drilling boom hydraulic control methods refer to drilling booms with multiple degrees of freedom used in mining or engineering equipment. These methods control the spatial position and angular attitude of each component through a hydraulic system to complete drilling operations. The technical challenge addressed is achieving stable drilling operations of the drill bit at different heights and angles. Traditional methods typically employ separate control of telescopic cylinders, tilting cylinders, swing cylinders, tilting cylinders, and drill rod lifting cylinders. The stroke of each cylinder is measured to adjust the boom's pitch angle, sway angle, tilt angle, and drill rod's vertical sliding distance. X and Y tilt sensors monitor angle changes to achieve coordinated operation of each degree of freedom.

[0003] Existing technologies in the hydraulic control of multi-degree-of-freedom drilling booms rely on single measurements of the stroke of each cylinder and angle sensor data. Under complex posture changes, they lack coordination and judgment between multiple paths, resulting in low efficiency in motion path selection and insufficient linkage control. They cannot identify the structural offset trend in time when the posture changes rapidly, and motion paths that are not compatible with the posture requirements are prone to participate in the execution. This causes confusion in the triggering sequence and reverse interference when multiple cylinders work together. At the same time, there is no control stroke boundary adjustment mechanism based on real-time results, which leads to inconsistencies between stroke parameters and the current structural state, thereby affecting the posture maintenance capability and overall drilling accuracy. Summary of the Invention

[0004] To address the technical problems existing in the prior art, this invention provides a hydraulic control method for a multi-degree-of-freedom drilling boom, comprising the following steps:

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a hydraulic control method for a multi-degree-of-freedom drilling boom, comprising the following steps:

[0006] S1: Monitor the X and Y direction attitude changes of the drilling boom, compare the current stable attitude trajectory with the previous stage, extract the direction of the support cylinder linkage, and judge the stability of the action by combining the attitude deviation and angle flipping trend, and generate attitude change intervention signal.

[0007] S2: Based on the attitude change intervention signal, retrieve the main control cylinder number, locate the drive output path, freeze the path action command, register the main control path lock status, add the auxiliary cylinders that do not participate in the main control to the standby set, and generate a candidate auxiliary identifier set;

[0008] S3: Call the auxiliary cylinder in the candidate auxiliary identifier set, determine the consistency between the movement direction and the drill arm attitude tilting direction, screen out paths with angle deviation, evaluate the matching of displacement and attitude requirements, and generate a linkage response path group;

[0009] S4: Based on the comparison of the cylinder position relationship of the linkage response path group, analyze the angle between the action direction and the drill arm extension, mark the priority of the cylinder with the opposite angle, trigger the action in sequence, and generate the action channel execution process book.

[0010] S5: Based on the cylinder numbers already completed in the action channel execution process book, determine the range of change, extend the control stroke boundary, replace the current stroke control value, and form a multi-degree-of-freedom drilling boom hydraulic control scheme.

[0011] As a further embodiment of the present invention, the attitude change intervention signal includes attitude offset state, angle flipping trend, and motion stability state; the candidate auxiliary identifier set includes main control cylinder number, main control path lock identifier, and candidate auxiliary cylinder number; the linkage response path group includes synchronous linkage cylinder number, path matching identifier, and displacement direction consistency identifier; the motion channel execution flow book includes cylinder number sorting information, motion trigger priority, and motion activation record; and the multi-degree-of-freedom drilling boom hydraulic control scheme includes control stroke start and stop points, stroke boundary extension parameters, and current stroke control value.

[0012] As a further aspect of the present invention, the specific steps of S1 are as follows:

[0013] S101: Monitor the X and Y orientation changes of the multi-degree-of-freedom drilling boom during structural rotation, obtain the orientation angle data at time nodes, calculate the angle change between adjacent nodes, classify and calculate the differences in the changes within the same action stage, and obtain the orientation change trend characteristics.

[0014] S102: Based on the characteristics of the posture change trend, compare with the stable posture trajectory of the previous action stage to determine whether the current posture change trend in the X and Y directions has reversed or continued to shift, and compare with the trend difference range and the angle change benchmark to obtain the posture shift determination result.

[0015] S103: Call the attitude offset determination result, combine it with the time series position change direction of the support cylinder connection point, and determine whether the unstable action condition is met by the linkage direction of three consecutive sets of connection point positions, and generate an attitude change intervention signal.

[0016] As a further aspect of the present invention, the specific steps of S2 are as follows:

[0017] S201: Based on the attitude change intervention signal, retrieve the set of cylinder numbers that are already in action state, compare the execution state identifier of the numbers, filter the numbers that are in action state in the current channel, and obtain the main control cylinder number group.

[0018] S202: Based on the main control cylinder number group, locate the corresponding drive path, mark the executed path number as frozen, establish the corresponding path status record, and obtain the main control path lock record;

[0019] S203: Based on the main control path locking record, remove the main control cylinder number from all cylinder numbers, filter the auxiliary cylinder numbers that did not participate in the channel action, and integrate them to form a set of candidate auxiliary identifiers.

[0020] As a further aspect of the present invention, the specific steps of S3 are as follows:

[0021] S301: Call the auxiliary cylinder number in the candidate auxiliary identifier set, obtain the motion direction parameter of the auxiliary cylinder, compare it with the tilt direction data of the current attitude of the drill arm, filter out the auxiliary numbers whose motion direction is inconsistent with the tilt direction, and obtain the group of numbers with consistent direction.

[0022] S302: Based on the direction-consistent number group, extract the displacement direction change parameters of the auxiliary cylinder, and match them with the target offset direction in the drill arm attitude parameters to filter out the numbers with direction deviations and obtain the direction-matching number group.

[0023] S303: Based on the direction matching number group, combined with the corresponding drive channel number and action signal status, filter the path channel number that can currently perform linkage operation, and generate a linkage response path group after integration.

[0024] As a further aspect of the present invention, the specific steps of S4 are as follows:

[0025] S401: Based on the cylinder number in the linkage response path group, obtain the position coordinates of the actuating end of each cylinder in the structure, calculate the angle between the position and the extension direction of the drill arm inclination angle, and screen out the cylinder numbers whose angle direction is opposite to the extension direction to obtain the reverse angle number group.

[0026] S402: Call the included angle reverse numbering group to sequentially mark the structural path number of the hydraulic cylinder, and establish a mapping relationship between the number and the marking order to obtain the path triggering sequence table;

[0027] S403: According to the path triggering sequence table, trigger the action instructions in the path channel in sequence, record the response result of each channel and summarize it into a record of association between number and action status, and generate an action channel execution flow book.

[0028] As a further aspect of the present invention, the specific steps of S5 are as follows:

[0029] S501: Based on the completed action cylinder number recorded in the action channel execution process book, extract the structural connection position coordinates and action displacement parameters of the corresponding cylinder, calculate the boundary range of the structural change area during the action process, and obtain the structural change boundary interval.

[0030] S502: Based on the structural change boundary interval, obtain the start and end point data of the cylinder control stroke, match the boundary interval accordingly, and extend the part exceeding the interval according to the action coverage requirements to obtain the extended control stroke set;

[0031] S503: Based on the extended control stroke set, replace the original stroke control parameters with the extended new stroke values, and generate control channel parameter sets in sequence according to the cylinder number to establish a multi-degree-of-freedom drilling boom hydraulic control scheme.

[0032] As a further aspect of the present invention, the attitude offset and angle flipping trend refer to the direction of displacement change of the drilling boom in space relative to the previous stage reference trajectory and the rotation trend of its attitude angle.

[0033] As a further aspect of the present invention, the evaluation of displacement and attitude requirement matching refers to determining whether it has responsiveness and coordination in linkage control by comparing the consistency between the auxiliary cylinder displacement direction and the current drill arm required attitude adjustment direction.

[0034] A multi-degree-of-freedom drilling boom hydraulic control system includes:

[0035] The attitude perception module acquires the X and Y direction attitude trajectories of the drilling boom, extracts the current direction vector and the trajectory vector of the previous stage, calculates the angle between the two and determines whether a rollover has occurred, analyzes the rollover trend and the number of direction switching, identifies the connection points of unstable support cylinders, and generates attitude change intervention signals.

[0036] The path freezing module searches for the cylinder path in the current action state based on the connection number in the attitude change intervention signal, extracts the corresponding channel and freezes the action signal, identifies the auxiliary cylinder number that is not in action state, merges it into the standby path, and generates a set of candidate auxiliary identifiers.

[0037] The direction comparison module calls the path number in the candidate auxiliary identifier set, extracts the angle between the path action direction and the drill arm tilting direction, filters out paths with the angle direction deviating from the direction, determines whether the auxiliary cylinder movement direction is consistent with the drill arm tilting direction, filters out paths with an angle deviation trend, and generates a linkage response path group.

[0038] The action sequence module collects the spatial position of the end of the path according to the path number in the linkage response path group, compares the angle between the action direction and the tilt direction, marks the reverse path and sorts it according to the angle value, and sequentially triggers the predetermined number of path actions with the highest angle value in the sorting, and establishes the action channel execution flow book.

[0039] The coverage update module calls the number and response information in the action channel execution process book to obtain the start and end positions of the action, calculates the boundary extension value and compares it with the difference of the original boundary, replaces the original path start and stop points with the current control coverage area, and generates a multi-degree-of-freedom drilling boom hydraulic control scheme.

[0040] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0041] In this invention, by comparing the current posture with the historical trajectory during structural rotation, posture deviation and angle flip changes can be quickly identified, improving the accuracy of anomaly judgment. Combined with drive path locking and auxiliary component grouping, efficient path screening is achieved. Based on displacement and posture requirement matching analysis, linkage path groups are formed and paths that do not meet the conditions are eliminated. By sorting the included angles, priority triggering of hydraulic cylinder actions is achieved. Combined with dynamic correction of the stroke boundary of completed actions, the control parameters adapt to structural changes in real time, improving action stability, path coordination and posture control accuracy. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the steps of the present invention;

[0044] Figure 2 This is a detailed schematic diagram of S1 of the present invention;

[0045] Figure 3 This is a detailed schematic diagram of S2 of the present invention;

[0046] Figure 4 This is a detailed schematic diagram of S3 of the present invention;

[0047] Figure 5 This is a detailed schematic diagram of S4 of the present invention;

[0048] Figure 6 This is a detailed schematic diagram of S5 of the present invention;

[0049] Figure 7 This is a system module diagram of the present invention. Detailed Implementation

[0050] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0051] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0052] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0053] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0054] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0055] Please see Figure 1 This invention provides a hydraulic control method for a multi-degree-of-freedom drilling boom, comprising the following steps:

[0056] S1: Monitor the X and Y orientation changes of the multi-degree-of-freedom drilling boom during structural rotation, compare the current orientation change direction with the stable orientation trajectory of the previous action stage, extract the linkage direction state of the support cylinder connection point, judge the action stability based on whether there is an orientation deviation behavior and combined with the angle flipping trend, and generate an orientation change intervention signal.

[0057] S2: Based on the attitude change intervention signal, retrieve the number of the main control cylinder that is already in action state, locate the drive direction output path, freeze the actuation command issued by the path, register the locking status of the main control path, add the auxiliary cylinder number that does not participate in the main control channel to the standby identifier set, and obtain the candidate auxiliary identifier set.

[0058] S3: Call the auxiliary cylinder number in the candidate auxiliary identifier set, determine whether the current movement direction is consistent with the tilting direction of the drill arm posture, filter out paths with an angle deviation trend, evaluate whether the displacement change direction matches the current posture requirements, retain the synchronous linkage number, and generate a linkage response path group.

[0059] S4: Based on the cylinder number in the linkage response path group, compare the positional relationship of the action end in the structure, analyze the angle change between the action direction and the extension direction of the drill arm inclination angle, perform priority sorting for cylinders with opposite angles, trigger actions in sequence, record activation results, and generate an action channel execution flow book.

[0060] S5: Based on the completed action cylinder numbers recorded in the action channel execution process book, determine the range of structural changes during the execution process, extend the start and end points of the corresponding control stroke according to the action coverage area, and replace them with the current stroke control value to form a multi-degree-of-freedom drilling boom hydraulic control scheme.

[0061] The attitude change intervention signals include attitude deviation status, angle flipping trend, and motion stability status. The set of candidate auxiliary identifiers includes the main control cylinder number, the main control path lock identifier, and the candidate auxiliary cylinder number. The linkage response path group includes the synchronous linkage cylinder number, the path matching identifier, and the displacement direction consistency identifier. The motion channel execution process book includes cylinder number sorting information, motion trigger priority, and motion activation record. The multi-degree-of-freedom drilling boom hydraulic control scheme includes control stroke start and stop points, stroke boundary extension parameters, and current stroke control value.

[0062] Please see Figure 2 The specific steps of S1 are as follows:

[0063] S101: Monitor the X and Y orientation changes of the multi-degree-of-freedom drilling boom during structural rotation, obtain the orientation angle data at time nodes, calculate the angle change between adjacent nodes, classify and calculate the differences in the changes within the same action stage, and obtain the orientation change trend characteristics.

[0064] First, the initial angle of the drilling boom is sampled and recorded at the start of operation. A sampling cycle of 0.5 seconds is set, and the attitude angles in the X and Y directions are read sequentially. Angle values ​​are obtained through angle sensors located at the middle and end of the boom, and the X and Y attitude angle data at time points such as 0s, 0.5s, 1.0s, and 1.5s are recorded. Based on this, starting from the first time point, the attitude angles of any two adjacent sampling points are subtracted to calculate the change. For example, if the X-direction is 12.3° at 0s and 13.7° at 0.5s, the change is 1.4°. Similar calculations are performed on all sampling points throughout the cycle, and the changes are recorded to form a sequence of angle changes in the X and Y directions. Simultaneously, combined with the operational stage information calibrated in the operating process, such as the drilling stage time being 0s to 5s, the lifting stage 5s to 8s, and the retraction stage 8s to 12s, all change data can be categorized by time. Within each corresponding action phase, the change pattern is analyzed. For example, the number of positive, negative, and zero values ​​in the X-direction is counted to determine whether the trend is a continuous increase or oscillation. For instance, in the drilling phase, if 9 out of 10 sets of change data are positive and 1 is negative, it is judged as a stable upward trend of forward tilting. Similarly, in the lifting phase, if the angle change is concentrated between -0.5° and +0.5°, it indicates that the posture tends to be stable. This analysis can obtain the posture change trend characteristics of each action phase, such as forward tilting, short-term swing, and posture stability. At the same time, the absolute values ​​of change between adjacent sampling points are compared, and the maximum and minimum change values ​​are selected within each phase. Let the maximum angle change in the X-direction be 2.6° and the minimum be -1.1°, and the change range in the Y-direction be -1.5° to 2.3°. Finally, the trend, amplitude, and direction of posture change in each phase are output, providing basic data for subsequent difference analysis.

[0065] S102: Based on the characteristics of the attitude change trend, compare it with the stable attitude trajectory of the previous action stage to determine whether the current attitude change trend in the X and Y directions has reversed or continued to shift. Combine the trend difference range with the angle change benchmark to obtain the attitude shift judgment result.

[0066] First, the data from the last three seconds of the previous stage is selected as the reference segment for the stable trajectory. Assuming a sampling frequency of twice per second, six sets of attitude angle data in the X and Y directions are obtained. The average value of these six sets of data is calculated as the stable attitude reference value. For example, if the X-direction values ​​are 15.2°, 15.3°, 15.1°, 15.2°, 15.4°, and 15.2°, the average value is 15.23°. If the Y-direction values ​​are -0.4°, -0.3°, -0.5°, -0.3°, -0.4°, and -0.4°, the average value is -0.38°. This is the stable attitude trajectory of the previous stage. Then, the attitude data from the first three seconds of the current stage is extracted, and the average values ​​in the X and Y directions are calculated again. For example, if the X-direction value is 17.4° and the Y-direction value is -1.6°, then the current average value is subtracted from the average value of the previous stage to obtain the attitude offset difference, which is 2.17° in the X-direction and -1.22° in the Y-direction. To determine whether the offset requirement has been met, a judgment benchmark needs to be set. Combining the device's structural stability requirements, the angle offset benchmark is set to 2.0°. When the attitude angle offset value in a certain direction is greater than 2.0°, it is judged as a significant offset. If the average change trend in the previous stage is static or slow, for example, the change in attitude angle for each group is less than 0.2°, then if the data in the current stage continuously shows an offset change in the same direction, for example, if the X-direction of 6 consecutive samplings is 15.5°, 16.1°, 16.8°, 17.3°, 17.9°, and 18.4° respectively, with each interval being more than 0.5°, then it can be judged as a continuous offset. At the same time, if the offset direction shows an opposite trend to the data in the previous stage, that is, the data in the previous stage was decreasing while the data in the current stage is continuously increasing, then it is further judged as a direction reversal. Combining the dual judgment of offset value and change trend, the final output is the result information of whether there is a significant attitude offset and whether the direction has reversed.

[0067] S103: Call the attitude offset judgment result, combine it with the time series position change direction of the support cylinder connection point, and judge whether the unstable action condition is met by the linkage direction of three consecutive sets of connection point positions, and generate attitude change intervention signal.

[0068] First, determine the sampling sequence and time period for the three key connection points on the support cylinder. Sampling is set to twice per second. The spatial coordinate changes of connection points A, B, and C are acquired at t1=0s, t2=0.5s, and t3=1.0s respectively. For example, at t1, the coordinates of A are (420, 235), at t2, the coordinates of B are (418, 241), and at t3, the coordinates of C are (415, 247). By comparing the direction of coordinate change between any two time points, the displacement trend can be obtained. For example, from A to B, the displacement decreases by 2mm in the X direction and increases by 6mm in the Y direction; from B to C, the displacement decreases by 3mm in the X direction and increases by 6mm in the Y direction. This indicates a right-rear-upward trend in both time periods, further confirming a consistent linkage direction. If the direction from A to B is... Then, if the direction from B to C changes to forward, the direction is determined to be a change. If the direction changes significantly in three consecutive positions, that is, the change in direction exceeds 60°, it is judged that there is an unstable movement. The 60° angle benchmark setting is based on the mechanical swing tolerance range during the drill arm structure attitude adjustment process. Combined with field test data, it was found that a displacement direction jump exceeding 60° will cause errors in the execution of structural control commands. Therefore, this value is taken as the judgment benchmark. For example, if the angle between the AB direction and the BC direction is 78° and the angle between BC and CD is 85° in a single test, it is considered that the three consecutive direction jumps are violent. At the same time, combined with the attitude offset result being in the "significant offset" state, it can be judged that the current drill arm movement is in an unstable movement process, thereby outputting an intervention signal to notify the execution to perform necessary attitude adjustment operations.

[0069] Please see Figure 3 The specific steps of S2 are as follows:

[0070] S201: Based on the attitude change intervention signal, retrieve the set of cylinder numbers that are already in action state, compare the execution state identifier of the numbers, filter the numbers in action state in the current channel, and obtain the main control cylinder number group.

[0071] First, the control invokes the attitude intervention signal generated within the current operating cycle. This signal typically carries a trigger timestamp and trigger channel information, for example, the intervention signal time is 08:12:10, and the action channel is CH1. Then, the set of currently activated cylinder numbers is retrieved from the hydraulic control unit. This set is a set of identifiers used to uniquely identify the position and control authority of each cylinder. For example, in a configuration with 10 hydraulic cylinders numbered from A01 to A10, the current execution status field of each cylinder is read one by one. This field is refreshed periodically, recording whether the current cylinder is in the execution state once per second. The status field is set as "ACT" to represent the action state and "STB" to represent the stationary state. For example, if A01 is ACT, A02 is STB, A03 is ACT, A04 is ACT, A05 is STB, A06 is ACT, and A10 is STB, then... A07 is STB, A08 is STB, A09 is STB, and A10 is ACT. The next step is to perform a state comparison operation, filtering out the numbers with the state field "ACT" to form a preliminary set of hydraulic cylinders in action state {A01, A03, A04, A06, A10}. Then, the control channel number bound to each cylinder in this set is matched item by item with the channel number CH1 provided in the current intervention signal. For example, A01, A03, and A06 belong to the CH1 channel, A04 belongs to the CH2 channel, and A10 belongs to the CH3 channel. By comparing and eliminating cylinders that are not in the CH1 channel, the successfully matched numbers, namely A01, A03, and A06, are finally retained. This constitutes a set of all cylinder numbers in the execution state in the corresponding channel of the current attitude intervention signal, and is recorded as the main control cylinder number group, which will be used as the object for subsequent path freezing and auxiliary filtering.

[0072] S202: Based on the main control cylinder number group, locate the corresponding drive path, mark the path number of the executed state as frozen, establish the state record of the corresponding path, and obtain the main control path lock record;

[0073] Based on the master cylinder number group, after confirming the number set such as {A01, A03, A06}, the control enters the cylinder-path binding table. A table lookup operation locates the drive path number bound to each cylinder number. Assuming A01 is bound to path number P01, A03 to P03, and A06 to P05, a master control drive path set {P01, P03, P05} is formed. Then, the status of each path is queried and written to the path control status table. The item originally marked "ACT" is directly changed to "LOCK" to indicate that the path is currently frozen and cannot be repeatedly invoked. To record the freezing operation, a path freezing record form is generated. Each record consists of the path number, ... The record should consist of cylinder number, operation time, operator, previous state, and subsequent state. For example, the record content is {path number: P01, cylinder number: A01, freeze time: 08:12:13, previous state: ACT, subsequent state: LOCK}. The freezing action trigger condition is usually set to be executed when the attitude intervention signal reaches the action influence threshold. This threshold is set according to the actual stability of the device, and is triggered when the single-sided offset angle exceeds 2.0° or the direction change angle of the linkage connection point exceeds 60°. Once the intervention signal meets the condition, the path freezing process is triggered. Each record generated after freezing is uniformly archived in the main control path locking record set for subsequent auxiliary identifier filtering and matching, and can be used as a basis for status monitoring and backtracking.

[0074] S203: Based on the main control path locking record, remove the main control cylinder number from all cylinder numbers, filter the auxiliary cylinder numbers that did not participate in the channel action, and integrate them to form a set of candidate auxiliary identifiers;

[0075] Based on the cylinder number information contained in the master control path locking record, after freezing, the control automatically summarizes the master control cylinder number set. For example, if the frozen set is {A01, A03, A06}, then it retrieves the complete cylinder number list from the total cylinder number table. Assuming there are 10 sets of cylinders configured, numbered {A01, A02, A03, A04, A05, A06, A07, A08, A09, A10}, a removal operation is performed, that is, the master control cylinder numbers are removed from the total set, forming the difference set {A02, A04, A05, A07, A08, A09, A10}. This set contains the cylinder numbers not on the master control path. Subsequently, it enters the channel usage record table to search whether the cylinders with the difference set numbers currently have channel action bindings. The channel usage status of each cylinder is marked by the identifier "BUSY" or "FREE", for example, A02 is FREE, A04 is BUSY, and A05 is FREE. If A07 is FREE, A08 is BUSY, A09 is FREE, and A10 is FREE, then the numbers A04 and A08 marked "BUSY" are excluded, and the remaining 5 items, namely A02, A05, A07, A09, and A10, are retained as cylinder numbers that did not participate in the channel action, forming a preliminary candidate set. Based on this, in order to further confirm whether the cylinders are suitable as auxiliary action cylinders, a screening threshold needs to be set according to the action frequency. This threshold is set to no more than 3 times / minute. This value comes from the minimum action interval allowed by the hydraulic adjustment rhythm, that is, a maximum of 1 action within 20 seconds. If a cylinder, such as A05, has 4 actions in one minute, then that number is removed. The others, such as A02 with 1 action, A07 with 2 actions, A09 with 3 actions, and A10 with 2 actions, all meet the set condition. Finally, the candidate auxiliary identifier set {A02, A07, A09, A10} is obtained as the backup cylinder sequence for the current channel action.

[0076] Please see Figure 4 The specific steps of S3 are as follows:

[0077] S301: Call the auxiliary cylinder number in the candidate auxiliary identifier set, obtain the motion direction parameter of the auxiliary cylinder, compare it with the tilt direction data of the current attitude of the drill arm, filter out the auxiliary numbers whose motion direction is inconsistent with the tilt direction, and obtain the group of numbers with consistent direction.

[0078] First, the set of candidate auxiliary cylinder numbers generated in the previous steps is loaded, for example, the current set is {A02, A07, A09, A10}. The motion direction parameter of each cylinder corresponding to each number in the execution control table is retrieved sequentially. This parameter is a static setpoint, indicating the main direction of motion when the cylinder performs its action. For example, A02 corresponds to the positive X direction, A07 to the negative Y direction, A09 to the negative X direction, and A10 to the positive X direction. Then, the overall tilt direction data identified by the drill arm after receiving the attitude intervention signal is extracted from the current drill arm attitude control module. This data comes from the attitude angle change trend, and the judgment criteria are the positive and negative directions of the change in the X-direction angle per second and the trend direction of the change in the Y-direction angle per second. For example, if the current attitude angle shows that the X-direction is continuously increasing and the Y-direction is continuously decreasing, then the X tilt direction is determined to be positive. The positive and negative directions are defined as follows: the direction of movement of the auxiliary cylinder must be consistent with the tilting direction of any drill arm, or the angle between the directions must be less than or equal to 20°. This angle threshold is set based on the allowable directional deviation range of the hydraulic cylinder when it is rotated under force. If it exceeds 20°, the operation will be disturbed due to the configuration. During the execution, the movement direction of each auxiliary cylinder is compared with the X and Y tilting directions of the drill arm. If the direction is positive X and consistent with the positive X of the drill arm, it is considered consistent. For example, A02 is positive X and meets the condition, so it is retained. A07 is negative Y and is consistent with the current negative Y direction, so it is retained. A09 is negative X and is inconsistent with positive X and the angle is 180°, which is greater than 20°, so it is discarded. A10 is positive X and is consistent with positive X, so it is retained. Finally, the group of numbers with consistent directions is {A02, A07, A10}.

[0079] S302: Based on the direction-consistent number group, extract the displacement direction change parameters of the auxiliary cylinder, and match them with the target offset direction in the drill arm attitude parameters to filter out the numbers with direction deviation and obtain the direction-matching number group.

[0080] Based on the consistent numbering group, the three auxiliary cylinders A02, A07, and A10 are called sequentially to enter the displacement direction change acquisition module. A 1-second displacement sampling period is set, and the coordinates of two key positions within the last 3 seconds are collected for each cylinder to determine its continuous movement direction. For example, A02's position at t1 is (100, 200), and at t2 it is (104, 200), so its displacement direction is determined to be the positive X direction; A07's position at t1 is (320, 580), and at t2 it is (320, 577), so its displacement direction is the negative Y direction; A10's position at t1 is (460, 700), and at t2 it is (463, 700), so its movement direction is the positive X direction. This is consistent with the main actuation direction set in the preceding step S301, thus ensuring overall logical coherence. Subsequently, the target offset direction is extracted from the drill arm attitude module. Currently, the orientation is determined by the attitude... The angle sensor recorded continuous changes over 5 seconds, showing that the X-direction angle increased at an average rate while the Y-direction remained stable. Therefore, the target offset direction was defined as the positive X-direction. Next, the consistency between the cylinder displacement direction and the target offset direction was determined one by one. Numbers with the same direction or a small angle were retained, while numbers with perpendicular or opposite directions were discarded. For example, A02 was consistent with the target direction and was positive X, so it was retained; A07 was negative Y and had too large an angle deviation from the positive X direction, so it was discarded; A10 was also positive X and met the matching condition, so it was retained. Finally, the direction matching number group was obtained as {A02, A10}. The cylinders in this group had good response matching ability under the current attitude adjustment target direction and matched their preset motion parameters. The action direction was stable and the displacement change was continuous, making it feasible to participate in subsequent linkage operations.

[0081] S303: Based on the direction matching number group, combined with the corresponding drive channel number and action signal status, filter the path channel number that can currently perform linkage operation, and generate a linkage response path group after integration;

[0082] Based on the direction matching number group, only number A02 remains. The drive channel number bound to A02 is read. By looking up the cylinder-drive channel mapping table, the channel corresponding to A02 is found to be CH3. The drive channel status monitoring module is then entered to read the current action signal status of CH3. This status is represented by a status code with values ​​of "READY", "WAIT", or "LOCK", representing three situations: callable, waiting, and locked / unavailable, respectively. If the status is "READY", the execution conditions are met. For example, if the current CH3 status is "READY", the number is added to the linkage response path group. If the status is "WAIT", the delay judgment subroutine is entered, and the delay threshold is set to 2 seconds. That is, if the status is updated to "READY" within 2 seconds, linkage is allowed; if it is still "WAIT" after 2 seconds, it is determined to be unexecutable. This threshold is set with reference to the control signal refresh frequency and the average response time of the channel. If the status is "LOCK", it is immediately removed from the response group. In this case, since only A02 meets the conditions and its channel CH3 status is "READY", the linkage response path group {CH3} is finally formed.

[0083] Please see Figure 5 The specific steps of S4 are as follows:

[0084] S401: Based on the cylinder number in the linkage response path group, obtain the position coordinates of the actuating end of each cylinder in the structure, calculate the angle between the position and the extension direction of the drill arm inclination angle, and screen out the cylinder numbers whose angle direction is opposite to the extension direction to obtain the reverse angle number group.

[0085] Based on the cylinder number in the linkage response path group, firstly, the unique cylinder number A02 in the current linkage response path group is read, and its spatial position coordinates at the action end are retrieved from the structural parameter database. This data originates from the 3D structural modeling process and is usually represented by absolute coordinates relative to the structural center point (e.g., 35°, 20°, 16°). The current coordinates of the A02 action end are (410, 220, 180). Then, the current drill arm's tilt extension direction parameter is extracted. This direction is determined by the change trend of the X and Y directions in the attitude angle over the last 5 seconds. The attitude module records that the X direction continuously increases by approximately +1.5° per second, and the Y direction continuously decreases by -1.2° per second. Combining these trends, it is determined that the current extension direction is mainly positive X and secondarily negative Y, generating a two-dimensional extension direction. This is then compared with the direction vector of the A02 action end relative to the structural center point. The relative direction vector of A02 is (60... ,20), representing its offset from the center of the structure to the upper right. Next, a direction comparison judgment is performed, using the angle between the direction vector of A02 and the extension direction as the judgment basis. To control the execution deviation, the judgment threshold is set to 135°. When the angle is greater than or equal to this value, it is considered that the action direction is opposite to the extension direction. Based on the fact that the direction of A02 vector is offset in the same direction as the extension direction and the angle is significantly less than this threshold, it does not meet the reverse standard, so it is not included in the angle reverse numbering group. The final output angle reverse numbering group is an empty set {}. In actual structural debugging, if the structural change trend clearly points to the positive X and negative Y directions, and the area pointed to by the hydraulic cylinder action end belongs to the upper right front area, it is usually judged as a consistent direction state, and the action end has a positive response capability to the extension trend. Therefore, there is no need to perform reverse action sorting. This step confirms that there is no reverse priority action number involved in the subsequent path scheduling, which facilitates the simplification of sorting logic and trigger configuration.

[0086] S402: Call the angle reverse numbering group to sequentially mark the structural path numbers of the hydraulic cylinder and establish a mapping relationship between the numbering and the marking order to obtain the path triggering sequence table;

[0087] The reverse numbering group is invoked. First, it is confirmed whether the length of the numbering group {A09} is greater than 0. If it is greater than 0, the path sequence marking process is executed. The structural path number corresponding to A09 is read. For example, the structural path mapping table is queried to obtain that the path bound to A09 is P05. Then, the path number is sequentially marked. Since the current numbering group contains only a single number, it is assigned a sequence number of 1 by default. If multiple numbering groups exist in the future, they will be sorted in ascending order according to the distance from the path endpoint to the center of the drill arm, and the sorted paths will be marked with sequence numbers in sequence. The sorting criterion is the distance from the path endpoint to the center of the drill arm. The Euclidean distance calculation result of the structural center point is used to set the minimum sorting interval difference threshold to 10mm to handle sorting conflicts when the distances are close. This value comes from the structural assembly tolerance standard value to ensure sorting stability. In the current case, the path number of A09 is P05, and the sequence number is assigned to 1. Finally, a path triggering sequence table is generated, which records the mapping relationship between the structural path number, cylinder number and sequence mark, forming a structured output {cylinder number: A09, path number: P05, sequence mark: 1}. This data is written to the scheduling module as the basis for the order of action execution instructions.

[0088] S403: According to the path trigger sequence table, trigger the action instructions in the path channel in sequence, record the response result of each channel and summarize it into a record of association between number and action status, and generate the action channel execution flow book.

[0089] According to the path trigger sequence table, the path number and its corresponding cylinder number are read sequentially according to the sequence markers for action scheduling triggering. For example, sequence marker 1 corresponds to cylinder A09, and its structural path is P05. The path control configuration table is consulted to confirm that the drive channel number bound to path P05 is CH5. Then, the action control command is loaded into channel CH5, and an action start signal is sent to the drive controller, entering the response listening state. The listening time is set to a maximum of 4 seconds. This response timeout threshold is set with reference to the previous average response time and the time required for the cylinder to complete its movement. During the response listening process, if the channel returns a signal within 4 seconds, its response status code is parsed. A status code of "OK" indicates that the action was successful, and "ERR" indicates that the action was successful. "" indicates action failure. If no response is received within 2 seconds of triggering, it is recorded as "TIMEOUT". If CH5 returns the status code "OK" within 2 seconds of triggering, the response is recorded as successful, and the response record entry is generated as {cylinder number: A09, path number: P05, channel number: CH5, status: OK, response time: 2s}. If there are multiple sequence markers, they are processed and recorded one by one. After all actions are completed, all response records are summarized and arranged in order as a record associated with the number and action status, forming an action channel execution flow book. The book clearly lists the triggering order, path number, response status and execution time, and is synchronously updated to the action log recording module for subsequent scheduling analysis and historical tracking.

[0090] Please see Figure 6 The specific steps of S5 are as follows:

[0091] S501: Based on the completed action cylinder number recorded in the action channel execution process book, extract the structural connection position coordinates and action displacement parameters of the corresponding cylinder, calculate the boundary range of the structural change area during the action process, and obtain the structural change boundary interval.

[0092] Based on the completed cylinder numbers recorded in the motion channel execution process book, firstly, entries with execution status marked as "Completed" or "OK" are filtered from the process book, and the corresponding cylinder number set is extracted. For example, the cylinder numbers that have been successfully executed are {A03, A06, A08}. The structural parameter records of these cylinder numbers are retrieved sequentially to obtain the connection position coordinates of each cylinder in the structure. Let the connection coordinates of A03 be (365, 210, 175), A06 be (410, 240, 180), and A08 be (395, 225, 170). Next, the displacement sensor data of these cylinders is retrieved to read the effective displacement generated during this execution. The displacement value is calculated from the difference in real-time stroke values ​​at the start and end points. Let the displacement of A03 be 80mm, A06 be 100mm, and A08 be 90mm. The axial direction of the cylinder's motion is determined based on the cylinder's direction parameters. For example, A0... 3. Along the positive X direction, A06 along the positive Y direction, and A08 along the negative X direction, their termination positions are A03: (445, 210, 175), A06: (410, 340, 180), and A08: (305, 225, 170), respectively. Integrating the X, Y, and Z values ​​of all starting and ending coordinates, the minimum and maximum values ​​are found to determine the range of changes in the structure during this set of actions. The minimum value in the X direction is 305, and the maximum value is 445; the minimum value in the Y direction is 210, and the maximum value is 340; and the minimum value in the Z direction is 170, and the maximum value is 180. To avoid blind spots caused by structural fluctuations or displacement errors, an extension process is introduced for each boundary value. The extension value is ±10mm, which is set with reference to the hydraulic tolerance for mechanical deviation compensation. Finally, the structural change boundary range is calculated to be 295 to 455mm in the X direction, 200 to 350mm in the Y direction, and 160 to 190mm in the Z direction.

[0093] S502: Based on the structural change boundary interval, obtain the start and end point data of the cylinder control stroke, match the boundary interval accordingly, and extend the part exceeding the interval according to the action coverage requirements to obtain the extended control stroke set;

[0094] Based on the structural change boundary interval, the stroke parameter information of each cylinder recorded in the cylinder control module is retrieved sequentially. The original set start and end point data are read and matched against the structural boundary interval item by item. For example, the original control stroke of A03 is 365 at the start and 445 at the end, corresponding to the positive X-direction; the stroke of A06 is 240 at the start and 340 at the end, corresponding to the positive Y-direction; the stroke of A08 is 395 at the start and 305 at the end, belonging to the negative X-direction. Next, the minimum boundary in the X-direction is 295, the maximum boundary is 455, and the maximum boundary in the Y-direction is 350. The system checks whether each cylinder completely covers the boundary. The end point of A03, 445, is less than... The maximum boundary is 455, with a difference of 10. It needs to be extended 10mm in the positive direction to adjust the endpoint to 455. The endpoint 340 of A06 is within the boundary in the Y direction and does not need to be processed. The endpoint of A08 is 305 and needs to be extended further in the negative direction to cover the minimum boundary 295. The extension direction is consistent with the original action direction. Therefore, the starting point 395 is kept unchanged, and the endpoint is extended from 305 to 295. The total stroke length changes from the original 90mm to 100mm. This adjustment range is within the set maximum allowable compensation threshold of 20mm and will not cause overload to the structure or hydraulic unit. Finally, a new set of extended control strokes is formed: A03 is (365, 455), A06 is maintained at (240, 340), and A08 is (395, 295).

[0095] S503: Based on the extended control stroke set, the original stroke control parameters are replaced with the extended new stroke values, and the control channel parameter set is generated sequentially according to the cylinder number to establish a multi-degree-of-freedom drilling boom hydraulic control scheme.

[0096] Based on the extended control stroke set, the hydraulic control parameter update process begins. First, the stroke records related to A03, A06, and A08 in the original control table are cleared, and the extended control strokes are written into the parameter set. For example, the stroke of A03 is updated to (365, 455), A06 to (240, 340), and A08 to (295, 305). During the update, the record time and version number are simultaneously written for subsequent maintenance and management. Then, based on the binding relationship between the cylinder and the channel, the corresponding control channel number is found. For example, A03 is bound to channel CH3, A06 to CH6, and A08 to CH8. The new stroke control parameters are then applied accordingly. The parameters are bound to the corresponding channel structure configuration table, and the parameter sets are organized sequentially according to the cylinder number to form structured control set entries {Number: A03, Channel: CH3, Start: 365, End: 455}, {Number: A06, Channel: CH6, Start: 240, End: 340}, {Number: A08, Channel: CH8, Start: 295, End: 305}. Finally, the registration process of the extended parameters is completed, and a new multi-degree-of-freedom drilling boom hydraulic control scheme is established based on this parameter set. This scheme is then stored in the control scheme database and marked as currently active for use in the linkage control execution of the next work cycle.

[0097] Please see Figure 7 A multi-degree-of-freedom drilling boom hydraulic control system includes:

[0098] The attitude perception module acquires the X and Y direction attitude trajectories of the drilling boom, extracts the current direction vector and the trajectory vector of the previous stage, calculates the angle between the two and determines whether a rollover has occurred, analyzes the rollover trend and the number of direction switching, identifies the connection points of unstable support cylinders, and generates attitude change intervention signals.

[0099] The path freezing module finds the cylinder path in the current action state based on the connection number in the attitude change intervention signal, extracts the corresponding channel and freezes the action signal, identifies the auxiliary cylinder number that is not in action state, merges it into the standby path, and generates a set of candidate auxiliary identifiers.

[0100] The direction comparison module calls the path number in the candidate auxiliary identifier set, extracts the angle between the path action direction and the drill arm tilting direction, filters out paths with the angle direction deviating from the direction, determines whether the auxiliary cylinder movement direction is consistent with the drill arm tilting direction, filters out paths with an angle deviation trend, and generates a linkage response path group.

[0101] The action sequence module collects the spatial position of the end of the path according to the path number in the linkage response path group, compares the angle between the action direction and the tilt direction, marks the reverse path and sorts it according to the angle value, and sequentially triggers the predetermined number of path actions with the highest angle value in the order, and establishes the action channel execution flow book.

[0102] The coverage update module calls the number and response information in the action channel execution process book to obtain the start and end positions of the action, calculates the boundary extension value and compares it with the difference of the original boundary, replaces the original path start and stop points with the current control coverage area, and generates a multi-degree-of-freedom drilling boom hydraulic control scheme.

[0103] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method of hydraulic control of a multi-degree-of-freedom drilling boom, characterized by, Comprise the following steps: S1: monitor the drilling boom X, Y direction attitude change, compare the current and last stage stable attitude trajectory, extract the support cylinder linkage direction, combined with the attitude deviation and angle rollover trend to judge the action stability, generate the attitude change intervention signal; S2: according to the attitude change intervention signal retrieval master control cylinder number, positioning drive output path, freeze path action instruction, register master control path lock state, and add auxiliary cylinder not involved in the master control to the standby set, generate the candidate auxiliary identification set; S3: call the auxiliary cylinder in the candidate auxiliary identification set, judge the motion direction and the consistency of the drilling boom attitude tilt direction, screen out the angle away from the path, evaluate the displacement and attitude demand matching, generate the linkage response path group; S4: based on the linkage response path group comparison cylinder position relationship, analyze the action direction and the angle between the drilling boom extension, mark the angle reverse cylinder priority, trigger action in order, generate the action channel execution process book; S5: according to the completed cylinder number in the action channel execution process book, judge the change range, extend the control stroke boundary, replace the current stroke control value, form a multi degree of freedom drilling boom hydraulic control scheme; The attitude change intervention signal includes attitude deviation state, angle rollover trend, action stability state, the candidate auxiliary identification set includes master control cylinder number, master control path lock identification, candidate auxiliary cylinder number, the linkage response path group includes synchronous linkage cylinder number, path matching identification, displacement direction consistency identification, the action channel execution process book includes cylinder number sorting information, action trigger priority, action activation record, the multi degree of freedom drilling boom hydraulic control scheme includes control stroke start and stop point, stroke boundary extension parameter, current stroke control value.

2. The multi-degree of freedom drilling boom hydraulic control method of claim 1, wherein, The specific steps of S1 are: S101: monitor the X direction and Y direction attitude change of the multi degree of freedom drilling boom in the structure rotation process, obtain the attitude angle data at the time node, calculate the angle change between adjacent nodes, and classify and calculate the difference of the change in the same action stage, obtain the attitude change trend characteristics; S102: compare the attitude change trend characteristics with the stable attitude trajectory of the last action stage, judge whether the current X and Y direction attitude change trend reverses and continues to deviate, and compare the trend difference interval and the angle change reference, obtain the attitude deviation judgment result; S103: call the attitude deviation judgment result, combine the time sequence position change direction of the support cylinder connection point, judge whether the unstable action condition is met through the linkage direction of the position of three consecutive connection points, generate the attitude change intervention signal.

3. The multi-degree of freedom drilling boom hydraulic control method of claim 1, wherein, The specific steps of S2 are: S201: according to the attitude change intervention signal, retrieve the cylinder number set in the action state, compare the execution state identification of the number, select the number in the current channel in the action state, obtain the master control cylinder number group; S202: Based on the master cylinder number group, the corresponding driving path is located, the path number mark of the executed state is frozen, the state record of the corresponding path is established, and the master path lock record is obtained; S203: According to the master path lock record, the master cylinder number is excluded from all cylinder numbers, the auxiliary cylinder number not participating in the channel action is screened, and the candidate auxiliary identification set is integrated.

4. The multi-degree of freedom drilling boom hydraulic control method of claim 1, wherein, The specific steps of S3 are: S301: Call the auxiliary cylinder number in the candidate auxiliary identification set, obtain the motion direction parameter of the auxiliary cylinder, and compare it with the tilt direction data of the current posture of the drilling arm, screen out the auxiliary numbers whose motion direction is inconsistent with the tilt direction, and obtain the consistent number group; S302: Based on the consistent number group, the displacement direction change parameter of the auxiliary cylinder is extracted, and the target offset direction in the drilling arm posture parameter is matched and judged, the number with direction deviation is screened out, and the direction matching number group is obtained; S303: According to the direction matching number group, the corresponding driving channel number and action signal state are combined to screen out the path channel number that can be executed at present, and the integrated response path group is generated.

5. The multi-degree of freedom drilling boom hydraulic control method of claim 1, wherein, The specific steps of S4 are: S401: Based on the cylinder number in the response path group, the position coordinates of each cylinder action end in the structure are obtained, the included angle value between the position and the extension direction of the drilling arm inclination angle is calculated, and the cylinder number whose included angle direction is opposite to the extension direction is screened out to obtain the included angle reverse number group; S402: Call the included angle reverse number group, sequentially mark the structure path number of the cylinder, and establish the mapping relationship between the number and the marking sequence to obtain the path trigger sequence table; S403: According to the path trigger sequence table, the action instruction in the path channel is triggered in turn, and the response result of each channel is recorded and summarized as the associated record of number and action state to generate the action channel execution process book.

6. The multi-degree of freedom drilling boom hydraulic control method of claim 1, wherein, The specific steps of S5 are: S501: According to the completed action cylinder number recorded in the action channel execution process book, the structure connection position coordinates and action displacement parameters of the corresponding cylinder are extracted, the structure change area boundary range in the action process is calculated, and the structure change boundary interval is obtained; S502: Based on the structure change boundary interval, the start and end point data of the cylinder control stroke are obtained, the boundary interval is matched, and the part exceeding the interval is extended according to the action coverage requirement to obtain the extended control stroke set; S503: According to the extended control stroke set, the original stroke control parameter is replaced by the new stroke value after extension, and the control channel parameter set is generated in sequence according to the cylinder number to establish a multi-degree-of-freedom drilling arm hydraulic control scheme.

7. The multi-degree of freedom drilling boom hydraulic control method of claim 1, wherein, The posture offset and angle flip trend refer to the displacement change direction and posture angle rotation trend of the drilling arm in space for the reference trajectory in the previous stage.

8. The multi-degree of freedom drilling boom hydraulic control method of claim 1, wherein, The evaluation displacement and posture demand matching refers to the consistency between the displacement direction of the auxiliary cylinder and the required posture adjustment direction of the current drilling arm.

9. A multi-degree of freedom drilling boom hydraulic control system, characterized by, The system is used for realizing the multi-degree-of-freedom drilling boom hydraulic control method of any one of claims 1-8, and the system comprises: The attitude sensing module obtains the X and Y direction attitude trajectories of the drilling boom, extracts the current direction vector and the last stage trajectory vector, calculates the included angle between the two vectors and judges whether the turning over occurs, analyzes the turning over trend and the number of direction switching, identifies the unstable support cylinder connection point, and generates the attitude change intervention signal; The path freezing module looks up the cylinder path under the current action state according to the connection number in the attitude change intervention signal, extracts the corresponding channel and freezes the action signal, identifies the auxiliary cylinder numbers not in the action state, merges into the standby path, generates the candidate auxiliary identification set, and calls the path number in the candidate auxiliary identification set, extracts the path action direction and the included angle between the drilling boom tilt direction, screens out the paths with the angle direction deviating from the path, judges whether the auxiliary cylinder movement direction is consistent with the drilling boom tilt direction, screens out the paths with the angle deviation trend, generates the linkage response path group, and according to the path number in the linkage response path group, collects the space position at the end of the path, compares the included angle between the action direction and the tilt direction, marks the direction reverse path and sorts the included angle values, triggers the predetermined number of path actions in the order of the included angle value, establishes the action channel execution process book, and calls the number and response information in the action channel execution process book, obtains the action starting point and ending point position, calculates the boundary extension value and carries out difference comparison with the original boundary, replaces the original path start and stop points with the current control coverage area, and generates the multi-degree-of-freedom drilling boom hydraulic control scheme. The path freezing module looks up the cylinder path under the current action state according to the connection number in the attitude change intervention signal, extracts the corresponding channel and freezes the action signal, identifies the auxiliary cylinder numbers not in the action state, merges into the standby path, generates the candidate auxiliary identification set, and calls the path number in the candidate auxiliary identification set, extracts the path action direction and the included angle between the drilling boom tilt direction, screens out the paths with the angle direction deviating from the path, judges whether the auxiliary cylinder movement direction is consistent with the drilling boom tilt direction, screens out the paths with the angle deviation trend, generates the linkage response path group, and according to the path number in the linkage response path group, collects the space position at the end of the path, compares the included angle between the action direction and the tilt direction, marks the direction reverse path and sorts the included angle values, triggers the predetermined number of path actions in the order of the included angle value, establishes the action channel execution process book, and calls the number and response information in the action channel execution process book, obtains the action starting point and ending point position, calculates the boundary extension value and carries out difference comparison with the original boundary, replaces the original path start and stop points with the current control coverage area, and generates the multi-degree-of-freedom drilling boom hydraulic control scheme. ​ ​

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