Path planning method and system of hydraulic anchor rod drill carriage for coal mine

Abstract

The invention discloses a path planning method and system for a hydraulic anchor rod drill carriage for a coal mine, and relates to the technical field of mining mechanical equipment.The path planning method comprises the steps that a path planning module uses a coarse drilling bit with preset rigidity parameters to conduct drilling at the preset cutting output speed, and coarse drilling rock holes are obtained; the judgment module judges whether the total drilling duration is longer than preset time or not; the model building module builds a cutting drill bit model; the data calculation module calculates the corrected cutting output speed of the fine drilling bit; the parameter correction module re-plans the advancing path of the fine drilling bit; the monitoring module monitors the cutting surface of the fine drilling bit in real time; and judging whether the cutting surface size precision is qualified or not according to a real-time monitoring result. By arranging the drill bit determining module, the path planning module, the model establishing module, the data calculating module, the parameter correcting module and the monitoring module, the hole drilling time can be shortened, the hole drilling efficiency can be improved, the cutting precision can be corrected, and then the hole precision is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of mining machinery and equipment technology, specifically to a path planning method and system for a hydraulic anchor drilling rig used in coal mines. Background Technology

[0002] When installing anchor bolts in coal mine roadways, it is necessary to drill holes in the rock of the roadway to complete the installation of the anchor bolts. However, there are many types of rocks with different hardnesses, and the diameter of the anchor bolt may not be exactly the same as the drill bit. Therefore, the drill bit needs to move evenly along the side of the hole when drilling to ensure that the diameter of the drilled hole is consistent with the size of the anchor bolt. Thus, the drill bit performs a cutting-like operation on the inside of the hole.

[0003] Precision and speed control are crucial during drilling, and these are directly affected by the choice of drilling path. The choice of path will result in different cutting amounts per unit time. If the cutting amount per unit time is too large and the speed is too fast, the cutting reaction force on the drill bit will be too large, which will easily cause vibration due to the reaction force and affect the drilling accuracy. If the cutting amount per unit time is too small and the speed is too low, the cutting depth or cutting speed will be small. In order to cut out the target shape, a lot of time will be required, which will prolong the time to drill the hole and reduce the efficiency of the entire drilling process. However, the existing technology is relatively lacking in drill bit path planning. Summary of the Invention

[0004] To solve the above-mentioned technical problems, a path planning method and system for a hydraulic anchor bolt drilling rig used in coal mines is provided. This technical solution solves the problems mentioned in the background technology.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A path planning method for a hydraulic rock bolt drilling rig used in coal mines includes: Obtain the target 3D image of the drilled hole; the target 3D image is the 3D image of the anchor bolt. At least one drill bit used in the drilling process to acquire a target 3D image; drill bits are divided into coarse drilling bits and fine drilling bits. Create a 3D model of the rock at the borehole location; Generate a rough borehole 3D image based on the target 3D image; The coarse drilling path is planned based on the three-dimensional image of the coarse drilling. A coarse drilling bit with preset rigidity parameters is used to drill at a preset cutting speed to obtain a coarse drilling rock hole. The preset cutting speed is determined by the preset movement speed and the preset cutting depth. The preset cutting speed is the cutting amount of the coarse drilling bit per unit time. The preset cutting speed is equal to the product of the preset movement speed and the preset cutting depth. The preset cutting depth is the feed depth below the rock cutting surface at the drilling location when the drill bit is cutting. The coarse drilling rock hole is drilled with the existing fine drilling parameters to obtain the drilled hole and the total drilling time is obtained. Determine if the total drilling time exceeds the preset time. If so, correct the existing fine drilling parameters. If not, do not perform any processing. The preset time is set based on experience. Obtain the first rigidity parameter of the rock at the borehole location, obtain the second rigidity parameter of the precision drilling bit, and obtain the rotational speed of the precision drilling bit. Establish a model of the drill bit that broke during cutting; The corrected cutting speed of the precision drilling bit is calculated. The corrected cutting speed is determined by the corrected travel speed and the corrected cutting depth. The corrected cutting speed is the cutting amount of the precision drilling bit per unit time. The corrected cutting speed is equal to the product of the corrected travel speed and the corrected cutting depth. The corrected cutting depth is the feed depth below the rock cutting surface at the drill hole when the drill bit is cutting. The accuracy of the cutting surface dimensions is determined based on the real-time monitoring results. If it is, no action is taken. If not, the travel path of the precision drilling bit is replanned. During the precision drilling process, the drilling procedure of the precision drilling bit is obtained. The drill bit is changed according to the drilling procedure of the precision drilling bit. After changing the drill bit, the precision drilling bit performs cutting operations according to the corresponding travel path and the corrected cutting speed. Real-time monitoring of the cutting surface of the precision drilling bit and real-time monitoring of the inner wall of the slot.

[0006] Preferably, generating a rough borehole 3D image based on the target 3D image includes the following steps: The target 3D image is fitted to obtain the target 3D image fitting function; A rough borehole 3D image is generated by magnifying the target 3D image by a preset ratio according to the target 3D image fitting function, wherein the preset ratio is less than 1.

[0007] Preferably, the step of planning the rough drilling path based on the three-dimensional image of the rough drilling hole includes the following steps: The three-dimensional image of the coarse borehole is divided into equal-interval segments using a horizontal plane to obtain at least one coarse borehole slice. Obtain the height of each coarse drill hole slice; The edges of the coarse drilled hole slice are fitted to obtain the slice fitting function, and the slice fitting function is paired with the height of the coarse drilled hole slice. Obtain the preset cutting depth, and based on the slice fitting function, obtain the first tangent equation at each point on the edge of the coarse drill slice; Based on the first tangent equation, the first normal equation of each point on the edge of the coarse drill cut is obtained, and the line corresponding to the first normal equation is perpendicular to the line corresponding to the first tangent equation. Obtain the radius of the first cutting range circle generated by the rotation of the coarse drilling bit, and subtract the preset cutting depth from the radius of the first cutting range circle to obtain the first cutting distance between the center of the first cutting range circle and the cutting surface; On the straight line corresponding to the first normal equation, obtain the point whose straight line distance to the first tangent equation is the first cutting distance, and use it as the fitting point for the rough drilling path; Based on at least one coarse borehole path fitting point, a coarse borehole path fitting function is obtained, and the coarse borehole path fitting function is paired with the height of the coarse borehole slice.

[0008] Preferably, the process of establishing the model of the broken drill bit includes the following steps: Obtain the first rigidity parameter range of the rock at the borehole, obtain the second rigidity parameter range of the precision drilling bit, and obtain the rotational speed range of the precision drilling bit; The range of the first rigid parameter is divided at equal intervals to obtain at least one first rigid point; The range of the second rigid parameter is divided at equal intervals to obtain at least one second rigid point; Divide the rotation speed range into equal intervals to obtain at least one rotation speed point; Pair the first rigid point, the second rigid point, and the rotational velocity point together; Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as test parameters, the precision drilling bit is tested to obtain the maximum cutting speed of the precision drilling bit before the bit breaks. Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as independent variables, and the maximum cutting speed as the dependent variable, a cutting speed fitting function is obtained.

[0009] Preferably, the calculation of the corrected cutting speed of the precision drilling bit includes the following steps: Substituting the first rigidity parameter, the second rigidity parameter, and the rotational speed of the precision drilling bit into the cutting speed fitting function, the corrected cutting speed is obtained.

[0010] Preferably, the step of replanning the travel path of the precision drilling bit based on the corrected cutting depth includes the following steps: The coarse-drilled rock borehole is divided at equal intervals using a horizontal plane to obtain at least one rock borehole slice; Obtain the height of the inner edge of each rock hole slice; The inner edge of the borehole slice is fitted to obtain the borehole fitting function, and the borehole fitting function is paired with the height of the inner edge of the borehole slice. Obtain the corrected cutting depth of the three-dimensional image with the coarse borehole as the target, and obtain the second tangent equation of each point on the edge of the borehole slice based on the borehole fitting function; Based on the second tangent equation, the second normal equation is obtained for each point on the edge of the rock hole slice. The line corresponding to the second normal equation is perpendicular to the line corresponding to the second tangent equation. Obtain the radius of the second cutting range circle generated by the rotation of the precision drilling bit, and subtract the corrected cutting depth from the radius of the second cutting range circle to obtain the second cutting distance between the center of the second cutting range circle and the cutting surface; On the straight line corresponding to the second normal equation, obtain the point whose straight line distance to the second tangent equation is the second cutting distance, and use it as the fitting point for the precision drilling path; Based on at least one precision drill hole path fitting point, a precision drill hole path fitting function is obtained, and the precision drill hole path fitting function is paired with the height of the inner edge of the rock hole slice.

[0011] Preferably, the monitoring of the inner wall of the slot includes the following steps: The laser probe is inserted into the slot to model the inner wall of the slot and obtain the fitting function of the inner wall of the slot. The fitting function of the inner wall of the slot is compared with the corresponding position of the target 3D image to obtain the error function of the inner wall of the slot; Using the inner wall of the slot as the integration region, the first integral value is obtained by considering the error function of the inner wall of the slot. Determine whether the first integral value is greater than the preset value. If it is, the dimensional accuracy of the cutting surface is unqualified; otherwise, the dimensional accuracy of the cutting surface is qualified.

[0012] Preferably, correcting the travel path of the precision drilling bit includes the following steps: Subtract the slot inner wall error function from 0 to obtain the slot inner wall correction function; The slot inner wall correction function is used to compensate the fine drilling hole path fitting function at the corresponding position, and the compensation result is used to replace the original fine drilling hole path fitting function.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting up modules for drill bit determination, path planning, model building, data calculation, parameter correction, and monitoring, a coarse drilling bit is used to drill at a preset cutting speed to obtain a coarse-drilled rock hole. The coarse drilling bit has high rigidity, therefore, the cutting amount per unit time is large, preventing drill bit breakage. Furthermore, the precision requirements for coarse-drilled rock holes are not high; therefore, the error caused by the large vibration due to the high cutting speed will not affect the final accuracy. A coarse drilling path fitting function is used to plan its path. When drilling with a fine drilling bit, a cutting and breakage model is built using a module to calculate the maximum corrected cutting speed achievable by the fine drilling bit. A fine drilling path fitting function is used to plan the drilling path, ensuring that the fine drilling bit can cut at the fastest speed, thereby reducing drilling time and improving drilling efficiency. In addition, the cutting surface is monitored in real time, and real-time reverse drilling path compensation is performed based on the monitoring results to correct cutting accuracy, thus ensuring the accuracy of the hole. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the path planning method for the hydraulic anchor bolt drilling rig used in coal mines according to the present invention; Figure 2 This is a schematic diagram of the process by which the image modeling module of the present invention generates a rough borehole 3D image based on a target 3D image. Figure 3 This is a schematic diagram of the path planning module of the present invention, which plans the rough drilling path based on the three-dimensional image of the rough drilling hole. Figure 4 A schematic diagram illustrating the process of establishing a cutting and breaking drill bit model for the model building module of this invention; Figure 5 This is a schematic diagram of the process of the parameter correction module replanning the travel path of the precision drilling bit according to the data correction cutting depth of the present invention. Figure 6 This is a schematic diagram of the process for monitoring the inner wall of the slot according to the present invention; Figure 7 This is a schematic diagram illustrating the process of correcting the travel path of the precision drilling bit using the parameter correction module of the present invention. Detailed Implementation

[0015] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0016] Reference Figure 1 As shown, a path planning method for a hydraulic rock bolt drilling rig used in coal mines includes: Obtain the target 3D image of the drilled hole; the target 3D image is the 3D image of the anchor bolt. At least one drill bit used in the drilling process to acquire a target 3D image; drill bits are divided into coarse drilling bits and fine drilling bits. Create a 3D model of the rock at the borehole location; Generate a rough borehole 3D image based on the target 3D image; The coarse drilling path is planned based on the three-dimensional image of the coarse drilling. A coarse drilling bit with preset rigidity parameters is used to drill at a preset cutting speed to obtain a coarse drilling rock hole. The preset cutting speed is determined by the preset movement speed and the preset cutting depth. The preset cutting speed is the cutting amount of the coarse drilling bit per unit time. The preset cutting speed is equal to the product of the preset movement speed and the preset cutting depth. The preset cutting depth is the feed depth below the rock cutting surface at the drilling location when the drill bit is cutting. The coarse drilling rock hole is drilled with the existing fine drilling parameters to obtain the drilled hole and the total drilling time is obtained. Determine if the total drilling time exceeds the preset time. If so, correct the existing fine drilling parameters. If not, do not perform any processing. The preset time is set based on experience. Obtain the first rigidity parameter of the rock at the borehole location, obtain the second rigidity parameter of the precision drilling bit, and obtain the rotational speed of the precision drilling bit. Establish a model of the drill bit that broke during cutting; The corrected cutting speed of the precision drilling bit is calculated. The corrected cutting speed is determined by the corrected travel speed and the corrected cutting depth. The corrected cutting speed is the cutting amount of the precision drilling bit per unit time. The corrected cutting speed is equal to the product of the corrected travel speed and the corrected cutting depth. The corrected cutting depth is the feed depth below the rock cutting surface at the drill hole when the drill bit is cutting. The accuracy of the cutting surface dimensions is determined based on the real-time monitoring results. If it is, no action is taken. If not, the travel path of the precision drilling bit is replanned. During the precision drilling process, the drilling procedure of the precision drilling bit is obtained. The drill bit is changed according to the drilling procedure of the precision drilling bit. After changing the drill bit, the precision drilling bit performs cutting operations according to the corresponding travel path and the corrected cutting speed. Real-time monitoring of the cutting surface of the precision drilling bit and real-time monitoring of the inner wall of the slot.

[0017] In this scheme, in order to ensure the drilling accuracy of anchor bolt installation, various drillings involved in the anchor bolt installation are identified through pre-planning and real-time monitoring, and corresponding corrections are made. The correction is completed by combining visual recognition and theoretical prediction. Visual recognition mainly uses feedback control through monitoring of the drilling, while theoretical prediction is to perform predictive route planning during drilling. The drilling accuracy is ensured through both methods.

[0018] Reference Figure 2As shown, generating a rough borehole 3D image based on the target 3D image includes the following steps: The target 3D image is fitted to obtain the target 3D image fitting function; The target 3D image is magnified by a preset ratio according to the target 3D image fitting function to generate a coarse drill hole 3D image. The preset ratio is less than 1 and is set based on experience.

[0019] The purpose here is to first drill a hole smaller than the target 3D image at the location where drilling is needed, as the result of coarse drilling. Then, fine drilling is performed on this result to obtain a hole that matches the size of the anchor rod. This results in a higher fit when installing the anchor rod, allowing the anchor rod to be better secured.

[0020] Reference Figure 3 As shown, the rough drilling path is planned based on the 3D image of the rough drilling, including the following steps: The three-dimensional image of the coarse borehole is divided into equal-interval segments using a horizontal plane to obtain at least one coarse borehole slice. Obtain the height of each coarse drill hole slice; The edges of the coarse drilled hole slice are fitted to obtain the slice fitting function, and the slice fitting function is paired with the height of the coarse drilled hole slice. Obtain the preset cutting depth, and based on the slice fitting function, obtain the first tangent equation at each point on the edge of the coarse drill slice; Based on the first tangent equation, the first normal equation of each point on the edge of the coarse drill cut is obtained, and the line corresponding to the first normal equation is perpendicular to the line corresponding to the first tangent equation. Obtain the radius of the first cutting range circle generated by the rotation of the coarse drilling bit, and subtract the preset cutting depth from the radius of the first cutting range circle to obtain the first cutting distance between the center of the first cutting range circle and the cutting surface; On the straight line corresponding to the first normal equation, obtain the point whose straight line distance to the first tangent equation is the first cutting distance, and use it as the fitting point for the rough drilling path; Based on at least one coarse borehole path fitting point, a coarse borehole path fitting function is obtained, and the coarse borehole path fitting function is paired with the height of the coarse borehole slice.

[0021] As long as drilling is performed on the edge of the coarse drill hole slice, the rock inside the edge of the coarse drill hole slice will be separated from the rock outside the edge of the coarse drill hole slice after drilling is completed, and the remaining rock inside the edge of the coarse drill hole slice can be directly removed. The purpose of coarse drilling is to enable the coarse drilling bit to quickly drill into the rock hole, thereby generating a coarse drilled rock hole. The coarse drilled rock hole is similar to the target 3D image of the drilled hole. Therefore, when using a fine drilling bit, the total cutting amount of the fine drilling bit can be reduced, thereby increasing the cutting speed. The coarse drilled rock hole does not have high precision requirements, and the coarse drilling bit is large in size and has correspondingly high hardness. Therefore, it can operate with a larger cutting amount per unit time, thereby enabling rapid cutting and reducing cutting time. Furthermore, since the coarse drilled rock hole does not have high precision requirements, the cutting vibration caused by the larger cutting amount per unit time will not affect the precision.

[0022] Reference Figure 4 As shown, establishing the model of the broken drill bit involves the following steps: Obtain the first rigidity parameter range of the rock at the borehole, obtain the second rigidity parameter range of the precision drilling bit, and obtain the rotational speed range of the precision drilling bit; The range of the first rigid parameter is divided at equal intervals to obtain at least one first rigid point; The range of the second rigid parameter is divided at equal intervals to obtain at least one second rigid point; Divide the rotation speed range into equal intervals to obtain at least one rotation speed point; Pair the first rigid point, the second rigid point, and the rotational velocity point together; Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as test parameters, the precision drilling bit is tested to obtain the maximum cutting speed of the precision drilling bit before the bit breaks. Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as independent variables, and the maximum cutting speed as the dependent variable, a cutting speed fitting function is obtained.

[0023] When drilling, due to the potentially high hardness of the rock and the high rotation speed of the drill bit, improper parameter settings can easily lead to drill bit breakage during long-term operation. Therefore, in order to avoid this situation, it is necessary to set the parameters appropriately. The purpose of establishing a drill bit breakage model is to determine the maximum cutting speed at which a precision drilling bit will not break during cutting. The precision drilling time is determined by the maximum cutting speed, since the total cutting amount of the precision drilling is constant. When obtaining the maximum cutting speed, since the target 3D image of the rough drill hole and the drilled hole is similar, a correction cutting depth can be determined so that the precision drilling bit only moves once at that point, cutting that point to form the target 3D image. Using the maximum cutting speed as the correction cutting speed, since the correction cutting speed is equal to the product of the correction movement speed and the correction cutting depth, the correction movement speed can be calculated. Therefore, the fastest cutting speed can be used without breaking the drill bit, thus ensuring the cutting speed. At the same time, since the target 3D image of the rough drill hole and the drilled hole is similar, the cutting amount is small, the vibration is small, and the cutting error caused by vibration is small.

[0024] The data calculation module calculates the corrected cutting speed of the precision drilling bit, including the following steps: Substituting the first rigidity parameter, the second rigidity parameter, and the rotational speed of the precision drilling bit into the cutting speed fitting function, the corrected cutting speed is obtained.

[0025] Reference Figure 5 As shown, based on the corrected cutting depth, the parameter correction module replans the travel path of the precision drilling bit, including the following steps: The coarse-drilled rock borehole is divided at equal intervals using a horizontal plane to obtain at least one rock borehole slice; Obtain the height of the inner edge of each rock hole slice; The inner edge of the borehole slice is fitted to obtain the borehole fitting function, and the borehole fitting function is paired with the height of the inner edge of the borehole slice. Obtain the corrected cutting depth of the three-dimensional image with the coarse borehole as the target, and obtain the second tangent equation of each point on the edge of the borehole slice based on the borehole fitting function; Based on the second tangent equation, the second normal equation is obtained for each point on the edge of the rock hole slice. The line corresponding to the second normal equation is perpendicular to the line corresponding to the second tangent equation. Obtain the radius of the second cutting range circle generated by the rotation of the precision drilling bit, and subtract the corrected cutting depth from the radius of the second cutting range circle to obtain the second cutting distance between the center of the second cutting range circle and the cutting surface; On the straight line corresponding to the second normal equation, obtain the point whose straight line distance to the second tangent equation is the second cutting distance, and use it as the fitting point for the precision drilling path; Based on at least one precision drill hole path fitting point, a precision drill hole path fitting function is obtained, and the precision drill hole path fitting function is paired with the height of the inner edge of the rock hole slice.

[0026] The precision drilling path fitting function is used as the travel path of the precision drilling bit. Since the precision drilling path fitting function is paired with the height of the inner edge of the rock hole slice, the corresponding precision drilling path fitting function will limit the travel path of the precision drilling bit at the height of the inner edge of each rock hole slice. Therefore, cutting along the corresponding travel path of the precision drilling bit can complete the cutting correction operation.

[0027] Reference Figure 6 As shown, monitoring the inner wall of the slot includes the following steps: The laser probe is inserted into the slot to model the inner wall of the slot and obtain the fitting function of the inner wall of the slot. The fitting function of the inner wall of the slot is compared with the corresponding position of the target 3D image to obtain the error function of the inner wall of the slot; Using the inner wall of the slot as the integration region, the first integral value is obtained by considering the error function of the inner wall of the slot. Determine whether the first integral value is greater than the preset value. If it is, the dimensional accuracy of the cutting surface is unqualified; otherwise, the dimensional accuracy of the cutting surface is qualified.

[0028] The preset value is set based on experience and represents the upper limit of the allowable error during installation.

[0029] Reference Figure 7 As shown, correcting the travel path of the drill bit in a precision drilling hole includes the following steps: Subtract the slot inner wall error function from 0 to obtain the slot inner wall correction function; The slot inner wall correction function is used to compensate the fine drilling hole path fitting function at the corresponding position, and the compensation result is used to replace the original fine drilling hole path fitting function.

[0030] By using a slot inner wall correction function that is the opposite of the slot inner wall error function and an exposed surface correction function that is the opposite of the exposed surface error function to compensate for the corresponding position of the precision drill hole path fitting function, the drilling error can be reduced.

[0031] A path planning system for a hydraulic rock bolt drilling rig used in coal mines, used to implement the aforementioned path planning method for the hydraulic rock bolt drilling rig used in coal mines, includes: The image modeling module acquires a target three-dimensional image of the drilled hole, wherein the target three-dimensional image is a three-dimensional image of the anchor bolt; A drill bit determination module, wherein the drill bit determination module acquires at least one drill bit used in the drilling process of the target three-dimensional image, and the drill bit is divided into coarse drilling drill bit and fine drilling drill bit; A 3D modeling module, which performs 3D modeling of the rock at the borehole location; An image modeling module generates a rough borehole 3D image based on the target 3D image; The path planning module plans the coarse drilling path based on the three-dimensional image of the coarse drilling. It then uses a coarse drilling bit with preset rigidity parameters to drill at a preset cutting speed to obtain a coarse drilling rock hole. The preset cutting speed is determined by the preset positioning speed and the preset cutting depth. The preset cutting speed is the cutting amount per unit time of the coarse drilling bit, and it is equal to the product of the preset positioning speed and the preset cutting depth. The preset cutting depth is the feed depth below the rock cutting surface at the drilling location when the drill bit is cutting. The coarse drilling rock hole is drilled using the existing fine drilling parameters to obtain the drilled hole and the total drilling time is obtained. The judgment module determines whether the total drilling time is greater than a preset time. If so, the existing fine drilling parameters are corrected; otherwise, no action is taken. The preset time is set based on experience. The parameter acquisition module acquires the first rigidity parameter of the rock at the borehole, the second rigidity parameter of the precision drilling bit, and the rotational speed of the precision drilling bit. The model building module builds a model of the cut drill bit. The data calculation module calculates the corrected cutting speed of the precision drilling bit. The corrected cutting speed is determined by the corrected movement speed and the corrected cutting depth. The corrected cutting speed is the cutting amount of the precision drilling bit per unit time. The corrected cutting speed is equal to the product of the corrected movement speed and the corrected cutting depth. The corrected cutting depth is the feed depth of the drill bit below the rock cutting surface at the drill hole. The parameter correction module determines whether the dimensional accuracy of the cutting surface is qualified based on the real-time monitoring results. If it is qualified, no processing is performed. If not, the travel path of the precision drilling bit is replanned. During the precision drilling process, the drilling procedure of the precision drilling bit is obtained, and the drill bit is changed according to the drilling procedure of the precision drilling bit. After changing the drill bit, the precision drilling bit performs cutting operation according to the corresponding travel path and the corrected cutting speed. The monitoring module performs real-time monitoring of the cutting surface of the precision drilling bit and real-time monitoring of the inner wall of the slot.

[0032] Furthermore, this solution also proposes a storage medium on which a computer-readable program is stored, which, when invoked, executes the aforementioned path planning method for a hydraulic anchor bolt drilling rig used in coal mines.

[0033] It is understandable that the storage medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid-state drive (SSD).

[0034] In summary, the advantages of this invention are as follows: By setting up a drill bit determination module, a path planning module, a model building module, a data calculation module, a parameter correction module, and a monitoring module, a coarse drilling bit is used to drill at a preset cutting speed to obtain a coarse-drilled rock hole. The coarse drilling bit has high rigidity, therefore, the cutting amount per unit time is large, and the drill bit will not break. Moreover, the coarse-drilled rock hole does not have high precision requirements, so the error caused by the large vibration generated by the high cutting speed will not affect the final accuracy. When drilling with a fine drilling bit, the module establishes a cutting and drill bit breakage model to calculate the maximum corrected cutting speed that the fine drilling bit can achieve, thereby ensuring that the fine drilling bit can cut at the fastest speed, thereby reducing the drilling time and improving the drilling efficiency. In addition, the cutting surface is monitored in real time, and real-time reverse compensation is performed based on the monitoring results to correct the cutting accuracy, thereby ensuring the accuracy of the hole.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A path planning method for a hydraulic anchor bolt drilling rig used in coal mines, characterized in that, include: Obtain the target 3D image of the drilled hole; the target 3D image is the 3D image of the anchor bolt. At least one drill bit used in the drilling process to acquire a target 3D image; drill bits are divided into coarse drilling bits and fine drilling bits. Create a 3D model of the rock at the borehole location; Generate a rough borehole 3D image based on the target 3D image; The coarse drilling path is planned based on the three-dimensional image of the coarse drilling. A coarse drilling drill bit with preset rigid parameters is used to drill at a preset cutting speed to obtain a coarse drilling rock hole. The preset cutting speed is determined by the preset movement speed and the preset cutting depth. The preset cutting speed is the cutting amount of the coarse drilling drill bit per unit time. The preset cutting speed is equal to the product of the preset movement speed and the preset cutting depth. The preset cutting depth is the feed depth below the rock cutting surface at the drilling location when the drill bit is cutting. The coarse drilling rock hole is drilled with the existing fine drilling parameters to obtain the drilled hole and the total drilling time is obtained. Determine if the total drilling time exceeds the preset time. If so, correct the existing fine drilling parameters. If not, do not perform any processing. The preset time is set based on experience. Obtain the first rigidity parameter of the rock at the borehole location, obtain the second rigidity parameter of the precision drilling bit, and obtain the rotational speed of the precision drilling bit. Establish a model of the drill bit that broke during cutting; The corrected cutting speed of the precision drilling bit is calculated. The corrected cutting speed is determined by the corrected travel speed and the corrected cutting depth. The corrected cutting speed is the cutting amount of the precision drilling bit per unit time. The corrected cutting speed is equal to the product of the corrected travel speed and the corrected cutting depth. The corrected cutting depth is the feed depth below the rock cutting surface at the drill hole when the drill bit is cutting. The accuracy of the cutting surface dimensions is determined based on the real-time monitoring results. If it is, no action is taken. If not, the travel path of the precision drilling bit is replanned. During the precision drilling process, the drilling procedure of the precision drilling bit is obtained. The drill bit is changed according to the drilling procedure of the precision drilling bit. After changing the drill bit, the precision drilling bit performs cutting operations according to the corresponding travel path and the corrected cutting speed. Real-time monitoring of the cutting surface of the precision drilling bit and real-time monitoring of the inner wall of the slot.

2. The path planning method for a hydraulic anchor bolt drilling rig used in coal mines according to claim 1, characterized in that, The process of generating a rough borehole 3D image based on the target 3D image includes the following steps: The target 3D image is fitted to obtain the target 3D image fitting function; A rough borehole 3D image is generated by magnifying the target 3D image by a preset ratio according to the target 3D image fitting function, wherein the preset ratio is less than 1.

3. The path planning method for a hydraulic anchor bolt drilling rig used in coal mines according to claim 2, characterized in that, The process of planning the rough borehole path based on the 3D image of the rough borehole includes the following steps: The three-dimensional image of the coarse borehole is divided into equal-interval segments using a horizontal plane to obtain at least one coarse borehole slice. Obtain the height of each coarse drill hole slice; The edges of the coarse drilled hole slice are fitted to obtain the slice fitting function, and the slice fitting function is paired with the height of the coarse drilled hole slice. Obtain the preset cutting depth, and based on the slice fitting function, obtain the first tangent equation at each point on the edge of the coarse drill slice; Based on the first tangent equation, the first normal equation of each point on the edge of the coarse drill cut is obtained, and the line corresponding to the first normal equation is perpendicular to the line corresponding to the first tangent equation. Obtain the radius of the first cutting range circle generated by the rotation of the coarse drilling bit, and subtract the preset cutting depth from the radius of the first cutting range circle to obtain the first cutting distance between the center of the first cutting range circle and the cutting surface; On the straight line corresponding to the first normal equation, obtain the point whose straight line distance to the first tangent equation is the first cutting distance, and use it as the fitting point for the rough drilling path; Based on at least one coarse borehole path fitting point, a coarse borehole path fitting function is obtained, and the coarse borehole path fitting function is paired with the height of the coarse borehole slice.

4. The path planning method for a hydraulic anchor bolt drilling rig used in coal mines according to claim 3, characterized in that, The process of establishing the model for the broken drill bit includes the following steps: Obtain the first rigidity parameter range of the rock at the borehole, obtain the second rigidity parameter range of the precision drilling bit, and obtain the rotational speed range of the precision drilling bit; The range of the first rigid parameter is divided at equal intervals to obtain at least one first rigid point; The range of the second rigid parameter is divided at equal intervals to obtain at least one second rigid point; Divide the rotation speed range into equal intervals to obtain at least one rotation speed point; Pair the first rigid point, the second rigid point, and the rotational velocity point together; Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as test parameters, the precision drilling bit is tested to obtain the maximum cutting speed of the precision drilling bit before the bit breaks. Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as independent variables, and the maximum cutting speed as the dependent variable, a cutting speed fitting function is obtained.

5. The path planning method for a hydraulic anchor bolt drilling rig used in coal mines according to claim 4, characterized in that, The calculation of the corrected cutting speed of the precision drilling bit includes the following steps: Substituting the first rigidity parameter, the second rigidity parameter, and the rotational speed of the precision drilling bit into the cutting speed fitting function, the corrected cutting speed is obtained.

6. The path planning method for a hydraulic anchor bolt drilling rig used in coal mines according to claim 5, characterized in that, The step of replanning the travel path of the precision drilling bit based on the corrected cutting depth includes the following steps: The coarse-drilled rock borehole is divided at equal intervals using a horizontal plane to obtain at least one rock borehole slice; Obtain the height of the inner edge of each rock hole slice; The inner edge of the borehole slice is fitted to obtain the borehole fitting function, and the borehole fitting function is paired with the height of the inner edge of the borehole slice. Obtain the corrected cutting depth of the three-dimensional image with the coarse borehole as the target, and obtain the second tangent equation of each point on the edge of the borehole slice based on the borehole fitting function; Based on the second tangent equation, the second normal equation is obtained for each point on the edge of the rock hole slice. The line corresponding to the second normal equation is perpendicular to the line corresponding to the second tangent equation. Obtain the radius of the second cutting range circle generated by the rotation of the precision drilling bit, and subtract the corrected cutting depth from the radius of the second cutting range circle to obtain the second cutting distance between the center of the second cutting range circle and the cutting surface; On the straight line corresponding to the second normal equation, obtain the point whose straight line distance to the second tangent equation is the second cutting distance, and use it as the fitting point for the precision drilling path; Based on at least one precision drill hole path fitting point, a precision drill hole path fitting function is obtained, and the precision drill hole path fitting function is paired with the height of the inner edge of the rock hole slice.

7. The path planning method for a hydraulic anchor bolt drilling rig used in coal mines according to claim 6, characterized in that, The monitoring of the inner wall of the slot includes the following steps: The laser probe is inserted into the slot to model the inner wall of the slot and obtain the fitting function of the inner wall of the slot. The fitting function of the inner wall of the slot is compared with the corresponding position of the target 3D image to obtain the error function of the inner wall of the slot; Using the inner wall of the slot as the integration region, the first integral value is obtained by considering the error function of the inner wall of the slot. Determine whether the first integral value is greater than the preset value. If it is, the dimensional accuracy of the cutting surface is unqualified; otherwise, the dimensional accuracy of the cutting surface is qualified.

8. The path planning method for a hydraulic anchor bolt drilling rig in a coal mine according to claim 7, characterized in that, The correction of the travel path of the precision drilling bit includes the following steps: Subtract the slot inner wall error function from 0 to obtain the slot inner wall correction function; The slot inner wall correction function is used to compensate the fine drilling hole path fitting function at the corresponding position, and the compensation result is used to replace the original fine drilling hole path fitting function.

9. A path planning system for a hydraulic rock bolt drilling rig used in coal mines, used to implement the path planning method for a hydraulic rock bolt drilling rig used in coal mines as described in any one of claims 1-8, characterized in that, include: The image modeling module acquires a target three-dimensional image of the drilled hole, wherein the target three-dimensional image is a three-dimensional image of the anchor bolt; A drill bit determination module, wherein the drill bit determination module acquires at least one drill bit used in the drilling process of the target three-dimensional image, and the drill bit is divided into coarse drilling drill bit and fine drilling drill bit; A 3D modeling module, which performs 3D modeling of the rock at the borehole location; An image modeling module generates a rough borehole 3D image based on the target 3D image; The path planning module plans the coarse drilling path based on the three-dimensional image of the coarse drilling. It then uses a coarse drilling bit with preset rigidity parameters to drill at a preset cutting speed to obtain a coarse drilling rock hole. The preset cutting speed is determined by the preset positioning speed and the preset cutting depth. The preset cutting speed is the cutting amount per unit time of the coarse drilling bit, and it is equal to the product of the preset positioning speed and the preset cutting depth. The preset cutting depth is the feed depth below the rock cutting surface at the drilling location when the drill bit is cutting. The coarse drilling rock hole is drilled using the existing fine drilling parameters to obtain the drilled hole and the total drilling time is obtained. The judgment module determines whether the total drilling time is greater than a preset time. If so, the existing fine drilling parameters are corrected; otherwise, no processing is performed. The preset time is set based on experience. The parameter acquisition module acquires the first rigidity parameter of the rock at the borehole, the second rigidity parameter of the precision drilling bit, and the rotational speed of the precision drilling bit. The model building module builds a model of the cut drill bit. The data calculation module calculates the corrected cutting speed of the precision drilling bit. The corrected cutting speed is determined by the corrected movement speed and the corrected cutting depth. The corrected cutting speed is the cutting amount of the precision drilling bit per unit time. The corrected cutting speed is equal to the product of the corrected movement speed and the corrected cutting depth. The corrected cutting depth is the feed depth of the drill bit below the rock cutting surface at the drill hole. The parameter correction module determines whether the dimensional accuracy of the cutting surface is qualified based on the real-time monitoring results. If it is qualified, no processing is performed. If not, the travel path of the precision drilling bit is replanned. During the precision drilling process, the drilling procedure of the precision drilling bit is obtained, and the drill bit is changed according to the drilling procedure of the precision drilling bit. After changing the drill bit, the precision drilling bit performs cutting operation according to the corresponding travel path and the corrected cutting speed. The monitoring module performs real-time monitoring of the cutting surface of the precision drilling bit and real-time monitoring of the inner wall of the slot.

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