An automatic hole-forming control method, device and system for a down-the-hole drill

Abstract

The application discloses a kind of down-the-hole drill automatic hole-forming control method, device and system, belong to engineering machinery technical field, the method includes: obtaining the real-time operating parameter of drill;Based on the comparison result of drill real-time operating parameter and preset threshold, switch the working state of drill;In automatic rod unloading state, according to unloading buckle oil cylinder pressure signal and unloading buckle oil cylinder stroke signal, whether the first judgment of rod unloading is successful, after the first judgment is successful, according to power head reverse pressure signal, lifting pressure signal and power head position signal, whether the second judgment of rod unloading is successful.The application realizes the whole process closed-loop control of down-the-hole drill from initial drilling to hole-forming completion by state machine automatic switching based on multiple parameter threshold comparison, especially through the second judgment mechanism in rod unloading state, significantly improves unloading buckle success rate and operation safety, effectively overcomes the problems such as low efficiency, experience and response lag of manual operation.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to an automated control technology for down-the-hole drills, and particularly to an automatic hole-forming control method, device, and system for down-the-hole drills based on state machine and multi-sensor information fusion. Background Technology

[0002] Traditional down-the-hole drilling operations heavily rely on manual operation, resulting in low efficiency in connecting and disconnecting drill pipes and poor drilling continuity. The tightness of the drill pipe and the success rate of uncoupling depend primarily on the operator's experience, making it highly susceptible to drill pipe jamming, thread damage, and even equipment failure due to overtightening or slippage. In abnormal conditions such as excessive pressure in the uncoupling cylinder or drill pipe adhesion, manual intervention is essential for judgment and handling, leading to slow response times and significant safety risks. Furthermore... In existing technologies, some attempts have been made to achieve semi-automation of down-the-hole (DH) drilling rigs. For example, Chinese patent document CN119466608 A discloses an "automatic rod-attaching device for DH rigs," which controls the robotic arm to pick up and place rods by setting simple limit switches. However, this type of solution has significant shortcomings: First, its automation is limited to a single rod-attaching action, failing to achieve closed-loop control of the entire process from drilling to completion; second, it lacks an intelligent decision-making mechanism based on multiple parameters such as pressure and position, making it unable to effectively handle complex working conditions such as thread tightening control and uncoupling failures; third, the various actuators (such as the power head, clamp, and robotic arm) are still controlled sequentially, lacking true coordination and status feedback, resulting in poor system robustness. Therefore, existing technologies cannot fundamentally solve the problems of low efficiency and high equipment failure risk.

[0003] Therefore, in order to solve the above-mentioned technical problems, there is an urgent need for an automatic hole-forming control method, device and system for down-the-hole drilling rigs. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic hole-forming control method, device and system for down-the-hole drilling rigs. It aims to overcome the problems of low drill rod connection and unloading efficiency, poor drilling continuity, equipment failure risk caused by reliance on experience for tightening and unhooking success rate due to manual operation, safety risks caused by delayed response to abnormal working conditions, and the inability to achieve full-process closed-loop automation due to the lack of collaborative control between actuators. It improves hole-forming efficiency and operational safety as a whole through multi-state intelligent switching and parameterized threshold decision-making mechanism.

[0005] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides an automatic hole-forming control method for down-the-hole drills, comprising: Obtain real-time operating parameters of the drilling rig; Based on the comparison results between the drilling rig's real-time operating parameters and preset thresholds, the drilling rig's operating status is switched. The working states include initial drilling state, automatic drilling state, automatic lifting state, automatic rod connection state, automatic rod unloading state, and drilling completion state. The operating parameters include one or more of the following: retractable power head position signal, lifting pressure signal, power head forward rotation pressure signal, power head reverse rotation pressure signal, shackle cylinder pressure signal, shackle cylinder stroke signal, robotic arm position signal, upper clamp cylinder pressure signal, and lower clamp cylinder pressure signal. In the automatic unloading state, the unloading success is judged first based on the pressure signal and stroke signal of the unhooking cylinder. After the first judgment is successful, the unloading success is judged second based on the reverse pressure signal, lifting pressure signal and position signal of the power head.

[0006] Furthermore, based on the comparison results between the drilling rig's real-time operating parameters and preset thresholds, the drilling rig's operating status is switched, including: In response to the automatic hole-forming command, the system switches from the initial hole-drilling state to the automatic drilling state. During the drilling process, the position signal of the power head is used to determine whether the target drilling depth has been reached. If the target drilling depth has not been reached, the rod connection and drilling operations are repeated until the target drilling depth is reached. When the target drilling depth is reached, the lifting and rod unloading operations are repeated until the number of rods at the current hole position is zero, and then the drilling is switched to the completed state. In automatic rod connection mode, the system determines whether the power head and the next rod, and the current rod and the next rod are tightened based on the forward rotation pressure signal of the power head. After the rod connection is completed, the system switches to automatic drilling mode. In automatic lifting mode, the system determines whether the preset position has been reached based on the position signal of the power head. Once the preset position is reached, the system switches to automatic unloading mode.

[0007] Furthermore, in the automatic unloading state, a judgment is made on whether the unloading of the bar was successful based on the pressure signal and stroke signal of the unhooking cylinder, including: If the stroke of the unclipping cylinder remains constant during uncoupling and the pressure of the unclipping cylinder continues to be greater than the first preset pressure, it is determined that the threaded connection is too tight. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. When the uncoupling cylinder stroke changes normally during uncoupling, but the uncoupling cylinder pressure continues to be greater than the first preset pressure, it is determined that the relative slippage between the two drill pipes and the upper and lower clamps has caused the uncoupling failure. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. When the unslip cylinder stroke changes normally during unslipping, and the unslip cylinder pressure changes from greater than the first preset pressure to less than the first preset pressure, or remains less than the first preset pressure, then it is pre-judged that the unslipping is successful.

[0008] Furthermore, after a successful initial assessment, a second assessment of the success of rod unloading is performed based on the power head reversal pressure signal, lifting pressure signal, and power head position signal. This includes: If the reversal pressure is greater than the second preset pressure and the power head fails to reach the normal upward movement speed and the lifting pressure is greater than the third preset pressure, it is determined that the connection between the two rods is too tight and the unscrewing is unsuccessful. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the reversal pressure is not greater than the second preset pressure and the power head can reach the normal upward movement speed and the lifting pressure is less than the fourth preset pressure, it is determined that the power head has detached from the upper drill rod, resulting in uncoupling failure. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the reversal pressure is not greater than the second preset pressure, and the power head can reach the normal upward movement speed and the lifting pressure is normal, then the uncoupling is considered successful.

[0009] Furthermore, in the automatic lever unloading state, it also includes: If the lifting pressure is greater than the fourth preset pressure after the power head position is less than the third preset position, it is determined that the threaded connection between the power head and the currently unloaded drill rod is too tight. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the pressure increase is not greater than the fourth preset pressure, the power head will be controlled to move to the third preset position and then stop, and subsequent operations will be performed.

[0010] Furthermore, the robotic arm position signal is used to determine whether the robotic arm has moved to the predetermined loading / unloading position or drill rod storage position during the automatic rod receiving and unloading process. If the signal confirms that the position is in place, the subsequent action is triggered. If the position is not in place within the time limit, an alarm is triggered and the process is paused. The robotic arm position signal is also used to determine whether the robotic arm has safely avoided a collision when it returns to the drill pipe magazine position. The pressure signals of the upper clamp cylinder and the lower clamp cylinder are used to determine whether the drill rod is reliably clamped. In the automatic rod connection state, when the lower clamp is clamped, it is determined whether the pressure signal of the lower clamp cylinder reaches the preset threshold. If it does, subsequent actions are performed. If the pressure is too low or too high, the clamping force of the lower clamp is adjusted or an alarm is triggered. In automatic lever release mode, when the upper and lower clamps clamp simultaneously, the clamping status is determined based on the pressure signals from the upper and lower clamp cylinders. If the pressure is normal, the lever is released; if abnormal, an alarm is triggered.

[0011] Furthermore, it also includes: during the automatic hole forming process, in response to a pause command or an abnormal detection signal, immediately stopping the current action and recording the current working status indicator and related operating parameters at the time of interruption; Upon receiving the recovery command, the automatic hole-forming process resumes from the point of interruption based on the recorded interruption time information.

[0012] In a second aspect, the present invention provides an automatic hole-forming control device for a down-the-hole drill rig, comprising: The signal receiving unit is used to receive real-time operating parameters of the drilling rig; The control unit is used to control the drilling rig's real-time operating parameters and execute the automatic hole-forming control method for down-the-hole drilling rigs described in the first aspect.

[0013] Thirdly, the present invention provides an automatic hole-forming control system for a down-the-hole drill rig, comprising: The signal acquisition unit is used to acquire real-time operating parameters of the drilling rig. The controller is equipped with the automatic hole-forming control device for down-the-hole drill described in the second aspect, which is used to receive real-time operating parameters collected by the signal acquisition unit through the signal receiving unit, and execute the automatic hole-forming control method for down-the-hole drill described in the first aspect through the control unit according to the real-time operating parameters. The signal acquisition unit includes an absolute encoder, a pressure sensor, and a proximity switch. The absolute encoder is used to acquire the position of the power head, the pressure sensor is used to acquire the pressure of the shackle cylinder and the pressure of the power head, and the proximity switch is used to acquire the position of the robotic arm.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The automatic hole-forming control method, device and system for down-the-hole drills provided by this invention realizes closed-loop control of the entire process from initial drilling to hole formation by automatically switching state machines based on multi-parameter threshold comparison. In particular, the secondary judgment mechanism in the rod unloading state significantly improves the unhooking success rate and operational safety, effectively overcoming the problems of low efficiency, reliance on experience and delayed response of manual operation. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the automatic hole-forming control method for down-the-hole drilling rigs; Figure 2 This is a schematic diagram of the mechanical structure of the automatic hole-forming system of a down-the-hole drill.

[0016] In the diagram: 1. Drill pipe magazine; 2. Robotic arm; 3. Clamp; 4. Power head; 5. Propulsion beam. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances. Example 1

[0020] like Figure 1 As shown, this embodiment provides an automatic hole-forming control method for down-the-hole drills, including: Obtain real-time operating parameters of the drilling rig; Based on the comparison results between the drilling rig's real-time operating parameters and preset thresholds, the drilling rig's operating status is switched. The working states include initial drilling state, automatic drilling state, automatic lifting state, automatic rod connection state, automatic rod unloading state, and drilling completion state. The operating parameters include one or more of the following: retractable power head position signal, lifting pressure signal, power head forward rotation pressure signal, power head reverse rotation pressure signal, shackle cylinder pressure signal, shackle cylinder stroke signal, robotic arm position signal, upper clamp cylinder pressure signal, and lower clamp cylinder pressure signal. In the automatic unloading state, the unloading success is judged first based on the pressure signal and stroke signal of the unhooking cylinder. After the first judgment is successful, the unloading success is judged second based on the reverse pressure signal, lifting pressure signal and position signal of the power head.

[0021] Furthermore, based on the comparison results between the drilling rig's real-time operating parameters and preset thresholds, the drilling rig's operating status is switched, including: In response to the automatic hole-forming command, the system switches from the initial hole-drilling state to the automatic drilling state. During the drilling process, the position signal of the power head is used to determine whether the target drilling depth has been reached. If the target drilling depth has not been reached, the rod connection and drilling operations are repeated until the target drilling depth is reached. When the target drilling depth is reached, the lifting and rod unloading operations are repeated until the number of rods at the current hole position is zero, and then the drilling is switched to the completed state. In automatic rod connection mode, the system determines whether the power head and the next rod, and the current rod and the next rod are tightened based on the forward rotation pressure signal of the power head. After the rod connection is completed, the system switches to automatic drilling mode. In automatic lifting mode, the system determines whether the preset position has been reached based on the position signal of the power head. Once the preset position is reached, the system switches to automatic unloading mode.

[0022] Furthermore, in the automatic unloading state, a judgment is made on whether the unloading of the bar was successful based on the pressure signal and stroke signal of the unhooking cylinder, including: If the stroke of the unclipping cylinder remains constant during uncoupling and the pressure of the unclipping cylinder continues to be greater than the first preset pressure, it is determined that the threaded connection is too tight. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. When the uncoupling cylinder stroke changes normally during uncoupling, but the uncoupling cylinder pressure continues to be greater than the first preset pressure, it is determined that the relative slippage between the two drill pipes and the upper and lower clamps has caused the uncoupling failure. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. When the unslip cylinder stroke changes normally during unslipping, and the unslip cylinder pressure changes from greater than the first preset pressure to less than the first preset pressure, or remains less than the first preset pressure, then it is pre-judged that the unslipping is successful.

[0023] Furthermore, after a successful initial assessment, a second assessment of the success of rod unloading is performed based on the power head reversal pressure signal, lifting pressure signal, and power head position signal. This includes: If the reversal pressure is greater than the second preset pressure and the power head fails to reach the normal upward movement speed and the lifting pressure is greater than the third preset pressure, it is determined that the connection between the two rods is too tight and the unscrewing is unsuccessful. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the reversal pressure is not greater than the second preset pressure and the power head can reach the normal upward movement speed and the lifting pressure is less than the fourth preset pressure, it is determined that the power head has detached from the upper drill rod, resulting in uncoupling failure. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the reversal pressure is not greater than the second preset pressure, and the power head can reach the normal upward movement speed and the lifting pressure is normal, then the uncoupling is considered successful.

[0024] Furthermore, in the automatic lever unloading state, it also includes: If the lifting pressure is greater than the fourth preset pressure after the power head position is less than the third preset position, it is determined that the threaded connection between the power head and the currently unloaded drill rod is too tight. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the pressure increase is not greater than the fourth preset pressure, the power head will be controlled to move to the third preset position and then stop, and subsequent operations will be performed.

[0025] Furthermore, the robotic arm position signal is used to determine whether the robotic arm has moved to the predetermined loading / unloading position or drill rod storage position during the automatic rod receiving and unloading process. If the signal confirms that the position is in place, the subsequent action is triggered. If the position is not in place within the time limit, an alarm is triggered and the process is paused. The robotic arm position signal is also used to determine whether the robotic arm has safely avoided a collision when it returns to the drill pipe magazine position. The pressure signals of the upper clamp cylinder and the lower clamp cylinder are used to determine whether the drill rod is reliably clamped. In the automatic rod connection state, when the lower clamp is clamped, it is determined whether the pressure signal of the lower clamp cylinder reaches the preset threshold. If it does, subsequent actions are performed. If the pressure is too low or too high, the clamping force of the lower clamp is adjusted or an alarm is triggered. In automatic lever release mode, when the upper and lower clamps clamp simultaneously, the clamping status is determined based on the pressure signals from the upper and lower clamp cylinders. If the pressure is normal, the lever is released; if abnormal, an alarm is triggered.

[0026] Furthermore, it also includes: during the automatic hole forming process, in response to a pause command or an abnormal detection signal, immediately stopping the current action and recording the current working status indicator and related operating parameters at the time of interruption; Upon receiving the recovery command, the automatic hole-forming process resumes from the point of interruption based on the recorded interruption time information.

[0027] The automatic hole-forming control method provided in this embodiment will be further explained below with reference to specific examples.

[0028] This invention achieves its goal based on the coordinated operation of key mechanical actuators in a down-the-hole drill. (See also...) Figure 2 The mechanical components involved in the automatic hole-forming system of the down-the-hole drilling rig include a drill rod magazine 1, a robotic arm 2, a clamp 3, a power head 4, and a feed beam 5. Drill pipe magazine 1 is used to store multiple drill pipes. The magazine is rotatable for sequential retrieval of drill pipes. During automatic pipe feeding, the magazine rotates one position in the "out" direction to move the next drill pipe to a position accessible to the robotic arm; during automatic pipe unloading, the magazine rotates one position in the "in" direction to retrieve the unloaded drill pipe. It works in conjunction with the robotic arm / manipulator to achieve automatic drill pipe feeding and retrieval.

[0029] The end effector of robotic arm 2 is equipped with a robotic arm for gripping drill pipes. In automatic rod receiving mode: robotic arm 2 swings from the drill pipe magazine 1 to the drill pipe loading / unloading position (aligned with power head 4), the robotic arm grips the drill pipe and hands it to power head 4. In automatic rod unloading mode: robotic arm 2 swings to the drill pipe loading / unloading position, the robotic arm lightly or firmly grips the drill pipe, assisting the power head in unloading the rod. The position of robotic arm 2 is monitored by a proximity switch or encoder to ensure accurate movement to the predetermined position.

[0030] Clamp 3 includes an upper clamp and a lower clamp. The lower clamp is used to secure the drill rod already drilled (e.g., clamping the lower drill rod during connection to prevent loosening, and clamping the lower drill rod during removal to unpair). The upper clamp is used to secure the drill rod to be removed or connected (e.g., clamping together with the lower clamp during removal to achieve unpair). The clamp works in conjunction with the power head 4; during tightening or unpairing, the clamp provides counter-torque, and the power head provides rotational force.

[0031] The power head 4 is mounted on the feed beam 5 and can move up and down along the beam 5 (for feeding or lifting). The power head 4 is responsible for rotating the drill pipe to achieve drilling or uncoupling. It works in conjunction with the clamp 3 and the robotic arm 2: during drilling, the power head rotates forward and feeds, pushing the drill pipe downwards. During pipe connection, the power head works with the robotic arm to tighten the new drill pipe. The position is monitored by an absolute encoder to control the drilling depth.

[0032] The propulsion beam 5 serves as a guide rail for the movement of the power head. The propulsion beam 5 supports the power head 4 and guides its linear motion. It integrates with the power head 4 and the clamp 3 to form a vertical channel for drilling.

[0033] These mechanical structures work together through a control system (such as a PLC) to form a closed-loop automation: Workflow example: Drill rod supply from the drill rod magazine → Robotic arm retrieves the rod and swings it to the drill rod loading / unloading position → Clamping clamps the existing drill rod → Power head receives the rod and drills → After reaching the hole depth, the power head lifts → Clamping clamp and robotic arm work together to unload the rod → Drill rod magazine retracts the rod.

[0034] The present invention provides an automatic hole-forming control method for down-the-hole drills, which integrates the aforementioned originally independent actuators into an organic whole to achieve fully automatic collaborative operation.

[0035] In summary, the technical problem to be solved by the present invention is to overcome the following defects of the prior art: 1) Defects of partial automation: Existing technologies can only automate single actions (such as rod connection), and cannot form a closed-loop control of the entire process of "drilling-rod connection-drilling-lifting-rod unloading", resulting in reliance on manual labor for process connection and low efficiency.

[0036] 2) Insufficient intelligent decision-making: Key operations such as drill pipe tightening and uncoupling rely heavily on operator experience and lack a parameterized threshold decision-making mechanism based on multi-sensor information such as pressure and position, which can easily lead to equipment failure.

[0037] 3) Delayed response to abnormal operating conditions: When faced with abnormalities such as overly tight threads, drill pipe sticking, or clamp slippage, the existing system cannot diagnose and safely shut down the machine in real time, posing a safety hazard.

[0038] 4) Poor system coordination: There is a lack of state feedback and coordination logic among actuators such as the power head, clamp, and robotic arm, resulting in a high risk of motion interference.

[0039] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: First, a full-process control model based on finite state machines is proposed, defining six core working states and their switching conditions, which connects discrete automated actions into a continuous intelligent workflow, fundamentally solving problem 1.

[0040] Secondly, in the state switching, especially in the "automatic rod unloading state," a dual verification mechanism of "first judgment" and "second judgment" is innovatively introduced. For the first time, the "pressure-stroke" curve characteristics of the unhooking cylinder are combined with the dynamic parameters of the power head, namely "reverse pressure-lifting speed-lifting pressure," to construct a multi-dimensional, cross-actuator joint criterion, which achieves a substantial improvement in the unhooking success rate and accurately solves problems 2 and 3.

[0041] Third, by introducing the position signal of the robotic arm and the pressure signal of the upper and lower clamp cylinders, and using them as preconditions for state switching (e.g., if the robotic arm is not in position, the connecting rod will not be executed), a safety interlock logic between the actuators was established, ensuring the reliability and safety of the system's collaborative operation and effectively solving problem 4.

[0042] The core innovation of the automatic hole-forming control method for down-the-hole drills provided by this invention lies not in the use of a single sensor or actuator, but in the construction of a completely new information fusion and decision-making architecture: 1. Engineering Applications of State Machines: Applying the "finite state machine" theory from computer science to the control of complex engineering machinery. Each state represents a stable operational phase, and state transitions are triggered by explicit, quantified physical parameters (thresholds). This design makes the system behavior highly predictable and debuggable, avoiding the logical chaos caused by complex conditions in traditional sequential control.

[0043] 2. Multimodal anomaly diagnosis strategy: During the rod unloading process, the system can distinguish multiple fault modes: Mode A (Thread Too Tight): Unlock cylinder stroke remains unchanged + pressure remains high. This indicates that the unlocking force cannot overcome the thread resistance.

[0044] Mode B (clamp slippage): Changes in the stroke of the uncoupling cylinder + sustained high pressure. This indicates that the uncoupling force is being consumed by the relative slippage between the drill pipe and the clamp.

[0045] Mode C (Shackle not fully disengaged): The first judgment was successful, but the reverse pressure was high and lifting was difficult in the second judgment. This indicates that although the thread has loosened, it has not completely disengaged.

[0046] Mode D (Power head disengages from drill pipe): The first judgment was successful, but the lifting pressure was too low in the second judgment. This indicates that the power head failed to effectively grip the drill pipe.

[0047] This sophisticated diagnostic capability is unprecedented in this field.

[0048] 3. Closed-Loop Implementation of Collaborative Control: This invention elevates the signals from auxiliary mechanisms such as robotic arms and grippers from simple "position signals" to "enable signals." For example, the robotic arm's position signal not only indicates "arrival" but also provides safety permission for the power head to move. This design forms a true closed-loop collaborative control.

[0049] Figure 1 A flowchart of an automatic hole-forming control method for a down-the-hole drill rig according to an embodiment of the present invention is shown. It is assumed that each drill rod used is 5 meters long, and the designed drilling depth is 18 meters. Figure 1 The specific states of this method in the example are as follows: Initial drilling state with zero rods: The drilling rig parameters for the initial drilling state with zero rods are as follows: The target drilling depth was written as 18 meters. The current number of holes is 0. The current borehole depth is 0 meters. The current drill bit depth at the hole position is 0 meters. The position of the power head is less than the set value DA The robotic arm is in the position for loading and unloading drill pipes. Open the upper and lower clamps Shackle cylinder retraction Air compressor not loaded Electric ball valve closed The power head is not moving. Dust collector fan shut down Drill rods in the robotic arm's re-clamping drill rod magazine After triggering the automatic hole-forming signal in this state, the system switches to the automatic drilling state of the first rod.

[0050] Automatic drilling mode for the first rod: Execute the following steps in sequence: Step 1: The air compressor is loaded, the ball valve is opened, the dust removal fan is turned on, and the current number of rods in the hole position becomes 1.

[0051] Step 2: The power head rotates forward and feeds, determining whether the target drilling depth has been reached during the feeding process: If the first rod reaches the bottom but the target drilling depth is not reached, switch to the automatic rod connection state for the second rod.

[0052] The second pole is in automatic pole connection mode: Execute the following steps in sequence: Step 1: Unload the air compressor, close the electrically controlled ball valve, stop the power head operation, and shut down the dust removal fan.

[0053] Step 2: Clamp with the lower clamp.

[0054] Step 3: The power head reverses and lifts until it stops moving at position Dk1.

[0055] Step 4: Thread lubrication.

[0056] Step 5: The robotic arm swings to the position for loading and unloading drill rods.

[0057] Step 6: The power head rotates forward and feeds. During the feeding process, the pressure of the power head rotating forward determines whether the power head and the second rod are tightened. After tightening, the power head operation is stopped.

[0058] Step 7: The robotic arm gently grips the object.

[0059] Step 8: The power head rotates forward and feeds. During the feeding process, the pressure of the power head rotating forward determines whether the second rod is tightened to the first rod; after tightening, the power head stops moving.

[0060] Step 9: The robotic arm opens, then swings to the drill pipe magazine position, then rotates one position in the drill pipe magazine's outgoing direction, and then the robotic arm re-clamps the third drill pipe in the drill pipe magazine.

[0061] Step 10: Open the lower clamp, then switch to the automatic drilling mode for the second rod.

[0062] The second rod is in automatic drilling mode: Execute the following steps in sequence: Step 1: The air compressor is loaded, the ball valve is opened, the dust removal fan is turned on, and the current number of rods in the hole position becomes 2.

[0063] Step 2: The power head rotates forward and feeds, determining whether the target drilling depth has been reached during the feeding process: If the second rod reaches the bottom but still fails to reach the target drilling depth, switch to the automatic rod connection mode for the third rod.

[0064] The third pole is in automatic pole connection mode: Execute the following steps in sequence: Step 1: Unload the air compressor, close the electrically controlled ball valve, stop the power head operation, and shut down the dust removal fan.

[0065] Step 2: Clamp with the lower clamp.

[0066] Step 3: The power head reverses and lifts until it stops moving at position Dk1.

[0067] Step 4: Thread lubrication.

[0068] Step 5: The robotic arm swings to the position for loading and unloading drill rods.

[0069] Step 6: The power head rotates forward and feeds. During the feeding process, the pressure of the power head rotating forward determines whether the power head and the second rod are tightened. After tightening, the power head operation is stopped.

[0070] Step 7: The robotic arm gently grips the object.

[0071] Step 8: The power head rotates forward and feeds. During the feeding process, the pressure of the power head rotating forward determines whether the third rod is tightened to the second rod. After tightening, the power head stops moving.

[0072] Step 9: The robotic arm opens, then swings to the drill pipe magazine position, then rotates one position in the drill pipe magazine's outgoing direction, and then the robotic arm re-clamps the 4th drill pipe in the drill pipe magazine.

[0073] Step 10: Open the lower clamp, then switch to the automatic drilling mode for the 3rd rod.

[0074] The third rod is in automatic drilling mode: Execute the following steps in sequence: Step 1: The air compressor is loaded, the ball valve is opened, the dust removal fan is turned on, and the current number of rods in the hole position becomes 3.

[0075] Step 2: The power head rotates forward and feeds, determining whether the target drilling depth has been reached during the feeding process: If the third rod reaches the bottom but the target drilling depth is not reached, switch to the automatic rod connection state for the fourth rod.

[0076] The 4th pole is in automatic pole connection mode: Execute the following steps in sequence: Step 1: Unload the air compressor, close the electrically controlled ball valve, stop the power head operation, and shut down the dust removal fan.

[0077] Step 2: Clamp with the lower clamp.

[0078] Step 3: The power head reverses and lifts until it stops moving at position Dk1.

[0079] Step 4: Thread lubrication.

[0080] Step 5: The robotic arm swings to the position for loading and unloading drill rods.

[0081] Step 6: The power head rotates forward and feeds. During the feeding process, the pressure of the power head rotating forward determines whether the power head and the second rod are tightened. After tightening, the power head operation is stopped.

[0082] Step 7: The robotic arm gently grips the object.

[0083] Step 8: The power head rotates forward and feeds. During the feeding process, the pressure of the power head rotating forward determines whether the 4th rod and the 3rd rod are tightened. After tightening, the power head stops moving.

[0084] Step 9: The robotic arm opens, then swings to the drill pipe magazine position, then rotates one position in the drill pipe magazine's outgoing direction, and then the robotic arm re-clamps the 5th drill pipe in the drill pipe magazine.

[0085] Step 10: Open the lower clamp, then switch to the automatic drilling mode for the 4th rod.

[0086] The 4th rod is in automatic drilling mode: Execute the following steps in sequence: Step 1: The air compressor is loaded, the ball valve is opened, the dust removal fan is turned on, and the current number of rods in the hole position becomes 4.

[0087] Step 2: The power head rotates forward and feeds, determining whether the target drilling depth has been reached during the feeding process: When the target drilling depth of 18 meters is reached, switch to the automatic lifting mode of the 4th rod.

[0088] The 4th pole is in automatic lifting mode: Perform the following operations: The power head rotates forward and lifts until it stops at position DM1, then switches to the automatic unloading state for the 4th rod.

[0089] The 4th pole is in automatic unloading mode: Perform the following steps: Step 1: Unload the air compressor, close the electric ball valve, turn off the dust collector fan, clamp the upper clamp, clamp the lower clamp, and then proceed to Step 2.

[0090] Step 2: Unfasten the buckle and pre-check its success: Scenario 1: If the stroke of the shackle cylinder remains constant during uncoupling and the pressure of the shackle cylinder is consistently greater than PY1, it is determined that the threaded connection is too tight. In this case, the display will show a corresponding alarm, all actions will stop, and manual control will be switched.

[0091] Scenario 2: During uncoupling, the stroke of the uncoupling cylinder changes normally, but the pressure of the uncoupling cylinder remains higher than PY1. This indicates that relative slippage has occurred between the two drill pipes and the upper and lower clamps, causing the uncoupling failure. In this case, the display will show a corresponding alarm, all actions will stop, and manual control will be switched.

[0092] Scenario 3: If the stroke of the unstripping cylinder changes normally during unstripping, and the pressure of the unstripping cylinder changes from greater than PY1 to less than PY1, or remains less than PY1, then it is pre-judged as a successful unstripping, and then proceed to step 3.

[0093] Step 3: Confirm successful unhooking again: 1. The robotic arm opens, the drill pipe magazine rotates one notch, the robotic arm swings to the drill pipe loading / unloading position, and the robotic arm gently clamps the drill pipe.

[0094] 2. The upper clamp opens, and the shackle cylinder returns to its original position.

[0095] 3. The power head continues to lift slowly in reverse. At this point, the success of the uncoupling is determined again based on the reverse pressure, lifting pressure, and power head position data. Scenario 1: If the reversing pressure is greater than PY2 and the power head fails to reach the normal upward movement speed VY1, and the lifting pressure is greater than PY3, it is determined that the connection between the two rods is too tight and the unclamping has failed. At this time, the display will pop up a corresponding alarm, all actions will stop, and manual control will be switched.

[0096] Scenario 2: If the reversing pressure is not greater than PY2 and the power head can reach the normal upward movement speed VY1 with a lifting pressure less than PY4, it is determined that the power head has detached from the upper drill pipe, resulting in uncoupling failure. At this time, the display will pop up a corresponding alarm, stop all actions, and switch to manual control.

[0097] Scenario 3: If the reverse pressure is not greater than PY2, and the power head can reach the normal upward movement speed VY1 and the lifting pressure is normal, then it is determined that the uncoupling is successful, and then proceed to step 4.

[0098] Step 4: The power head reverses and lifts until it stops moving at position DY1. Then proceed to step 5.

[0099] Step 5: The robotic arm grips the object again, then the power head reverses and slowly lifts it up. If the lifting pressure is greater than PY4 when the power head position is less than DY3, it is determined that the threaded connection between the power head and the fourth drill rod is too tight. At this time, the display will pop up a corresponding alarm, stop all actions, and switch to manual control.

[0100] If the pressure increase is not greater than PY4, stop the power head operation at the power head position DY3, and then proceed to step six.

[0101] Step Six: Swing the robotic arm to the drill pipe magazine position, and then proceed to Step Seven.

[0102] Step 7: The power head rotates forward and feeds. During the feeding process, when the forward rotation pressure is greater than PY5, it is considered that the power head is tightened with the 3rd rod, and then step 8 is executed.

[0103] Step 8: Open the lower clamp, load the air compressor, open the electric ball valve, turn on the dust removal fan, and change the current number of rods in the hole position to 3. Then switch to the automatic lifting state of the 3rd rod.

[0104] The third pole is in automatic lifting mode: Perform the following operations: The power head rotates forward and lifts until it stops at position DM1, then switches to the automatic unloading state for the third rod.

[0105] The third pole is in automatic unloading mode: Perform the following steps: Step 1: Unload the air compressor, close the electric ball valve, turn off the dust collector fan, clamp the upper clamp, clamp the lower clamp, and then proceed to Step 2.

[0106] Step 2: Unfasten the buckle and pre-check its success: Scenario 1: If the stroke of the shackle cylinder remains constant during uncoupling and the pressure of the shackle cylinder is consistently greater than PY1, it is determined that the threaded connection is too tight. In this case, the display will show a corresponding alarm, all actions will stop, and manual control will be switched.

[0107] Scenario 2: During uncoupling, the stroke of the uncoupling cylinder changes normally, but the pressure of the uncoupling cylinder remains higher than PY1. This indicates that relative slippage has occurred between the two drill pipes and the upper and lower clamps, causing the uncoupling failure. In this case, the display will show a corresponding alarm, all actions will stop, and manual control will be switched.

[0108] Scenario 3: If the stroke of the unstripping cylinder changes normally during unstripping, and the pressure of the unstripping cylinder changes from greater than PY1 to less than PY1, or remains less than PY1, then it is pre-judged as a successful unstripping, and then proceed to step 3.

[0109] Step 3: Confirm successful unhooking again: 1. The robotic arm opens, the drill pipe magazine rotates one notch, the robotic arm swings to the drill pipe loading / unloading position, and the robotic arm gently clamps the drill pipe.

[0110] 2. The upper clamp opens, and the shackle cylinder returns to its original position.

[0111] 3. The power head continues to lift slowly in reverse. At this point, the success of the uncoupling is determined again based on the reverse pressure, lifting pressure, and power head position data. Scenario 1: If the reversing pressure is greater than PY2 and the power head fails to reach the normal upward movement speed VY1, and the lifting pressure is greater than PY3, it is determined that the connection between the two rods is too tight and the unclamping has failed. At this time, the display will pop up a corresponding alarm, all actions will stop, and manual control will be switched.

[0112] Scenario 2: If the reversing pressure is not greater than PY2 and the power head can reach the normal upward movement speed VY1, and the lifting pressure is less than PY4, then it is determined that the power head has detached from the upper drill pipe, resulting in uncoupling failure. At this time, the display will pop up a corresponding alarm, all actions will stop, and manual control will be switched.

[0113] Scenario 3: If the reverse pressure is not greater than PY2, and the power head can reach the normal upward movement speed VY1 and the lifting pressure is normal, then it is determined that the uncoupling is successful, and then proceed to step 4.

[0114] Step 4: The power head reverses and lifts until it stops moving at position DY1. Then proceed to step 5.

[0115] Step 5: The robotic arm grips the object again, then the power head reverses and slowly lifts it up. If the lifting pressure is greater than PY4 when the power head position is less than DY3, it is determined that the threaded connection between the power head and the third drill pipe is too tight. At this time, the display will pop up a corresponding alarm, stop all actions, and switch to manual control.

[0116] If the pressure increase is not greater than PY4, stop the power head operation at the power head position DY3, and then proceed to step six.

[0117] Step Six: Swing the robotic arm to the drill pipe magazine position, and then proceed to Step Seven.

[0118] Step 7: The power head rotates forward and feeds. During the feeding process, when the forward rotation pressure is greater than PY5, it is considered that the power head is tightened with the second rod, and then step 8 is executed.

[0119] Step 8: Open the lower clamp, load the air compressor, open the electric ball valve, turn on the dust removal fan, and change the current number of rods in the hole position to 2. Then switch to the automatic lifting state of the second rod.

[0120] The second pole is in automatic lifting mode: Perform the following operations: The power head rotates forward and lifts until it stops at position DM1, then switches to the automatic unloading state for the second rod.

[0121] The second pole is in automatic unloading mode: Perform the following steps: Step 1: Unload the air compressor, close the electric ball valve, turn off the dust collector fan, clamp the upper clamp, clamp the lower clamp, and then proceed to Step 2.

[0122] Step 2: Unfasten the buckle and pre-check its success: Scenario 1: If the stroke of the shackle cylinder remains constant during uncoupling and the pressure of the shackle cylinder is consistently greater than PY1, it is determined that the threaded connection is too tight. In this case, the display will show a corresponding alarm, all actions will stop, and manual control will be switched.

[0123] Scenario 2: During uncoupling, the stroke of the uncoupling cylinder changes normally, but the pressure of the uncoupling cylinder remains higher than PY1. This indicates that relative slippage has occurred between the two drill pipes and the upper and lower clamps, causing the uncoupling failure. In this case, the display will show a corresponding alarm, all actions will stop, and manual control will be switched.

[0124] Scenario 3: If the stroke of the unstripping cylinder changes normally during unstripping, and the pressure of the unstripping cylinder changes from greater than PY1 to less than PY1, or remains less than PY1, then it is pre-judged as a successful unstripping, and then proceed to step 3.

[0125] Step 3: Confirm successful unhooking again: 1. The robotic arm opens, the drill pipe magazine rotates one notch, the robotic arm swings to the drill pipe loading / unloading position, and the robotic arm gently clamps the drill pipe.

[0126] 2. The upper clamp opens, and the shackle cylinder returns to its original position.

[0127] 3. The power head continues to lift slowly in reverse. At this point, the success of the uncoupling is determined again based on the reverse pressure, lifting pressure, and power head position data. Scenario 1: If the reversing pressure is greater than PY2 and the power head fails to reach the normal upward movement speed VY1, and the lifting pressure is greater than PY3, it is determined that the connection between the two rods is too tight and the unclamping has failed. At this time, the display will pop up a corresponding alarm, all actions will stop, and manual control will be switched.

[0128] Scenario 2: If the reversing pressure is not greater than PY2 and the power head can reach the normal upward movement speed VY1 with a lifting pressure less than PY4, it is determined that the power head has detached from the upper drill pipe, resulting in uncoupling failure. At this time, the display will pop up a corresponding alarm, stop all actions, and switch to manual control.

[0129] Scenario 3: If the reverse pressure is not greater than PY2, and the power head can reach the normal upward movement speed VY1 and the lifting pressure is normal, then it is determined that the uncoupling is successful, and then proceed to step 4.

[0130] Step 4: The power head reverses and lifts until it stops moving at position DY1. Then proceed to step 5.

[0131] Step 5: The robotic arm grips the object again, then the power head reverses and slowly lifts it up. If the lifting pressure exceeds PY4 when the power head position is below DY3, it is determined that the threaded connection between the power head and the second drill pipe is too tight. At this point, the display will display a corresponding alarm, all actions will stop, and manual control will be switched.

[0132] If the pressure increase is not greater than PY4, stop the power head operation at the power head position DY3, and then proceed to step six.

[0133] Step Six: Swing the robotic arm to the drill pipe magazine position, and then proceed to Step Seven.

[0134] Step 7: The power head rotates forward and feeds. During the feeding process, when the forward rotation pressure is greater than PY5, it is considered that the power head is tightened with the first rod, and then step 8 is executed.

[0135] Step 8: Open the lower clamp, load the air compressor, open the electric ball valve, turn on the dust removal fan, and change the current number of rods in the hole position to 1. Then switch to the automatic lifting state of the first rod.

[0136] The first pole is in automatic lifting mode: Perform the following operations: The power head rotates forward and lifts until it stops at position DM2. Then, it executes the following actions: unloading the air compressor, closing the electric ball valve, shutting down the dust removal fan, changing the current hole position rod count to 0, and finally switching to the drilling completed state.

[0137] Drilling Complete Status: The status after automatic hole forming is completed, with the following parameters: The current number of holes is 0. The current borehole depth is 18 meters. The current drill bit depth at the hole position is 0. The position of the power head is less than the set value DA The robotic arm is in the position for loading and unloading drill pipes. Open the upper and lower clamps Shackle cylinder retraction Air compressor not loaded Electric ball valve closed The power head is not moving. Dust collector fan shut down Drill rods in the robotic arm's re-clamping drill rod magazine This status will display a message indicating that automatic hole forming is complete on the monitor.

[0138] The proposed automatic drilling control method overcomes the problems of low drill rod unloading efficiency caused by manual operation, equipment failure risk caused by reliance on experience in tightening control, and delayed response to abnormal working conditions. The method improves drilling efficiency and operational safety as a whole through a full-process state machine automation solution. Example 2

[0139] like Figure 1 and Figure 2 As shown, this embodiment provides an automatic hole-forming control device for down-the-hole drilling rigs, including: The signal receiving unit is used to receive real-time operating parameters of the drilling rig; The control unit is used to control the drilling rig's real-time operating parameters and execute the automatic hole-forming control method for down-the-hole drilling rigs described in Example 1. Example 3

[0140] like Figure 1 and Figure 2 As shown, this embodiment provides an automatic hole-forming control system for down-the-hole drills, including: The signal acquisition unit is used to acquire real-time operating parameters of the drilling rig. The controller is equipped with the automatic hole-forming control device for down-the-hole drill described in Embodiment 2. It is used to receive real-time operating parameters collected by the signal acquisition unit through the signal receiving unit, and execute the automatic hole-forming control method for down-the-hole drill described in Embodiment 1 through the control unit according to the real-time operating parameters. The signal acquisition unit includes an absolute encoder, a pressure sensor, and a proximity switch. The absolute encoder is used to acquire the position of the power head, the pressure sensor is used to acquire the pressure of the shackle cylinder and the pressure of the power head, and the proximity switch is used to acquire the position of the robotic arm.

[0141] Specifically, the controller employs a programmable logic controller, combined with... Figure 2 Architecture shown: - The absolute encoder acquires the position of the power head in real time; - The pressure sensor array monitors the pressure of the shackle cylinder and power head; - Proximity to the position of the robotic arm of the proximity switch assembly.

[0142] Furthermore, an automatic hole-forming physical button (cab / remote end) and a virtual button on the human-machine interface display are set to trigger the automatic hole-forming signal. The display shows the status parameters (current number of rods, hole depth, power head position) and alarm information (such as "thread too tight alarm") in real time.

[0143] Furthermore, in an embodiment of the present invention, the automatic drilling control system of the drilling rig is equipped with an interruption management unit to achieve: 1. Manual pause and state memory: The operator can trigger a command via the physical pause button in the cab or the virtual pause button on the human-machine interface, and the system will immediately freeze all actuators (the power head stops moving, the clamps remain in their current state, and the air compressor is unloaded). Record the state machine position (e.g., "Automatic rod connection state of the Kth rod - step 6"), process parameters (current rod number N, hole depth, power head position) and equipment status (opening and closing of upper and lower clamps, position of robotic arm) in real time when interruption occurs. 2. Abnormal Interruption and Safety Handling: When the system automatically detects an anomaly, it terminates the process and alarms, while recording the status of the interruption point (e.g., “Automatic rod unloading status of the Yth rod - Step 3 - Case 1”). 3. Manual recovery mechanism: After a manual pause / abnormality is handled, a continuation command is sent via the process resumption button. The system automatically loads the state machine position and parameters recorded at the time of the interruption and accurately resumes the automated process from the interruption point (e.g., continuing the tightening judgment from "connecting the Kth rod to the rod - step 6").

[0144] Specifically, the interrupt management unit is integrated into the controller, and its hardware includes: Non-volatile memory: stores the status code (such as state machine ID + step ID) and dynamic parameters (number of rods, hole depth, position value) during interruption. Status verification module: Before restoration, automatically compares the current device status (feedback from proximity switch / encoder) with the recorded status. If the deviation exceeds the limit, it prompts for manual calibration.

[0145] Using this system, the operator triggers an automatic hole-forming signal when the drilling begins with zero rods, and the system automatically executes the following: 1. Starting from the first drill rod, drill through multiple rods (the number of rods increases dynamically) until the target drilling depth is reached; 2. After switching to the lifting state, unload the poles in sequence (the number of poles decreases dynamically); 3. The entire process is based on parameter thresholds for autonomous decision-making regarding state switching and abnormal shutdowns; 4. Finally, the drilling process is complete.

[0146] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0148] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0149] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0150] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method of automatic hole completion control for a raise boring machine, characterized by, include: Obtain real-time operating parameters of the drilling rig; Based on the comparison results between the drilling rig's real-time operating parameters and preset thresholds, the drilling rig's operating status is switched. The working states include initial drilling state, automatic drilling state, automatic lifting state, automatic rod connection state, automatic rod unloading state, and drilling completion state. The operating parameters include one or more of the following: power head position signal, lifting pressure signal, power head forward rotation pressure signal, power head reverse rotation pressure signal, shackle cylinder pressure signal, shackle cylinder stroke signal, robotic arm position signal, upper clamp cylinder pressure signal, and lower clamp cylinder pressure signal. In automatic bar release mode, a judgment is made on whether the bar release was successful based on the pressure signal and stroke signal of the shackle cylinder, including: If the stroke of the unclipping cylinder remains constant during uncoupling and the pressure of the unclipping cylinder continues to be greater than the first preset pressure, it is determined that the threaded connection is too tight. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. When the uncoupling cylinder stroke changes normally during uncoupling, but the uncoupling cylinder pressure continues to be greater than the first preset pressure, it is determined that the relative slippage between the two drill pipes and the upper and lower clamps has caused the uncoupling failure. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. When the unslipping cylinder stroke changes normally during unslipping, and the unslipping cylinder pressure changes from greater than the first preset pressure to less than the first preset pressure, or remains less than the first preset pressure, it is pre-judged that the unslipping is successful. After a successful initial assessment, a second assessment of the success of rod unloading is performed based on the power head reversal pressure signal, lifting pressure signal, and power head position signal. This includes: If the reversal pressure is greater than the second preset pressure and the power head fails to reach the normal upward movement speed and the lifting pressure is greater than the third preset pressure, it is determined that the connection between the two rods is too tight and the unscrewing is unsuccessful. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the reversal pressure is not greater than the second preset pressure and the power head can reach the normal upward movement speed and the lifting pressure is less than the fourth preset pressure, it is determined that the power head has detached from the upper drill rod, resulting in uncoupling failure. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the reversal pressure is not greater than the second preset pressure, and the power head can reach the normal upward movement speed and the lifting pressure is normal, then the uncoupling is considered successful.

2. The raise boring machine automatic hole completion control method of claim 1, wherein, Based on the comparison results between the drilling rig's real-time operating parameters and preset thresholds, the drilling rig's operating status is switched, including: In response to the automatic hole-forming command, the system switches from the initial hole-drilling state to the automatic drilling state. During the drilling process, the position signal of the power head is used to determine whether the target drilling depth has been reached. If the target drilling depth has not been reached, the rod connection and drilling operations are repeated until the target drilling depth is reached. When the target drilling depth is reached, the lifting and rod unloading operations are repeated until the number of rods at the current hole position is zero, and then the drilling is switched to the completed state. In automatic rod connection mode, the system determines whether the power head and the next rod, and the current rod and the next rod are tightened based on the forward rotation pressure signal of the power head. After the rod connection is completed, the system switches to automatic drilling mode. In automatic lifting mode, the system determines whether the preset position has been reached based on the position signal of the power head. Once the preset position is reached, the system switches to automatic unloading mode.

3. The raise boring machine automatic hole completion control method of claim 1, wherein, In the automatic lever unloading state, it also includes: If the lifting pressure is greater than the fourth preset pressure after the power head position is less than the third preset position, it is determined that the threaded connection between the power head and the currently unloaded drill rod is too tight. At this time, an alarm is triggered, all actions are stopped, and manual control is switched. If the pressure increase is not greater than the fourth preset pressure, the power head will be controlled to move to the third preset position and then stop, and subsequent operations will be performed.

4. The raise boring machine automatic hole completion control method of claim 1, wherein, The robotic arm position signal is used to determine whether the robotic arm has moved to the predetermined drill rod loading / unloading position or drill rod storage position during the automatic rod receiving and unloading process. If the signal confirms that the position is in place, the subsequent action is triggered. If the position is not in place within the time limit, an alarm is triggered and the process is paused. The robotic arm position signal is also used to determine whether the robotic arm has safely avoided a collision when it returns to the drill pipe magazine position. The pressure signals of the upper clamp cylinder and the lower clamp cylinder are used to determine whether the drill rod is reliably clamped. In the automatic rod connection state, when the lower clamp is clamped, it is determined whether the pressure signal of the lower clamp cylinder reaches the preset threshold. If it does, subsequent actions are performed. If the pressure is too low or too high, the clamping force of the lower clamp is adjusted or an alarm is triggered. In automatic lever release mode, when the upper and lower clamps clamp simultaneously, the clamping status is determined based on the pressure signals from the upper and lower clamp cylinders. If the pressure is normal, the lever is released; if abnormal, an alarm is triggered.

5. The raise boring machine automatic hole completion control method of claim 1, wherein, Also includes: During the automatic hole forming process, in response to a pause command or an abnormal detection signal, the current action is immediately stopped, and the current working status indicator and relevant operating parameters at the time of interruption are recorded. Upon receiving the recovery command, the automatic hole-forming process resumes from the point of interruption based on the recorded interruption time information.

6. An automatic hole-forming control device for a down-the-hole drill rig, characterized in that, include: The signal receiving unit is used to receive real-time operating parameters of the drilling rig; The control unit, connected to the signal receiving unit, is used to execute the automatic hole-forming control method for down-the-hole drilling rig as described in any one of claims 1 to 5, based on the real-time operating parameters of the drilling rig.

7. An automatic hole-forming control system for a down-the-hole drill rig, characterized in that, include: The signal acquisition unit is used to acquire real-time operating parameters of the drilling rig. The controller is equipped with the automatic hole-forming control device for down-the-hole drill as described in claim 6, which is used to receive real-time operating parameters collected by the signal acquisition unit through the signal receiving unit, and execute the automatic hole-forming control method for down-the-hole drill as described in any one of claims 1 to 5 through the control unit according to the real-time operating parameters. The signal acquisition unit includes an absolute encoder, a pressure sensor, and a proximity switch. The absolute encoder is used to acquire the position of the power head, the pressure sensor is used to acquire the pressure of the shackle cylinder and the pressure of the power head, and the proximity switch is used to acquire the position of the robotic arm.

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