Bending auxiliary adjustment system and method for drill rods of a jumbo in a super-large diameter tunnel

Abstract

The application discloses a kind of bending auxiliary adjustment systems of rock drilling jumbo drill rod of super diameter tunnel and application method thereof, the system includes: drill rod unit, attitude sensor unit, data acquisition and processing unit and main control and display unit.Floating casing structure is made of fixed guide section, flexible joint and floating casing, to ensure that drill rod can drive sensor to move freely even if it is deflected during advancing.The attitude sensor unit integrates gyroscope, accelerometer and magnetometer, enabling high-frequency real-time collection of drill rod pitch angle, yaw angle and other attitude information.The data acquisition and processing unit outputs stable results through sensor fusion and attitude calculation, and the main control and display unit generates and visually displays the correction suggestions in combination with the target drilling direction.The application effectively assists operators in correcting drill rod bending through real-time attitude monitoring and adjustment suggestion output, significantly improving the precision and efficiency of super diameter tunnel drilling and blasting construction.

Description

Technical Field

[0001] This invention belongs to the field of tunnel engineering technology, and more specifically, relates to a bending auxiliary adjustment system for the drill rod of a rock drilling rig in ultra-large diameter tunnels and its application method. Background Technology

[0002] Drill-and-blast method, as a crucial technology in tunnel engineering construction, directly determines the project's progress, cost, and final quality through its efficiency and precision. In drill-and-blast construction, the accuracy of borehole positioning, depth, and angle is key to achieving optimal blasting results. However, with the continuous increase in tunnel diameter, especially in the construction of ultra-large diameter tunnels, the length of the drill rods used on drilling rigs has significantly increased. These ultra-long drill rods, under the combined influence of their own weight, drilling axial thrust, and rock reaction forces, are highly susceptible to significant bending deformation and deflection. This bending not only causes the drill bit to deviate from its preset trajectory, resulting in inaccurate borehole positioning, inconsistent hole depth, or angle deviations, but also directly affects the rational distribution of explosive charges and the effective utilization of blasting energy. Inaccurate drilling may lead to local under-excavation or over-excavation, increasing the difficulty and material consumption of subsequent support operations, and may even affect the stability of the surrounding rock and the overall structural safety of the tunnel.

[0003] Currently, existing rock drilling rig systems rely primarily on operator experience for manual observation and limited mechanical adjustments when dealing with drill rod bending issues. They lack precise perception of the drill rod's real-time posture and high-precision compensation capabilities. While some advanced rock drilling equipment integrates automated drilling positioning systems, these systems often focus on locating the borehole starting point, insufficiently considering the dynamic bending deformation of the drill rod during drilling and its impact on the borehole trajectory. Therefore, there is an urgent need for a system capable of real-time monitoring of the drill rod's bending status and providing effective auxiliary adjustments to ensure high-precision drilling in ultra-large diameter tunnel construction. This would improve blasting efficiency, optimize surrounding rock control, and ultimately enhance the overall quality and safety of the tunnel project. In the future, ultra-large diameter tunnel construction technology will develop towards higher precision and greater intelligence. How to construct an efficient, accurate, and adaptable drill rod bending auxiliary adjustment system for rock drilling rigs is a key concern and problem to be solved in this field. Summary of the Invention

[0004] This invention provides a bending-assisted adjustment system for the drill rod of a rock drilling rig suitable for ultra-large diameter tunnels and its application method, thereby achieving efficient and precise construction of large-section tunnel drilling and blasting methods.

[0005] In a first aspect, the present invention provides a bending auxiliary adjustment system for the drill rod of a rock drilling rig suitable for ultra-large diameter tunnels. The bending auxiliary adjustment system includes four main units: a drill rod unit, an attitude sensor unit, a data acquisition and processing unit, and a main control and display unit.

[0006] In the bending-assisted adjustment system, the attitude of the drill rod, including pitch angle and yaw angle data, is acquired in real time by the attitude sensor unit; the attitude is calculated by the data acquisition and processing unit and the processed attitude data results are transmitted to the main control and display system; the main control and display unit generates and displays operation suggestions.

[0007] The drill rod unit includes a drill rod and a floating sleeve structure;

[0008] The drill rod advances continuously during rock drilling and may bend due to the combined effects of its own weight, drilling axial thrust, and rock reaction force.

[0009] The floating sleeve structure consists of three main parts: a fixed guide section, a flexible joint, and a floating sleeve.

[0010] The fixed guide section is a hollow tubular structure, which is fixed to the end of the drill arm of the rock drilling rig by rigid connection methods such as flange bolts or welding, providing a stable installation reference for the floating casing structure.

[0011] The flexible joint is a universal joint or ball joint structure, with one end connected to the end of the fixed guide section and the other end connected to the floating sleeve, so that the floating sleeve can deflect accordingly with the deflection of the drill rod, but does not restrict the movement of the drill rod.

[0012] The floating sleeve is a hollow tubular structure with an inner diameter slightly larger than the drill rod, allowing the drill rod to pass smoothly through the sleeve structure.

[0013] One end of the floating sleeve is connected to the flexible joint, and the other end moves freely, ensuring that the floating sleeve can move freely with the drill rod.

[0014] The floating sleeve structure is made of high-strength, lightweight alloy material and lined with low-friction material to ensure that the floating sleeve structure maintains a stable working state when the drill rod rotates at high speed and advances axially.

[0015] The effective axial monitoring length of the floating sleeve should be designed according to the bending characteristics of the drill rod and the required accuracy to ensure that a stable and representative average local tilt value can be obtained.

[0016] The attitude sensor unit is mounted on the floating sleeve structure of the drill rod and integrates a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.

[0017] The three-axis gyroscope is used to measure the instantaneous trend of the drill rod's attitude change;

[0018] The triaxial accelerometer is used to measure the tilt angle of the drill rod in space, including pitch angle and roll angle, and to help correct the long-term drift of the gyroscope and provide a gravity reference.

[0019] The triaxial magnetometer is used to measure the absolute direction of the drill rod in the horizontal plane, i.e., the yaw angle.

[0020] Preferably, the attitude sensor consists of at least two sensors that verify each other, and the recommended data frequency is ≥100Hz.

[0021] The data acquisition and processing unit is used to receive the raw data collected by the attitude sensor in real time, and to perform preprocessing, sensor fusion, attitude calculation and filtering calculation.

[0022] Preferably, the data acquisition and processing unit can integrate a high-performance microprocessor to run a rod attitude estimation algorithm based on Kalman filtering and complementary filtering, thereby achieving accurate extraction of dynamic attitude.

[0023] The main control and display unit includes a main control processor, a human-machine interaction module, and a display interface. The main control processor receives the calculated attitude data and, in conjunction with a preset target drilling direction model, determines the current attitude deviation in real time and calculates the optimal drill arm adjustment suggestion. The human-machine interaction module and display interface can use industrial-grade touch screens, LED prompts, or other devices to provide intuitive feedback to the operator in a manner such as "correct upward by 0.5°" or "correct left by 1.2°".

[0024] Secondly, the present invention provides an application method for a bending auxiliary adjustment system for drill rods on rock drilling rigs suitable for ultra-large diameter tunnels, comprising: 1) drill rod posture recognition; 2) generating bending adjustment suggestions;

[0025] The drill bit posture recognition of the drilling rig in ultra-large diameter tunnels includes the following sub-steps:

[0026] Step 1.1: During the operation of the rock drilling rig, the attitude sensor unit (integrating a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer) installed on the floating sleeve structure of the drill rod collects the original attitude data of the drill rod in real time and at a high frequency (recommended ≥100Hz), including its rotation speed, instantaneous attitude change trend, spatial tilt angle (pitch angle, roll angle), and absolute direction in the horizontal plane (yaw angle).

[0027] Among them, the three-axis gyroscope measures angular velocity. , , By integrating the angular velocity, the attitude change can be obtained using the following formula:

[0028] ,

[0029] In the formula, It is the quaternion of the current attitude. , It is the real part. It is the imaginary part; It is the derivative of the quaternion with respect to time. It is quaternion multiplication. Angular velocity in quaternion form .

[0030] at discrete time step Internally, the quaternion is updated using an exponential mapping based on the Euler integral:

[0031] ,

[0032] In the formula, yes The position of the drill rod at any given moment. yes The position of the drill rod at any given moment. It is quaternion multiplication.

[0033] It is a quaternion exponential mapping (which converts an angular vector generated by angular velocity and time step into a quaternion representing rotation). Angular velocity in quaternion form , It is the discrete time step.

[0034] A triaxial accelerometer measures the acceleration of the drill rod along each axis of the carrier coordinate system (with the drill rod axis as the x-axis, the horizontal axis as the y-axis, and the vertical axis as the z-axis). , , By inferring attitude from monitored acceleration, the pitch angle can be obtained using the following formula.

[0035] and roll angle :

[0036] ,

[0037] ,

[0038] In the formula, It is the pitch angle. It's a roll angle. , , It is the acceleration of the drill rod on each axis.

[0039] A three-axis magnetometer measures the components of the Earth's magnetic field on each axis of the carrier's coordinate system. Combined with the pitch and roll angles provided by the accelerometer, the yaw angle can be calculated using the magnetometer.

[0040] First, project the magnetometer data onto the horizontal plane using the following formula:

[0041] ,

[0042] ,

[0043] In the formula, and These are the magnetic field components in the x and y directions on the horizontal plane. It is the pitch angle. It's a roll angle. It is the magnetic field strength along the x-axis. It is the magnetic field strength along the y-axis. It is the magnetic field strength along the z-axis;

[0044] Then calculate the yaw angle using the following formula:

[0045] ,

[0046] In the formula, It's the yaw angle. and These are the magnetic field components in the x and y directions on the horizontal plane, respectively.

[0047] Step 1.2 combines the short-term accuracy of the gyroscope with the long-term stability of the accelerometer and magnetometer by using extended Kalman filtering to overcome the limitations of a single sensor.

[0048] First, based on the system dynamics model, predict the state at the next moment using the following formula:

[0049] ,

[0050] ,

[0051] In the formula, yes Quaternion for predicting the attitude of the drill bit at any given time. Indicates based on Information about time Predicting the time, yes The optimal quaternion for estimating the drill bit attitude at any given time. yes The original angular velocity vector measured by the gyroscope in the probe coordinate system. , yes The optimal estimation vector of the zero bias of the gyroscope at any given time (in the prediction step, it is assumed that the zero bias remains constant over a short period of time).

[0052] The uncertainty of the predicted state is characterized by predicting the covariance matrix according to the following formula:

[0053] ,

[0054] In the formula, yes The predicted value of the system state covariance matrix at time t. yes The optimal estimate of the system state covariance matrix at time t. It is the Jacobian matrix of the state transition matrix. It is the process noise covariance matrix;

[0055] Then, the predicted state is corrected using sensor measurements (accelerometer and magnetometer) according to the following formula:

[0056] ,

[0057] In the formula, yes The optimal estimate of the drill rod attitude at any given time. It is a predicted state. It is Kalman gain. It measures the residual;

[0058] The Kalman gain is calculated using the following formula:

[0059] ,

[0060] In the formula, It is Kalman gain. It is the predicted value of the covariance matrix. It is the Jacobian matrix of the measurement matrix. It is innovation covariance. It is the transpose of the measurement matrix Jacobi, used to map information in the measurement space back to the state space; It is the inverse of the innovative covariance matrix, used to normalize and weight the measurement residuals;

[0061] Among them, the Jacobian matrix of the measurement matrix Calculate using the following formula:

[0062] ,

[0063] In the formula, It is the Jacobian matrix of the measurement matrix. It is the observation function;

[0064] Innovation Covariance Calculate using the following formula:

[0065] ,

[0066] In the formula, It is the Jacobian matrix of the measurement matrix. It is the predicted value of the covariance matrix. It measures the noise covariance matrix. It is the transpose of the measurement matrix Jacobi, used to map information in the measurement space back to the state space;

[0067] Measurement residuals are calculated using the following formula:

[0068] ,

[0069] In the formula, It measures the residual vector. yes The actual measurement vector at time [time] It is the observation function;

[0070] The covariance matrix is ​​updated as follows:

[0071] ,

[0072] In the formula, yes The optimal estimate of the covariance matrix of the drill rod attitude at time t. It is the identity matrix. It is Kalman gain. It is the Jacobian matrix of the measurement matrix. yes The predicted value of the system state covariance matrix at time 1.

[0073] Step 2: After the attitude calculation is completed, calculate the deviation based on the real-time attitude of the drill rod and generate adjustment suggestions;

[0074] The drill rod deviation is calculated using the following formula:

[0075] ,

[0076] ,

[0077] In the formula, It is the current pitch angle of the drill rod. It is the target pitch angle of the drill rod. It is the pitch angle deviation of the drill rod. It is the current yaw angle of the drill rod. It is the target yaw angle of the drill rod. It is the yaw angle deviation of the drill rod;

[0078] Based on the calculated deviation, the system generates adjustment suggestions, which the operator then uses to correct the drill rod's posture. The amount of the generated suggestions is calculated using the following formula:

[0079] ,

[0080] ,

[0081] In the formula, and These are the suggested adjustments for pitch and yaw angles. and It is the proportional gain of pitch and yaw angles;

[0082] Finally, the generated adjustment suggestions will be displayed on the human-computer interaction interface, for example, if Corresponding to raising the drill arm by 0.5°, the display interface will show "Upward Correction 0.5°".

[0083] The beneficial effects of this invention are:

[0084] 1. Accurate identification and correction of drill rod bending: This invention uses a fusion algorithm of a three-axis gyroscope, accelerometer and magnetometer to realize real-time attitude identification of the drill rod, which can accurately capture the deviation of pitch angle and yaw angle and generate specific numerical correction suggestions, significantly improving the accuracy of drilling direction control.

[0085] 2. Reduce construction errors: Attitude calculation combined with extended Kalman filtering effectively overcomes single sensor drift and noise interference, making the attitude estimation results stable and reliable, thereby reducing the risk of borehole deviation and over-excavation in drill-and-blast construction.

[0086] 3. Improved work efficiency: The system of this invention can output attitude data and correction commands at a high frequency (≥100Hz), allowing operators to adjust the drill arm in real time, reducing time wastage caused by repeated corrections and improving the construction efficiency of ultra-large cross-section tunnels.

[0087] 4. Extend equipment life: The floating casing structure uses high-strength, lightweight materials and is lined with a low-friction layer, which not only ensures the smooth rotation and advance of the drill rod, but also reduces the additional load caused by the bending of the drill rod, thereby reducing wear and extending the service life of the drill rod and drill arm.

[0088] 5. Improved operator experience: The main control and display unit reduces the difficulty of operator judgment through intuitive prompts (such as "correct upwards by 0.5°"), thereby improving the convenience of construction and the human-machine interaction experience.

[0089] 6. Adapting to the construction needs of ultra-large diameter tunnels: The system of this invention is designed for the characteristics of long and easily bent drill rods in ultra-large diameter tunnels. It can effectively compensate for the attitude deviation caused by gravity, thrust and rock reaction force, and is suitable for drilling and blasting construction of large-section tunnels under complex geological conditions. Attached Figure Description

[0090] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0091] Figure 1 A schematic diagram of the overall architecture of a bending auxiliary adjustment system for the drill rod of a rock drilling rig for ultra-large diameter tunnels provided by the present invention.

[0092] Figure 2 A schematic diagram of the bending-assisted adjustment system provided by the present invention;

[0093] Figure 3 This is a schematic diagram of the installation of the attitude sensor unit provided by the present invention;

[0094] Figure 4 This is a schematic diagram illustrating the bending and correction of the drill rod provided by the present invention;

[0095] Figure 5 The flowchart for data acquisition and processing provided by this invention;

[0096] Among them, 1-drill rod unit, 11-drill rod, 12-floating sleeve structure, 121-fixed guide section, 122-flexible joint, 123-floating sleeve; 2-attitude sensor unit, 21-three-axis gyroscope, 22-three-axis accelerometer, 23-three-axis magnetometer; 3-data acquisition and processing unit; 4-main control and display unit; 5-drill arm, 51-front guide support. Detailed Implementation

[0097] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0098] like Figure 1 The diagram shows a schematic model of a bending-assisted adjustment system for the drill rod of a rock drilling rig suitable for ultra-large diameter tunnels, provided by the present invention. The bending-assisted adjustment system includes four main units: a drill rod unit 1, an attitude sensor unit 2, a data acquisition and processing unit 3, and a main control and display unit 4. The drill rod 11 of the drill rod unit 1 is used for rock drilling and may bend during the drilling process. The floating sleeve structure 12 will deflect synchronously with the bending and deflection of the drill rod 11. The attitude sensor unit 2 is used to collect the attitude information of the floating sleeve structure 12 in real time, thereby characterizing the bending state of the drill rod 11. The data acquisition and processing unit 3 is used to receive and process the sensor data, perform attitude calculation and filtering calculations. The main control and display unit 4 is used to receive the processed attitude data, calculate the attitude deviation, and finally generate and display operation suggestions to the operator.

[0099] like Figure 2As shown, the drill rod unit 1 includes a drill rod 11 and a floating sleeve structure 12. The floating sleeve structure 12 is located at the front guide support 51 at the end of the drill arm 5 of the rock drilling rig, and consists of three main parts: a fixed guide section 121, a flexible joint 122, and a floating sleeve 123. The fixed guide section 121 is a hollow tubular structure, fixed to the front guide support 51 at the end of the drill arm 5 of the rock drilling rig by rigid connections such as flange bolts or welding, providing a stable installation reference for the floating sleeve structure 12. The flexible joint 122 is a universal joint or ball joint structure, with one end connected to the end of the fixed guide section 121 and the other end connected to the floating sleeve 123. The floating sleeve 123 is designed to deflect synchronously with the deflection of the drill rod 11, without restricting its movement. The floating sleeve 123 is a hollow tubular structure with an inner diameter slightly larger than the drill rod 11, allowing it to pass smoothly through. One end of the floating sleeve 123 is connected to the flexible joint 122, while the other end moves freely and deflects synchronously with the drill rod 11. The floating sleeve structure 12 should be made of high-strength, lightweight alloy material and lined internally with a low-friction material to ensure stable operation during high-speed rotation and axial advancement of the drill rod 11. The effective axial monitoring length of the floating sleeve 12 should be designed based on the bending characteristics and required accuracy of the drill rod 11 to ensure a stable and representative average local tilt value.

[0100] like Figure 3 As shown, the attitude sensor unit 2 is mounted on the floating sleeve structure 12 and integrates three main sensors: a three-axis gyroscope 21, a three-axis accelerometer 22, and a three-axis magnetometer 23. The three-axis gyroscope is mainly used to measure the instantaneous trend of the drill rod's attitude change; the three-axis accelerometer is mainly used to measure the tilt angle (pitch angle and roll angle) of the drill rod in space, and to assist in correcting the long-term drift of the gyroscope and provide a gravity reference; the three-axis magnetometer is mainly used to measure the absolute direction (yaw angle) of the drill rod in the horizontal plane.

[0101] like Figure 4 As shown, during rock drilling, the drill rod 11 continuously advances into the rock strata and may bend due to the combined effects of its own weight, drilling axial thrust, and rock reaction force, causing the borehole to deviate from the preset trajectory. The floating casing structure 12 follows the bending and deflection of the drill rod 11 and transmits this attitude change to the attitude sensor unit 2 installed on the floating casing structure 12.

[0102] like Figure 5 The diagram shows a flowchart of an application method for a bending-assisted adjustment system for a drilling rig drill rod suitable for ultra-large diameter tunnels, provided by the present invention, including: 1) drill rod posture recognition; 2) generating bending adjustment suggestions.

[0103] The drill bit posture recognition of the drilling rig in ultra-large diameter tunnels includes the following sub-steps:

[0104] Step 1.1: During the operation of the rock drilling rig, the attitude sensor unit set on the floating sleeve structure of the drill rod collects the original attitude data of the drill rod in real time and at high frequency, including its rotation speed, instantaneous attitude change trend, spatial tilt angle (pitch angle, roll angle) and absolute direction in the horizontal plane (yaw angle).

[0105] Among them, the three-axis gyroscope measures angular velocity. , , By integrating the angular velocity, the attitude change can be obtained using the following formula:

[0106] ,

[0107] In the formula, It is the quaternion of the current attitude. , It is the real part. It is the imaginary part; It is the derivative of the quaternion with respect to time. It is quaternion multiplication. Angular velocity in quaternion form .

[0108] at discrete time step Internally, the quaternion is updated using an exponential mapping based on the Euler integral:

[0109] ,

[0110] In the formula, yes The position of the drill rod at any given moment. yes The position of the drill rod at any given moment. It is quaternion multiplication.

[0111] It is a quaternion exponential mapping (which converts an angular vector generated by angular velocity and time step into a quaternion representing rotation). Angular velocity in quaternion form , It is the discrete time step.

[0112] A triaxial accelerometer measures the acceleration of the drill rod along each axis of the carrier coordinate system (with the drill rod axis as the x-axis, the horizontal axis as the y-axis, and the vertical axis as the z-axis). , , By inferring attitude from monitored acceleration, the pitch angle can be obtained using the following formula.

[0113] and roll angle :

[0114] ,

[0115] ,

[0116] In the formula, It is the pitch angle. It's a roll angle. , , It is the acceleration of the drill rod on each axis.

[0117] A three-axis magnetometer measures the components of the Earth's magnetic field on each axis of the carrier's coordinate system. Combined with the pitch and roll angles provided by the accelerometer, the yaw angle can be calculated using the magnetometer.

[0118] First, project the magnetometer data onto the horizontal plane using the following formula:

[0119] ,

[0120] ,

[0121] In the formula, and These are the magnetic field components in the x and y directions on the horizontal plane, respectively. It is the pitch angle. It's a roll angle. It is the magnetic field strength along the x-axis. It is the magnetic field strength along the y-axis. It is the magnetic field strength along the z-axis;

[0122] Then calculate the yaw angle using the following formula:

[0123] ,

[0124] In the formula, It's the yaw angle. and These are the magnetic field components in the x and y directions on the horizontal plane.

[0125] Step 1.2 combines the short-term accuracy of the gyroscope with the long-term stability of the accelerometer and magnetometer by using extended Kalman filtering to overcome the limitations of a single sensor.

[0126] First, based on the system dynamics model, predict the state at the next moment using the following formula:

[0127] ,

[0128] ,

[0129] In the formula, yes Quaternion for predicting the attitude of the drill bit at any given time. Indicates based on Information about time Predicting the time, yes The optimal quaternion for estimating the drill bit attitude at any given time. yes The original angular velocity vector measured by the gyroscope in the probe coordinate system. , yes The optimal estimation vector of the zero bias of the gyroscope at any given time (in the prediction step, it is assumed that the zero bias remains constant over a short period of time).

[0130] The uncertainty of the predicted state is characterized by predicting the covariance matrix according to the following formula:

[0131] ,

[0132] In the formula, yes The predicted value of the system state covariance matrix at time t. yes The optimal estimate of the system state covariance matrix at time t. It is the Jacobian matrix of the state transition matrix. It is the process noise covariance matrix;

[0133] Then, the predicted state is corrected using sensor measurements (accelerometer and magnetometer) according to the following formula:

[0134] ,

[0135] In the formula, yes The optimal estimate of the drill rod attitude at any given time. It is a predicted state. It is Kalman gain. It measures the residual;

[0136] The Kalman gain is calculated using the following formula:

[0137] ,

[0138] In the formula, It is Kalman gain. It is the predicted value of the covariance matrix. It is the Jacobian matrix of the measurement matrix. It is innovation covariance. It is the transpose of the measurement matrix Jacobi, used to map information in the measurement space back to the state space; It is the inverse of the innovative covariance matrix, used to normalize and weight the measurement residuals;

[0139] Among them, the Jacobian matrix of the measurement matrix Calculate using the following formula:

[0140] ,

[0141] In the formula, It is the Jacobian matrix of the measurement matrix. It is the observation function;

[0142] Innovation Covariance Calculate using the following formula:

[0143] ,

[0144] In the formula, It is the Jacobian matrix of the measurement matrix. It is the predicted value of the covariance matrix. It measures the noise covariance matrix. It is the transpose of the measurement matrix Jacobi, used to map information in the measurement space back to the state space;

[0145] Measurement residuals are calculated using the following formula:

[0146] ,

[0147] In the formula, It measures the residual vector. yes The actual measurement vector at time [time] It is the observation function;

[0148] The covariance matrix is ​​updated as follows:

[0149] ,

[0150] In the formula, yes The optimal estimate of the covariance matrix of the drill rod attitude at time t. It is the identity matrix. It is Kalman gain. It is the Jacobian matrix of the measurement matrix. yes The predicted value of the system state covariance matrix at time 1.

[0151] Step 2: After the attitude calculation is completed, calculate the deviation based on the real-time attitude of the drill rod and generate adjustment suggestions;

[0152] The drill rod deviation is calculated using the following formula:

[0153] ,

[0154] ,

[0155] In the formula, It is the current pitch angle of the drill rod. It is the target pitch angle of the drill rod. It is the pitch angle deviation of the drill rod. It is the current yaw angle of the drill rod. It is the target yaw angle of the drill rod. It is the yaw angle deviation of the drill rod;

[0156] Based on the calculated deviation, the system generates adjustment suggestions, which the operator then uses to correct the drill rod's posture. The amount of the generated suggestions is calculated using the following formula:

[0157] ,

[0158] ,

[0159] In the formula, and These are the suggested adjustments for pitch and yaw angles. and It is the proportional gain of pitch and yaw angles;

[0160] Finally, the generated adjustment suggestions will be displayed on the human-computer interaction interface, for example, if Corresponding to raising the drill arm by 0.5°, the display interface will show "Upward Correction 0.5°".

[0161] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A bending auxiliary adjustment system for the drill rod of a rock drilling rig for ultra-large diameter tunnels, characterized in that, The bending-assisted adjustment system includes: Drill rod unit: includes drill rod and floating sleeve structure; Attitude sensor unit: mounted on the floating sleeve structure of the drill rod, integrating a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer; Data acquisition and processing unit: used to receive and process attitude data measured by attitude sensors; Main control and display unit: used to receive the processed attitude data results, calculate the attitude deviation in combination with the target direction of drilling, and generate and display operation suggestions; The floating sleeve structure includes: Fixed guide section: It is a hollow tubular structure that is rigidly fixed to the end of the drill arm of the rock drilling rig by means of flange bolts or welding; Flexible joint: It is a universal joint or ball joint structure that connects the fixed guide section and the floating sleeve; Floating sleeve: One end is connected to the flexible joint, and the other end moves freely, ensuring that the floating sleeve moves freely with the drill rod; The floating sleeve is a hollow tubular structure with an inner diameter slightly larger than the drill rod, allowing the drill rod to pass through the floating sleeve. One end of the flexible joint is connected to the end of the fixed guide section, and the other end is connected to the floating sleeve, so that the floating sleeve can deflect accordingly with the deflection of the drill rod, but does not restrict the movement of the drill rod. The floating sleeve structure is made of high-strength, lightweight alloy material and lined with low-friction material. The effective axial monitoring length of the floating sleeve is designed based on the bending characteristics of the drill rod and the required accuracy to obtain a stable and representative average local tilt value.

2. The bending-assisted adjustment system according to claim 1, characterized in that, The data acquisition frequency of the attitude sensor unit is ≥100 Hz.

3. The bending-assisted adjustment system according to claim 1, characterized in that, The data acquisition and processing unit integrates a high-performance microprocessor and performs rod attitude estimation based on extended Kalman filtering.

4. The bending-assisted adjustment system according to claim 1, characterized in that, The main control and display unit uses an industrial-grade touch screen and LED indicator to provide adjustment suggestions to the operators.

5. A method for applying the bending-assisted adjustment system as described in claim 1, characterized in that, The application method of the bending-assisted adjustment system includes: Drill rod attitude recognition: The original attitude data of the drill rod is collected in real time by an attitude sensor unit set on the floating sleeve structure of the drill rod; then the original attitude data is preprocessed, sensor fusion is performed, attitude calculation and filtering calculation are performed to obtain the real-time attitude of the drill rod. Generate bending adjustment suggestions: Receive the real-time attitude data of the drill rod and combine it with the preset target drilling direction model to judge the current attitude deviation in real time; then, based on the attitude deviation, calculate the drill arm adjustment suggestions for the drill rod; finally, feed back the adjustment suggestions to the operator.

6. The application method of the bending-assisted adjustment system according to claim 5, characterized in that, In the chisel attitude recognition step, the angular velocity measured by the three-axis gyroscope is integrated to update the attitude quaternion.

7. The application method of the bending-assisted adjustment system according to claim 5, characterized in that, In the chisel attitude recognition step, the pitch angle and roll angle of the chisel are inferred from the measurements of the triaxial accelerometer.

8. The application method of the bending-assisted adjustment system according to claim 5, characterized in that, In the chisel attitude recognition step, the pitch and roll angles provided by the triaxial accelerometer are combined with the yaw angle of the chisel calculated by the triaxial magnetometer.

9. The application method of the bending-assisted adjustment system according to claim 5, characterized in that, In the steps of preprocessing the original attitude data, sensor fusion, attitude calculation, and filtering calculation, the extended Kalman filter algorithm is used for data fusion and attitude estimation in the chisel attitude recognition.

10. The application method of the bending-assisted adjustment system according to claim 5, characterized in that, In the generated bending adjustment suggestions, the attitude deviations include pitch angle deviation and yaw angle deviation, and the adjustment suggestion amount is calculated based on the proportional control algorithm.

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