Control method of concrete core drilling machine

Abstract

The invention relates to a control method of a concrete core drilling machine, which comprises the following steps of: firstly collecting and inputting drill specifications, concrete material characteristics and environmental parameters, matching similar working conditions from a historical database on the basis of the drill specifications, the concrete material characteristics and the environmental parameters, and calculating an early warning value which fits the current actual condition. In the drilling operation, the system collects torque, temperature, vibration and other multi-dimensional process data in real time, and the data are compared with an early warning value after being subjected to filtering processing. And when any data continuously exceeds the threshold value, corresponding early warning is triggered. And the system calls a fuzzy control rule table to make a decision according to the early warning type and degree, and generates and executes accurate control instructions such as adjustment of the rotating speed, the feeding speed or the cooling water flow. Therefore, it is ensured that the drilling process always operates in a safe and efficient state in a self-adaptive mode.

Description

Technical Field

[0001] This application relates to the field of core drilling machine control technology, and in particular to a control method for a concrete core drilling machine. Background Technology

[0002] Concrete core drilling is a crucial process in building construction quality inspection, structural modification, and installation. Its operational quality directly affects the accuracy of inspection results and structural safety. Traditional core drilling operations rely heavily on the operator's experience, judging the drill bit's condition by listening to sounds, observing sparks, and feeling vibrations, and manually adjusting parameters such as feed speed and rotation speed.

[0003] The operation of existing concrete core drilling machines relies heavily on the experience of the operators, who can only operate the machines by relying on simple data monitoring and overload protection. Simple data monitoring and fixed-threshold overload protection can only adapt to simple usage scenarios and cannot be adapted to complex usage scenarios. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method for concrete core drilling machines to address the problem that traditional concrete core drilling machines rely on simple data monitoring and fixed threshold overload protection, which can only adapt to simple usage scenarios and cannot be adapted to complex usage scenarios.

[0005] This application provides a control method for a concrete core drilling machine, comprising: acquiring current task parameters, the current task parameters including drill bit parameters, concrete parameters and environmental data; and matching optimal working condition sample data from a historical database based on the current task parameters; The optimal working condition sample data is analyzed to obtain its warning baseline value. The warning baseline value is then corrected based on the difference between the current task parameters and the optimal working condition sample data to obtain the warning value of the current task parameters. The warning value includes torque warning value, drill bit temperature warning value and vibration amplitude warning value. Signals from torque, temperature, and vibration sensors are acquired in real time at a fixed sampling frequency. The acquired signals are then subjected to low-pass filtering and moving average processing to obtain real-time torque values, real-time drill bit temperature, and real-time vibration amplitude. The obtained real-time torque value, real-time drill bit temperature, and real-time vibration amplitude are compared with the warning value point by point; when the number of sampling points where any data exceeds its threshold consecutively reaches a preset number, the corresponding type of warning is triggered. Based on the triggered warning type, a preset fuzzy control rule table is invoked; the input of the preset fuzzy control rule table is the warning type and the degree of exceeding the limit, and the output is a fuzzy set of adjustment amounts for speed, feed rate, and cooling water flow rate; through defuzzification calculation, precise control commands are obtained. Control commands are sent to the motor controller and hydraulic control unit of the core drilling machine to adjust the rotation speed, feed rate, or cooling water flow.

[0006] Furthermore, the step of correcting the warning baseline value based on the difference between the current task parameters and the optimal operating condition sample data to obtain the warning value of the current task parameters includes:

[0007] The formula for calculating the torque warning value is constructed as shown in Formula 1; Formula 1; in, This is the reference value for the drill bit's torque; This refers to the current setting time of the cement. This refers to the standard setting time for current cement. The current ambient temperature; The ambient temperature is the baseline temperature. and This is a correction factor.

[0008] Furthermore, the control method for the concrete core drilling machine also includes: The filtered vibration signal is subjected to a fast Fourier transform, and the energy value of a specific high-frequency band is extracted as a feature value to characterize abnormal wear of the drill bit or encounter with hard inclusions.

[0009] Furthermore, the control method for the concrete core drilling machine also includes: For torque warning, the preset number of continuous samplings is set to 5 to 10 times; For temperature warnings, the preset number of continuous samplings is set to 10 to 20.

[0010] Furthermore, the fuzzy control rules include: If the torque warning is triggered and the over-limit level is medium, the output feed rate will be negative large and the speed will be negative small. If a temperature warning is triggered and the level of exceeding the limit is high, the output cooling water flow rate will be positive and the speed will be negative. If both torque warning and vibration warning are triggered simultaneously, a drill bit lifting command will be output and will continue for a preset time.

[0011] Furthermore, after obtaining precise control commands through defuzzification, the control method for the concrete core drilling machine further includes: Arbitrate potentially conflicting commands based on preset priorities; for example, commands to raise the drill bit have higher priority than commands to adjust the feed rate, and commands to increase the cooling water flow have higher priority than commands to decrease the rotational speed.

[0012] Furthermore, the method for issuing control commands to the motor controller and hydraulic control unit of the core drilling machine to adjust the rotational speed, feed rate, or cooling water flow rate also includes: The system collects signals from torque, temperature, and vibration sensors in real time at a fixed sampling frequency, performs low-pass filtering and moving average processing on the collected signals to obtain real-time torque values, real-time drill bit temperature, and real-time vibration amplitude, and evaluates the control effect. If the corresponding data still exceeds the limit in the next evaluation period, the adjustment range of the control command will be increased.

[0013] Furthermore, the adjustment range of the enhanced control command includes: The output of the currently used rule in the fuzzy control rule table is increased by 1.2 to 1.5 times, and the defuzzification calculation is performed again.

[0014] Furthermore, the step of performing a fast Fourier transform on the filtered vibration signal and extracting energy values ​​in a specific high-frequency band as feature values ​​characterizing abnormal wear or encounter with hard inclusions in the drill bit further includes: When the energy value of a specific high-frequency band exceeds the corresponding warning value for the first time, a trial control is triggered, and a trial control command is generated; Execute tentative control commands for a period of time; Monitor the change in this energy value; if the energy value decreases after the trial control command is executed, then restore normal working status. If the energy value continues to rise after the trial control command is executed, a control command that includes raising the drill bit and reducing the feed rate will be triggered.

[0015] Furthermore, the drill bit parameters include the inner diameter and outer diameter of the drill bit; The concrete parameters include the type of cement and the setting time; The environmental data includes the ambient temperature and humidity.

[0016] This application relates to a control method for a concrete core drilling machine. The method involves first collecting and inputting drill bit specifications, concrete material properties, and environmental parameters. Based on this, similar working conditions are matched from a historical database, and a warning value that fits the current actual conditions is calculated. During drilling operations, the system collects multi-dimensional process data such as torque, temperature, and vibration in real time. After filtering, this data is compared with the warning value. When any data consistently exceeds its threshold, a corresponding warning is triggered. The system then calls a fuzzy control rule table to make decisions based on the warning type and severity, generating and executing precise control commands such as adjusting the rotational speed, feed rate, or cooling water flow rate. This ensures that the drilling process always operates adaptively in a safe and efficient manner. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the control method of a concrete core drilling machine provided in one embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] like Figure 1 As shown, in one embodiment of this application, the control method of the concrete core drilling machine includes the following steps S100 to S600.

[0020] S100, obtain the current task parameters, which include drill bit parameters, concrete parameters and environmental data; based on the current task parameters, match the optimal working condition sample data from the historical database.

[0021] Specifically, drill bit parameters include the inner and outer diameters of the drill bit; concrete parameters include the type of cement and setting time; and environmental data includes the ambient temperature and humidity.

[0022] The historical database contains past core drilling machine operating data, while the sample data contains operating data from a single core drilling machine operation.

[0023] For example, the drill bit has an inner diameter of 100mm and an outer diameter of 108mm; concrete information: design grade C40, actual age 28 days; environmental parameters: current temperature 25℃, relative humidity 60%. A feature vector is generated based on these parameters, for example, drill bit diameter = 100, concrete grade = C40, age = 28, temperature = 25. Subsequently, the system searches the historical database using Euclidean distance to find the N historical successful drilling records closest to this feature vector, forming an optimal working condition sample set. This sample set records the average torque, average temperature, etc., of these historical operations during the stable drilling phase.

[0024] The optimal operating condition sample data can be matched from the historical database as a single sample or multiple sample data. When the matching result is multiple sample data, the average value of the warning benchmark value of multiple sample data is used as the basis for correction.

[0025] S200: Analyze the matched optimal working condition sample data to obtain its warning benchmark value, and correct the warning benchmark value based on the difference between the current task parameters and the optimal working condition sample data to obtain the warning value of the current task parameters. The warning value includes torque warning value, drill bit temperature warning value and vibration amplitude warning value.

[0026] The S300 acquires signals from torque, temperature, and vibration sensors in real time at a fixed sampling frequency, and performs low-pass filtering and moving average processing on the acquired signals to obtain real-time torque values, real-time drill bit temperature, and real-time vibration amplitude.

[0027] S400 compares the obtained real-time torque value, real-time drill bit temperature, and real-time vibration amplitude with the warning value point by point. When the number of sampling points where any data exceeds its threshold consecutively reaches a preset number, the corresponding type of warning is triggered.

[0028] The S500, based on the triggered warning type, invokes a preset fuzzy control rule table. The inputs to the preset fuzzy control rule table are the warning type and the degree of over-limit, and the output is a fuzzy set of adjustments to the engine speed, feed rate, and coolant flow rate. Through defuzzification calculations, precise control commands are obtained.

[0029] The S600 sends control commands to the motor controller and hydraulic control unit of the core drilling machine to adjust the rotation speed, feed rate, or cooling water flow rate.

[0030] In this embodiment, the system first collects and inputs drill bit specifications, concrete material properties, and environmental parameters. Based on this, it matches similar working conditions from a historical database and calculates a warning value that fits the current actual conditions. During drilling operations, the system collects multi-dimensional process data such as torque, temperature, and vibration in real time. After filtering, this data is compared with the warning value. When any data consistently exceeds its threshold, a corresponding warning is triggered. The system then calls upon a fuzzy control rule table to make decisions based on the warning type and severity, generating and executing precise control commands such as adjusting rotational speed, feed rate, or cooling water flow. This ensures that the drilling process always operates adaptively in a safe and efficient manner.

[0031] In one embodiment of this application, the step of correcting the warning baseline value based on the difference between the current task parameters and the optimal operating condition sample data to obtain the warning value of the current task parameters includes: The formula for calculating the torque warning value is constructed as shown in Formula 1.

[0032] Formula 1; in, This is the reference value for the drill bit's torque; This refers to the current setting time of the cement. This refers to the standard setting time for current cement. The current ambient temperature; The ambient temperature is the baseline temperature. and This is a correction factor.

[0033] Specifically, the formula for calculating the drill bit temperature warning value is constructed, as shown in Formula 2.

[0034] Formula 2.

[0035] in, This is the temperature reference value for the drill bit; The current ambient temperature; The ambient temperature is the baseline temperature. This is a correction factor.

[0036] A formula for calculating the vibration amplitude warning value is constructed, as shown in Formula 3.

[0037] Formula 3.

[0038] in, This serves as the reference value for the vibration amplitude of the drill bit; This represents the current density of the concrete. The density of concrete under the baseline condition; This is a correction factor.

[0039] In one embodiment of this application, the control method for the concrete core drilling machine further includes: The filtered vibration signal is subjected to a fast Fourier transform, and the energy value of a specific high-frequency band is extracted as a feature value to characterize abnormal wear of the drill bit or encounter with hard inclusions.

[0040] In this embodiment, a spectrum analysis is added to the basic filtered data processing. This refines general vibration data into high-frequency energy values ​​with specific engineering significance and correlates them with specific fault modes.

[0041] An increase in ordinary vibration amplitude can have many causes. However, an abnormal increase in energy in specific high-frequency ranges, such as 50-200Hz, is a characteristic indicator of wear, detachment, or contact with reinforcing bars or gravel in the drill bit. This allows the warning to escalate from simply not noticing an anomaly to specifying the exact nature of the anomaly.

[0042] In one embodiment of this application, the control method for the concrete core drilling machine further includes: For torque warning, the preset number of continuous samplings is set to 5 to 10 times.

[0043] For temperature warnings, the preset number of continuous samplings is set to 10 to 20.

[0044] Specifically, for torque, which is characterized by rapid changes and immediate impact, fewer consecutive cycles are set to achieve a fast response; for temperature, which is characterized by high inertia and slow changes, more consecutive cycles are set to avoid overreaction.

[0045] In this embodiment, frequent system malfunctions caused by single-point data fluctuations due to instantaneous impacts or sensor noise are avoided, thus improving the stability of control.

[0046] In one embodiment of this application, the fuzzy control rule includes: If a torque warning is triggered and the over-limit level is medium, the output feed rate will be negative large and the speed will be negative small.

[0047] If a temperature warning is triggered and the level of exceeding the limit is high, the output cooling water flow rate will be positive and the speed will be negative.

[0048] If both torque warning and vibration warning are triggered simultaneously, a drill bit lifting command will be output and will continue for a preset time.

[0049] Specifically, exceeding the limit refers to exceeding the warning value. The degree of exceeding the limit is divided according to the percentage of the real-time value exceeding the warning value. For example, if the percentage of the real-time value exceeding the warning value is [0, 10%), the degree of exceeding the limit is medium; if the percentage of the real-time value exceeding the warning value is [10%, 40%), the degree of exceeding the limit is high.

[0050] Output linguistic variables such as negative large, negative medium, negative small, zero, positive small, positive medium, and positive large correspond to different fuzzy sets of adjustment amounts. For example, a negative large feed rate can be defined as being within the range of [-50%, -30%].

[0051] In this embodiment, fuzzy control transforms the operator's expert experience, such as slowing down drilling when the torque is too high and slightly reducing the rotation speed, into quantifiable automatic control rules. It does not rely on a precise mathematical model of the controlled object and is robust to the strong nonlinearity and time-varying nature of the drilling process, achieving smooth and flexible control.

[0052] In one embodiment of this application, after obtaining precise control commands through defuzzification, the control method of the concrete core drilling machine further includes arbitrating potentially conflicting commands according to preset priorities; including giving higher priority to commands to raise the drill bit than commands to adjust the feed speed, and giving higher priority to commands to increase the cooling water flow rate than commands to reduce the rotation speed.

[0053] Specifically, all generated control commands are placed in a priority queue for arbitration. When multiple commands need to issue different instructions to the same actuator, such as a hydraulic feed cylinder, only the command with the highest priority is executed. For example, if both commands to raise the drill bit and to reduce the feed rate are calculated simultaneously, only the command to raise the drill bit will be executed, because disengaging from contact is the safest and most urgent measure to deal with stuck drill bits or hard objects.

[0054] In this embodiment, the arbitration mechanism is designed based on the principle of safety first, ensuring that even under the worst-case scenario of multiple concurrent anomalies, the control behavior remains deterministic, orderly, and with the primary objective of protecting the equipment and drill bit. It avoids the dangerous situation where conflicting rules could lead to logical confusion or even the execution of contradictory instructions, thus improving the safety and reliability of the entire control process.

[0055] In one embodiment of this application, the process of sending control commands to the motor controller and hydraulic control unit of the core drilling machine to adjust the rotation speed, feed rate or cooling water flow rate also includes returning signals from the torque sensor, temperature sensor and vibration sensor that are collected in real time at a fixed sampling frequency, performing low-pass filtering and moving average processing on the collected signals to obtain real-time torque value, real-time drill bit temperature and real-time vibration amplitude, and evaluating the control effect.

[0056] If the corresponding data still exceeds the limit in the next evaluation period, the adjustment range of the control command will be increased.

[0057] The adjustment range of the enhanced control command includes increasing the output of the currently used rule in the fuzzy control rule table by 1.2 to 1.5 times and re-performing the defuzzification calculation.

[0058] Specifically, this will trigger an amplification of the fuzzy rule output of the current control command. For example, if the original output is a negative feed rate with original control data of [-50%, -30%], it will become [-65%, -39%] after being amplified by a factor of 1.3. Based on the new fuzzy output set, the system will re-perform defuzzification calculations to obtain the enhanced control command.

[0059] In this embodiment, after executing the control command, sensor data continues to be collected to evaluate the control effect. If, in the next evaluation cycle, such as within 2 to 5 seconds, the relevant parameters still exceed the limits, it is determined that the original control strength is insufficient, and an adjustment and enhancement mechanism is triggered.

[0060] This control method constitutes a closed-loop control system with self-correction capabilities. It enables dynamic adjustment of the control strength based on feedback from the control effect, thereby addressing abnormal operating conditions or unmodeled dynamic characteristics of varying severity. This enhances the adaptive capability of the control method, ensuring rapid intervention to prevent escalation when the initial control effect is unsatisfactory.

[0061] In one embodiment of this application, the step of performing a fast Fourier transform on the filtered vibration signal and extracting energy values ​​in a specific high-frequency band as feature values ​​characterizing abnormal wear or encounter with hard inclusions in the drill bit further includes: When the energy value of a specific high-frequency band exceeds the corresponding warning value for the first time, a trial control is triggered, and a trial control command is generated.

[0062] Execute tentative control commands for a period of time.

[0063] Monitor the changes in this energy value. If the energy value decreases after the trial control command is executed, then restore normal working status.

[0064] If the energy value continues to rise after the trial control command is executed, a control command that includes raising the drill bit and reducing the feed rate will be triggered.

[0065] In this embodiment, the characteristic value exceeding the limit judgment is as follows: during real-time drilling, when the energy value of a specific high-frequency band 50Hz-200Hz obtained by spectrum analysis exceeds its corresponding dynamic warning value for the first time, the characteristic anomaly flag is triggered, and the trial control stage is immediately entered.

[0066] First trial control command execution: Generate and execute the first control command, which controls the drill spindle motor to rotate in the opposite direction of the current speed for a duration Δt of 0.5 to 2 seconds.

[0067] First monitoring and evaluation window: After the reversal duration Δt ends, the drill bit is restored to its original rotation direction, and the feed system is kept in a paused state, entering the first monitoring and evaluation window; during this window period of 2 to 5 seconds, the high-frequency energy value is continuously collected and calculated.

[0068] First branch decision: If the moving average value of the high-frequency energy value drops below the warning value within the first monitoring and evaluation window, the test is deemed successful, and the anomaly is inferred to be a transient hard point; exit the dedicated subprocess and resume the execution of the original feed rate and rotation speed commands.

[0069] The second test control command is executed as follows: If the moving average value of the high-frequency band energy value does not drop below the warning value or continues to rise within the first monitoring and evaluation window, the test is deemed to have failed, and the abnormality is inferred to be persistent hard inclusions or severe wear. At this time, a second control command is generated and executed, which is a control command that includes the following actions: controlling the feed hydraulic cylinder to raise the drill bit by a preset height H (H=5 to 20mm); while raising the drill bit, reducing the set value of the feed speed to K times the original value (K=0.3 to 0.6).

[0070] Second monitoring, assessment and recovery: After executing the second control command, drilling will restart at a new, reduced feed rate and enter the second monitoring and assessment window for 5 to 10 seconds. If the high-frequency energy value remains below the warning value during this window period, the working condition will be determined to have returned to normal, and the current parameters will be maintained to continue operation.

[0071] If the high-frequency energy value exceeds the warning value again, the second step of trial control command execution and second monitoring assessment and recovery will be repeated, and the coefficient K will be further reduced or the lifting height H will be increased until a safe operating state is reached or a higher level of shutdown protection is triggered.

[0072] The technical features of the above embodiments can be combined arbitrarily, and the execution order of the method steps is not restricted. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for a concrete core drilling machine, characterized in that, The control method for the concrete core drilling machine includes: Obtain the current task parameters, which include drill bit parameters, concrete parameters, and environmental data; and match the optimal working condition sample data from the historical database based on the current task parameters. The optimal working condition sample data is analyzed to obtain its warning baseline value. The warning baseline value is then corrected based on the difference between the current task parameters and the optimal working condition sample data to obtain the warning value of the current task parameters. The warning value includes torque warning value, drill bit temperature warning value and vibration amplitude warning value. Signals from torque, temperature, and vibration sensors are acquired in real time at a fixed sampling frequency. The acquired signals are then subjected to low-pass filtering and moving average processing to obtain real-time torque values, real-time drill bit temperature, and real-time vibration amplitude. The obtained real-time torque value, real-time drill bit temperature, and real-time vibration amplitude are compared with the warning value point by point; when the number of sampling points where any data exceeds its threshold consecutively reaches a preset number, the corresponding type of warning is triggered. Based on the triggered warning type, a preset fuzzy control rule table is invoked; the input of the preset fuzzy control rule table is the warning type and the degree of exceeding the limit, and the output is a fuzzy set of adjustment amounts for speed, feed rate, and cooling water flow rate; through defuzzification calculation, precise control commands are obtained. Control commands are sent to the motor controller and hydraulic control unit of the core drilling machine to adjust the rotation speed, feed rate, or cooling water flow.

2. The control method for the concrete core drilling machine according to claim 1, characterized in that, The method of correcting the warning baseline value based on the difference between the current task parameters and the optimal operating condition sample data to obtain the warning value of the current task parameters includes: The formula for calculating the torque warning value is constructed as shown in Formula 1; Formula 1: in, This is the reference value for the drill bit's torque; This refers to the current setting time of the cement. This refers to the standard setting time for current cement. The current ambient temperature; The ambient temperature is the baseline temperature. and This is a correction factor.

3. The control method for the concrete core drilling machine according to claim 1, characterized in that, The control method for the concrete core drilling machine also includes: The filtered vibration signal is subjected to a fast Fourier transform, and the energy value of a specific high-frequency band is extracted as a feature value to characterize abnormal wear of the drill bit or encounter with hard inclusions.

4. The control method for a concrete core drilling machine according to claim 1, characterized in that, The control method for the concrete core drilling machine also includes: For torque warning, the preset number of continuous samplings is set to 5 to 10 times; For temperature warnings, the preset number of continuous samplings is set to 10 to 20.

5. The control method for a concrete core drilling machine according to claim 1, characterized in that, The fuzzy control rules include: If the torque warning is triggered and the over-limit level is medium, the output feed rate will be negative large and the speed will be negative small. If a temperature warning is triggered and the level of exceeding the limit is high, the output cooling water flow rate will be positive and the speed will be negative. If both torque warning and vibration warning are triggered simultaneously, a drill bit lifting command will be output and will continue for a preset time.

6. The control method for a concrete core drilling machine according to claim 1 or 5, characterized in that, After obtaining precise control commands through defuzzification, the control method for the concrete core drilling machine further includes: Arbitrate potentially conflicting commands based on preset priorities; for example, commands to raise the drill bit have higher priority than commands to adjust the feed rate, and commands to increase the cooling water flow have higher priority than commands to decrease the rotational speed.

7. The control method for a concrete core drilling machine according to claim 1, characterized in that, The method for issuing control commands to the motor controller and hydraulic control unit of the core drilling machine to adjust the rotational speed, feed rate, or cooling water flow rate also includes: The system collects signals from torque, temperature, and vibration sensors in real time at a fixed sampling frequency, performs low-pass filtering and moving average processing on the collected signals to obtain real-time torque values, real-time drill bit temperature, and real-time vibration amplitude, and evaluates the control effect. If the corresponding data still exceeds the limit in the next evaluation period, the adjustment range of the control command will be increased.

8. The control method for a concrete core drilling machine according to claim 7, characterized in that, The adjustment range of the enhanced control command includes: The output of the currently used rule in the fuzzy control rule table is increased by 1.2 to 1.5 times, and the defuzzification calculation is performed again.

9. The control method for a concrete core drilling machine according to claim 3, characterized in that, The process of performing a Fast Fourier Transform on the filtered vibration signal and extracting energy values ​​in specific high-frequency bands as characteristic values ​​representing abnormal wear or encounter with hard inclusions in the drill bit further includes: When the energy value of a specific high-frequency band exceeds the corresponding warning value for the first time, a trial control is triggered, and a trial control command is generated; Execute tentative control commands for a period of time; Monitor the change in this energy value; if the energy value decreases after the trial control command is executed, then restore normal working status. If the energy value continues to rise after the trial control command is executed, a control command that includes raising the drill bit and reducing the feed rate will be triggered.

10. The control method for a concrete core drilling machine according to claim 1, characterized in that, The drill bit parameters include the drill bit's inner diameter and outer diameter; The concrete parameters include the type of cement and the setting time; The environmental data includes the ambient temperature and humidity.

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