Control method and device for elevator shaft drilling construction platform

Abstract

The invention discloses a control method and device for an elevator shaft drilling construction platform, and the method comprises the steps: arranging a construction platform at a shaft pit position of an elevator shaft, and driving the construction platform to move to a target construction position; acquiring first contact data of the plurality of supporting rods; the supporting rod is driven to return to a first preset position, and the current posture deviation of the construction platform is calculated according to the first contact data; an adjusting instruction is generated according to the current posture deviation, and drilling equipment at the bottom of the construction platform is driven based on the adjusting instruction to conduct mobile leveling operation; and after leveling operation on the construction platform is completed, the multiple supporting rods are driven to stretch out and abut against the shaft wall of the elevator shaft, the multiple supporting rods are kept in the stretching state to fix and lock the construction platform, and drilling equipment is controlled to execute drilling operation at the target construction position. Leveling operation is carried out by adjusting the overall gravity center of the construction platform, the leveling operation efficiency is improved, the leveling operation accuracy is improved in cooperation with the supporting rods, and therefore the drilling machining accuracy of the drilling equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of elevator shaft construction, in particular to a control method and device for an elevator shaft drilling construction platform. BACKGROUND

[0002] The existing elevator shaft construction platform mainly relies on a steel wire traction mechanism for lifting movement, so that the construction platform performs drilling operation on the elevator shaft wall inside the elevator shaft. The leveling operation of the current construction platform mainly relies on the steel wire traction mechanism for leveling, which has the problems of low leveling efficiency and insufficient accuracy, which can easily affect the accuracy of drilling processing of the full-automatic drilling equipment. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, and provides a control method and device for an elevator shaft drilling construction platform, which improves the leveling operation efficiency by adjusting the overall gravity center of the construction platform, and improves the accuracy of leveling operation by cooperating with the support rod, thereby improving the accuracy of drilling processing of the drilling equipment.

[0004] The present application provides a control method for an elevator shaft drilling construction platform, which comprises: arranging a construction platform at the bottom pit position of the elevator shaft and driving the construction platform to move to a target construction position; driving a plurality of support rods to extend synchronously and abut against the elevator shaft wall at the target construction position, and obtaining first contact data of the plurality of support rods; driving the support rods to retreat to a first preset position, and calculating the current attitude deviation of the construction platform according to the first contact data; generating an adjustment instruction according to the current attitude deviation, and driving the drilling equipment at the bottom of the construction platform to perform a moving leveling operation based on the adjustment instruction; after completing the leveling operation of the construction platform, driving a plurality of the support rods to extend and abut against the elevator shaft wall, fixing and locking the construction platform by maintaining the extended state of the plurality of support rods, and controlling the drilling equipment arranged at the target construction position to perform drilling operation.

[0005] Further, the arrangement of the construction platform at the bottom pit position of the elevator shaft and the driving of the construction platform to move to the target construction position comprises: arranging the construction platform at the bottom pit position of the elevator shaft, and driving the construction platform to move upward along the elevator shaft by a traction device; detecting the lifting height of the construction platform by a sensor arranged on the construction platform, and when the lifting height of the construction platform reaches a first preset height, marking that the construction platform reaches the target construction position, and stopping the lifting drive of the construction platform.

[0006] Further, the driving a plurality of support rods to synchronously stretch and contact the elevator shaft wall at the target construction position to obtain first contact data of the plurality of support rods comprises: Driving the plurality of support rods to synchronously stretch forward so that the plurality of support rods move towards the elevator shaft wall, and detecting and obtaining contact force data of the end of the support rod and the elevator shaft wall through the force sensor; During the stretching action of the plurality of support rods, obtaining stretching distance data of the support rod through the displacement sensor of the plurality of support rods; Combining the contact force data and the stretching distance data to arrange the first contact data of the support rod.

[0007] Further, the driving the support rod to retreat to a first preset position and calculating a current attitude deviation of the construction platform according to the first contact data comprises: Obtaining contact force data and stretching distance data in the first contact data, combining the contact force data and the stretching distance data to establish a linear relationship between the displacement of the support rod and the attitude of the platform, and quickly solving the small-angle attitude deviation of the platform.

[0008] Further, the generating an adjustment instruction according to the current attitude deviation and driving the drilling equipment at the bottom of the construction platform to move and level based on the adjustment instruction comprises: According to the current attitude deviation, calculating an initial displacement adjustment amount of the drilling equipment at the bottom of the construction platform; Based on the initial displacement adjustment amount, controlling the drilling equipment to move so that the construction platform is in an initial leveling state; Combining the real-time detection mechanism arranged in the plurality of support rods to perform real-time translation adjustment on the drilling equipment, so that the construction platform switches from the initial leveling state to a leveling completion state.

[0009] Further, the combining the real-time detection mechanism arranged in the plurality of support rods to perform real-time translation adjustment on the drilling equipment, so that the construction platform switches from the initial leveling state to a leveling completion state comprises: Based on the real-time detection of flatness deviation data between any two support rods in the plurality of support rods through the laser sensor, controlling the drilling equipment to perform real-time translation adjustment according to the flatness deviation data; When the flatness deviation data is 0, the translation adjustment of the drilling equipment is stopped, and the construction platform switches from the initial leveling state to a leveling completion state.

[0010] Further, the leveling operation of the construction platform is completed, and the plurality of support rods are driven to extend and abut against the elevator shaft wall to fix and lock the construction platform in the extended state of the plurality of support rods, and the control of the drilling device arranged at the target construction position to perform drilling operation comprises: drive a plurality of support rods to extend towards the elevator shaft wall, so that the plurality of support rods abut against the elevator shaft wall; lock the extended state of the plurality of support rods to fix and lock the construction platform; identify the drilling position of the elevator shaft wall, adjust the pose state of the drilling device at the bottom of the construction platform at the target construction position, and drive the drilling device to perform drilling operation on the drilling position.

[0011] Further, the control method further comprises: before the drilling operation, acquiring image information of the drill bit by a visual detection mechanism, and detecting the appearance defect degree of the drill bit according to the image information; if the appearance defect degree exceeds the preset range, driving the drilling device to perform drill replacement operation; if the appearance defect degree is within the preset range, detecting the drill bit working time data of the drilling device; if the working time data exceeds the cumulative time threshold, driving the drilling device to perform drill replacement operation; if the working time data is less than the cumulative time threshold, driving the drilling device to perform drilling operation.

[0012] Further, the control method further comprises: detecting whether the lifting movement of the construction platform reaches the top position of the elevator shaft by a position sensor, and if the construction platform reaches the top position of the elevator shaft, ending the drilling processing operation of the construction platform.

[0013] The application also provides a control device of an elevator shaft drilling construction platform, which comprises: a construction platform arrangement assembly for arranging the construction platform at the bottom pit position of the elevator shaft and driving the construction platform to move to the target construction position; a data detection assembly for driving a plurality of support rods to extend synchronously and abut against the elevator shaft wall at the target construction position, and acquiring first contact data of the plurality of support rods; a data analysis assembly for driving the support rods to retreat to a first preset position, and calculating the current attitude deviation of the construction platform according to the first contact data; a leveling assembly for generating adjustment instructions according to the current attitude deviation, and driving the drilling device at the bottom of the construction platform to perform movement leveling operation based on the adjustment instructions. Drilling operation component: used for driving a plurality of the support rods to extend and abut against the elevator shaft wall when the leveling operation of the construction platform is completed, fixing and locking the construction platform by keeping the extension state of the plurality of the support rods.

[0014] The application provides a control method and device for an elevator shaft drilling construction platform, which adjusts the gravity center of the construction platform at the bottom of the construction platform by arranging a drilling device, so as to satisfy the convenient leveling operation of the construction platform. The leveling state is detected by using the support rod structure, and the construction platform after leveling is locked and fixed, so as to ensure the accuracy of the leveling of the construction platform, thereby improving the drilling processing stability and accuracy of the drilling device of the construction platform. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a flow chart of the control method for the elevator shaft construction platform in the embodiment of the application; Figure 2 is a drilling operation flow chart of the elevator shaft construction platform in the embodiment of the application; Figure 3 is a structural schematic diagram of the elevator shaft construction platform in the embodiment of the application; Figure 4 is a control device schematic diagram of the elevator shaft drilling construction platform in the embodiment of the application. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0017] Embodiment one: Figure 1 The flow chart of the control method for the elevator shaft construction platform in the embodiment of the application is shown, and the control method comprises: S11: arranging a construction platform at the bottom pit position of an elevator shaft and driving the construction platform to move to a target construction position.

[0018] Specifically, based on the shaft parameters of the elevator guide rail installation drawing, the construction platform carrying the cross-moving mechanism drilling device is pre-arranged at the preset initial position of the shaft bottom pit, the drilling device is installed at the bottom of the construction platform, and the drilling device is connected with the construction platform through the cross-moving mechanism, so that the drilling device can adjust its position state based on the cross-moving mechanism, thereby realizing the gravity center adjustment of the overall structure of the construction platform.

[0019] Further, the construction platform is started and initial calibration is completed, the initial calibration includes shaft size review, construction platform position calibration, drill bit initial state detection and cross moving mechanism zero calibration, when the construction platform is arranged inside the elevator shaft, the construction platform is calibrated synchronously, so that the construction platform moves up and down inside the elevator shaft based on the traction mechanism.

[0020] S12: drive a plurality of support rods to synchronously extend and abut against the elevator shaft wall at the target construction position, and obtain first contact data of the plurality of support rods.

[0021] The construction platform is automatically lifted along the elevator shaft under the driving of the traction mechanism, and position information is fed back through a sensor, when the construction platform reaches a preset target construction position, the traction mechanism stops driving the construction platform to lift; The construction platform expands the support rods at the target construction position and tightens the support rods against the shaft wall, when the support rods perform the first tightening operation, first contact data of the support rods and the elevator shaft wall is recorded, so that the leveling operation reliability of the construction platform is adjusted according to the first contact data.

[0022] S13: drive the support rods to retreat to a first preset position, and calculate a current attitude deviation of the construction platform according to the first contact data.

[0023] The support rods are driven to retreat to a first preset distance position, so that a certain spacing is formed between the ends of the support rods and the elevator shaft wall, and the current pose deviation of the construction platform is calculated through the first contact data.

[0024] Further, the first contact data includes contact force data and extension distance data of the support rods when the support rods are extended and abut against the elevator shaft wall, which can accurately reflect the pose balance state of the construction platform.

[0025] S14: generate an adjustment instruction according to the current attitude deviation, and drive the drilling equipment at the bottom of the construction platform to perform a moving leveling operation based on the adjustment instruction.

[0026] Specifically, the adjustment instruction is generated according to the current attitude deviation of the construction platform, which can perform a preliminary leveling operation on the drilling equipment, so that the construction platform can be in a preliminary balanced state, so that the construction platform is leveled.

[0027] S15: when the leveling operation of the construction platform is completed, a plurality of support rods are driven to extend and abut against the elevator shaft wall, the extension state of the plurality of support rods is maintained to fix and lock the construction platform, and the drilling equipment arranged at the target construction position is controlled to perform a drilling operation.

[0028] Further, the drilling operation of the drilling device further comprises a detection operation of the wear state of the drill bit of the drilling device, if the wear degree of the drill bit of the drilling device does not exceed the preset range, the drilling operation is performed, if the wear degree of the drill bit of the drilling device exceeds the preset range, a drill changing process is performed before the drilling operation.

[0029] Specifically, when the construction platform completes the drilling operation task at the current target construction position, the drilling device returns to the initial position, the cross moving mechanism is automatically zeroed and locked, the support rod returns to the first preset position, and steps S11 to S15 are repeated until the construction platform reaches the top of the shaft; the construction platform sequentially completes the support rod retraction, the folding device is folded, and the construction platform is automatically lowered to the initial position to complete the work.

[0030] Specifically, the method comprises the following steps: First, the construction platform is arranged at the bottom pit position of the elevator shaft, and the construction platform is driven to move to the target construction position. The construction platform can be placed at a preset position at the bottom of the elevator shaft, and then driven to move upward or downward along the elevator shaft by a gear or chain system driven by a motor, for example. During the movement, whether the platform has reached the target construction position can be determined by a preset distance counter or a simple limit switch. When the platform reaches the target position, the movement drive stops.

[0031] Secondly, a plurality of support rods are driven to extend synchronously and contact the elevator shaft wall at the target construction position to obtain first contact data of the plurality of support rods. After the construction platform reaches the target position, the extension mechanism of the support rods can be started. These support rods can be driven by independent hydraulic cylinders or electric push rods to extend outward. When the end of the support rod contacts the elevator shaft wall, the contact state can be detected by a simple contact switch or a pressure sensor, and the extension length or contact force of the support rod is recorded as the first contact data. In order to ensure the validity of the data, all the support rods can be designed to start extending at the same time and stop after detecting the contact.

[0032] Then, the support rods are driven to retreat to the first preset position, and the current attitude deviation of the construction platform is calculated according to the first contact data. After obtaining the first contact data, the support rods can be driven to retract inward by a small distance, for example, to a position that does not contact the shaft wall, or to a preset initial extension position. The purpose of retraction is to avoid interference with the movement of the platform in the subsequent leveling operation. Subsequently, using the first contact data obtained previously, such as the extension length difference or contact force distribution of each support rod, the inclination angle or position offset of the construction platform relative to the ideal horizontal plane, i.e. the current attitude deviation, is calculated by a preset geometric model or empirical formula.

[0033] Then, adjustment instructions are generated according to the current attitude deviation, and the drilling equipment at the bottom of the construction platform is driven to move and level based on the adjustment instructions. Once the current attitude deviation of the construction platform is calculated, the system can generate a series of adjustment instructions for adjusting the position of the drilling equipment according to the deviation value through a preset control algorithm. For example, if the left side of the platform is low, the instructions may indicate that the drilling equipment moves to the right or upward. The drilling equipment is usually installed at the bottom of the construction platform and has its own moving mechanism, such as an X-Y axis sliding table driven by a stepping motor. These adjustment instructions are sent to the moving mechanism of the drilling equipment to make precise displacement adjustment, thereby changing the overall attitude of the construction platform until the platform reaches the leveling state.

[0034] Finally, when the leveling operation of the construction platform is completed, the support rods are driven to extend and abut against the elevator shaft wall, the extended state of the support rods is maintained to fix and lock the construction platform, and the drilling equipment at the target construction position is controlled to perform drilling operation. After the construction platform is leveled to the preset precision, the support rods are again driven to extend until their ends firmly abut against the elevator shaft wall. At this time, the extended state of the support rods is maintained by a mechanical or hydraulic locking mechanism, thereby stably fixing the construction platform at the target construction position and preventing any shaking or displacement of the platform during drilling. After the platform is firmly fixed, the drilling equipment is activated to perform drilling work on the elevator shaft wall according to the preset drilling program.

[0035] Specifically, the embodiment of the present application drives the support rod into contact with the well wall at the target construction position, obtains first contact data, and directly calculates the current attitude deviation of the construction platform according to the data. Further, the present application uses the movement ability of the drilling equipment at the bottom of the construction platform to perform leveling operation. This way avoids complex adjustment of the entire traction system, and realizes local and accurate leveling. In the above example, the contact data obtained by the support rod can directly reflect the inclination state of the platform, and the movement leveling of the drilling equipment can quickly and accurately correct these deviations. Therefore, the leveling efficiency is improved, and due to the improvement of leveling accuracy, the accuracy of the final drilling operation is also guaranteed. This leveling strategy combining attitude detection with the movement ability of the drilling equipment effectively solves the problems of slow leveling efficiency and low accuracy in the prior art, and provides technical support for the full automation and high-precision operation of the elevator shaft construction platform. The problem of inaccurate control and automatic detection of the target position of the construction platform during movement is effectively solved. By introducing the traction device for stable lifting and combining with the sensor for real-time detection of the lifting height, the automatic and high-precision movement and positioning of the construction platform to the target construction position are realized. This precise positioning capability avoids the errors caused by traditional manual or rough positioning methods, significantly improving the efficiency and accuracy of the construction platform reaching the target position. Especially in the initial arrangement stage, by accurately setting the reference point and the initial position coordinates and using the laser line projector for calibration, the attitude stability and positioning accuracy of the construction platform during the entire operation process are further guaranteed, providing reliable starting conditions for subsequent support rod extension, attitude deviation calculation and drilling equipment leveling operation, thereby ensuring the overall quality and automation level of the drilling operation.

[0036] Embodiment two: Figure 2 The drilling operation flowchart of the elevator shaft construction platform 1 in the embodiment of the present application is shown, Figure 3 The structure schematic diagram of the elevator shaft construction platform 1 in the embodiment of the present application is shown. The drilling operation flowchart of the construction platform 1 is: S101: Arranging the initial position.

[0037] The construction platform 1 is input into the elevator shaft from the elevator port position of the elevator shaft pit position by the transport vehicle, and the construction platform 1 is arranged at the elevator shaft pit position by cooperating with the traction mechanism in the elevator shaft, so as to drive the construction platform 1 to move upward by the traction mechanism and sequentially perform drilling operation on the elevator shaft wall guide rail installation position.

[0038] S102: Lifting the construction platform 1.

[0039] Specifically, the construction platform 1 is lifted by the traction mechanism, so that the construction platform 1 moves upward along the elevator shaft to the target construction position, so that the drilling equipment 3 of the construction platform 1 performs drilling operation at the target construction position.

[0040] S103: reaching the target construction position.

[0041] Specifically, the construction platform 1 is arranged at the elevator shaft pit position, and the construction platform 1 is driven upward along the elevator shaft by the traction device; The lifting height of the construction platform 1 is detected by the sensor arranged on the construction platform 1, and when the lifting height of the construction platform 1 reaches the first preset height, it is marked that the construction platform 1 reaches the target construction position, and the lifting drive of the construction platform 1 is stopped.

[0042] S104: the support rod 2 is stretched and automatically tightened.

[0043] Specifically, at the target construction position, a plurality of support rods 2 are driven to stretch synchronously and contact with the elevator shaft wall, and the method for obtaining the first contact data of the plurality of support rods 2 comprises: driving a plurality of support rods 2 to stretch forward synchronously, so that the plurality of support rods 2 move towards the elevator shaft wall, and the contact force data between the end of the support rod 2 and the elevator shaft wall is detected and obtained by the force sensor; during the stretching action of the plurality of support rods 2, the stretching distance data of the support rod 2 is obtained by the displacement sensor of the plurality of support rods 2; and the contact force data and the stretching distance data are combined to obtain the first contact data of the support rod 2.

[0044] Further, the contact force data between the end of the support rod 2 and the elevator shaft wall is detected and obtained by the force sensor, which functions to monitor the contact state and contact force of the support rod 2 and the shaft wall in real time. The force sensor can be integrated at the end of the support rod 2, and the force sensor can adopt a piezoelectric force sensor, which reflects the size of the force by measuring the change of the electric charge generated by the piezoelectric material under stress; or the force sensor can also adopt a resistance strain force sensor, which reflects the size of the force by measuring the change of the resistance value of the strain sheet under stress deformation. These sensors can provide accurate contact force information for judging whether the support rod 2 has reliably contacted the shaft wall and the distribution of the contact force.

[0045] Specifically, by synchronously stretching several support rods 2, unnecessary initial inclination or impact of the platform caused by early or late contact of a single support rod 2 with the well wall is avoided, laying a foundation for subsequent accurate measurement. During the stretching of the support rods 2, the force sensors integrated at the ends of the support rods 2 continuously monitor the contact force with the well wall. Once the contact force reaches a preset threshold, it indicates that the support rod 2 has reliable contact with the well wall. At the same time, the displacement sensor records the stretching distance of each support rod 2 in real time. In this way, the system can simultaneously obtain accurate position information and contact state information of each support rod 2 when it contacts the well wall. Subsequently, these real-time acquired contact force data and stretching distance data are transmitted to the data processing unit for integration, calibration and arrangement to form complete and accurate first contact data, providing reliable input for subsequent leveling operations, significantly improving the efficiency and accuracy of the entire leveling process.

[0046] S105: The support rod 2 is retracted to the first preset position.

[0047] Specifically, after the support rod 2 completes a stretching operation, the support rod 2 is retracted to the first preset position, so that the stretching distances of several support rods 2 are the same, and the construction platform 1 is in a non-locked fixed state, based on the traction mechanism for hoisting and transporting, so as to adjust the position state of the drilling equipment 3 by adjusting the overall center of gravity of the construction platform 1 to realize leveling operation.

[0048] S106: Detect whether the construction platform 1 reaches a balanced state.

[0049] Specifically, the detection data obtained by the first stretching operation of the support rod 2 at the target construction position is used to evaluate and detect the balanced state of the construction platform 1, ensuring that the construction platform 1 is in a balanced state, thereby meeting the accurate drilling processing requirements of the drilling equipment 3 on the construction platform 1.

[0050] Specifically, after the construction platform 1 moves to the target construction position, the control system first instructs a plurality of support rods 2 to extend forward synchronously until the ends thereof contact the elevator shaft wall. During this process, the force sensor integrated in each support rod 2 detects and records the contact force data between the end of the support rod 2 and the shaft wall in real time, while the displacement sensor of the support rod 2 synchronously records the extension distance data of the support rod 2. These data are integrated as first contact data and stored. Subsequently, the control system drives all support rods 2 to retreat, ensuring that all support rods 2 are in a unified first preset position. Then, the control system extracts the corresponding contact force peak value and the corresponding extension distance of each support rod 2 from the stored first contact data. Based on these data, the attitude solving module in the system will construct an observation matrix A according to the geometric layout of the construction platform 1 and the installation position of the support rods 2. The matrix relates the elongation change vector L (derived from the extension distance data) and the axial pressure change vector (derived from the contact force data) of the support rods 2 to the pose state vector X (including position deviation and attitude deviation) of the platform, forming a linear equation system L = A · X. Finally, the control system uses a high-performance processor to solve the above linear equation system in real time by using numerical optimization algorithms such as least squares method, thereby quickly and accurately solving the small-angle attitude deviation of the construction platform 1 relative to the ideal horizontal plane, such as pitch angle and roll angle, so as to adjust the position of the drilling equipment 3 according to the relevant data obtained by calculation, and realize the preliminary leveling of the construction platform 1.

[0051] Through the above technical solution, the efficiency and accuracy of the attitude deviation calculation of the construction platform 1 can be significantly improved. By standardizing the retreat position of the support rods 2, the initial error is eliminated, and the comprehensive contact force and extension distance data are used to provide reliable input for attitude solving. The linear relationship between the displacement of the support rods 2 and the pose of the platform is established, which effectively simplifies the calculation model, so that the system can quickly and accurately solve the small-angle attitude deviation of the platform. This provides timely and accurate basis for subsequent leveling operation, thereby ensuring the rapid and accurate leveling of the construction platform 1, and further improving the automation level and construction quality of the whole drilling operation.

[0052] Specifically, the balance state of the construction platform 1 is detected, specifically including: detecting whether the construction platform 1 is in a balanced state by detecting the detection data of the laser sensor between any two adjacent support rods 2.

[0053] Further, the laser sensor is arranged on any support rod 2, including a transmitter and a receiver, so that the support rod 2 can receive the laser signal of the previous support rod 2 and send the laser signal to the next support rod 2, and the balance state of the construction platform 1 is determined by detecting the laser detection data between the several support rods 2 in the first preset position, thereby improving the accuracy of the balance detection of the construction platform 1. The laser sensor is a device for non-contact measurement using a laser beam. Its working principle can be based on triangulation method, by emitting a laser beam to the target surface, and receiving the reflected light, the distance is calculated according to the position of the reflected light spot on the receiver, in this embodiment, according to the identification position of the laser signal emitted by the transmitter of the laser sensor on the receiver, high-resolution flatness detection between several support rods 2 is realized.

[0054] S107: The support rod 2 is secondarily braced.

[0055] Specifically, after completing the leveling operation of the construction platform 1, the several support rods 2 are driven to extend and abut against the elevator shaft wall, the extension state of the several support rods 2 is locked to fix and lock the construction platform 1, and the drilling device 3 arranged at the target construction position is controlled to perform drilling operation, which includes: driving the several support rods 2 to extend towards the elevator shaft wall, so that the several support rods 2 abut against the elevator shaft wall; locking the extension state of the several support rods 2 to fix and lock the construction platform 1; identifying the drilling position of the elevator shaft wall, adjusting the pose state of the drilling device 3 at the bottom of the construction platform 1 at the target construction position, and driving the drilling device 3 to perform drilling operation on the drilling position.

[0056] S108: Automatic leveling.

[0057] Specifically, the support rod 2 is driven to retreat to the first preset position, and the current attitude deviation of the construction platform 1 is calculated according to the first contact data, which specifically includes: obtaining the contact force data and the extension distance data in the first contact data, establishing a linear relationship between the displacement of the support rod 2 and the platform pose by combining the contact force data and the extension distance data, and quickly solving the small-angle attitude deviation of the platform.

[0058] Specifically, the support rod 2 is driven to retreat to the first preset position, so as to provide a unified and standardized reference point according to the attitude deviation of the construction platform 1, thereby effectively avoiding the measurement error introduced by the inconsistent initial positions of the support rods 2. The displacement sensor or encoder integrated in the support rod 2 is used to accurately control the contraction stroke of the support rod 2, so that it returns to the preset mechanical limit point or electronic marker point, so that the several support rods 2 can be at the same extension distance, so as to form a flatness detection distribution state between the several support rods 2.

[0059] The linear relationship between the displacement of the support rod 2 and the pose of the platform is established by combining the contact force data and the extension distance data. Through theoretical mechanics and geometric analysis, a linear equation set is derived to realize the influence of the force and extension change of the support rod 2 on the platform attitude; or, the linear model can also be established by experimental calibration. The small-angle attitude deviation of the platform is quickly solved, which efficiently and accurately obtains the attitude deviation and provides timely and accurate input for subsequent leveling operation. This can be achieved by using numerical optimization algorithms such as least squares method and singular value decomposition to solve the established linear equation set; or, the pre-stored lookup table or neural network model can be used to quickly match or predict the attitude deviation according to the input data.

[0060] In this embodiment, the physical contact information of the support rod 2 and the well wall is fully utilized and converted into a mathematical model that can be efficiently processed, thereby providing accurate and timely attitude input for subsequent leveling operation. Compared with the traditional method of relying only on the traction mechanism for rough adjustment, the present scheme significantly improves the efficiency and accuracy of attitude deviation calculation through fine data collection and efficient linear calculation, laying a foundation for accurate leveling of the construction platform 1.

[0061] Specifically, the flatness deviation data between any two of the plurality of support rods 2 is detected by the laser sensor in real time, and the drilling equipment 3 is controlled to adjust the translation in real time according to the flatness deviation data; when the flatness deviation data is 0, the translation adjustment of the drilling equipment 3 is stopped, and the construction platform 1 is switched from the initial leveling state to the leveling completion state.

[0062] Further, the first contact data of the plurality of support rods 2 is converted into the pose deviation of the construction platform 1, and the drilling equipment 3 is driven to perform initial leveling operation, which can improve the convenience and efficiency of leveling operation. The laser sensor of the plurality of support rods 2 is used as a dynamic detection of the balanced state, and the translation adjustment of the drilling equipment 3 can improve the accuracy of the balance detection of the construction platform 1.

[0063] S109: Detecting whether the drill bit is worn.

[0064] Before drilling operation, the image information of the drill bit is obtained by the visual detection mechanism, and the appearance defect degree of the drill bit is detected according to the image information; if the appearance defect degree exceeds the preset range, the drilling equipment 3 is driven to perform drill replacement operation; the image information of the drill bit is obtained to provide original data for subsequent drill appearance defect detection, and multiple drill photos at different angles or different focal points are taken by the visual detection mechanism to fully cover the drill surface, so as to accurately identify the appearance features of the drill bit.

[0065] Before performing the drilling operation, the drilling bit state is detected in real time to ensure that the drilling bit state is in a healthy state for performing the drilling operation, thereby ensuring the processing quality of the drilling operation and reducing the risk of drilling operation failure.

[0066] If the appearance defect degree is within the preset range, the drilling bit working time data of the drilling equipment 3 is detected; if the working time data exceeds the cumulative time threshold, the drilling equipment 3 is driven to perform the drill replacement operation; and if the working time data is less than the cumulative time threshold, the drilling equipment 3 is driven to perform the drilling operation.

[0067] The detection of the drilling bit working time data of the drilling equipment 3 serves to evaluate the service life of the drilling bit, which is another important basis for determining whether the drilling bit needs to be replaced. As an implementation manner, the controller inside the drilling equipment 3 can record the cumulative working time of each drilling bit from installation to removal, or record the time when the drilling bit actually contacts the workpiece to perform the drilling operation. As another implementation manner, the running state of the drilling equipment 3 can be monitored by a sensor (such as a current sensor or a vibration sensor), and when the equipment is in the drilling working mode, the timer starts to accumulate the working time, and pauses when the drilling stops.

[0068] Further, the cumulative time threshold is a concept for judging whether the drilling bit reaches the upper limit of the cumulative working time of the expected service life, which serves as a decision basis to determine whether the drilling bit needs to be replaced. As an implementation manner, an empirical maximum allowed working time can be set according to the drilling bit material, diameter, drilling depth, hardness of the processed material, and other factors, combined with the recommended values of the manufacturer and actual production experience. As another implementation manner, the service life of the drilling bit is tested, or the changes of the torque, vibration, temperature and other parameters in the drilling process are monitored, and when these parameters reach the preset wear indicators, the corresponding cumulative time threshold is determined.

[0069] S110: drilling operation.

[0070] The drilling equipment 3 is driven to move towards the elevator shaft wall, and the drilling point of the elevator shaft wall is recognized by positioning, so that the drilling equipment 3 can accurately drill at the drilling point of the elevator shaft wall.

[0071] S111: start the drill replacement operation.

[0072] Specifically, the drill replacement equipment on the construction platform 1 replaces the drilling bit of the drilling equipment 3, so that the drilling bit state of the drilling equipment 3 can meet the drilling operation of the elevator shaft wall. After the drill replacement equipment completes the drill replacement operation on the drilling equipment 3, the drilling operation of the drilling equipment 3 is driven to return to step S110.

[0073] S112: The drilling device 3 is reset.

[0074] When the drilling device 3 completes the drilling operation on the target construction position of the elevator shaft wall, the drilling device 3 is driven to reset to the leveled position, so that the construction platform 1 can maintain a balanced state during the lifting of the traction mechanism, thereby avoiding the cumulative effect of the movement error of the traction mechanism on the balanced state of the construction platform 1 during each lifting.

[0075] S113: The support rod 2 is withdrawn to the first preset position.

[0076] When the construction platform 1 completes the drilling operation on the target construction position, the support rod 2 is driven to withdraw to the first preset position, so that the construction platform 1 and the elevator shaft wall are unlocked, and the construction platform 1 can be lifted in the elevator shaft based on the traction mechanism.

[0077] S114: The construction platform 1 is lifted.

[0078] The construction platform 1 is lifted by the traction mechanism. Since the guide rails inside the elevator shaft are installed at fixed intervals, the construction platform 1 needs to be lifted by a fixed lifting distance, and drilling operations are performed in sequence to achieve the installation and positioning of the elevator guide rail installation position.

[0079] S115: Whether the construction platform 1 reaches the top position is detected.

[0080] Whether the construction platform 1 reaches the top position is detected by a position sensor. The position sensor can be provided on the traction mechanism at the top of the elevator shaft, and the position sensor can also be provided at the top position of the construction platform 1 to detect the position of the construction platform 1 in real time.

[0081] A device for detecting the position or displacement of an object in space. The position sensor can be implemented in various technologies, for example, an ultrasonic sensor can be used to measure the distance from the construction platform 1 to the top of the elevator shaft or a specific reference point by emitting and receiving ultrasonic waves; or a laser ranging sensor can be used to measure the distance to the top of the elevator shaft or a pre-set reflector using a laser beam; or an encoder installed on the traction mechanism can be used to calculate the lifting height of the construction platform 1 by measuring the rotation angle or linear displacement of the hoist or guide rail. The position sensor continuously monitors the vertical position of the construction platform 1 throughout the construction process, providing basic data for determining whether the top position has been reached. Detecting whether the lifting movement of the construction platform 1 reaches the top position of the elevator shaft means determining the relationship between the current position of the construction platform 1 in the vertical direction and the top position of the elevator shaft. This can be achieved by comparing the height of the construction platform 1 detected by the position sensor with the pre-set height threshold of the top of the elevator shaft, and when the platform height reaches or exceeds the threshold, it is considered to have reached the top position; or a specific physical marker, such as a reflector or color block, can be set at the top of the elevator shaft, and the arrival of the platform at the top can be determined by identifying the marker through a vision sensor; or a travel switch can be installed at the top of the elevator shaft, and when the construction platform 1 touches the travel switch, a signal is sent indicating that the top has been reached. Stopping the drilling operation of the construction platform 1 means stopping the drilling operation that is currently being performed or is about to be performed. This can be achieved by sending a stop drilling command from the control system to the drilling device 3, causing the drill bit to stop rotating and feeding; or the power supply to the drilling device 3 can be directly cut off; or the drilling device 3 can be put into a safety locking state to prevent misoperation.

[0082] S116: The strut 2 is retracted.

[0083] Specifically, the top position is set as the highest lifting area of the construction platform 1, and the top position does not need to be punched, i.e. the top position is set to determine whether the construction platform 1 has completed the drilling operation.

[0084] Further, when the construction platform 1 is detected to reach the top position of the elevator shaft, the strut 2 of the construction platform 1 is driven to retract to the initial state, so as to recycle the construction platform 1.

[0085] S117: The construction platform 1 is withdrawn to the starting position.

[0086] Specifically, the construction platform 1 is driven by the traction mechanism to the starting position of the elevator shaft pit, so as to perform the evacuation operation of the construction platform 1.

[0087] S118: The construction platform 1 moves to the elevator shaft.

[0088] S119: The operation is completed.

[0089] Specifically, the connection relationship between the construction platform 1 and the traction mechanism is such that the construction platform 1 can be withdrawn from the elevator shaft mouth position at the elevator shaft pit position to complete the drilling operation of the elevator shaft.

[0090] S120: detecting whether the construction platform 1 is lifted to a preset height Further, after step S115, when it is detected that the construction platform 1 does not reach the top position, the lifting height of the construction platform 1 is detected by the position sensor, and when the construction platform 1 is lifted to a preset height, it is judged that the construction platform 1 reaches the next preset construction position. By repeating steps S106-S115, the drilling operation of the construction platform 1 at each preset construction position in the elevator shaft can be satisfied.

[0091] Specifically, in the specific implementation process, first, the construction platform 1 arrangement assembly moves the construction platform 1 from the elevator shaft pit position to the target construction position to ensure accurate initial positioning. Then, the data detection assembly drives the support rod 2 to extend synchronously until it contacts the elevator shaft wall, and records the extension length or contact force of each support rod 2 as the first contact data. Then, the support rod 2 is retracted to the first preset position to eliminate the leveling interference, and the data analysis assembly calculates the current attitude deviation of the construction platform 1 based on the first contact data through a geometric model. The leveling assembly generates an adjustment instruction according to the deviation to drive the drilling equipment 3 to move in the X-Y direction, for example, when the front end of the platform is low, the instruction controls the drilling equipment 3 to move upward, thereby adjusting the overall attitude of the construction platform 1 to a horizontal state. After leveling, the drilling operation assembly drives the support rod 2 to extend again and firmly abut against the shaft wall, and maintains the extension state through the mechanical locking mechanism to fix the construction platform 1, and finally controls the drilling equipment 3 to perform accurate drilling operation.

[0092] Through the above technical solution, the leveling process of the construction platform 1 directly depends on the measured data rather than the estimated value of the external traction mechanism, significantly shortening the leveling time and improving the accuracy of attitude deviation identification. For example, in the elevator shaft wall drilling operation, this scheme avoids the time-consuming problem caused by repeated adjustment of steel wire tension in the traditional method, and makes the leveling efficiency improve by more than 50%, while the drilling position deviation is controlled within ±0.5mm, effectively guaranteeing the accuracy requirement of the guide rail support installation. Overall, through the synergistic effect of the components, the seamless connection of the automatic leveling and drilling operation of the construction platform 1 is realized, which provides reliable support for the full automation and high-precision operation of the elevator shaft construction.

[0093] Embodiment three: Figure 4 The control device of the elevator shaft drilling construction platform in the embodiment of the application is shown, and the control device comprises: Construction platform arrangement assembly 10: used for arranging the construction platform at the elevator shaft pit position, and driving the construction platform to move to the target construction position; Specifically, based on the shaft parameters of the elevator guide rail installation drawing, the construction platform carrying the cross-moving mechanism drilling equipment is pre-arranged at the preset initial position of the shaft pit, the drilling equipment is installed at the bottom of the construction platform, and the drilling equipment is connected with the construction platform through the cross-moving mechanism, so that the drilling equipment can adjust its position state based on the cross-moving mechanism, thereby realizing the gravity adjustment of the overall structure of the construction platform.

[0094] Further, the construction platform is started and initial calibration is completed, the initial calibration includes shaft size review, construction platform position calibration, drill bit initial state detection and cross-moving mechanism zero calibration, when the construction platform is arranged inside the elevator shaft, the construction platform is calibrated synchronously, so that the construction platform moves up and down inside the elevator shaft based on the traction mechanism.

[0095] Data detection assembly 20: used for driving a plurality of support rods to expand synchronously and contact with the elevator shaft wall at the target construction position, and acquiring first contact data of the support rods; The construction platform is automatically lifted along the elevator shaft under the driving of the traction mechanism, and the position information is fed back through the sensor, when the construction platform reaches the preset target construction position, the traction mechanism stops driving the construction platform to lift; The construction platform expands the support rods at the target construction position and tightens the support rods to the shaft wall, when the support rods perform the first tightening operation, the first contact data of the support rods and the elevator shaft wall is recorded, so that the leveling operation reliability of the construction platform is adjusted according to the first contact data.

[0096] Data analysis assembly 30: used for driving the support rods to retreat to the first preset position, and calculating the current attitude deviation of the construction platform according to the first contact data; The support rods are driven to retreat to the first preset distance position, so that a certain gap is formed between the ends of the support rods and the elevator shaft wall, and the current pose deviation of the construction platform is calculated through the first contact data.

[0097] Further, the first contact data includes the contact force data and the expansion distance data of the support rods when the support rods expand and contact with the elevator shaft wall, which can accurately reflect the pose balance state of the construction platform.

[0098] Leveling assembly 40: used for generating adjustment instructions according to the current attitude deviation, and driving the drilling equipment at the bottom of the construction platform to perform the moving leveling operation based on the adjustment instructions; Specifically, the adjustment instruction is generated according to the current attitude deviation of the construction platform, so that the drilling equipment can be preliminarily leveled, and the construction platform can be in a preliminary balanced state, so that the leveling of the construction platform can be performed.

[0099] The drilling operation component 50 is used to drive the support rods to extend and abut against the elevator shaft wall when the leveling operation of the construction platform is completed, and the extended state of the support rods is used to fix and lock the construction platform.

[0100] Further, before the drilling operation of the drilling equipment, a detection operation of the wear state of the drill bit of the drilling equipment is further included, if the wear degree of the drill bit of the drilling equipment does not exceed the preset range, the drilling operation is performed, if the wear degree of the drill bit of the drilling equipment exceeds the preset range, the drilling operation is performed after a drill changing process.

[0101] The embodiment of the present application provides a control device of an elevator shaft drilling construction platform, the drilling equipment is arranged at the bottom of the construction platform to adjust the gravity center, so that the leveling operation of the construction platform is convenient. The support rod structure is used for detecting the leveling state, and the construction platform after leveling is locked and fixed, so that the accuracy of the leveling of the construction platform is ensured, and the drilling stability and accuracy of the drilling equipment of the construction platform are improved.

[0102] Those skilled in the art can understand that all or part of the steps in the above-mentioned various methods of the embodiments can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium, and the storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0103] In addition, the control method and device of the elevator shaft drilling construction platform provided by the embodiment of the present application are described in detail above, and the principles and implementation modes of the present application are described by using specific examples in this paper, and the above description of the embodiments is only used to help understand the method and the core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as the limitation of the present application.

Claims

1. A control method of an elevator shaft drilling construction platform, characterized by, The method comprises the following steps: arranging a construction platform at the pit position of the elevator shaft and driving the construction platform to move to a target construction position; driving a plurality of support rods to extend synchronously at the target construction position and abut against the wall of the elevator shaft, and obtaining first contact data of the plurality of support rods; driving the support rods to retreat to a first preset position, and calculating a current attitude deviation of the construction platform according to the first contact data; generating an adjustment instruction according to the current attitude deviation, and driving a drilling device at the bottom of the construction platform to perform a moving leveling operation based on the adjustment instruction; after the leveling operation of the construction platform is completed, driving a plurality of the support rods to extend and abut against the wall of the elevator shaft, fixing and locking the construction platform by maintaining the extended state of the plurality of support rods, and controlling the drilling device arranged at the target construction position to perform a drilling operation.

2. The control method of the elevator shaft boring construction platform according to claim 1, characterized by, The step of arranging a construction platform at the pit position of the elevator shaft and driving the construction platform to move to a target construction position comprises: arranging the construction platform at the pit position of the elevator shaft, and driving the construction platform to move upward along the elevator shaft by a traction device; detecting the lifting height of the construction platform by a sensor arranged at the construction platform, and marking that the construction platform reaches the target construction position and stopping the lifting drive of the construction platform when the lifting height of the construction platform reaches a first preset height.

3. The control method of the elevator shaft boring construction platform according to claim 1, characterized by, The step of driving a plurality of support rods to extend synchronously at the target construction position and abutting against the wall of the elevator shaft, and obtaining first contact data of the plurality of support rods comprises: driving the plurality of support rods to extend forward synchronously, so that the plurality of support rods move toward the wall of the elevator shaft, and detecting and obtaining contact force data of the end of the support rods and the wall of the elevator shaft by a force sensor; obtaining extension distance data of the support rods by a displacement sensor of the plurality of support rods during the extension action of the plurality of support rods; combining the contact force data and the extension distance data to obtain the first contact data of the support rods.

4. The control method of the elevator shaft boring construction platform according to claim 1, characterized by, The step of driving the support rods to retreat to a first preset position and calculating a current attitude deviation of the construction platform according to the first contact data comprises: obtaining contact force data and extension distance data in the first contact data, combining the contact force data and the extension distance data to establish a linear relationship between the displacement of the support rods and the pose of the platform, and quickly solving a small-angle attitude deviation of the platform.

5. The control method of the elevator shaft boring construction platform according to claim 1, characterized by, The step of generating an adjustment instruction according to the current attitude deviation, and driving a drilling device at the bottom of the construction platform to perform a moving leveling operation based on the adjustment instruction comprises: calculating an initial displacement adjustment amount of the drilling device at the bottom of the construction platform according to the current attitude deviation; controlling the drilling device to move based on the initial displacement adjustment amount, so that the construction platform is in an initial leveling state; combining a real-time detection mechanism arranged at the plurality of support rods to perform real-time translation adjustment on the drilling device, so that the construction platform switches from the initial leveling state to a leveling completion state.

6. The control method of the elevator shaft boring construction platform according to claim 5, characterized by, The step of combining a real-time detection mechanism arranged at the plurality of support rods to perform real-time translation adjustment on the drilling device, so that the construction platform switches from the initial leveling state to a leveling completion state comprises: Real-time detection of flatness deviation data between any two of the plurality of struts based on laser sensors, and real-time translation adjustment of the drilling device according to the flatness deviation data; When the flatness deviation data is 0, the translation adjustment of the drilling device is stopped, and the construction platform is switched from the initial leveling state to the leveling completion state.

7. The control method of the elevator shaft boring construction platform according to claim 1, characterized by, After the leveling operation of the construction platform is completed, the plurality of struts are driven to extend and abut against the elevator shaft wall, the extended state of the plurality of struts is maintained to fix and lock the construction platform, and the drilling device arranged at the target construction position is controlled to perform drilling operation, which includes: Driving a plurality of struts to extend towards the elevator shaft wall, so that a plurality of struts abut against the elevator shaft wall; Locking the extended state of the plurality of struts to maintain the fixation and locking of the construction platform; Identifying the drilling position of the elevator shaft wall, adjusting the pose state of the drilling device at the bottom of the construction platform at the target construction position, and driving the drilling device to perform drilling operation on the drilling position.

8. The control method of the elevator shaft boring construction platform according to claim 1, characterized by, The control method further includes: Before the drilling operation, the image information of the drill bit is obtained by the visual detection mechanism, and the appearance defect degree of the drill bit is detected according to the image information; If the appearance defect degree exceeds the preset range, the drilling device is driven to perform drill replacement operation; If the appearance defect degree is within the preset range, the working time data of the drill bit of the drilling device is detected; If the working time data exceeds the cumulative time threshold, the drilling device is driven to perform drill replacement operation; If the working time data is less than the cumulative time threshold, the drilling device is driven to perform drilling operation.

9. The control method of the elevator shaft boring construction platform according to claim 1, characterized by, The control method further includes: The lifting movement of the construction platform is detected by the position sensor to determine whether it reaches the top position of the elevator shaft. If the construction platform reaches the top position of the elevator shaft, the drilling processing operation of the construction platform is ended.

10. A control device for an elevator shaft drilling construction platform, characterized in that The control device includes: A construction platform arrangement assembly for arranging a construction platform at the bottom pit position of an elevator shaft and driving the construction platform to move to a target construction position; A data detection assembly for driving a plurality of struts to extend synchronously and abut against the elevator shaft wall at the target construction position, and obtaining first contact data of the plurality of struts; A data analysis assembly for driving the struts to retreat to a first preset position and calculating the current attitude deviation of the construction platform according to the first contact data; A leveling assembly for generating adjustment instructions according to the current attitude deviation, and driving the drilling device at the bottom of the construction platform to perform movement leveling operation based on the adjustment instructions; A drilling operation assembly for driving a plurality of struts to extend and abut against the elevator shaft wall after completing the leveling operation of the construction platform, maintaining the extended state of the plurality of struts to fix and lock the construction platform, and controlling the drilling device arranged at the target construction position to perform drilling operation.

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