Drill jumbo and control method and device thereof

Abstract

The invention belongs to the technical field of drill jumbo control, and particularly relates to a drill jumbo and a control method and device thereof. The method comprises the steps that a drill jumbo mechanical arm is controlled to conduct drilling according to a tunnel face hole arrangement diagram; according to a to-be-drilled target hole site on the tunnel face hole arrangement diagram, the target pose of the tail end of the mechanical arm and a transfer point corresponding to the to-be-drilled target hole site are determined; each joint of the mechanical arm is controlled to move to a transfer point, and then each joint of the mechanical arm is controlled to enable the tail end of the mechanical arm to move to the target pose for drilling; the transfer point is a preset path point which is selected from a preset path point set and is closest to the to-be-drilled target hole site; the preset path point set is pre-calibrated; when the extensions of the telescopic joint of the large arm and the telescopic joint of the propelling beam of the mechanical arm are different, the spatial distance between the large arm and the propelling beam is the position of each joint of the mechanical arm of a safe distance. The technical problem that a drill boom frame of an existing drill jumbo is prone to collision interference and stops working is solved.

Description

Technical Field

[0001] This invention belongs to the field of rock drilling rig control technology, specifically relating to a rock drilling rig and its control method and device. Background Technology

[0002] A rock drilling rig is an excavation tool that uses the drill-and-blast method and is widely used in various roadways and tunnels. Currently, the boom of a rock drilling rig is mainly controlled manually. Due to the influence of the operator's experience, the accuracy of boom control and operation time are difficult to guarantee, resulting in poor consistency in blasting.

[0003] In recent years, with the development of science and technology and the integration of disciplines, some intelligent control technologies for rock drilling rigs and drill arms have emerged. For example, the Chinese invention patent authorization announcement text with authorization announcement number CN109113572B and authorization announcement date of July 30, 2019, discloses a control method for rock drilling rigs and a rock drilling rig itself. Based on a pre-imported borehole distribution design drawing, the current borehole to be drilled is determined, and the robotic arm device is controlled to transport the drilling actuator to the current borehole position. Depending on the type of borehole, drilling control information is sent in real time to the corresponding equipment within the drilling actuator to automatically control the drilling actuator to perform multi-stage drilling operations, including low-level drilling, high-level drilling, stop drilling, retraction, and flushing. The rock drilling rig includes a drilling actuator, a robotic arm device, and a rock drilling rig control system that controls the drilling actuator and robotic arm device to perform transport and drilling operations according to the above method. While this method can theoretically achieve automatic control of the drill arm, in actual operation, the boom is prone to collision interference and stops working, and there is no multi-boom collaborative working mechanism. Summary of the Invention

[0004] The purpose of this invention is to provide a rock drilling rig and its control method and device to solve the technical problem that the drilling arm of the rock drilling rig is prone to collision interference and stops working in the prior art.

[0005] To solve the above-mentioned technical problems, the present invention provides a technical solution for a rock drilling rig control method, which includes: a rock drilling rig control method, the method comprising:

[0006] The drilling rig's robotic arm is controlled to drill holes according to the hole layout diagram at the working face: the target pose of the robotic arm's end and the corresponding transfer point are determined based on the target hole position on the hole layout diagram at the working face; first, the joints of the robotic arm are controlled to move to the transfer point, and then the joints of the robotic arm are controlled to move the end of the robotic arm to the target pose to drill holes.

[0007] The transfer point is the preset path point selected from the preset path point set that is closest to the target hole to be drilled; the preset path point set is the pre-calibrated position of each joint of the robotic arm that ensures a safe spatial distance between the upper arm and the propulsion beam when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

[0008] The transfer point is a preset path point corresponding to the preset position closest to the target hole to be drilled; the preset path point is the position of each joint of the robotic arm that makes the spatial distance between the upper arm and the propulsion beam a safe distance when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

[0009] The beneficial effects of the above technical solution are as follows: During formal drilling, this invention employs two-stage positioning: coarse positioning (to the intermediate point) and fine positioning (to the final hole position). Since each preset path point is set within a safe distance, the coarse positioning process greatly avoids collision interference between the drill arm and the propulsion beam. The initial iteration value (i.e., the intermediate point) given by coarse positioning already basically satisfies the requirement of no collision and being near the target pose. Based on this initial value, iteration yields the precise joint angle value of the target pose, with extremely low risk of drill arm interference. Fine positioning is then completed by fine-tuning after coarse positioning. The difference between coarse and fine positioning lies only in that coarse positioning positions the end of the robotic arm to a region near the target hole position (e.g., a circle with a radius of 5cm), while fine positioning positions the end of the robotic arm to the target hole position (e.g., the center of the circle) within that region. This invention solves the technical problem in the prior art where the drill arm of a rock drilling rig is prone to collision interference and stops working.

[0010] Furthermore, before controlling the rock drilling rig's robotic arm to drill, the drillable hole positions of each robotic arm of the rock drilling rig are determined according to the hole layout diagram of the working face and the current position of the rock drilling rig. Based on the drillable hole positions of each robotic arm, the hole positions on the hole layout diagram of the working face are assigned to each robotic arm, so as to control the rock drilling rig's robotic arm to drill according to the assigned drilling positions.

[0011] Beneficial effects: Before the actual drilling, the hole positions are first allocated to each drill arm according to the hole layout diagram of the face, that is, the working area is divided for each drill arm, reducing the collision interference between drill arms; for example, the left arm should drill the left hole as much as possible, and the right arm should drill the right hole as much as possible, so as to greatly reduce the collision interference between drill arms.

[0012] Furthermore, the process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is a drillable hole position for at least two drill arms, then assigning the hole position to the drill arm with the fewest drillable holes among these drill arms.

[0013] Furthermore, the process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is only a drillable hole position for one drill arm, then assigning the hole position to that drill arm.

[0014] Furthermore, during drilling, the propulsion pressure, impact pressure, and rotation pressure of the hydraulic system are determined based on the collected propulsion and rotation speeds of the rock drill and in conjunction with a pre-determined mapping model device.

[0015] The mapping model is derived from pre-collected data on the advance pressure, impact pressure, and rotational pressure used by professional operators at different advance and rotation speeds.

[0016] Furthermore, during drilling, each drill arm drills holes in a sequential up-and-down row pattern.

[0017] Furthermore, during drilling, each drill arm begins construction from the outermost hole among all the assigned hole positions.

[0018] Furthermore, during drilling, each drill arm begins construction from the lower left corner of all assigned hole positions.

[0019] The present invention also provides a technical solution for a rock drilling rig control device: a rock drilling rig control device, comprising a processor, the processor being used to execute a computer program to implement the steps of the rock drilling rig control method described above:

[0020] The drilling rig's robotic arm is controlled to drill holes according to the hole layout diagram at the working face: the target pose of the robotic arm's end and the corresponding transfer point are determined based on the target hole position on the hole layout diagram at the working face; first, the joints of the robotic arm are controlled to move to the transfer point, and then the joints of the robotic arm are controlled to move the end of the robotic arm to the target pose to drill holes.

[0021] The transfer point is the preset path point selected from the preset path point set that is closest to the target hole to be drilled; the preset path point set is the pre-calibrated position of each joint of the robotic arm that ensures a safe spatial distance between the upper arm and the propulsion beam when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

[0022] The transfer point is a preset path point corresponding to the preset position closest to the target hole to be drilled; the preset path point is the position of each joint of the robotic arm that makes the spatial distance between the upper arm and the propulsion beam a safe distance when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

[0023] The beneficial effects of the above technical solution are as follows: During formal drilling, this invention employs two-stage positioning: coarse positioning (to the intermediate point) and fine positioning (to the final hole position). Since each preset path point is set within a safe distance, the coarse positioning process greatly avoids collision interference between the drill arm and the propulsion beam. The initial iteration value (i.e., the intermediate point) given by coarse positioning already basically satisfies the requirement of no collision and being near the target pose. Based on this initial value, iteration yields the precise joint angle value of the target pose, with extremely low risk of drill arm interference. Fine positioning is then completed by fine-tuning after coarse positioning. The difference between coarse and fine positioning lies only in that coarse positioning positions the end of the robotic arm to a region near the target hole position (e.g., a circle with a radius of 5cm), while fine positioning positions the end of the robotic arm to the target hole position (e.g., the center of the circle) within that region. This invention solves the technical problem in the prior art where the drill arm of a rock drilling rig is prone to collision interference and stops working.

[0024] Furthermore, before controlling the rock drilling rig's robotic arm to drill, the drillable hole positions of each robotic arm of the rock drilling rig are determined according to the hole layout diagram of the working face and the current position of the rock drilling rig. Based on the drillable hole positions of each robotic arm, the hole positions on the hole layout diagram of the working face are assigned to each robotic arm, so as to control the rock drilling rig's robotic arm to drill according to the assigned drilling positions.

[0025] Beneficial effects: Before the actual drilling, the hole positions are first allocated to each drill arm according to the hole layout diagram of the face, that is, the working area is divided for each drill arm, reducing the collision interference between drill arms; for example, the left arm should drill the left hole as much as possible, and the right arm should drill the right hole as much as possible, so as to greatly reduce the collision interference between drill arms.

[0026] Furthermore, the process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is a drillable hole position for at least two drill arms, then assigning the hole position to the drill arm with the fewest drillable holes among these drill arms.

[0027] Furthermore, the process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is only a drillable hole position for one drill arm, then assigning the hole position to that drill arm.

[0028] Furthermore, during drilling, the propulsion pressure, impact pressure, and rotation pressure of the hydraulic system are determined based on the collected propulsion and rotation speeds of the rock drill and in conjunction with a pre-determined mapping model device.

[0029] The mapping model is derived from pre-collected data on the advance pressure, impact pressure, and rotational pressure used by professional operators at different advance and rotation speeds.

[0030] Furthermore, during drilling, each drill arm drills holes in a sequential up-and-down row pattern.

[0031] Furthermore, during drilling, each drill arm begins construction from the outermost hole among all the assigned hole positions.

[0032] Furthermore, during drilling, each drill arm begins construction from the lower left corner of all assigned hole positions.

[0033] The present invention also provides a technical solution for a rock drilling rig: a rock drilling rig includes a rock drilling rig controller, the rock drilling rig controller including a processor, the processor being used to execute a computer program to implement the steps of the rock drilling rig control method described above:

[0034] The drilling rig's robotic arm is controlled to drill holes according to the hole layout diagram at the working face: the target pose of the robotic arm's end and the corresponding transfer point are determined based on the target hole position on the hole layout diagram at the working face; first, the joints of the robotic arm are controlled to move to the transfer point, and then the joints of the robotic arm are controlled to move the end of the robotic arm to the target pose to drill holes.

[0035] The transfer point is the preset path point selected from the preset path point set that is closest to the target hole to be drilled; the preset path point set is the pre-calibrated position of each joint of the robotic arm that ensures a safe spatial distance between the upper arm and the propulsion beam when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

[0036] The transfer point is a preset path point corresponding to the preset position closest to the target hole to be drilled; the preset path point is the position of each joint of the robotic arm that makes the spatial distance between the upper arm and the propulsion beam a safe distance when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

[0037] The beneficial effects of the above technical solution are as follows: During formal drilling, this invention employs two-stage positioning: coarse positioning (to the intermediate point) and fine positioning (to the final hole position). Since each preset path point is set within a safe distance, the coarse positioning process greatly avoids collision interference between the drill arm and the propulsion beam. The initial iteration value (i.e., the intermediate point) given by coarse positioning already basically satisfies the requirement of no collision and being near the target pose. Based on this initial value, iteration yields the precise joint angle value of the target pose, with extremely low risk of drill arm interference. Fine positioning is then completed by fine-tuning after coarse positioning. The difference between coarse and fine positioning lies only in that coarse positioning positions the end of the robotic arm to a region near the target hole position (e.g., a circle with a radius of 5cm), while fine positioning positions the end of the robotic arm to the target hole position (e.g., the center of the circle) within that region. This invention solves the technical problem in the prior art where the drill arm of a rock drilling rig is prone to collision interference and stops working.

[0038] Furthermore, before controlling the rock drilling rig's robotic arm to drill, the drillable hole positions of each robotic arm of the rock drilling rig are determined according to the hole layout diagram of the working face and the current position of the rock drilling rig. Based on the drillable hole positions of each robotic arm, the hole positions on the hole layout diagram of the working face are assigned to each robotic arm, so as to control the rock drilling rig's robotic arm to drill according to the assigned drilling positions.

[0039] Beneficial effects: Before the actual drilling, the hole positions are first allocated to each drill arm according to the hole layout diagram of the face, that is, the working area is divided for each drill arm, reducing the collision interference between drill arms; for example, the left arm should drill the left hole as much as possible, and the right arm should drill the right hole as much as possible, so as to greatly reduce the collision interference between drill arms.

[0040] Furthermore, the process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is a drillable hole position for at least two drill arms, then assigning the hole position to the drill arm with the fewest drillable holes among these drill arms.

[0041] Furthermore, the process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is only a drillable hole position for one drill arm, then assigning the hole position to that drill arm.

[0042] Furthermore, during drilling, the propulsion pressure, impact pressure, and rotation pressure of the hydraulic system are determined based on the collected propulsion and rotation speeds of the rock drill and in conjunction with a pre-determined mapping model device.

[0043] The mapping model is derived from pre-collected data on the advance pressure, impact pressure, and rotational pressure used by professional operators at different advance and rotation speeds.

[0044] Furthermore, during drilling, each drill arm drills holes in a sequential up-and-down row pattern.

[0045] Furthermore, during drilling, each drill arm begins construction from the outermost hole among all the assigned hole positions.

[0046] Furthermore, during drilling, each drill arm begins construction from the lower left corner of all assigned hole positions. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the construction of the rock drilling rig in the embodiment of the present invention.

[0048] Figure 2 This is a flowchart illustrating the method implementation of the rock drilling rig control method of the present invention.

[0049] Figure 3This is a schematic diagram of the seven-degree-of-freedom redundant robotic arm structure in the implementation method of the rock drilling rig control method of the present invention.

[0050] The components include: 1. Rock drilling rig body; 2. Mileage measuring device; 3. Boom electrical control module; 4. Vehicle navigation module; 5. Drilling module; 6. Intelligent control terminal; 7. Boom posture monitoring module; 8. Drilling sequence; 9. Boom working area; 10. Propulsion beam telescopic joint; 11. Rock drill; 12. Swing hydraulic cylinder; 13. Base; 14. Boom swing joint; 15. Boom hydraulic cylinder; 16. Telescopic boom hydraulic cylinder; 17. Boom pitch joint; 18. Boom telescopic joint; 19. Propulsion beam rotation joint; 20. Propulsion beam pitch joint; 21. Propulsion beam swing joint. Detailed Implementation

[0051] This invention employs a two-stage positioning process during actual drilling: coarse positioning (to the intermediate point) and fine positioning (to the final hole position). Since each preset path point is set within safe distances, the coarse positioning process significantly reduces the risk of collision interference between the drill arm and the feed beam. The initial iteration value (i.e., the intermediate point) provided by coarse positioning already satisfies the requirement of avoiding collisions and being near the target pose. Iteration based on this initial value yields the precise joint angle values ​​for the target pose, minimizing the risk of drill arm interference. Fine positioning is then completed through fine adjustments. The difference between coarse and fine positioning lies in the location: coarse positioning positions the end effector of the robotic arm within a region near the target hole position (e.g., a circle with a radius of 5cm), while fine positioning positions the end effector of the robotic arm within that region directly to the target hole position (e.g., the center of the circle). This invention solves the technical problem in existing technologies where the drill arm of a rock drilling rig is prone to collision interference, causing it to stop working.

[0052] Implementation method of rock drilling rig:

[0053] The present invention provides a rock drilling rig that can automatically divide the working area for multiple drill arms, automatically plan the drilling sequence, and align the booms with the target hole position without collision, thus achieving fully automatic drilling with a wider range of applications.

[0054] like Figure 1 As shown, the rock drilling rig in this embodiment includes a rock drilling rig body 1. The front of the rock drilling rig body 1 is equipped with multiple 7-DOF redundant robotic arms (drill arms), one auxiliary basket arm, and several parallelogram mechanisms (eagle arms) that can raise the drill arms for drilling (blast holes on the tunnel face) during drill-and-blast tunnel construction. It also includes a boom posture monitoring module 7, a boom electrical control module 3, a vehicle navigation module 4, a drilling module 5, an intelligent control terminal 6, and a mileage measurement device 2.

[0055] Specifically, such as Figure 3 As shown, the seven-DOF redundant robotic arm has seven degrees of freedom. The components are, in sequence, boom swing joint 14 (corresponding to angular degree of freedom θ1), boom pitch joint 17 (corresponding to angular degree of freedom θ2), boom telescopic joint 18 (corresponding to telescopic degree of freedom d3), propeller beam rotation joint 19 (corresponding to angular degree of freedom θ4), propeller beam pitch joint 20 (corresponding to angular degree of freedom θ5), propeller beam swing joint 21 (corresponding to angular degree of freedom θ6), and propeller beam telescopic joint 10 (corresponding to telescopic degree of freedom d7). Boom swing joint 14 is mounted on base 13 at the front of the drilling rig. Boom pitch joint 17 is controlled by boom hydraulic cylinder 15 to adjust the boom pitch angle. Boom telescopic joint 18 is adjusted by telescopic hydraulic cylinder 16 to adjust the position of the propeller beam at the boom end in the boom extension direction. Swing hydraulic cylinder 12 is controlled by boom swing joint 14 to adjust the boom angle on the horizontal plane. After adjusting the end-effector pose to the target pose using the various degrees of freedom of the redundant robotic arm, the rock drill 11 (i.e., drill bit) at the end of the robotic arm is controlled to perform drilling operations.

[0056] Boom posture monitoring module 7: An angle encoder or cable sensor is installed on each joint to monitor the boom's posture information in real time; Boom electrical control module 3: An electronically controlled valve is installed to control the movement of each joint and control the hydraulically driven boom movement; Vehicle navigation module 4: Includes a tilt sensor and several prisms, where the tilt sensor is used for leveling the rock drilling rig in the tunnel, and the prisms are arranged at several positions on the rock drilling rig body for rig navigation and positioning in the tunnel; Drilling module 5: Collects drilling data and controls the rock drill 11 to drill; Intelligent control terminal 6: Equipped with a rock drilling intelligent control system to control the fully automatic drilling of the drill arm; Mileage measurement device 2: Includes two distance sensors.

[0057] The intelligent control terminal 6 (equivalent to a rock drilling rig controller) integrates computer programs for algorithms such as automatic multi-arm working area division, automatic hole sequence planning, coarse drilling arm positioning, fine drilling arm positioning, and humanoid drilling. Its processor executes these programs to implement the algorithms. The rig is leveled using tilt sensors, and then a total station is used to measure two prisms on the rig for navigation and positioning. Two distance sensors measure the distance from the tunnel face to the rig body to obtain the current tunneling mileage. Based on the hole layout map, the intelligent control terminal 6 divides the area and plans the hole sequence to determine which hole each arm should drill, along with its position and angle. The drilling arm automatically moves to the target hole position after coarse and fine positioning. Once the drilling arm reaches the target hole position, it automatically drills according to the humanoid drilling algorithm.

[0058] The automatic division algorithm for the multi-arm working area involves determining the number of holes that each drill arm can cover based on inverse kinematics. Holes reachable by only one drill arm are directly assigned to that arm. Holes reachable by multiple drill arms are preferentially assigned to the arm with fewer reachable holes, aiming to distribute holes as evenly as possible among the drill arms.

[0059] Automatic drilling sequence planning method: Drilling sequence 8: Each drill arm follows an S-shaped curve (i.e., Drilling is performed in a cyclical manner, starting from the bottom left corner and working upwards.

[0060] In other implementations, drilling can also begin from the upper right or upper left corner and proceed in a cyclical sequence.

[0061] Coarse and fine positioning algorithms for the drill arm: Record the joint movement positions (angles, elongation, i.e., values ​​of each degree of freedom) of each drill arm and propulsion beam of the drilling rig in advance when the propulsion beam is 0.2m away from the main arm (safe distance, adjustable) after extending a certain distance (e.g., 0.5m, 1m, 1.5m, etc.). These joint positions form a set of preset path points. Select the preset path point that is closest to the target hole position from the preset path point set as the transfer point. The movement of the drill arm from the starting point to the transfer point is the coarse positioning, and the movement from the transfer point to the target point (target joint position combination) is the fine positioning.

[0062] That is: first, within their working range, the boom telescopic joint 18 (corresponding to telescopic degree of freedom d3) and the propulsion beam telescopic joint 10 (corresponding to telescopic degree of freedom d7) are discretized into different values ​​(such as 0.5m, 1m, 1.5m..., where d3 and d7 can be selected with different step sizes), and denoted as follows: and Take different d 3n and d 7m And ensure that the spatial distance between the propulsion beam and the boom is always a safe distance (0.2m in this embodiment), and record the corresponding different d. 3n and d 7m Other joint movement positions (i.e., values ​​of other degrees of freedom) ), which are the preset path points, corresponding to different d 3n and d 7mA set of preset path points is constructed. Each preset path point is a combination of seven degrees of freedom and uniquely corresponds to the end-effector pose of a robotic arm. The position information in the end-effector pose is used as the preset position. The preset path point corresponding to the preset position closest to the target hole (i.e., the target hole to be drilled) is taken as the transfer point. First, controlling each joint of the robotic arm to move to the transfer point is coarse positioning; controlling each joint of the robotic arm to move the end-effector to the target hole is fine positioning.

[0063] It should be noted that, as Figure 3 As shown, the boom is connected to the middle of the push beam via the end of the telescopic boom, and one end of the push beam ( Figure 3 The right side of the middle section is used to enable the rock drill to drill holes on the working face, while the other end ( Figure 3 The distance in three-dimensional space between the endpoint (left side) and the boom, that is, the length of the perpendicular line segment between the endpoint and the boom (i.e., the length of the line segment with the red arrow in the figure), is the spatial distance between the propulsion beam and the boom.

[0064] The method for moving the drill arm from one point to another (including coarse and fine positioning) is as follows: First, the target hole position is converted into the target joint position using inverse kinematics. All point-to-point movements are achieved by controlling the joint movements; that is:

[0065]

[0066] In the above equation, the left side represents the end-effector pose, p x p y and p z R, P, and Y are the position coordinates in the terminal pose; R, P, and Y are the roll angle, pitch angle, and yaw angle in the terminal target pose, respectively.

[0067] Control each joint of the drill arm to move from the starting position to the target position (i.e., Specifically, the movement of the joint is controlled by an electronically controlled valve, and the boom posture monitoring module 7 measures the current position of the joint in real time. The movement stops when the measured current position of the joint is basically consistent with the position of the target joint.

[0068] Human-like drilling method: By recording the parameters such as propulsion pressure, impact pressure, and rotation pressure used by professional operators under parameters such as the propulsion speed and rotation speed of the rock drill, the propulsion pressure, impact pressure, and rotation pressure are automatically set during actual drilling based on the collected parameters such as the propulsion speed and rotation speed of the rock drill, so as to achieve automatic drilling.

[0069] That is: construct a mapping model G based on the collected data (such as through statistical regression methods).

[0070] (Propellant pressure, impact pressure, rotational pressure) = G(Propellant velocity, rotational velocity)

[0071] During actual drilling, the propulsion pressure, impact pressure, and rotation pressure of the hydraulic system are obtained using the mapping model G determined above, based on the collected propulsion speed and rotation speed, and are automatically set as the target values ​​of the hydraulic system to achieve automatic drilling.

[0072] Implementation method of rock drilling rig control:

[0073] A rock drilling rig control method is equivalent to the multiple algorithms integrated in the intelligent control terminal of the rock drilling rig embodiment described above, and can be referred to the algorithms integrated in the intelligent control terminal described in the rock drilling rig embodiment above. For example... Figure 2 As shown, the method includes:

[0074] S1. After the rock drilling rig arrives at the drilling location and is leveled, the drillable hole positions of each robotic arm of the rock drilling rig are determined according to the hole layout diagram of the working face and the current position of the rock drilling rig. The hole positions on the hole layout diagram of the working face are then assigned to each robotic arm according to the drillable hole positions of each robotic arm.

[0075] The allocation process includes: if a hole location is accessible to multiple drill arms, then the hole location is allocated to the drill arm with the fewest accessible holes; if a hole location is accessible to only one drill arm, then the hole location is allocated to that drill arm. In other words, holes accessible to only one drill arm are directly assigned to that arm, while holes accessible to multiple drill arms are preferentially assigned to the drill arm with the fewest accessible holes. This aims to distribute hole locations as evenly as possible among the drill arms.

[0076] S2. Control the drilling rig robotic arm to drill holes according to the allocated hole positions: Determine the target pose of the robotic arm end and the corresponding transfer point based on the target hole position on the hole layout diagram at the working face; First, control each joint of the robotic arm to move to the transfer point, and then control each joint of the robotic arm to move the end of the robotic arm to the target pose to drill holes.

[0077] The transfer point is the preset path point selected from the preset path point set that is closest to the target hole to be drilled; the preset path point set is a pre-calibrated set of robot arm joint positions that ensure a safe spatial distance between the upper arm and the propulsion beam when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

[0078] That is: first, within their working range, the boom telescopic joint 18 (corresponding to telescopic degree of freedom d3) and the propulsion beam telescopic joint 10 (corresponding to telescopic degree of freedom d7) are discretized into different values ​​(such as 0.5m, 1m, 1.5m..., where d3 and d7 can be selected with different step sizes), and denoted as follows: and Take different d 3n and d7m And ensure that the distance between the propulsion beam and the boom is always a safe distance (0.2m in this embodiment), and record the corresponding different d. 3n and d 7m Other joint movement positions (i.e., values ​​of other degrees of freedom) ), which are the preset path points, corresponding to different d 3n and d 7m A set of preset path points is constructed. Each preset path point is a combination of seven degrees of freedom and uniquely corresponds to the end-effector pose of a robotic arm. The position information in the end-effector pose is used as the preset position. The preset path point corresponding to the preset position closest to the target hole (i.e., the target hole to be drilled) is taken as the transfer point. First, controlling each joint of the robotic arm to move to the transfer point is coarse positioning; controlling each joint of the robotic arm to move the end-effector to the target hole is fine positioning.

[0079] During drilling, the hydraulic system's propulsion pressure, impact pressure, and rotation pressure are determined based on the collected advance and rotation speeds of the rock drill and a pre-defined mapping model. The mapping model is derived from pre-collected data on the advance, impact, and rotation pressures used by professional operators at different advance and rotation speeds. The system automatically sets parameters such as advance pressure, impact pressure, and rotation pressure to achieve automated drilling.

[0080] That is: construct a mapping model G based on the collected data (such as through statistical regression methods).

[0081] (Propellant pressure, impact pressure, rotational pressure) = G(Propellant velocity, rotational velocity)

[0082] During actual drilling, the propulsion pressure, impact pressure, and rotation pressure of the hydraulic system are obtained using the mapping model G determined above, based on the collected propulsion speed and rotation speed, and are automatically set as the target values ​​of the hydraulic system to achieve automatic drilling.

[0083] Each drill arm follows an S-shaped curve (i.e., Drilling is performed in a cyclical manner, starting from the bottom left corner and working upwards.

[0084] Implementation method of rock drilling rig control device:

[0085] A rock drilling rig control device includes a processor for executing a computer program to implement the steps of the rock drilling rig control method described above. The specific rock drilling rig control method has been described in sufficient detail in the above-described embodiments of the rock drilling rig control method and rock drilling rig, and will not be repeated here. This rock drilling rig control device is equivalent to the intelligent control terminal in the above-described rock drilling rig embodiments.

[0086] Specifically, the processor can be a CPU, or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor can also be a processor supporting the Advanced Reduced Instruction Set Machine (ARM) architecture.

[0087] This invention has the following characteristics:

[0088] Currently, most fully automated rock drilling rigs only require single-positioning and lack multi-arm area division and hole sequence planning, making the boom prone to collisions and stopping. This invention solves the problems of easy collisions and interference during automatic boom movement in current fully computerized rock drilling rigs, and the lack of a multi-arm collaborative working mechanism. This control method and device greatly improves the applicability of fully automated rock drilling rigs, reduces operator workload, and improves drilling quality.

[0089] According to the present invention, the rock drilling rig can achieve fully automatic drilling, and the drill arm will not stop due to collision during movement. This control method and device greatly improves the applicability of fully automatic drilling of the rock drilling rig, reduces the workload of the operator, and improves the drilling quality.

[0090] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling a rock drilling rig, characterized in that, The method includes: The drilling rig's robotic arm is controlled to drill holes according to the hole layout diagram at the working face: the target pose of the robotic arm's end and the corresponding transfer point are determined based on the target hole position on the hole layout diagram at the working face; first, the joints of the robotic arm are controlled to move to the transfer point, and then the joints of the robotic arm are controlled to move the end of the robotic arm to the target pose to drill holes. The transfer point is the preset path point selected from the preset path point set that is closest to the target hole to be drilled; the preset path point set is the pre-calibrated position of each joint of the robotic arm that ensures a safe spatial distance between the upper arm and the propulsion beam when the extension of the upper arm telescopic joint and the propulsion beam telescopic joint take different values.

2. The rock drilling rig control method according to claim 1, characterized in that, Before controlling the rock drilling rig's robotic arms to drill holes, the drillable hole positions of each robotic arm of the rock drilling rig are determined according to the hole layout diagram of the working face and the current position of the rock drilling rig. Based on the drillable hole positions of each robotic arm, the hole positions on the hole layout diagram of the working face are assigned to each robotic arm, so as to control the rock drilling rig's robotic arms to drill holes according to the assigned hole positions.

3. The rock drilling rig control method according to claim 2, characterized in that, The process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is a drillable hole position for at least two drill arms, then assigning the hole position to the drill arm with the fewest drillable holes among these drill arms.

4. The rock drilling rig control method according to claim 2 or 3, characterized in that, The process of assigning hole positions on the face hole layout to each robotic arm includes: if a hole position is a drillable hole position for only one drill arm, then assign the hole position to that drill arm.

5. The rock drilling rig control method according to claim 1, characterized in that, During drilling, the propulsion pressure, impact pressure, and rotation pressure of the hydraulic system are determined based on the collected propulsion and rotation speeds of the rock drill and in conjunction with a pre-determined mapping model device. The mapping model is derived from pre-collected data on the advance pressure, impact pressure, and rotational pressure used by professional operators at different advance and rotation speeds.

6. The rock drilling rig control method according to claim 2, characterized in that, During drilling, each drill arm drills holes in a sequential up-and-down motion.

7. The rock drilling rig control method according to claim 6, characterized in that, During drilling, each drill arm begins work from the outermost hole among all the assigned holes.

8. The rock drilling rig control method according to claim 7, characterized in that, During drilling, each drill arm begins work from the bottom left hole among all the assigned hole positions.

9. A rock drilling rig control device, comprising a processor, characterized in that, The processor is used to execute a computer program to implement the steps of the rock drilling rig control method as described in any one of claims 1 to 8.

10. A rock drilling rig, comprising a rock drilling rig controller, the rock drilling rig controller including a processor, characterized in that, The processor is used to execute a computer program to implement the steps of the rock drilling rig control method as described in any one of claims 1 to 8.

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