Semi-automatic positioning method and system

Abstract

The application relates to a kind of semi-automatic positioning method and system, the method comprises: obtaining the starting plane coordinate and end point plane coordinate of target hole site;Obtain drill rod position coordinate and drill rod inclination;Distance error is calculated based on drill rod position coordinate and starting plane coordinate;Theoretical inclination is calculated based on starting plane coordinate and end point plane coordinate;Angle error is calculated based on drill rod inclination and theoretical inclination;When the angle error and distance error are located in the preset error range, positioning operation is completed;Otherwise, based on the angle error and distance error control push beam swing until the angle error and distance error are located in the preset error range.The method is used when distance error and inclination error are in the preset error range, and the positioning operation between drill rod and target hole site is completed, so that the inclination and hole diameter of drill rod hole forming are consistent with the theoretically set inclination and hole diameter of hole forming, the blasting efficiency is improved, and the mining cost is reduced.

Description

Technical Field

[0001] This application relates to the technical field of borehole positioning, and in particular to a semi-automatic positioning method and system. Background Technology

[0002] Open-pit rock drilling equipment is the core equipment in mine blasting operations. Its operation process mainly includes three key stages: the drilling rig moving to the target position, positioning the feed beam angle, and rock drilling. Among these, the positioning accuracy of the feed beam directly determines the hole quality, which in turn affects the subsequent blasting effect.

[0003] In the prior art, as described in Chinese Patent CN104141483A, a digital drilling control method and system for open-pit deep-hole blasting is provided. The method includes: determining the set coordinates of multiple holes within the blasting zone; selecting a target hole from the multiple holes based on user selection, and displaying the set coordinates of the target hole and the current position coordinates of the drill rod; drilling is performed when the current position coordinates of the drill rod match the set coordinates of the target hole, and relevant operating parameters of the drill are uploaded to a database server in real time during the drilling process; the uploaded operating parameters of the drill are read from the database server in real time; and the read operating parameters are displayed. The digital drilling control method and system for open-pit deep-hole blasting according to an exemplary embodiment of the present invention integrates hole layout, hole location, and drilling, effectively improving the drilling quality of open-pit deep-hole blasting and ensuring the accuracy of drilling operations.

[0004] In existing technologies, there may be cases of inclined holes in mine blasting plans. Due to insufficient positioning accuracy, when the actual borehole is moved to the starting plane coordinates, the actual borehole inclination angle is different from the theoretically set inclination angle, which leads to uneven blasting block size, reduces blasting efficiency, and thus increases the mining cost. Summary of the Invention

[0005] 1. The problem to be solved

[0006] Therefore, it is necessary to provide a semi-automatic positioning method and system that can improve blasting efficiency to address the aforementioned technical problems.

[0007] 2. Technical Solution Firstly, this application provides a semi-automatic positioning method. The method is applied to a rock drilling equipment, which includes a feed beam with a drill rod mounted on it. The rock drilling equipment is equipped with an inclinometer for detecting the drill rod angle. The method includes: Obtain the preset starting plane coordinates and ending plane coordinates of the target hole position; Obtain the drill rod position coordinates and control the rock drilling equipment to move until the drill rod position coordinates and the starting plane coordinates are within the preset error range; Real-time acquisition of drill pipe inclination angle using an inclinometer; The theoretical inclination angle is calculated based on the coordinates of the starting and ending planes. Calculate the angle error based on the drill pipe inclination angle and the theoretical inclination angle; If the angle error is within a preset error range, the positioning operation is completed; otherwise, the propulsion beam is controlled to swing based on the angle error until the angle error is within the preset error range.

[0008] In one embodiment, calculating the theoretical inclination angle based on the starting plane coordinates and the ending plane coordinates includes: Calculate the borehole orientation vector based on the starting plane coordinates and the ending plane coordinates; Calculate the vector magnitude based on the hole orientation vector; The theoretical inclination angle of the propulsion beam is calculated based on the vector magnitude, the initial plane coordinates, and the final plane coordinates.

[0009] In one embodiment, calculating the theoretical inclination angle of the propulsion beam based on the vector magnitude, the initial plane coordinates, and the final plane coordinates includes: The formula is as follows: ; ; ; in, , , The initial plane coordinates, , , The coordinates of the endpoint plane, To calculate the square root, The front and rear tilt angle of the drill pipe. The left and right tilt angles of the drill pipe.

[0010] In one embodiment, the theoretical tilt angle includes the theoretical fore-and-aft tilt angle, the first velocity is greater than the second velocity, and controlling the oscillation of the propulsion beam based on the angle error includes: Calculate the difference between the drill pipe's forward and backward inclination angles and the theoretical forward and backward inclination angles; When the difference is greater than the maximum value of the preset tilt angle error range, the propulsion beam is controlled to swing at a preset first speed; When the difference is within the preset tilt angle error range, the propulsion beam is controlled to swing at a preset second speed; When the difference is less than the minimum value of the preset tilt angle error range, the propulsion beam is controlled to stop swinging.

[0011] In one embodiment, the theoretical tilt angle includes the theoretical left and right tilt angles, the first velocity is greater than the second velocity, and controlling the oscillation of the propulsion beam based on the angle error includes: Calculate the difference between the drill pipe's left and right inclination angles and the theoretical left and right inclination angles; When the difference is greater than the maximum value of the preset tilt angle error range, the propulsion beam is controlled to swing at a preset first speed; When the difference is within the preset tilt angle error range, the propulsion beam is controlled to swing at a preset second speed; When the difference is less than the minimum value of the preset tilt angle error range, the propulsion beam is controlled to stop swinging.

[0012] In one embodiment, obtaining the drill rod position coordinates and controlling the rock drilling equipment to move until the drill rod position coordinates and the starting plane coordinates are within a preset error range includes: Calculate the distance error based on the drill pipe position coordinates and the starting plane coordinates; If the distance error is greater than a preset critical error, the rock drilling equipment is controlled to move until the distance error is less than or equal to the preset critical error.

[0013] Secondly, this application also provides a semi-automatic positioning system. The system includes: The planar coordinate acquisition module is used to acquire the preset starting and ending planar coordinates of the target hole position; The drill rod coordinate movement module is used to obtain the drill rod position coordinates and control the rock drilling equipment to move until the drill rod position coordinates and the starting plane coordinates are within the preset error range; The drill pipe inclination angle acquisition module is used to acquire the drill pipe inclination angle in real time based on the inclination meter; The theoretical inclination angle calculation module is used to calculate the theoretical inclination angle based on the starting plane coordinates and the ending plane coordinates. Angle error calculation module, used to calculate angle error based on drill pipe inclination angle and theoretical inclination angle; The error correction movement module is used to complete the positioning operation if the angle error is within a preset error range; otherwise, it controls the propulsion beam to swing based on the angle error until the angle error is within the preset error range.

[0014] Thirdly, this application also provides a computer system. The computer system includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: Obtain the starting and target plane coordinates of the next hole; Obtain the real-time position information of the positioning antenna and calculate the actual drill bit position; When the actual drill bit position and the initial position plane coordinates are within the preset error range, the forward and backward target swing angles and the left and right target swing angles of the propulsion beam are calculated based on the initial position plane coordinates, the target position plane coordinates, and the actual drill bit position. The actual front-to-back and left-to-right swing angles are obtained, and the error between the target swing angle and the actual swing angle is calculated. Based on the error, the propulsion beam is controlled to swing until positioning is completed.

[0015] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps: Obtain the starting and target plane coordinates of the next hole; Obtain the real-time position information of the positioning antenna and calculate the actual drill bit position; When the actual drill bit position and the initial position plane coordinates are within the preset error range, the forward and backward target swing angles and the left and right target swing angles of the propulsion beam are calculated based on the initial position plane coordinates, the target position plane coordinates, and the actual drill bit position. The actual front-to-back and left-to-right swing angles are obtained, and the error between the target swing angle and the actual swing angle is calculated. Based on the error, the propulsion beam is controlled to swing until positioning is completed.

[0016] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps: Obtain the starting and target plane coordinates of the next hole; Obtain the real-time position information of the positioning antenna and calculate the actual drill bit position; When the actual drill bit position and the initial position plane coordinates are within the preset error range, the forward and backward target swing angles and the left and right target swing angles of the propulsion beam are calculated based on the initial position plane coordinates, the target position plane coordinates, and the actual drill bit position. The actual front-to-back and left-to-right swing angles are obtained, and the error between the target swing angle and the actual swing angle is calculated. Based on the error, the propulsion beam is controlled to swing until positioning is completed.

[0017] 3. Beneficial effects This application employs the aforementioned method, which, after the rock drilling equipment moves to the initial plane coordinates, acquires the drill rod inclination angle in real time. By comparing the drill rod inclination angle with the theoretical inclination angle, the oscillation of the propulsion beam is controlled until the angle error is within the preset error range. This reduces the situation where the angle of the propulsion beam differs due to different orientations of the rock drilling equipment during its movement, thus preventing a mismatch between the drill rod angle and the theoretical angle. This allows the rock drilling equipment to perform drilling operations based on the set hole position coordinates, and the theoretical inclination angle matches the drilling inclination angle, resulting in uniform blasting block size, improved blasting efficiency, and reduced mining costs. Attached Figure Description

[0018] Figure 1 These are blasting effect diagrams corresponding to different hole formation methods in existing technologies; Figure 2 This is a hardware application diagram of a semi-automatic positioning method in one embodiment; Figure 3 Here is a flowchart of a semi-automatic positioning method in one embodiment; Figure 4 This is a schematic diagram of the propulsion beam sway angle corresponding to the vehicle body orientation in one embodiment; Figure 5 This is an internal structure diagram of a computer system in one embodiment.

[0019] Reference numerals: 100, rock drilling equipment; 200, inclinometer; 300, controller; 400, encoder; 500, display screen; 600, monitor; 700, positioning antenna; 800, radio antenna. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] like Figure 1 As shown, the actual drilling process of open-pit rock drilling equipment includes: the drill rig moving to the target position, locating the angle of the advance beam according to the target angle, and drilling. Of these three main operations, the accuracy of positioning is most closely related to the drilling quality and subsequent blasting quality. Figure 1 The image in the left-middle half shows the hole formation result after imprecise positioning angle. Figure 1 The right half of the image shows the hole formation result after precise positioning. Poor hole formation quality corresponds to the result after blasting, as shown in the image below. Therefore, the accuracy of positioning is crucial to the entire operation.

[0022] The semi-automatic positioning method provided in this application embodiment can be applied to, for example... Figure 2The hardware diagram shown illustrates this. The rock drilling equipment 100's hardware modules include a controller 300, which is connected to a display screen 500, a monitor 600, a positioning antenna 700, and a radio antenna 800. The controller 300 is also connected to an inclinometer 200 via an encoder 400. The monitor 600 is used to set up the rock drilling plan, which includes the planar coordinates of the hole position, the target hole depth, and the target angle information. The positioning antenna 700 is used to receive satellite signals to obtain the rock drilling equipment 100's current precise position and heading information. The radio antenna 800 is used for communication between the receiver and the base station to verify the position information of the positioning antenna 700. The receiver is used to process the position information of the positioning antenna 700. The system receives and sends the heading and heading information to the controller 300; the inclinometer 200 measures the forward and backward and left and right swing angles of the propulsion beam and sends the measurement data to the controller 300; the encoder 400 calculates the sliding displacement of the rock drilling equipment 100 to obtain the drilling depth and sends the data to the controller 300; the display screen 500 displays the drilling process data, sets the allowable angle error, sets the propulsion beam swing speed, and displays the deviation between the current propulsion beam angle and the target angle in real time; the controller 300, as the control center, receives the data sent by each module, calculates the target angle of the propulsion beam through an algorithm, and drives the propulsion beam to automatically swing to the target angle to complete the semi-automatic positioning.

[0023] In one embodiment, such as Figure 2 As shown, in this embodiment, the method is applied to a rock drilling device 100, which includes a propulsion beam, a drill rod mounted on the propulsion beam, and an inclinometer 200 for detecting the angle of the drill rod. The method includes the following steps: Step 202: Obtain the preset starting plane coordinates and ending plane coordinates of the target hole position.

[0024] First, after completing the rock drilling function at the current hole position, the position information of the target hole position is read from the display 600, including the starting plane coordinates (x1, y1, z1) and the ending plane coordinates (x2, y2, z2). Based on the starting and ending plane coordinates, the inclination of the target hole position can be obtained; however, because the vehicle orientation and boom swing angle are not fixed during actual operation, the front-to-back and left-to-right swing angles of the push beam for the same hole will be different.

[0025] For example, such as Figure 3 As shown, due to different boom swing angles, the swing angle of the push beam from the starting point to the end point will be different at the same position; similarly, even with the same boom swing angle, the swing angle of the push beam from the starting point to the end point will be different when the vehicle body is facing different directions.

[0026] Step 204: Obtain the drill rod position coordinates and control the rock drilling equipment 100 to move until the drill rod position coordinates and the starting plane coordinates are within the preset error range.

[0027] The receiver sends the real-time position information (x3, y3, z3) of the antenna measured by the tilt meter 200 to the controller 300 via Ethernet communication. The control logic in the controller 300 can calculate the drill rod position coordinates (x4, y4, z4) in real time based on the antenna position information.

[0028] Step 206: Obtain the drill pipe inclination angle in real time based on the inclinometer 200.

[0029] Step 208: Calculate the theoretical tilt angle based on the starting plane coordinates and the ending plane coordinates.

[0030] The controller 300 calculates the theoretical inclination angle of the current propulsion beam based on the starting plane coordinates (x1, y1, z1) and the ending plane coordinates (x2, y2, z2) of the target hole position. The theoretical inclination angle includes the theoretical front-to-back inclination angle and the theoretical left-to-right inclination angle. The inclination meter 200 on the propulsion beam can read the front-to-back inclination angle of the drill rod and the left-to-right inclination angle of the drill rod in real time and send them to the controller 300 via the CAN bus.

[0031] Step 210: Calculate the angle error based on the drill pipe inclination angle and the theoretical inclination angle.

[0032] If the angle error is within a preset error range, the positioning operation is completed; otherwise, the propulsion beam is controlled to swing based on the angle error until the angle error is within the preset error range.

[0033] This application acquires the drill rod inclination angle in real time after the rock drilling equipment 100 moves to the starting plane coordinates. By comparing the drill rod inclination angle with the theoretical inclination angle, the propulsion beam is controlled to swing until the angle error is within the preset error range. This reduces the situation where the angle of the propulsion beam is different due to different orientations of the rock drilling equipment 100 during its movement, which would lead to a mismatch between the drill rod angle and the theoretical angle. This allows the rock drilling equipment 100 to perform drilling operations based on the set hole position coordinates, and the theoretical inclination angle matches the drilling inclination angle. As a result, the blasted block size is uniform, the blasting efficiency is improved, and the mining cost is reduced.

[0034] It is worth mentioning that after positioning is completed using the method shown in the embodiments of this application, the target hole can be drilled according to the preset starting plane coordinates and ending plane coordinates, so as to carry out subsequent mining blasting operations.

[0035] In the aforementioned semi-automatic positioning method, the display screen 500 sends the starting plane coordinates of the target hole (hole_start(x1,y1,z1)) and the ending plane coordinates of the target hole (hole_end(x2,y2,z2)) to the controller 300 via Ethernet communication. The receiver sends the real-time position information (x3,y3,z3) of the antenna to the controller 300 via Ethernet communication. The control logic in the controller 300 can calculate the drill rod position coordinates (x4,y4,z4) in real time based on the antenna position information. The controller 300 will send (x1,y1,z1) and (x4,y4,z4) to the display screen 500 via Ethernet communication. When the error between (x1,y1) and (x4,y4) is within the range of Φ meters (this error can be set by the operator in the display screen 500), and the value of Φ is between 0.5 and 1, the display screen 500 will prompt that the semi-automatic positioning operation can be performed.

[0036] In one embodiment, such as Figure 3 As shown, the calculation of the theoretical dip angle based on the initial plane coordinates and the final plane coordinates includes: Calculate the borehole orientation vector based on the starting plane coordinates and the ending plane coordinates; calculate the vector magnitude based on the borehole orientation vector; calculate the theoretical inclination angle of the propulsion beam based on the vector magnitude, the starting plane coordinates, and the ending plane coordinates.

[0037] The formula is as follows: ; ; ; in, , , The initial plane coordinates, , , The coordinates of the endpoint plane, To calculate the square root, The front and rear tilt angle of the drill pipe. The left and right tilt angles of the drill pipe.

[0038] This involves converting the angle values ​​collected by the sensors and the angle values ​​calculated from the position information read in the drilling plan into the same coordinate system.

[0039] The coordinates of hole_direction are The coordinates of the converted hole direction (norm_hole_direction) are: ; ; Based on this, the angle value of the target's propulsion beam is: ; ; After conversion , , , In the same coordinate system, the difference can be calculated as , .

[0040] In one embodiment, the first velocity is greater than the second velocity, and controlling the oscillation of the propulsion beam based on the angle error includes: Calculate the difference between the drill pipe's forward and backward inclination angles and the theoretical forward and backward inclination angles; when the difference is greater than the maximum value of a preset inclination angle error range, control the propulsion beam to swing at a preset first speed; when the difference is within a preset inclination angle error range, control the propulsion beam to swing at a preset second speed; when the difference is less than the minimum value of a preset inclination angle error range, control the propulsion beam to stop swinging. Calculate the difference between the drill pipe's left and right tilt angles and the theoretical left and right tilt angles; when the difference is greater than the maximum value of the preset tilt angle error range, control the propulsion beam to swing at a preset first speed; when the difference is within the preset tilt angle error range, control the propulsion beam to swing at a preset second speed; when the difference is less than the minimum value of the preset tilt angle error range, control the propulsion beam to stop swinging.

[0041] This application does not limit the specific values ​​of the first and second velocities, only requiring that the propulsion beam swings. For example, when the semi-automatic positioning function is activated, the controller 300 first calculates the target swing angle of the current propulsion beam, including the theoretical forward and backward tilt angles, based on the drill rod position coordinates (x4, y4, z4), the preset starting plane coordinates (x1, y1, z1) of the target hole position, and the preset ending plane coordinates (x2, y2, z2) of the target hole position. Theoretical left and right tilt angles The inclination meter on the feed beam can read the drill pipe's forward and backward inclination angles in real time. Drill pipe tilt angle And send it to controller 300 via CAN bus; controller 300 then sends it via Ethernet. , , , The signal is sent to display screen 500; display screen 500 will calculate the error between the target swing angle and the actual swing angle. .when > At max speed, the propulsion beam oscillates at the first velocity. min< <= At max, the propulsion beam oscillates at the second velocity, when... <= When the time reaches min, the propulsion beam stops swinging, meaning the error is within the operator's preset error range, thus completing the semi-automatic positioning function.

[0042] In this embodiment, min and The maximum value depends on the needs of the mine and can be set on the display screen according to the requirements. For example, metal or jade mines have very high requirements for drilling accuracy, so the error range is set to 1°, while coal mines prioritize efficiency, so the error range is set to 5°.

[0043] In one embodiment, the entire propulsion beam's forward and backward oscillation and left and right oscillation are achieved by electro-proportional solenoid valves Y416A / B and Y421A / B, which drive the hydraulic cylinder. By controlling the current value, the solenoid valve's operation can be controlled, thereby controlling the speed of the hydraulic cylinder's oscillation; as described above... > At max speed, the oscillation speed of the propulsion beam is rapid. min< <= The maximum speed of the propulsion beam is slow, and the corresponding current values ​​for solenoid valves Y416A / B and Y421A / B can be set on the display screen.

[0044] The specific principle: First, the energization of Y416A / B and Y421A / B can be controlled separately to control the swing direction of the hydraulic cylinder of the propulsion beam. Second, these four solenoid valves are all electro-proportional solenoid valves, so the current can be controlled to control the flow to the hydraulic cylinder. For example, Y416A indicates that the propulsion beam swings upward. Increasing the current value of Y416 increases the flow to the hydraulic cylinder and increases the swing speed.

[0045] It is worth mentioning that when the error <= After the semi-automatic positioning function is completed, the operator only needs to push the drill bit to the ground and continue drilling.

[0046] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0047] Based on the same inventive concept, this application also provides a semi-automatic positioning system for implementing the semi-automatic positioning method described above. The solution provided by this system is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more semi-automatic positioning system embodiments provided below can be found in the limitations of the semi-automatic positioning method described above, and will not be repeated here.

[0048] In one embodiment, such as Figure 5 As shown, a semi-automatic positioning system is provided, including: a plane coordinate acquisition module, a drill pipe coordinate movement module, a drill pipe inclination angle acquisition module, a theoretical inclination angle calculation module, and a drill pipe movement module, wherein: The planar coordinate acquisition module is used to acquire the preset starting planar coordinates of the target hole position, the angle error calculation module, and the error correction movement module; The drill rod coordinate movement module is used to obtain the drill rod position coordinates and control the rock drilling equipment to move until the drill rod position coordinates and the starting plane coordinates are within the preset error range; The drill pipe inclination angle acquisition module is used to acquire the drill pipe inclination angle in real time based on the inclination meter; The theoretical inclination angle calculation module is used to calculate the theoretical inclination angle based on the starting plane coordinates and the ending plane coordinates. Angle error calculation module, used to calculate angle error based on drill pipe inclination angle and theoretical inclination angle; The error correction movement module is used to complete the positioning operation if the angle error is within a preset error range; otherwise, it controls the propulsion beam to swing based on the angle error until the angle error is within the preset error range.

[0049] In one embodiment, the theoretical inclination angle calculation module is further used to calculate the borehole orientation vector based on the starting plane coordinates and the ending plane coordinates; calculate the vector magnitude based on the borehole orientation vector; and calculate the theoretical inclination angle of the propulsion beam based on the vector magnitude, the starting plane coordinates, and the ending plane coordinates.

[0050] In one embodiment, the theoretical tilt angle calculation module is further used in the following formula: ; ; ; in, , , The initial plane coordinates, , , The coordinates of the endpoint plane, To calculate the square root, The front and rear tilt angle of the drill pipe. The left and right tilt angles of the drill pipe.

[0051] In one embodiment, the error correction movement module is further configured to: calculate the difference between the drill pipe's forward and backward inclination angle and the theoretical forward and backward inclination angle; when the difference is greater than the maximum value of a preset inclination angle error range, control the propulsion beam to swing at a preset first speed; when the difference is within a preset inclination angle error range, control the propulsion beam to swing at a preset second speed; and when the difference is less than the minimum value of a preset inclination angle error range, control the propulsion beam to stop swinging.

[0052] In one embodiment, the error correction movement module is further configured to: calculate the difference between the drill pipe's left and right tilt angles and the theoretical left and right tilt angles; when the difference is greater than the maximum value of a preset tilt angle error range, control the propulsion beam to swing at a preset first speed; when the difference is within a preset tilt angle error range, control the propulsion beam to swing at a preset second speed; and when the difference is less than the minimum value of a preset tilt angle error range, control the propulsion beam to stop swinging.

[0053] The modules in the aforementioned semi-automatic positioning system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer system in hardware form or independent of it, or stored in the computer system's memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0054] In one embodiment, a computer system is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown, the computer system includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a semi-automatic positioning method.

[0055] In one embodiment, a computer system is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown, the computer system includes a processor, memory, communication interface, display screen, and input system connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a semi-automatic positioning method.

[0056] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer system to which the present application is applied. A specific computer system may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0057] In one embodiment, a computer system is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0058] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0059] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0060] It should be noted that the user information (including but not limited to user system information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0061] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0062] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A semi-automatic positioning method, characterized in that, The method is applied to a rock drilling equipment, which includes a feed beam with a drill rod mounted on it. The rock drilling equipment is also equipped with an inclinometer for detecting the drill rod angle. The method includes: Obtain the preset starting plane coordinates and ending plane coordinates of the target hole position; Obtain the drill bit position coordinates and compare them with the starting plane coordinates. If the starting plane coordinates are different from the drill bit position coordinates, control the rock drilling equipment to swing the propulsion beam until the drill rod position coordinates are the same as the starting plane coordinates. Real-time acquisition of drill pipe inclination angle; Calculate the theoretical target inclination angle based on the initial and final plane coordinates; Calculate the angle error based on the drill pipe inclination angle and the theoretical target inclination angle; If the angle error is within a preset error range, the positioning operation is completed; otherwise, the propulsion beam is controlled to swing based on the angle error until the angle error is within the preset error range.

2. The semi-automatic positioning method according to claim 1, characterized in that, The calculation of the theoretical target inclination angle based on the starting plane coordinates and the ending plane coordinates includes: Calculate the borehole orientation vector based on the starting plane coordinates and the ending plane coordinates; Calculate the vector magnitude based on the hole orientation vector; Calculate the target hole depth based on vector magnitude; The theoretical inclination angle is calculated based on the coordinates of the starting plane and the ending plane.

3. The semi-automatic positioning method according to claim 2, wherein the drill pipe inclination angle includes at least the drill pipe front-to-back inclination angle and the drill pipe left-to-right inclination angle, characterized in that, The calculation of the theoretical tilt angle based on vector magnitude, starting plane coordinates, and ending plane coordinates includes: The formula is as follows: ； ； ； in, , , The initial plane coordinates, , , The coordinates of the endpoint plane, To calculate the square root, The front and rear tilt angle of the drill pipe. The left and right tilt angles of the drill pipe.

4. The semi-automatic positioning method according to claim 3, wherein the first speed is greater than the second speed, characterized in that, The control of the propulsion beam oscillation based on the angle error includes: Calculate the difference between the drill pipe inclination angle and the theoretical inclination angle; When the difference is greater than the maximum value of the preset tilt angle error range, the propulsion beam is controlled to swing at a preset first speed; When the difference is within the preset tilt angle error range, the propulsion beam is controlled to swing at a preset second speed; When the difference is less than the minimum value of the preset tilt angle error range, the propulsion beam is controlled to stop swinging.

5. The semi-automatic positioning method according to claim 3, characterized in that, The angle error calculated based on the drill pipe inclination angle and the theoretical target inclination angle includes: Based on a preset historical database query, drill pipe calibration data corresponding to geological information is retrieved. The historical database includes at least different geological information and corresponding drill pipe calibration data. Obtain actual geological information and query the corresponding drill pipe correction data in the historical database; The angle error is corrected based on the drill pipe calibration data.

6. The semi-automatic positioning method according to claim 1, characterized in that, The process of obtaining the drill pipe position coordinates and controlling the forward and backward and left and right swings of the feed beam until the drill pipe position coordinates and the starting plane coordinates are within a preset error range includes: Calculate the distance error based on the drill pipe position coordinates and the starting plane coordinates; If the distance error is greater than the preset critical error, the propulsion beam is controlled to swing back and forth and left and right until the distance error is less than or equal to the preset critical error.

7. A semi-automatic positioning system, characterized in that, The method is applied to a rock drilling device, the rock drilling device including a feed beam with a drill rod mounted on the feed beam, and the system including: The planar coordinate acquisition module is used to acquire the preset starting and ending planar coordinates of the target hole position; The drill pipe coordinate movement module is used to obtain the drill pipe position coordinates and compare them with the starting plane coordinates. If the starting plane coordinates are different from the drill pipe position coordinates, the module controls the forward and backward and left and right swing of the push beam until the drill pipe position coordinates are the same as the starting plane coordinates. Drill pipe inclination angle acquisition module, used to acquire drill pipe inclination angle in real time; The theoretical inclination angle calculation module is used to calculate the theoretical inclination angle based on the starting plane coordinates and the ending plane coordinates. Angle error calculation module, used to calculate angle error based on drill pipe inclination angle and theoretical inclination angle; The error correction movement module is used to complete the positioning operation if the angle error is within a preset error range; otherwise, it controls the propulsion beam to swing based on the angle error until the angle error is within the preset error range.

8. A computer system comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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