Surface drill rig and control system and method thereof

Abstract

The application discloses an open-air drilling machine and a control system and method thereof, and belongs to the technical field of engineering machinery. The open-air drilling machine control system comprises a hole depth sensor and an execution device. The open-air drilling machine control system further comprises a control device configured to send a control signal to the execution device according to a control signal sent by the hole depth sensor to control the execution device. The execution device comprises a mechanical arm tensioning electromagnetic valve and a mechanical arm moving electromagnetic valve. The control device sends a control signal to the mechanical arm tensioning electromagnetic valve and / or the mechanical arm moving electromagnetic valve according to the control signal sent by the hole depth sensor to realize the connection and disconnection between drill rods. The open-air drilling machine control system is very important in realizing digital mines and unmanned mines. The subsequent automatic positioning and automatic walking can realize real unmanned operation. Through program setting, the operation process is unified and optimized, and standardized operation is realized.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and more specifically, to an open-pit drilling rig and its control system and method. Background Technology

[0002] The actual drilling process using open-pit rock drilling equipment includes the following steps: First, positioning, where the operator needs to position the machine and drill bit to the target location. After positioning is complete, the drilling process begins, which includes steps such as hole opening, rock drilling, hole cleaning, rod connection, and rod removal.

[0003] In existing technologies, operators need to observe the drilling rig's operation and manually perform the drilling process. Relying on experience makes drilling operations highly dependent on human experience, requiring operator training. Inexperienced operators reduce efficiency, and errors can lead to accidents. Furthermore, one operator can only control one drilling rig at a time, increasing labor costs. Additionally, because each operator has different working habits, the actual drilling quality varies, making standardization difficult. Summary of the Invention

[0004] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0005] Some embodiments of this application propose an open-pit drilling rig and its control system and method to solve the technical problems mentioned in the background section above.

[0006] As a first aspect of this application, some embodiments of this application provide an open-pit drilling rig control system, wherein the open-pit drilling rig includes a rock drill, drill rods, and a connecting sleeve. The rock drill is rotatably connected to the drill rods, and adjacent drill rods are rotatably connected through the connecting sleeve. The open-pit drilling rig control system includes: a hole depth sensor for collecting current hole status information; an execution device for disassembling or connecting the drill rods according to an input electrical signal; the open-pit drilling rig control system further includes: a control device for sending control signals to the execution device according to a control signal sent by the hole depth sensor to control the execution device; the open-pit drilling rig also includes a robotic arm disposed on one side of the drill rods; wherein the execution device further includes: a robotic arm tensioning solenoid valve for gripping the drill rods according to an input electrical signal; and a robotic arm movement solenoid valve for moving the robotic arm according to an input electrical signal; wherein the control device sends control signals to the robotic arm tensioning solenoid valve and / or the robotic arm movement solenoid valve according to the control signal sent by the hole depth sensor to achieve connection and disassembly between the drill rods.

[0007] Furthermore, the open-pit drilling rig control system also includes: a connecting sleeve position sensor for acquiring the position of the connecting sleeve; wherein, the control device sends a control signal to the execution device based on the control signal sent by the connecting sleeve position sensor.

[0008] Furthermore, the open-pit drilling rig also includes a drill bit support, which is disposed on one side of the drill rod to assist the drill rod in moving in the direction of its axis.

[0009] The open-pit drilling rig control system also includes:

[0010] The solenoid valve signal sensor for the drill bit holder is used to collect information on the opening and closing of the drill bit holder;

[0011] The control device sends a control signal to the actuator based on the control signal sent by the solenoid valve signal sensor of the drill bit.

[0012] Furthermore, the actuating device includes:

[0013] The rock drill's impact solenoid valve is used to impact the rock based on the input electrical signal.

[0014] The control device sends a control signal to the rock drill's impact solenoid valve based on the control signal sent by the hole depth sensor.

[0015] Furthermore, the actuator also includes:

[0016] The rock drill's solenoid valve is used to rotate the rock drill according to the input electrical signal;

[0017] The control device sends a control signal to the rotating solenoid valve of the rock drill based on the control signal sent by the hole depth sensor.

[0018] Furthermore, the actuator also includes:

[0019] The rock drill moving solenoid valve is used to move the rock drill on the propulsion beam of the open-pit drilling rig according to the input electrical signal;

[0020] The control device sends a control signal to the rock drill's moving solenoid valve based on the control signal sent by the hole depth sensor.

[0021] Furthermore, the open-pit drilling rig also includes a drill bit support, which is disposed on one side of the drill rod to assist the drill rod in moving in the direction of its axis.

[0022] The execution device includes:

[0023] The solenoid valve for the drill bit holder is used to open and close the drill bit holder according to the input electrical signal;

[0024] The control device sends a control signal to the drill bit support solenoid valve based on the control signal sent by the hole depth sensor.

[0025] Furthermore, the open-pit drilling rig control system also includes:

[0026] Interactive devices are used by users to achieve human-computer interaction.

[0027] The control device sends control signals to the hole depth sensor and / or the execution device based on the control signals sent by the interaction device.

[0028] Furthermore, the interactive device includes:

[0029] The first interactive module is used by the user to activate the open-pit drilling rig control system;

[0030] The control device sends control signals to the hole depth sensor and / or the execution device based on the control signals sent by the first interaction module.

[0031] Furthermore, the interactive device also includes:

[0032] The second interactive module is used to provide users with operational information about the open-pit drilling and control system;

[0033] The control device sends a control signal to the second interactive module based on the control signal sent by the hole depth sensor.

[0034] As a second aspect of this application, some embodiments of this application provide an open-pit drilling rig that includes the above-described open-pit drilling rig control system.

[0035] As a third aspect of this application, some embodiments of this application provide a method for controlling an open-pit drilling rig, the open-pit drilling rig comprising:

[0036] Hole depth sensor, used to collect current hole status information;

[0037] An actuator is used to disassemble or connect the drill rods according to an input electrical signal;

[0038] A control device is used to send a control signal to the actuator based on the control signal sent by the hole depth sensor in order to control the actuator.

[0039] The first interactive module is used by the user to activate the open-pit drilling rig control system;

[0040] The second interactive module is used to provide users with operational information about the open-pit drilling and control system;

[0041] The open-pit drilling rig control method includes:

[0042] The current hole depth information is obtained based on the control signal transmitted by the hole depth sensor;

[0043] Determine the difference between the current hole depth and the target hole depth;

[0044] If the current hole depth is greater than or equal to the target hole depth, the drilling is considered complete and the rod removal operation is carried out.

[0045] If the current hole depth is less than the target hole depth, then rock drilling and rod addition are performed.

[0046] Furthermore, if the current hole depth is less than the target hole depth, the method for drilling and adding rods includes:

[0047] After each drill rod completes rock drilling, the current hole depth and the target hole depth are compared.

[0048] If the current hole depth is less than the target hole depth, then add a rod.

[0049] Furthermore, the rock drilling method includes:

[0050] The control device determines the position of the connecting sleeve based on the control signal sent by the connecting sleeve position sensor;

[0051] When the connecting sleeve is located between the upper support rods, the control device sends a control signal to the support rod solenoid valve to open the upper support rod. The control device sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to make the rock drill perform rock drilling.

[0052] When the connecting sleeve is located between the upper and lower support screws and the distance to the upper support screw is less than the distance to the lower support screw, the control device sends a control signal to the support screw solenoid valve to close the upper support screw. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling.

[0053] When the connecting sleeve is located between the upper and lower support screws and the distance to the upper support screw is greater than the distance to the lower support screw, the control device sends a control signal to the support screw solenoid valve to open the lower support screw. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling.

[0054] When the connecting sleeve passes the lower support, the control device sends a control signal to the support solenoid valve to open the lower support. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling.

[0055] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0056] This invention relates to an open-pit drilling rig and its control system and method, which are crucial components in realizing digital and unmanned mines. With the subsequent integration of automatic positioning and automatic movement, truly unmanned operation can be achieved. Furthermore, through program settings, the operation process is standardized and optimized. Attached Figure Description

[0057] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0058] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0059] Figure 1 This is a flowchart illustrating the steps of an open-pit drilling rig control method according to an embodiment of this application;

[0060] Figure 2This is an architecture diagram of an open-pit drilling rig control system according to an embodiment of this application;

[0061] Explanation of the labels in the diagram:

[0062] 100. Hole depth sensor;

[0063] 200. Control device;

[0064] 300. Connecting sleeve position sensor;

[0065] 400. Solenoid valve signal sensor for the drill bit holder;

[0066] 500. Drill bit pressure sensor;

[0067] 600. Interactive device; 610. First interactive module; 620. Second interactive module;

[0068] 700. Actuating device; 710. Air blowing solenoid valve; 720. Rock drill impact solenoid valve; 730. Rock drill rotation solenoid valve; 740. Rock drill movement solenoid valve; 750. Drill bit holder solenoid valve; 760. Robotic arm tensioning solenoid valve; 770. Robotic arm movement solenoid valve. Detailed Implementation

[0069] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0070] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0071] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0072] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0073] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0074] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0075] like Figure 1 and Figure 2 As shown, an embodiment of this application of an open-pit drilling rig mainly includes a rock drill, drill rods, a drill rod magazine, a robotic arm, and a connecting sleeve.

[0076] Specifically, one side of the rock drill is connected to one end of a drill rod, and the other end of the drill rod is connected to another drill rod via a connecting sleeve. The rock drill drives the drill rod to rotate, impact, and advance, thereby driving the drill bit on the drill rod to perform rock drilling operations. During the rock drilling process, in order to ensure the straightness of the drill rod in its axial direction, a drill rod support is also provided on the side of the drill rod. The drill rod support can tighten and loosen to assist the drill rod. When the open-pit drilling rig needs to connect drill rods, a drill rod magazine is provided on one side of the drill rod. The drill rod magazine contains multiple drill rods fixedly placed. When connecting drill rods, a robotic arm located on one side of the drill rod grasps the drill rod in the drill rod magazine and moves the rock drilling center to connect the drill rod.

[0077] In existing technologies, drilling, hole cleaning, rod connection, and rod removal are all done manually during the rock drilling process. As for rod connection, the operator needs to first judge based on experience that the drilling is not yet completed and rod connection is required. The operator then controls the robotic arm to grab the drill rod from the drill rod magazine and, together with the rock drill, installs the drill rod by rotating it in both forward and reverse directions. In actual operation, this method is highly dependent on the operator's experience and is relatively inefficient.

[0078] In one feasible embodiment, the open-pit drilling rig control method of this application utilizes machines to replace manual labor in completing a series of operations such as rod dismantling, thereby achieving standardization and improving efficiency.

[0079] Specifically, the open-pit drilling rig control system includes a rock drill, drill rods, and connecting sleeves. The rock drill is rotatably connected to the drill rods, and adjacent drill rods are rotatably connected via connecting sleeves. The open-pit drilling rig control system includes: a hole depth sensor 100 for collecting current hole status information; and an execution device 700 for disassembling or connecting the drill rods based on input electrical signals. The open-pit drilling rig control system also includes: a control device 200 for sending control signals to the execution device 700 based on control signals sent by the hole depth sensor 100 to control the execution device 700. The execution device 700 includes: a blowing solenoid valve 710, and the control device 200 sends control signals to the blowing solenoid valve 710 based on control signals sent by the hole depth sensor 100 to blow air onto the bottom of the borehole during the rod connection process when the number of rods is less than or equal to 2.

[0080] The hole depth sensor 100 is an encoder installed on the top of the feed beam of the open-pit drilling rig. It is used to calculate the hole depth at which the drill bit enters the borehole, thus calculating the actual hole depth based on the encoder data. After the encoder acquires the current hole depth, it sends the hole depth data to the control device 200, which is a PLC. The control device 200 can receive and send control signals to the hole depth sensor 100 to collect the actual hole depth. Based on the control signals sent by the hole depth sensor 100, the control device 200 sends control signals to the actuator 700 to control the actuator 700, which specifically performs the actions of rock drilling, rod extension, and rod dismantling.

[0081] In one specific embodiment, the open-pit drilling rig control system further includes a connecting sleeve position sensor 300, used to acquire the position of the connecting sleeve; wherein, the control device 200 sends a control signal to the execution device 700 based on the control signal sent by the connecting sleeve position sensor 300. The connecting sleeve position sensor 300 is capable of acquiring the position of the connecting sleeve, and it sends the real-time position of the connecting sleeve to the control device 200.

[0082] The open-pit drilling rig control system also includes a drill stringer solenoid valve signal sensor 400, used to collect information on the opening and closing of the drill stringer; wherein, the control device 200 sends a control signal to the actuator 700 based on the control signal sent by the drill stringer solenoid valve signal sensor 400. The drill stringer solenoid valve signal sensor 400 can detect the opening and closing information of the drill stringer and send the information to the control device 200.

[0083] The open-pit drilling rig control system also includes a drill bit pressure sensor 500, used to detect the propulsion pressure of the drill bit during rock drilling; wherein, the control device 200 sends a control signal to the execution device 700 based on the control signal sent by the drill bit pressure sensor 500. The value of the drill bit pressure sensor 500 can reflect whether the drill bit is in direct contact with the bottom of the borehole, which can be used to determine whether the drill bit can start rock drilling normally.

[0084] In one specific embodiment, the actuator 700 includes a rock drill impact solenoid valve 720, used to impact the rock according to an input electrical signal; wherein, the control device 200 sends a control signal to the rock drill impact solenoid valve 720 according to the control signal sent by the hole depth sensor 100.

[0085] The actuator 700 includes a drill bit support solenoid valve 750, used to open and close the drill bit support according to an input electrical signal; wherein, the control device 200 sends a control signal to the drill bit support solenoid valve 750 according to the control signal sent by the hole depth sensor 100. The drill bit support solenoid valve 750 can receive the control signal to realize the opening and closing of the drill bit support, and the drill bit support solenoid valve 750 receives the control signal sent by the control device 200 to realize the opening and closing of the drill bit support.

[0086] The actuator 700 further includes a rock drill rotation solenoid valve 730, used to rotate the rock drill according to an input electrical signal; wherein, the control device 200 sends a control signal to the rock drill rotation solenoid valve 730 according to a control signal sent by the hole depth sensor 100. A rock drill movement solenoid valve 740 is used to move the rock drill on the feed beam of the open-pit drilling rig according to an input electrical signal; wherein, the control device 200 sends a control signal to the rock drill movement solenoid valve 740 according to a control signal sent by the hole depth sensor 100. Upon receiving the control signal, the rock drill rotation solenoid valve 730 causes the rock drill to rotate forward and backward, and upon receiving the control signal, the rock drill movement solenoid valve 740 causes the rock drill to move on the feed beam.

[0087] In one specific embodiment, the open-pit drilling rig further includes a robotic arm disposed on one side of the drill rod; wherein the actuator 700 further includes: a robotic arm tensioning solenoid valve 760, used to enable the robotic arm to grip the drill rod according to an input electrical signal; and a robotic arm movement solenoid valve 770, used to enable the robotic arm to move according to an input electrical signal; wherein the control device 200 sends control signals to the robotic arm tensioning solenoid valve 760 and / or the robotic arm movement solenoid valve 770 according to the control signal sent by the hole depth sensor 100.

[0088] The tensioning solenoid valve 760 of the robotic arm receives the control signal sent by the control device 200 and then realizes the action of gripping and opening. The moving solenoid valve 770 of the robotic arm receives the control signal and realizes the movement from the drill pipe magazine to the drill pipe (drilling center) and from the drill pipe (drilling center) to the drill pipe magazine.

[0089] The robotic arm is also equipped with a pressure sensor. The control device 200 determines whether there is a drill rod in the robotic arm based on the changes in the pressure sensor values. Pressure sensors are also installed at the drill rod mounting positions in the drill rod magazine. The control device 200 determines whether all the drill rod mounting positions in the magazine are occupied based on the changes in the pressure sensor values.

[0090] In one specific embodiment, the open-pit drilling rig control system further includes: an interactive device 600 for user operation to achieve human-machine interaction; wherein, the control device 200 sends control signals to the hole depth sensor 100 and / or the execution device 700 based on the control signals sent by the interactive device 600. The interactive device 600 includes a first interactive module 610 for user operation to activate the open-pit drilling rig control system; wherein, the control device 200 sends control signals to the hole depth sensor 100 and / or the execution device 700 based on the control signals sent by the first interactive module 610. The interactive device 600 also includes a second interactive module 620 for providing the user with operational information of the open-pit drilling and control system. wherein, the control device 200 sends control signals to the second interactive module 620 based on the control signals sent by the hole depth sensor 100.

[0091] The interactive device 600 primarily provides a human-machine interface for users to set data and also provides feedback to the user on various data received by the control device 200. As a specific solution, the interactive device 600 can employ a touchscreen display with a processing chip and memory. The touchscreen can be used to display data and allow users to input data via touch. Users can achieve human-machine interaction by operating commands on the touchscreen from within the control room. Using a touchscreen as the carrier of the interactive module improves the intelligence of human-vehicle interaction and reduces operational difficulty.

[0092] Specifically, the first interaction module 610 is a button to activate the open-pit drilling rig control system. When the user touches the button, the first interaction module 610 sends a control signal to the control device 200, which then begins to collect hole depth signals and performs subsequent operations. The second interaction module 620 is used to display the operation information of the open-pit drilling rig control system.

[0093] In one specific implementation, some embodiments of this application provide a method for controlling an open-pit drilling rig, the open-pit drilling rig comprising:

[0094] Hole depth sensor 100 is used to collect the current status information of the hole;

[0095] The actuator 700 is used to disassemble or connect the drill rods according to the input electrical signal;

[0096] The control device 200 is used to send a control signal to the actuator 700 according to the control signal sent by the hole depth sensor 100 in order to control the actuator 700.

[0097] The first interactive module 610 is used for user operation to activate the open-pit drilling rig control system;

[0098] The second interactive module 620 is used to provide the user with the operation information of the open-pit rock drilling and control system;

[0099] The open-pit drilling rig control method includes:

[0100] S100: Obtain information about the current hole depth based on the control signal transmitted by the hole depth sensor 100.

[0101] S200, Determine if the current hole depth is less than 2 meters.

[0102] S300: If so, send interactive information to the second interactive device 600 to remind the user not to enable the open-pit drilling rig control system.

[0103] S400: Otherwise, determine the difference between the current hole depth and the target hole depth;

[0104] S500: If the current hole depth is greater than or equal to the target hole depth, rock drilling is considered complete and rod removal is performed; if the current hole depth is less than the target hole depth, rock drilling and rod addition are performed.

[0105] S600, the method of drilling and adding rods when the current hole depth is less than the target hole depth includes: after each drill rod is used for drilling, the difference between the current hole depth and the target hole depth is determined; if the current hole depth is less than the target hole depth, a rod is added. Specifically, the operator can activate the open-pit drilling rig control system through the first interactive device 600 in any state, and then the control device 200 starts to execute the open-pit drilling rig control method. In steps S100, S200, and S300, the control device 200 receives the hole depth signal information transmitted by the hole depth sensor 100, and thus knows the current actual hole depth. The control device 200 determines whether the actual hole depth is less than 2 meters. When it is found that the actual hole depth is less than 2 meters, the control device 200 sends a display message to the second interactive device 600 and reminds the user to suggest not to use the open-pit drilling rig control system for control, because the current hole depth is less than the length of a single rod. At this time, it is most efficient for the operator to directly perform the drilling task. When the actual hole depth is greater than 2 meters, the control device 200 then determines whether the drilling process is complete, proceeding to steps S400 to S600. The control device 200 compares the current hole depth with the target hole depth. If the current hole depth is greater than the target hole depth, the drilling is considered complete, and the rod removal operation needs to be performed. If the current hole depth is less than the target hole depth, further determination is needed to decide whether to continue drilling or extend the rod.

[0106] Specifically, due to the unique drill rod structure of the top hammer drilling machine, the diameter of the drill rod connecting sleeve is always slightly larger than that of the drill rod. Therefore, the top hammer machine is designed with two drill bit supports to ensure the straightness of the drill hole and facilitate rod disconnection. During normal drilling, the drill bit supports need to be opened when the connecting sleeve passes them, and closed after the connecting sleeve has passed them.

[0107] The specific steps of the rock drilling process are as follows:

[0108] The control device determines the position of the connecting sleeve based on the control signal sent by the connecting sleeve position sensor;

[0109] When the connecting sleeve is located between the upper support rods, the control device sends a control signal to the support rod solenoid valve to open the upper support rod. The control device sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to make the rock drill perform rock drilling.

[0110] When the connecting sleeve is located between the upper and lower support screws and the distance to the upper support screw is less than the distance to the lower support screw, the control device sends a control signal to the support screw solenoid valve to close the upper support screw. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling.

[0111] When the connecting sleeve is located between the upper and lower support screws and the distance to the upper support screw is greater than the distance to the lower support screw, the control device sends a control signal to the support screw solenoid valve to open the lower support screw. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling.

[0112] When the connecting sleeve passes the lower support, the control device sends a control signal to the support solenoid valve to open the lower support. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling.

[0113] Specifically, in the un-drilled state, with the connecting sleeve positioned between the upper and lower support rods, the control device 200 controls the support rod solenoid valve 750 to open the upper support rod and activates the rock drill impact solenoid valve 720 and the rock drill rotation solenoid valve 730 to begin drilling operations. When the connecting sleeve's position sensor indicates that the connecting sleeve has passed the upper support rod but has not yet approached the lower support rod, the control device 200 controls the support rod solenoid valve 750 to close the upper support rod, straightening the drill rod, and activates the rock drill impact solenoid valve 720 and the rock drill rotation solenoid valve 730 to continue drilling operations. When the connecting sleeve approaches the lower support rod, the control device 200 controls the lower support rod to open and activates the rock drill impact solenoid valve 720 and the rock drill rotation solenoid valve 730 to continue drilling operations. When the connecting sleeve has passed the lower support rod, the lower support rod is closed to straighten the drill rod, and the drill bit and drill rod continue drilling operations.

[0114] The specific steps for adding the rod are as follows:

[0115] For ease of description, let's assume there's only one drill rod initially, referred to as drill rod number one, and the rod to be added is referred to as drill rod number two. Control device 200 determines that a rod needs to be added. First, it vibrates the rod to loosen the connection between the rock drill and drill rod number one. Then, control device 200 sends a control signal to the chisel holder solenoid valve 750, causing the chisel holder to clamp the connecting sleeve of drill rod number one. Next, it controls the rock drill to reverse, separating it from drill rod number one. Control device 200 then moves the rock drill to the rod-attaching position. The robotic arm pressure sensor records whether there is a drill rod on the robotic arm. If there is, the robotic arm moves to the drilling center to attach the rod. If there is no drill rod on the robotic arm, control device 200 moves the robotic arm to the drill rod magazine to grab a drill rod and moves it to the drilling center.

[0116] After the rock drill is advanced to a position where it can connect with the No. 2 drill rod, the rock drill rotates to ensure a tight connection between the rock drill and the No. 2 drill rod. The rock drill and the No. 2 drill rod then move together to the pre-installation position of the No. 1 drill rod. The rock drill rotates along with the No. 1 drill rod and connects with the No. 2 drill rod. At this point, the installation of the No. 1 and No. 2 drill rods is complete.

[0117] It is worth mentioning that, in step S700, the method of sending the control signal for adding rods to the execution device 700 includes: when the total number of rods is less than 2, sending a control signal to the air-blowing solenoid valve 710 to cause the drill bit to blow air towards the bottom of the borehole. Because the environments of different rock layers are inconsistent, during actual rock drilling, especially in rocks near the ground, it is easy for small pieces of rock to fall into the borehole, affecting the drilling operation. Therefore, when the control device 200 determines that the total number of drill rods is less than or equal to 2, it needs to open the air-blowing solenoid valve 710 to blow air into the borehole during the rock drilling process to improve drilling efficiency.

[0118] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. An open-pit drilling rig control system, wherein the open-pit drilling rig includes a rock drill, drill rods, and a connecting sleeve, the rock drill is rotatably connected to the drill rods, and adjacent drill rods are rotatably connected via the connecting sleeve, the open-pit drilling rig control system comprising: Hole depth sensor, used to collect current hole status information; An actuator is used to disassemble or connect the drill rods according to an input electrical signal; Its features are: The open-pit drilling rig control system also includes: A control device is used to send a control signal to the actuator based on the control signal sent by the hole depth sensor in order to control the actuator. The open-pit drilling rig also includes a robotic arm, which is located on one side of the drill rod; The actuator further includes: The robotic arm tensioning solenoid valve is used to enable the robotic arm to grip the drill rod according to the input electrical signal; A solenoid valve for moving the robotic arm is used to move the robotic arm according to an input electrical signal; The control device sends control signals to the tension solenoid valve and / or movement solenoid valve of the robotic arm based on the control signal sent by the hole depth sensor, so as to realize the connection and disassembly between the drill rods.

2. The open-pit drilling rig control system according to claim 1, characterized in that: The open-pit drilling rig control system also includes: Connecting sleeve position sensor, used to obtain the position of the connecting sleeve; The control device sends a control signal to the actuator based on the control signal sent by the connecting sleeve position sensor.

3. The open-pit drilling rig control system according to claim 1, characterized in that: The open-pit drilling rig also includes a drill string support, which is disposed on one side of the drill rod to assist the drill rod in moving along its axial direction. The open-pit drilling rig control system also includes: The solenoid valve signal sensor for the drill bit holder is used to collect information on the opening and closing of the drill bit holder; The control device sends a control signal to the actuator based on the control signal sent by the solenoid valve signal sensor of the drill bit.

4. The open-pit drilling rig control system according to any one of claims 1 to 3, characterized in that: The execution device includes: The rock drill's impact solenoid valve is used to impact the rock based on the input electrical signal. The control device sends a control signal to the rock drill's impact solenoid valve based on the control signal sent by the hole depth sensor.

5. The open-pit drilling rig control system according to claim 4, characterized in that: The actuator further includes: The rock drill's solenoid valve is used to rotate the rock drill according to the input electrical signal; The control device sends a control signal to the rotating solenoid valve of the rock drill based on the control signal sent by the hole depth sensor.

6. The open-pit drilling rig control system according to claim 5, characterized in that: The actuator further includes: The rock drill moving solenoid valve is used to move the rock drill on the propulsion beam of the open-pit drilling rig according to the input electrical signal; The control device sends a control signal to the rock drill's moving solenoid valve based on the control signal sent by the hole depth sensor.

7. The open-pit drilling rig control system according to claim 6, characterized in that: The open-pit drilling rig also includes a drill string support, which is disposed on one side of the drill rod to assist the drill rod in moving along its axial direction. The execution device includes: The solenoid valve for the drill bit holder is used to open and close the drill bit holder according to the input electrical signal; The control device sends a control signal to the drill bit support solenoid valve based on the control signal sent by the hole depth sensor.

8. The open-pit drilling rig control system according to any one of claims 1 to 7, characterized in that: The open-pit drilling rig control system also includes: Interactive devices are used by users to achieve human-computer interaction. The control device sends control signals to the hole depth sensor and / or the execution device based on the control signals sent by the interaction device.

9. The open-pit drilling rig control system according to claim 8, characterized in that: The interactive device includes: The first interactive module is used by the user to activate the open-pit drilling rig control system; The control device sends control signals to the hole depth sensor and / or the execution device based on the control signals sent by the first interaction module.

10. The open-pit drilling rig control system according to claim 9, characterized in that: The interactive device also includes: The second interactive module is used to provide users with operational information about the open-pit drilling and control system; The control device sends a control signal to the second interactive module based on the control signal sent by the hole depth sensor.

11. An open-pit drilling rig, characterized in that: It includes the open-pit drilling rig control system as described in any one of claims 1 to 10.

12. A method for controlling an open-pit drilling rig, the open-pit drilling rig comprising: Hole depth sensor, used to collect current hole status information; An actuator is used to disassemble or connect the drill rods according to an input electrical signal; A control device is used to send a control signal to the actuator based on the control signal sent by the hole depth sensor in order to control the actuator. The first interactive module is used by the user to activate the open-pit drilling rig control system; The second interactive module is used to provide users with operational information about the open-pit drilling and control system; in, The open-pit drilling rig control method includes: The current hole depth information is obtained based on the control signal transmitted by the hole depth sensor; Determine the difference between the current hole depth and the target hole depth; If the current hole depth is greater than or equal to the target hole depth, the drilling is considered complete and the rod removal operation is carried out. If the current hole depth is less than the target hole depth, then rock drilling and rod addition are performed.

13. The open-pit drilling rig control method according to claim 12, characterized in that: The method for drilling and adding rods when the current hole depth is less than the target hole depth includes: After each drill rod completes rock drilling, the current hole depth and the target hole depth are compared. If the current hole depth is less than the target hole depth, then add a rod.

14. The open-pit drilling rig control method according to claim 13, characterized in that: The rock drilling method includes: The control device determines the position of the connecting sleeve based on the control signal sent by the connecting sleeve position sensor; When the connecting sleeve is located between the upper support rods, the control device sends a control signal to the support rod solenoid valve to open the upper support rod. The control device sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to make the rock drill perform rock drilling. When the connecting sleeve is located between the upper and lower support screws and the distance to the upper support screw is less than the distance to the lower support screw, the control device sends a control signal to the support screw solenoid valve to close the upper support screw. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling. When the connecting sleeve is located between the upper and lower support screws and the distance to the upper support screw is greater than the distance to the lower support screw, the control device sends a control signal to the support screw solenoid valve to open the lower support screw. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling. When the connecting sleeve passes the lower support, the control device sends a control signal to the support solenoid valve to open the lower support. The control device also sends control signals to the rock drill rotation solenoid valve, rock drill impact solenoid valve, and rock drill movement solenoid valve to enable the rock drill to perform rock drilling.

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