A coal mine underground automatic drilling machine hole depth self-adaptive accurate recording system and method

Abstract

The present application relates to a kind of coal mine automatic drilling machine hole depth self-adapting accurate recording system and method, belong to coal mine drilling equipment technical field.For the hole depth recording in prior art is easy to fail or deviation when automatic drilling machine in single mode and single mode and automatic mode switch, provide a kind of coal mine automatic drilling machine hole depth self-adapting accurate recording system and method.The system includes mechanical actuator, sensor monitoring network and control unit, by the single drilling depth is divided into multiple monitoring intervals and combined with the multi-parameter composite determination of pressure and displacement, realize the identification of drilling machine action behavior and motion state, in automatic mode and single mode and mode switching process can self-adapting accurate recording hole depth.The present application solves the problem of hole depth data loss caused by mode switching, reduces the labor intensity of artificial check, improves the accuracy and reliability of drilling footage statistics.

Description

Technical Field

[0001] This invention belongs to the field of coal mine drilling equipment technology, and relates to an adaptive and precise recording system and method for borehole depth of an automatic underground drilling rig in coal mines. Background Technology

[0002] In recent years, with the continuous improvement of safety requirements in coal mines, underground drilling rigs in coal mines have gradually developed towards automation and intelligence. To reduce manpower, increase efficiency, improve safety, and reduce the labor intensity of workers, many research institutions and manufacturing enterprises have developed automatic drilling rigs and put them on the market. These devices have gradually replaced traditional ordinary drilling rigs. Currently, many automatic drilling rig manufacturers have equipped their equipment with real-time monitoring functions for drilling parameters. The automatic recording of borehole depth data, compared to traditional manual recording methods, has brought great convenience to on-site construction.

[0003] In existing technologies, borehole depth monitoring primarily relies on a combination of various sensor signals and the automatic control flow of a Programmable Logic Controller (PLC). This recording method mainly operates in automatic mode, accumulating hole depth by monitoring the addition of drill rods and the completion of drilling steps. However, this recording scheme, which depends on automatic control logic, has significant technical drawbacks.

[0004] First, when the automatic mode is interrupted due to a malfunction or special working conditions and switches to single-action mode, the lack of monitoring of the automatic process and action completion markers in single-action mode leads to the inability to accurately record the current drilling depth of the drill pipe, and may even result in invalid depth data. Second, during frequent switching between single-action and automatic modes, the original action completion markers are often initialized, causing the accumulated hole depth to differ from the actual drilling depth.

[0005] Currently, existing technologies lack an effective solution for achieving accurate and adaptive hole depth recording in single-action mode and when switching between single-action and automatic modes. When data recording fails, field operators often have to rely on the rudimentary method of manually counting drill rods to verify the hole depth. This not only reduces the efficiency of data recording but also makes it difficult to guarantee the accuracy of drilling progress.

[0006] In view of this, it is necessary to provide an adaptive and accurate recording system and method for borehole depth of automatic drilling rigs in coal mines to solve the defects existing in the above-mentioned prior art. Summary of the Invention

[0007] In view of this, the purpose of the present invention is to provide an adaptive and accurate recording system and method for borehole depth of an automatic drilling rig in coal mines.

[0008] To achieve the above objectives, the present invention provides the following technical solution: An adaptive and precise recording system for borehole depth of an automatic drilling rig in a coal mine includes a mechanical actuator, a sensor monitoring network, and a control unit; The mechanical actuator includes a frame 5, on which a power head 1 that can move forward and backward along the axial direction is provided. The front end of the power head 1 is sequentially connected to an active drill rod 2, a newly added drill rod 3, and an already drilled drill rod 4. The front end and rear end of the frame 5 are respectively provided with a front clamp 7 and a rear clamp 6. The sensor monitoring network includes a rotary pressure sensor, a front gripper pressure sensor, a rear gripper pressure sensor, and a power head displacement sensor. The sensor monitoring network is used to acquire the physical status of the drilling rig in real time. The control unit is connected to the rotary pressure sensor, the front gripper pressure sensor, the rear gripper pressure sensor and the power head displacement sensor respectively; The control unit is used to identify the working mode, action behavior and power head movement status of the drilling rig based on the signals collected by the sensor monitoring network, and to adaptively and accurately record the hole depth in automatic mode and single-action mode, as well as during the switching between the two modes, according to the preset depth monitoring logic. The control unit divides a single drilling depth into multiple monitoring intervals and uses multi-parameter composite judgment of pressure and displacement to capture the actual operating status of the drilling rig. When there are latching and clamping release actions and the power head 1 advances through all monitoring intervals, the control unit increases the hole depth by a single drill rod length; When there are clamping and unclamping actions and the power head 1 retracts through all monitoring intervals, the control unit reduces the hole depth by the length of a single drill rod.

[0009] Furthermore, the upper limit of the single drilling depth is determined based on the length of the frame 5, and the lower limit of the single drilling depth is determined based on the position of the power head 1 when the front connection is completed; The control unit calculates the depth distance of a single root and divides the single depth distance into a preset number of depth intervals to obtain multiple depth points; The control unit sets corresponding high-level and low-level intervals for each depth point to form the monitoring interval; The control unit determines whether the power head 1 has entered or left the monitoring range based on the signal from the power head displacement sensor.

[0010] Furthermore, the control unit determines the setting and resetting of buckling behavior, clamping release behavior, clamping clamping behavior, and buckling unhooking behavior by whether the rotation pressure sensor signal reaches the preset rotation pressure threshold, the front clamp pressure sensor signal reaches the preset clamp pressure threshold, the rear clamp pressure sensor signal reaches the preset clamp pressure threshold, and the power head displacement sensor signal reaches the preset displacement threshold. The control unit also determines the forward or backward state of the power head 1 based on the voltage of the power head forward / backward solenoid valve.

[0011] Furthermore, when the control unit switches from automatic mode to single-action mode during drilling, it resets the automatic engagement behavior and simultaneously sets the single-action engagement behavior, or resets the automatic engagement behavior and automatic release behavior and simultaneously sets the single-action engagement behavior and single-action release behavior. When the control unit switches from single-action mode to automatic mode during drilling, it sets the single-action engagement and single-action release actions to automatic engagement and automatic release actions. When the control unit switches from automatic mode to single-action mode during drill unloading, it resets the automatic clamping behavior and sets the single-action clamping behavior, or resets both the automatic clamping behavior and the automatic uncoupling behavior and sets both the single-action clamping behavior and the single-action uncoupling behavior. When the control unit switches from single-action mode to automatic mode during drill unloading, it meets the initial conditions for entering automatic mode.

[0012] A method for adaptive and accurate recording of borehole depth using an automatic drilling rig in a coal mine includes the following steps: The sensor monitoring network collects rotational pressure, front gripper pressure, rear gripper pressure, and power head displacement signals in real time and transmits them to the control unit. The control unit identifies the drilling rig's working mode, action behavior, and the forward or backward state of the power head 1 based on the signal; The control unit presets an upper limit and a lower limit for a single drilling depth and divides the single drilling depth into multiple monitoring intervals; The control unit adaptively records the hole depth based on the identified fastening behavior, clamping and loosening behavior, clamping and tightening behavior, unfastening behavior, as well as the movement state of the power head 1 and the positional changes of the monitoring range; During drilling, when there are engagement and disengagement behaviors and the power head 1 advances through all monitoring zones, the hole depth increases by the length of a single drill rod. During the unloading process, when there are clamping and unhooking actions and the power head 1 retracts through all monitoring zones, the hole depth is reduced by the length of a single drill rod. The control unit automatically receives and switches the action flag when switching between automatic mode and single-action mode to ensure the continuity and accuracy of hole depth recording.

[0013] Furthermore, the upper limit of the single drilling depth is determined based on the length of the frame 5, and the lower limit of the single drilling depth is determined based on the position of the power head 1 when the front connection is completed; The control unit calculates the depth distance of a single root and divides the single depth distance into a preset number of depth intervals to obtain multiple depth points; The control unit sets corresponding high-level and low-level intervals for each depth point to form the monitoring interval; The control unit determines whether the power head 1 has entered or left the monitoring range based on the signal from the power head displacement sensor.

[0014] Furthermore, the control unit determines the setting and resetting of buckling behavior, clamping release behavior, clamping clamping behavior, and buckling unhooking behavior by whether the rotation pressure sensor signal reaches the preset rotation pressure threshold, the front clamp pressure sensor signal reaches the preset clamp pressure threshold, the rear clamp pressure sensor signal reaches the preset clamp pressure threshold, and the power head displacement sensor signal reaches the preset displacement threshold. The control unit also determines the forward or backward state of the power head 1 based on the voltage of the power head forward / backward solenoid valve.

[0015] Furthermore, when the control unit switches from automatic mode to single-action mode during drilling, it resets the automatic engagement behavior and simultaneously sets the single-action engagement behavior, or resets the automatic engagement behavior and automatic release behavior and simultaneously sets the single-action engagement behavior and single-action release behavior. When the control unit switches from single-action mode to automatic mode during drilling, it sets the single-action engagement and single-action release actions to automatic engagement and automatic release actions. When the control unit switches from automatic mode to single-action mode during drill unloading, it resets the automatic clamping behavior and sets the single-action clamping behavior, or resets both the automatic clamping behavior and the automatic uncoupling behavior and sets both the single-action clamping behavior and the single-action uncoupling behavior. When the control unit switches from single-action mode to automatic mode during drill unloading, it meets the initial conditions for entering automatic mode.

[0016] The beneficial effects of this invention are as follows: (1) By establishing a logical mapping and behavior recognition mechanism for depth, this invention enables the drilling rig to accurately and in real time count the drilling depth, whether in automatic mode or single-action mode. This fills the technical gap of lacking depth monitoring in single-action mode and solves the problem of hole depth recording failure after automatic mode interruption in the prior art.

[0017] (2) The present invention has designed a perfect adaptive conversion logic for action flags. When the operator switches between single-action mode and automatic mode during drilling or unloading, the system can automatically complete the acceptance and conversion of action flags, effectively avoiding the problem of loss or deviation of hole depth data caused by logic initialization due to mode switching, and ensuring the continuity and accuracy of hole depth records.

[0018] (3) The present invention can adaptively record the drilling footage, avoiding the original recording method of having to manually count the drill rods to verify the hole depth due to the failure of automatic measurement, which significantly reduces the labor intensity of operators, eliminates the possibility of human counting errors, greatly improves the accuracy of drilling footage statistics, and provides reliable data support for coal mine drilling operations.

[0019] (4) The present invention divides the single drilling depth into multiple monitoring intervals and combines pressure and displacement multi-parameter composite judgment to capture the actual working state of the drilling rig more meticulously. This logic setting has good versatility and can be flexibly adjusted according to the physical characteristics of different drilling rigs, and has strong engineering practical value.

[0020] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the drilling rig's structure. Figure 2 A schematic diagram of the drilling process; Figure 3 This is a schematic diagram of the drilling rig unloading process.

[0022] Reference numerals in the attached diagram: 1-Power head; 2-Active drill pipe; 3-Newly added drill pipe; 4-Drilled drill pipe; 5-Frame; 6-Rear clamp; 7-Front clamp. Detailed Implementation

[0023] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0025] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0026] 1. System Composition and Hardware Structure like Figure 1 As shown, this embodiment provides an adaptive and precise hole depth recording system for an automatic drilling rig in a coal mine. The system mainly consists of a mechanical actuator, a sensor monitoring network, and a control unit. The mechanical actuator includes a frame 5, on which a power head 1, capable of moving axially, is mounted. The front end of the power head 1 is sequentially connected to an active drill rod 2, a newly added drill rod 3, and an already drilled drill rod 4. A front clamp 7 and a rear clamp 6 are respectively provided at the front and rear ends of the frame 5 for fixing the drill rods during connection and disconnection.

[0027] The sensor monitoring network is used to acquire the physical status of the drilling rig in real time, and its specific mapping relationship is shown in Table 1.

[0028] Table 1 Key Sensors and Information Mapping Table

[0029] 2. Logic settings and parameter calculations Before executing the specific recording process, the control unit needs to preset logical parameters based on the hardware characteristics, which is the basis for realizing hole depth adaptive recording.

[0030] The logic is set as follows: (1) Maximum drilling depth per single section = Frame length - 10 The lower limit of single-section drilling depth = point A + 60; Let the single-strut depth distance = upper limit of single-strut drilling depth - lower limit of single-strut drilling depth; Depth spacing = Single root depth distance / 6; Depth point 1 = lower limit of single-section drilling depth; Depth point 2 = Depth point 1 + Depth spacing; Depth point 3 = Depth point 2 + Depth spacing; Depth point 4 = Depth point 3 + Depth spacing; Depth point 5 = Depth point 4 + Depth spacing; Depth point 6 = Depth point 5 + Depth spacing; Depth point 7 = Upper limit of single-section drilling depth (2) Depth point 1 high position = Depth point 1 + 50; Depth point 1 (lower bit) = Depth point 1 - 50; Depth point 2 high position = Depth point 2 + 50; Depth point 2 (lower position) = Depth point 2 - 50; Depth point 3 high position = Depth point 3 + 50; Depth point 3 (lower position) = Depth point 3 - 50; Depth point 4 high position = Depth point 4 + 50; Depth point 4 (lower position) = Depth point 4 - 50; Depth point 5 high position = Depth point 5 + 50; Depth point 5 (lower position) = Depth point 5 - 50; Depth point 6 high position = Depth point 6 + 50; Depth point 6 (lower bit) = Depth point 6 - 50; Depth point 7 high position = Depth point 7 + 20; Depth point 7 (lower position) = Depth point 7 - 10; (3) When the displacement of the power head is greater than or equal to the lower position of depth point 1, GEM1 is turned on; When the displacement of the power head is less than or equal to the high position of depth point 1, LEM1 is activated; When the displacement of the power head is greater than or equal to the lower position of depth point 2, GEM2 is turned on; When the displacement of the power head is less than or equal to the high position of depth point 2, LEM2 is activated; When the displacement of the power head is greater than or equal to the low position of depth point 3, GEM3 is turned on; When the displacement of the power head is less than or equal to the high position of depth point 3, LEM3 is activated; When the displacement of the power head is greater than or equal to the low position of depth point 4, GEM4 is turned on; When the displacement of the power head is less than or equal to the high position of depth point 4, LEM4 is activated; When the displacement of the power head is greater than or equal to the low position of depth point 5, GEM5 is turned on; When the displacement of the power head is less than or equal to the high position of depth point 5, LEM5 is activated; When the displacement of the power head is greater than or equal to the low position of depth point 6, GEM6 is turned on; When the displacement of the power head is less than or equal to the high position of depth point 6, LEM6 is activated; When the displacement of the power head is greater than or equal to the low position of depth point 7, GEM7 is turned on; When the displacement of the power head is less than or equal to the high position of depth point 7, LEM7 is activated; (4) When the voltage of the solenoid valve for advancing or retreating the power head is >6.2V (driven and judged by the program), it is judged that the power head is in the forward state; When the voltage of the solenoid valve for advancing or retreating the power head is less than 5.8V (driven and judged by the program), it is determined that the power head is in the reverse state.

[0031] (5) When there is a latching action and a clamping release action, the power head is in the forward state, and when GEM1 and LEM1 are present at the same time, JSM1 is set. There are latching and clamping release actions. The power head is in the forward state. When GEM2 and LEM2 are present at the same time, JSM2 is set. There are latching and clamping release actions. The power head is in the forward state. When GEM3 and LEM3 are present at the same time, JSM3 is set. There are latching and clamping release actions. The power head is in the forward state. When GEM4 and LEM4 are present at the same time, JSM4 is set. There are latching and clamping release actions. The power head is in the forward state. When GEM5 and LEM5 are present at the same time, JSM5 is set. There are latching and clamping release actions. The power head is in the forward state. When GEM6 and LEM6 are present at the same time, JSM6 is set. There are latching and clamping release actions. The power head is in the forward state. When GEM7 and LEM7 are present at the same time, JSM7 is set. There are latching and clamping release actions. The power head is in a retracted state. When either GEM1 or LEM1 disappears, JSM1 resets. There are latching and clamping release actions. The power head is in a retracted state. When either GEM2 or LEM2 disappears, JSM2 resets. There are latching and clamping release actions. The power head is in a retracted state. When either GEM3 or LEM3 disappears, JSM3 resets. There are latching and clamping release actions. The power head is in a retracted state. When either GEM4 or LEM4 disappears, JSM4 resets. There are latching and clamping release actions. The power head is in a retracted state. When either GEM5 or LEM5 disappears, JSM5 resets. There are latching and clamping release actions. The power head is in a retracted state. When either GEM6 or LEM6 disappears, JSM6 resets. There are latching and clamping release actions. The power head is in a retracted state. When either GEM7 or LEM7 disappears, JSM7 resets. (6) When there is no unclipping action, the power head is in the reverse state. When either GEM7 or LEM7 disappears, JSN7 is set. Without any shackle action, the power head is in the reverse state. When either GEM6 or LEM6 disappears, JSN6 is set. Without any shackle action, the power head is in the reverse state. When either GEM5 or LEM5 disappears, JSN5 is set. Without any shackle action, the power head is in the reverse state. When either GEM4 or LEM4 disappears, JSN4 is set. Without any shackle action, the power head is in the reverse state. When either GEM3 or LEM3 disappears, JSN3 is set. Without any shackle action, the power head is in the reverse state. When either GEM2 or LEM2 disappears, JSN2 is set. Without unclipping, the power head is in the reverse state. When either GEM1 or LEM1 disappears, JSN1 is set. Without any unclipping action, the power head is in the forward position. When GEM7 and LEM7 are both present, JSN7 is reset. Without any unclipping action, the power head is in the forward position. When GEM6 and LEM6 are both present, JSN6 is reset. Without any unclipping action, the power head is in the forward position. When GEM5 and LEM5 are both present, JSN5 is reset. Without any unclipping action, the power head is in the forward position. When GEM4 and LEM4 are both present, JSN4 is reset. Without any unclip action, the power head is in the forward position. When GEM3 and LEM3 are both present, JSN3 is reset. Without any unclipping action, the power head is in the forward state. When GEM2 and LEM2 are both present, JSN2 is reset. Without any unclipping action, the power head is in the forward state. When GEM1 and LEM1 are both present, JSN1 is reset. (7) Single / Automatic Behavior Setting In automatic mode, the power head performs the front engagement action. When the forward displacement is greater than 50mm and the rotation pressure is greater than 10Mpa, the automatic engagement action is set. In single-action mode, when neither single-action engagement nor single-action release occurs, the power head performs the engagement action. If the forward displacement is greater than 50mm, the rotational pressure is greater than 10MPa, and the power head displacement is within the range of [Dpta-20, Dpta+20], then the single-action engagement action is set. In automatic mode, when there is a latching action, if the front clamp release pressure is greater than 20MPa, the automatic release action will be set. In single-action mode, if the front clamp release pressure is greater than 20MPa when single-action engagement occurs, the single-action release action is set.

[0032] In automatic mode, if JSN1-JSN7 are met and the front clamping pressure is >20MPa, the automatic clamping action will be set.

[0033] In single-action mode, if JSN1-JSN7 are met and the clamping pressure of the front clamp is >20MPa, then the single-action clamping action is set.

[0034] In automatic mode, when the front buckle is released, if the power head retracts by more than 50mm, the automatic buckle release action is activated.

[0035] In single-action mode, if there is a single-action clamping behavior that satisfies JSN1-JSN7, the power head performs a release action within the range of [A-20,A+20], and the power head retraction displacement is greater than 50mm, then the single-action release behavior is set.

[0036] (8) Single / Automatic Behavior Reset In single-action mode, if single-action clamping occurs and the front clamp release pressure is >20MPa, the single-action clamping behavior will be reset.

[0037] In single-action mode, if there are single-action clamping and single-action uncoupling behaviors that satisfy JSN1-JSN7, the single-action uncoupling behavior will be reset when the rotational pressure of the single-action engagement action is >10MPa.

[0038] In automatic mode, if the displacement of the shackle power head decreases by 50mm, the automatic shackle engagement behavior will reset. In single-action mode, if only single-action engagement occurs and the power head unhooks more than 50mm, the single-action engagement will reset. In automatic mode, if the displacement of the shackle power head decreases by 50mm, the automatic release behavior will reset. In single-action mode, if both single-action engagement and single-action release behaviors exist, and the front clamping pressure exceeds 20MPa, the single-action release behavior will be reset.

[0039] (9) Automatically switch to single-action when drilling.

[0040] When switching from automatic mode to single-action mode, if only automatic buckling behavior exists, the automatic buckling behavior is reset, and the single-action buckling behavior is set.

[0041] When switching from automatic mode to single-action mode, if both automatic latching and automatic releasing behaviors exist, the automatic latching and automatic releasing behaviors are reset, while the single-action latching and single-action releasing behaviors are set. (10) Automatic switching of unidirectional movement during drilling When switching from single-action mode to automatic mode, if both single-action engagement and single-action release actions exist, then automatic engagement and automatic release actions will be set. (The initial conditions must be met before entering automatic mode, i.e., a drill rod is connected to the front of the power head's active drill rod, all drill rod threads are engaged, and both front and rear clamps are kept in the released state). (11) Automatic switching to single-action when unloading drill bit When switching from automatic mode to single-action mode, if automatic clamping occurs but automatic unclamping does not, the single-action clamping action is set, and the automatic clamping action is reset.

[0042] When switching from automatic mode to single-action mode, if there is automatic clamping behavior or automatic release behavior, then the single-action clamping behavior is set, the single-action release behavior is set, the automatic clamping behavior is reset, and the automatic release behavior is reset.

[0043] (12) Automatic switching of unidirectional movement during drill unloading When the drill bit is automatically switched to a single direction, the power head should be at the front of the frame, and at least GEM7 must be connected (the initial conditions must be met before entering the automatic mode, that is, the power head is connected to the drill rod in front of the active drill rod, all drill rod threads are connected, and the front and rear clamps are kept in the loose state). (13) When there is an automatic or single-action buckle, the buckle is activated; When there is an automatic release action or a single release action, the clamp release action is activated; If there is a single-action clamping action or an automatic clamping action, the clamping action is activated; If there is a single-action or automatic unhooking action, the unhooking action is activated; (14) When there are latching and clamping release behaviors, and JSM1-JSM7 are satisfied, the hole depth advance is increased, and the single-action latching behavior, single-action release behavior, automatic latching behavior, automatic release behavior, and JSM1-JSM7 are all reset.

[0044] When clamping and unfastening actions are present, and JSN1-JSN7 are satisfied, the hole depth advance decreases, the single-action clamping action is reset, the single-action unfastening action is reset, the automatic clamping action is reset, the automatic unfastening action is reset, and JSN1-JSN7 are reset.

[0045] 2.1 Depth Interval Division The system divides the advancement process of a single drill pipe into 7 monitoring points: Maximum drilling depth per section: H = Frame length - 10 Lower limit of single-section drilling depth: L = point A + 60 Point A is the position of the power head 1 after the front buckle is connected. Let the depth-distance of a single root be: D=HL Depth spacing: G=D / 6 Depth points 1 to 7 are defined accordingly, with depth point 1 being $L$, and each subsequent addition of a G is considered a depth point, and depth point 7 being H.

[0046] 2.2 Triggering Interval and Displacement Signal Identification To filter out sensor fluctuations, set high and low bit intervals for each depth point n$: For depth points 1 to 6, the high-order part is: depth point n+50, and the low-order part is: depth point n-50.

[0047] For depth point 7, its high digit is: depth point 7+20, and its low digit is: depth point 7-10.

[0048] When the displacement of the power head 1 is greater than or equal to the lower position of the depth point n, the corresponding GEMn signal is turned on; When the displacement is less than or equal to the high position of depth point n, the corresponding LEMn signal is turned on.

[0049] 3. Behavior recognition and pattern adaptation The system determines the direction of movement based on the voltage of the solenoid valve for the forward and reverse movement of the power head: voltage > 6.2V indicates forward movement, and voltage < 5.8V indicates reverse movement.

[0050] Example 1: Recording of hole depth increase in automatic mode (e.g.) Figure 2 (As shown) S1-S9: Automatically execute pre-action actions such as engaging the rear buckle and releasing the rear clamp.

[0051] S10-S11: When the front clamp is engaged, if the rotational pressure is detected to be >10MPa and the displacement advance is >50mm, the automatic engagement action is set; subsequently, when the front clamp 7 releases pressure >20MPa, the automatic release action is set.

[0052] Footage determination: When the power head 1 advances and drills forward, when GEMn and LEMn are simultaneously connected (i.e., passing depth point n), the footage increase flag JSMn is set.

[0053] Hole depth accumulation: When all JSM1 to JSM7 are set and the drilling completion condition is met, the hole depth is accumulated by the length of a single root, and then all flags are reset.

[0054] Example 2: Single-action mode and adaptive mode switching Single-action recognition: In single-action mode, if the displacement of the power head 1 is within the range of [A-20, A+20] and the engagement is completed and the pressure meets the standard, then the single-action engagement behavior is set.

[0055] Mode adaptation (key): Drilling switching: When switching from automatic to single-action, if automatic engagement / disengagement behavior already exists, the system will automatically reset the automatic flag and simultaneously set the single-action engagement / disengagement behavior to ensure that the drilling logic is not interrupted under single-action operation.

[0056] Drill unloading switching: When switching from automatic to single-action, if there is an automatic clamping / unlocking flag, it will be switched to single-action clamping / unlocking behavior simultaneously to prevent errors in the count of unloaded drill bits.

[0057] Example 3: Record of hole depth reduction during drill unloading (e.g.) Figure 3 (As shown) Unlocking behavior: When there is clamping behavior and the power head 1 performs unlocking displacement > 50mm at the rear end of the frame, the unlocking behavior is set.

[0058] Segmented Retreat: When there is no detachment action (such as fast retreat) and the power head is retracting, if it leaves the interval of depth point n (either GEM_n or LEM_n disappears), the advance reduction flag JSN_n is set.

[0059] Hole depth reduction: When all JSN1 to JSN7 are set and the clamping / unclamping action is engaged, the hole depth is reduced by a single length.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A precision recording system for adaptive borehole depth of an automatic drilling rig in a coal mine, characterized in that: This includes mechanical actuators, sensor monitoring networks, and control units; The mechanical actuator includes a frame (5), on which a power head (1) that can move forward and backward along the axial direction is provided. The front end of the power head (1) is connected in sequence to the active drill rod (2), the newly added drill rod (3) and the drill rod that has been drilled (4). The front end and the rear end of the frame (5) are respectively provided with a front clamp (7) and a rear clamp (6). The sensor monitoring network includes a rotary pressure sensor, a front gripper pressure sensor, a rear gripper pressure sensor, and a power head displacement sensor. The sensor monitoring network is used to acquire the physical status of the drilling rig in real time. The control unit is connected to the rotary pressure sensor, the front gripper pressure sensor, the rear gripper pressure sensor and the power head displacement sensor respectively; The control unit is used to identify the working mode, action behavior and power head movement status of the drilling rig based on the signals collected by the sensor monitoring network, and to adaptively and accurately record the hole depth in automatic mode and single-action mode, as well as during the switching between the two modes, according to the preset depth monitoring logic. The control unit divides a single drilling depth into multiple monitoring intervals and uses multi-parameter composite judgment of pressure and displacement to capture the actual operating status of the drilling rig. When there are latching and clamping release actions and the power head (1) advances through all monitoring intervals, the control unit increases the hole depth by a single drill rod length; When there are clamping and unclamping actions and the power head (1) retracts through all monitoring intervals, the control unit reduces the hole depth by the length of a single drill rod.

2. The adaptive and precise hole depth recording system for automatic drilling rigs in coal mines according to claim 1, characterized in that: The upper limit of the single drilling depth is determined according to the length of the frame (5), and the lower limit of the single drilling depth is determined according to the position of the power head (1) when the front connection is completed; The control unit calculates the depth distance of a single root and divides the single depth distance into a preset number of depth intervals to obtain multiple depth points; The control unit sets corresponding high-level and low-level intervals for each depth point to form the monitoring interval; The control unit determines whether the power head (1) has entered or left the monitoring range based on the power head displacement sensor signal.

3. The adaptive and precise hole depth recording system for automatic underground drilling rigs in coal mines according to claim 1, characterized in that: The control unit determines the setting and resetting of buckling behavior, clamping release behavior, clamping clamping behavior, and buckling behavior by whether the rotation pressure sensor signal reaches the preset rotation pressure threshold, the front clamp pressure sensor signal reaches the preset clamp pressure threshold, the rear clamp pressure sensor signal reaches the preset clamp pressure threshold, and the power head displacement sensor signal reaches the preset displacement threshold. The control unit also determines the forward or backward state of the power head (1) based on the voltage of the power head forward / backward solenoid valve.

4. The adaptive and precise hole depth recording system for automatic underground drilling rigs in coal mines according to claim 1, characterized in that: When the control unit switches from automatic mode to single-action mode during drilling, it resets the automatic engagement behavior and simultaneously sets the single-action engagement behavior, or it resets the automatic engagement behavior and automatic release behavior and simultaneously sets the single-action engagement behavior and single-action release behavior. When the control unit switches from single-action mode to automatic mode during drilling, it sets the single-action engagement and single-action release actions to automatic engagement and automatic release actions. When the control unit switches from automatic mode to single-action mode during drill unloading, it resets the automatic clamping behavior and sets the single-action clamping behavior, or resets both the automatic clamping behavior and the automatic uncoupling behavior and sets both the single-action clamping behavior and the single-action uncoupling behavior. When the control unit switches from single-action mode to automatic mode during drill unloading, it meets the initial conditions for entering automatic mode.

5. A method for adaptive and accurate recording of borehole depth using an automatic drilling rig in a coal mine, characterized in that: Includes the following steps: The sensor monitoring network collects rotational pressure, front gripper pressure, rear gripper pressure, and power head displacement signals in real time and transmits them to the control unit. The control unit identifies the drilling rig's working mode, action behavior, and the forward or backward state of the power head (1) based on the signal; The control unit presets an upper limit and a lower limit for a single drilling depth and divides the single drilling depth into multiple monitoring intervals; The control unit adaptively records the hole depth based on the identified fastening behavior, clamping and loosening behavior, clamping and tightening behavior, unfastening behavior, and the movement state of the power head (1) and the positional changes of the monitoring range; During drilling, when there are interlocking and clamping release behaviors and the power head (1) advances through all monitoring intervals, the hole depth increases by the length of a single drill rod; During the unloading process, when there is clamping and unhooking behavior and the power head (1) retracts through all monitoring intervals, the hole depth is reduced by the length of a single drill rod; The control unit automatically receives and switches the action flag when switching between automatic mode and single-action mode to ensure the continuity and accuracy of hole depth recording.

6. The method for adaptive and precise recording of borehole depth of automatic drilling rigs in coal mines according to claim 5, characterized in that: The upper limit of the single drilling depth is determined according to the length of the frame (5), and the lower limit of the single drilling depth is determined according to the position of the power head (1) when the front connection is completed; The control unit calculates the depth distance of a single root and divides the single depth distance into a preset number of depth intervals to obtain multiple depth points; The control unit sets corresponding high-level and low-level intervals for each depth point to form the monitoring interval; The control unit determines whether the power head (1) has entered or left the monitoring range based on the power head displacement sensor signal.

7. The method for adaptive and precise recording of borehole depth of automatic drilling rigs in coal mines according to claim 5, characterized in that: The control unit determines the setting and resetting of buckling behavior, clamping release behavior, clamping clamping behavior, and buckling behavior by whether the rotation pressure sensor signal reaches the preset rotation pressure threshold, the front clamp pressure sensor signal reaches the preset clamp pressure threshold, the rear clamp pressure sensor signal reaches the preset clamp pressure threshold, and the power head displacement sensor signal reaches the preset displacement threshold. The control unit also determines the forward or backward state of the power head (1) based on the voltage of the power head forward / backward solenoid valve.

8. The method for adaptive and accurate recording of borehole depth of automatic drilling rigs in coal mines according to claim 5, characterized in that: When the control unit switches from automatic mode to single-action mode during drilling, it resets the automatic engagement behavior and simultaneously sets the single-action engagement behavior, or it resets the automatic engagement behavior and automatic release behavior and simultaneously sets the single-action engagement behavior and single-action release behavior. When the control unit switches from single-action mode to automatic mode during drilling, it sets the single-action engagement and single-action release actions to automatic engagement and automatic release actions. When the control unit switches from automatic mode to single-action mode during drill unloading, it resets the automatic clamping behavior and sets the single-action clamping behavior, or resets both the automatic clamping behavior and the automatic uncoupling behavior and sets both the single-action clamping behavior and the single-action uncoupling behavior. When the control unit switches from single-action mode to automatic mode during drill unloading, it meets the initial conditions for entering automatic mode.

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