Control system of anchor rod drilling machine for gentle slope auxiliary inclined shaft roadway excavation

Abstract

This specification provides an embodiment of a control system for a rock bolt drilling rig used in a gentle-slope inclined shaft. The system includes a central control decision unit and connected subsystems for self-stabilizing parking, positioning modeling, posture servoing, drilling sensing, and multi-state cuttings removal. The self-stabilizing parking subsystem achieves parking on the slope through chassis tilt compensation and friction locking. The positioning modeling subsystem registers the surround-view scan data with the roadway's digital twin model to generate borehole coordinates and lithological variation curves. The posture servoing subsystem coordinates the sliding shell lifting, locking, and shell feed. The drilling sensing subsystem monitors the interaction between the drill bit and the surrounding rock in real time and outputs multi-source signals. The central control decision unit integrates these multi-source signals and compares them with lithological predictions to generate parameter commands for adaptive drilling. The multi-state cuttings removal subsystem cleans cuttings and the transmission face using high-pressure jets, air curtains, and pre-wetting sprays. This system solves the problems of unstable parking, manual positioning, inability to adapt to lithology, and limited cuttings removal methods in gentle-slope inclined shaft drilling rigs.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of tunnel excavation equipment control technology, and in particular to a control system for anchor drilling rigs used in gentle slope auxiliary inclined shaft tunnel excavation. Background Technology

[0002] Tunnel support is a core component of ensuring safety in underground mining and tunnel construction. Anchor bolt drilling rigs, which drill holes in the tunnel sidewalls and install anchor bolts to enhance the stability of the surrounding rock, are key equipment in support construction. Gentle slope auxiliary inclined shafts are tunnels with a certain longitudinal slope, featuring an inclined working face floor and complex equipment positioning conditions. This places higher demands on the drilling rig's parking stability, borehole positioning accuracy, and adaptability during the drilling process.

[0003] Existing bolt drilling rigs have several shortcomings when used in inclined shafts with gentle slopes. Regarding parking, they rely heavily on the chassis's own weight and simple outriggers for fixation, failing to actively compensate for the floor slope. Under drilling reaction forces, the rig is prone to slippage or overturning, creating safety hazards. In terms of borehole positioning, hole location determination and height adjustment depend on manual visual inspection and operation, resulting in low efficiency and poor positioning consistency, failing to meet the requirements of refined support design. During drilling, the rig's feed rate and thrust are usually fixed parameters, unable to be adjusted in real-time according to changes in lithology within the borehole. When encountering hardened rock formations or densely fractured zones, the drill bit is easily stuck, potentially leading to drill pipe breakage. Encountering soft interlayers can cause over-diameter boreholes or borehole collapse, affecting the quality of the completed hole.

[0004] Furthermore, drilling generates a massive amount of rock dust and debris. Current technologies mostly employ passive protection methods such as periodic shutdowns for manual cleaning or the addition of simple mechanical brushes to the transmission rack. While the mechanical brushes, under elastic pressure, adhere to the rack and can scrape away some debris, their cleaning effect is limited in the face of the high dust environment and continuously falling large rock fragments in the tunnel. The brush bristles wear out quickly, and hard particles easily accumulate on the tooth surface, leading to gear and rack meshing jamming, unstable transmission, frequent work interruptions, and reduced continuity and reliability of support construction.

[0005] In summary, existing anchor bolt drilling rigs operate in isolation in gentle slope inclined shaft conditions, lacking an intelligent system that can integrate and coordinate the entire process of autonomous parking, precise positioning, adaptive drilling, and three-dimensional clean slag removal. This makes it difficult to guarantee safe, efficient, and continuous support operations under complex conditions. Therefore, there is an urgent need for an anchor bolt drilling rig control system for gentle slope inclined shaft tunneling that can solve the above problems. Summary of the Invention

[0006] In view of this, the embodiments of this specification provide a control system for anchor drilling rigs for tunneling in gentle slope auxiliary inclined shafts, in order to solve the technical defects existing in the prior art.

[0007] According to a first aspect of the embodiments of this specification, a control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft is provided, which is integrated and installed on the rock bolt drilling rig. The rock bolt drilling rig includes a column, a sliding shell, a slide rail, a support shell, and a drilling machine body. The system includes a central control decision unit, and a self-stabilizing parking subsystem, a positioning modeling subsystem, a posture servo subsystem, a drilling sensing subsystem, and a multi-state slag removal subsystem electrically connected to the central control decision unit. The self-stabilizing parking subsystem uses the acquired instantaneous slope value to actively compensate for the tilt angle of the chassis and perform a combined pressure and friction locking, and sends the parking completion signal to the central control decision unit. After receiving the parking completion signal forwarded by the central control decision unit, the positioning modeling subsystem scans the surrounding rock of the current working face, registers and fuses the collected real-time environmental data with the pre-stored roadway digital twin model, generates the precise coordinates of the borehole location, and generates the lithology variation curve and the preset drilling parameter combination for each section. The central control decision unit calculates the target height of the sliding shell and the horizontal feed path of the support shell based on the received precise coordinates, and sends a pose adjustment command to the pose servo subsystem. The pose servo subsystem coordinates the movement of the sliding shell and the supporting shell according to the pose adjustment command; The drilling sensing subsystem monitors the interaction between the drill bit and the surrounding rock in real time during the drilling process, generates multi-source sensing signals, and transmits them to the central control decision unit. The central control decision unit performs fusion analysis on multi-source sensing signals, compares the analysis results with the lithology variation curve, generates drilling parameter adjustment instructions, and sends them to the posture servo subsystem. The multi-state slag removal subsystem removes rock slag from the borehole and cleans the sliding rail drive meshing surface based on the lithology judgment results provided by the drilling perception subsystem generated by the central control decision unit.

[0008] In one possible implementation, the self-stabilizing parking subsystem includes a tilt adjustment actuator, a pressure-friction composite sensing foot, and a laser inclinometer. After the self-stabilizing parking subsystem is activated, the laser inclinometer will send the instantaneous slope value of the contact surface between the chassis and the tunnel floor to the central control decision unit. The central control decision unit calculates the tilt correction amount that the chassis needs to compensate based on the instantaneous slope value and issues instructions to the tilt fine-tuning actuator. Pressure-friction composite sensing feet are used to embed tungsten carbide claw disks into the tunnel floor. The flexible pressure sensor array integrated within the pressure-friction composite sensing foot monitors the contact pressure distribution in real time and feeds it back to the central control decision unit.

[0009] In one possible implementation, after the location modeling subsystem is activated, it calls the roadway digital twin model pre-stored in the central control decision unit, and controls the lidar and high-definition camera module installed on the top of the column to perform a panoramic scan of the surrounding rock of the current working face, and collect point cloud data and high-definition texture images. The central control decision unit registers and merges the real-time collected point cloud data with the pre-stored digital twin model of the tunnel, locates the current position of the anchor drilling rig in the virtual space, marks the center coordinates of the hole to be drilled on the tunnel sidewall of the tunnel digital twin model according to the construction design requirements, and transforms the center coordinates to the base coordinate system of the anchor drilling rig itself to generate the precise coordinates of the drilling position. After locking the borehole location, the high-definition camera module zooms in to capture images of the borehole location, obtaining images of the texture, cracks, and joint structure features of the surrounding rock surface. The central control decision unit runs a built-in deep convolutional neural network model to perform semantic segmentation and feature extraction on feature images, identify dense fracture zones and lithological change boundaries, and combine the tunnel geological prediction information retrieved from the tunnel digital twin model to generate the lithological variation curve within the borehole depth range. Based on this, the borehole path is divided into several sections, and a preliminary combination of drilling speed and thrust parameters is preset for each section to form a preset drilling parameter combination.

[0010] In one possible implementation, the pose servo subsystem includes a first servo drive unit for driving the sliding shell to move up and down along the column, an electromagnetic locking unit for decoupling the control rod and the limit wedge block, and a second servo drive unit for driving the support shell to move horizontally. The central control decision unit calculates the target height of the sliding shell based on the received precise coordinates of the borehole location; The first servo drive unit drives the sliding housing to move up and down along the spiral lifting guide column of the column until the sliding housing reaches the vicinity of the target height. Then it switches to micro-motion mode and realizes fine adjustment of the sliding housing height within the millimeter level based on the position signal fed back by the absolute grating ruler integrated on the column. After the sliding shell is in place, the electromagnetic locking unit is energized, and the electromagnet will attract the pull rod connected to the limit wedge block, pulling the limit wedge block into the corresponding limit groove on the column, thereby achieving mechanical rigid locking of the sliding shell. After the mechanical rigidity is locked, the second servo drive unit starts and drives the support shell to move smoothly in a straight line along the slide rail according to the feed speed curve planned by the central control decision unit, so that the drill bit reaches the drilling position.

[0011] In one possible implementation, the drilling sensing subsystem includes an acoustic emission sensor integrated at the front end of the drilling machine's gearbox, a triaxial vibration sensor fixed at the connection between the support shell and the drilling machine, and a miniature material identification probe that penetrates the center hole of the drill bit to the cutting edge. After the drilling operation is started, the acoustic emission sensor continuously captures the elastic wave signals released by the rock during the process of being squeezed and sheared by the drill bit; The triaxial vibration sensor synchronously acquires the axial, radial, and tangential vibration amplitude and frequency of the drilling machine body; The miniature material identification probe utilizes the principle of contact impedance spectrum analysis to contact the rock surface at the bottom of the hole at each cycle of the drill bit's rotation and measure the complex impedance of the rock surface at the bottom of the hole. Elastic wave signals, vibration amplitude and frequency, and complex impedance are transmitted in parallel to the central control decision unit as multi-source sensing signals.

[0012] In one possible implementation, the central control decision unit performs fusion analysis of multi-source sensing signals in the following specific manner: Fast Fourier transform is performed on the elastic wave signal to extract the main frequency band energy and event count rate of the elastic wave signal as a characterization of the rock mass fracture strength. Wavelet packet decomposition was performed on the vibration signal to separate the characteristic frequency bands related to changes in rock hardness; The real and imaginary parts of the complex impedance signal are analyzed separately to identify the lithology of the current cutting interface in real time. The fused sensing features, including the characterization of rock mass fracture strength, characteristic frequency bands, and lithology type, are compared with the lithology variation curve generated by the positioning modeling subsystem, and drilling parameter adjustment instructions are generated based on the comparison results.

[0013] In one possible implementation, the specific logic for issuing the drilling parameter adjustment command is as follows: When the measured rock hardness exceeds the first hardness threshold, the central control decision unit immediately issues an instruction to the second servo drive unit in the pose servo subsystem to reduce the feed rate and simultaneously increase the upper limit of the thrust. When the measured rock hardness is lower than the second hardness threshold, the central control decision unit issues an instruction to the second servo drive unit to increase the feed rate and reduce the thrust.

[0014] In one possible implementation, the multi-mode slag discharge subsystem includes a high-pressure micro-jet unit integrated inside the support shell, an air curtain generating unit embedded in the waste discharge trough of the slide rail, and a spray pre-wetting unit located upstream of the brush movement direction on the support shell. The central control decision unit automatically adjusts the slag removal strategy based on the rock hardness level determined by the drilling sensing subsystem. When the rock type is medium hardness or above, the high-pressure micro-jet unit is activated. The high-pressure micro-jet unit directly impacts the bottom of the hole through the micron-level nozzle at the end of the hollow spiral chip removal groove of the drill bit in the form of intermittent jet pulses synchronized with the drill bit speed. It uses the water hammer effect to turn the rock powder into a suspended slurry and forces the slurry to be discharged out of the hole in the opposite direction along the spiral groove. The air curtain generating unit works synchronously with the start of the horizontal feed drive of the support shell. High-speed planar airflow is ejected from the narrow slit in the center of the waste discharge trough of the air curtain generating unit, forming an inclined air curtain above the meshing surface of the rack and gear, blowing the splashed or falling debris away to the outside of the slide rail or directly into the waste discharge trough. The spray pre-wetting unit sprays a layer of water mist film onto the surface of the rack, so that fine dust is captured and agglomerated when it comes into contact with the rack surface; The brush scrapes away the condensed wet mud and debris that has not been blown away by the air curtain under the action of the elastic element.

[0015] In one possible implementation, the central control decision unit polls the feedback values ​​of each sensor in the drilling sensing subsystem and the multi-state slag removal subsystem at a fixed high-frequency rhythm throughout the entire drilling operation cycle. When early signs of stuck drill are identified by exceeding the time-domain kurtosis index of vibration signals and abrupt changes in the event rate of acoustic emissions, the central control decision unit executes a three-level protection strategy: The first stage involves sending an emergency stop feed command to the pose servo subsystem while maintaining the drill bit rotation. In the second stage, when the drill rod torque of the drill bit is detected to continue to rise, the servo drive unit that drives the horizontal movement of the support shell is commanded to reverse the support shell in the opposite direction with a preset minimum step size to perform the drill retraction and slag removal action. In the third stage, after the vibration and acoustic emission signals return to normal, the drilling parameters for this section are replanned, and drilling continues to the designed depth with a more moderate parameter combination.

[0016] In one possible implementation, after a single drilling operation is completed, the central control decision unit controls the second servo drive unit to move in reverse at high speed to the zero position, while simultaneously shutting down the air curtain generation unit and the high-pressure micro-jet unit of the multi-state slag discharge subsystem. Subsequently, the electromagnetic locking unit is de-energized, and under the action of the reset spring, the limit wedge block is unlocked from the limit groove; When it is necessary to perform work at other holes at the same height, maintain the current height and have the operator push the anchor drilling rig to rotate around the column to the next position; When the working height needs to be adjusted, the first servo drive unit drives the sliding shell to rise and fall to the new target height, repeating the addressing, locking and drilling process to achieve grid-based support operation for the entire tunnel wall.

[0017] The system is integrated and installed on the anchor drilling rig, including a central control decision unit, and electrically connected subsystems for self-stabilizing parking, positioning and modeling, posture servoing, drilling sensing, and multi-state cuttings removal. The self-stabilizing parking subsystem uses the acquired instantaneous chassis slope value to actively compensate for the chassis tilt angle and apply pressure-friction composite locking, achieving high-rigidity parking on slopes. The positioning and modeling subsystem scans the surrounding rock of the working face, registers and fuses real-time environmental data with a pre-stored digital twin model of the tunnel, generates precise coordinates of the borehole location, predicts the rock strata distribution, and generates lithology variation curves and pre-set drilling parameters for different sections. The posture servoing subsystem coordinates the sliding shell lifting, mechanical locking, and horizontal feed movement of the support shell to ensure the drill bit reaches the borehole position. The drilling sensing subsystem monitors the interaction between the drill bit and the surrounding rock in real time during drilling, generating multi-source sensing signals. The central control decision unit integrates and analyzes multi-source signals and compares them with lithology prediction curves to generate drilling parameter adjustment commands, achieving adaptive drilling control. The multi-mode cuttings removal subsystem actively removes rock cuttings from the borehole and cleans the transmission meshing surfaces using various fluid forms such as high-pressure jets, air curtains, and spray pre-wetting, based on the lithology judgment results. This system solves the problems of unstable drilling rig parking, reliance on manual positioning, inability to adapt to lithology changes, and limited cuttings removal and cleaning effects in gently sloping inclined wells, significantly improving the automation level, construction efficiency, hole quality, and operational continuity of bolt drilling operations. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a control system for a rock bolt drilling rig used in tunnel excavation on a gentle slope, provided in one embodiment of this specification. Detailed Implementation

[0019] Many specific details are set forth in the following description to provide a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0020] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0021] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0022] This specification provides a control system for anchor drilling rigs used in tunnel excavation on gentle slopes, which will be described in detail in the following embodiments.

[0023] See Figure 1 , Figure 1This diagram illustrates a system schematic of a rock bolt drilling rig control system for a gentle slope auxiliary inclined shaft tunnel according to an embodiment of this specification. The control system is integrated and installed on the rock bolt drilling rig, which includes a column, a sliding housing that can move up and down along the column, a slide rail fixed to the sliding housing, a support housing that can slide horizontally along the slide rail, and a drilling machine body mounted on the support housing. The control system is characterized by including a central control decision unit, and a self-stabilizing parking subsystem, a positioning modeling subsystem, a pose servo subsystem, and a drilling sensing subsystem electrically connected to the central control decision unit. The system includes a multi-state slag removal subsystem and a self-stabilizing parking subsystem. After the anchor drilling rig is positioned in the gentle slope of the auxiliary inclined shaft, the self-stabilizing parking subsystem performs active tilt angle compensation and pressure friction composite locking on the chassis based on the instantaneous slope value of the contact surface between the chassis and the roadway floor, achieving high-rigidity parking of the anchor drilling rig on the slope and sending a parking completion signal to the central control decision unit. The positioning and modeling subsystem is activated after receiving the parking completion signal forwarded by the central control decision unit. It performs a surround scan of the surrounding rock of the current working face and registers the collected real-time environmental data with the pre-stored digital twin model of the roadway. The system integrates data to generate precise coordinates of the borehole location and predicts the rock strata distribution at that location, generating lithology variation curves and pre-defined drilling parameter combinations for different sections. The central control decision unit calculates the target height of the sliding hull and the horizontal feed path of the support shell based on the received precise coordinates, and issues posture adjustment commands to the posture servo subsystem. The posture servo subsystem, based on these commands, coordinates the lifting and lowering of the sliding hull, the mechanical locking and unlocking of the sliding hull on the column, and the horizontal feed movement of the support shell, ensuring the drill bit reaches the borehole location. During the drilling process, the drilling perception subsystem... The system monitors the interaction between the drill bit and the surrounding rock in real time, generates multi-source sensing signals, and transmits them to the central control decision unit. The central control decision unit performs fusion analysis on the multi-source sensing signals, compares the analysis results with the lithology variation curve generated by the positioning modeling subsystem, generates drilling parameter adjustment commands, and sends them to the posture servo subsystem to achieve adaptive drilling control. The multi-state slag removal subsystem actively removes rock slag in the borehole and cleans the sliding rail drive meshing surface in various fluid forms based on the slag removal strategy commands generated by the central control decision unit based on the lithology judgment results provided by the drilling sensing subsystem.

[0024] The self-stabilizing parking subsystem can refer to a functional unit that automatically achieves high-rigidity fixation of the drilling rig on an inclined roadway floor. For example, this subsystem actively compensates for the pitch and roll of the chassis through a hydraulically driven dual-axis universal joint mechanism. Combined with tungsten carbide claw discs arranged at the four corners of the chassis, which embed into the floor plate to form a friction self-locking mechanism, the drilling rig is stabilized on the slope. The instantaneous slope value can refer to the angle between the chassis plane and the contact surface of the roadway floor, measured in real time by a laser inclinometer, used to characterize the degree of inclination of the drilling rig's current position. The parking completion signal can refer to a status confirmation command sent by the self-stabilizing parking subsystem to the central control decision unit after completing the tilt adjustment and outrigger locking, serving as a prerequisite for the activation of the subsequent positioning and modeling subsystem.

[0025] The positioning and modeling subsystem can refer to a processing unit that integrates real-time sensor data with pre-stored digital models to generate target coordinates and geological prediction information. For example, this subsystem uses lidar and high-definition cameras to collect data from the tunnel working face and performs spatial registration with a pre-stored digital twin model of the tunnel, thereby determining the borehole location in virtual space and back-calculating it to the drilling rig's base coordinate system. The pre-stored digital twin model of the tunnel can refer to a three-dimensional digital model constructed before construction based on geological exploration and tunnel design parameters, containing information such as the tunnel's geometric dimensions, orientation, slope, and rock strata distribution, serving as a benchmark for real-time data matching and a data source for geological prediction. The lithology variation curve can refer to a virtual profile line describing the variation in rock hardness at different depths from the borehole opening to the bottom. For example, based on image recognition and geological data, the lithology segments and their interface locations in the borehole depth direction can be inferred, providing a feedforward basis for the adaptive adjustment of subsequent drilling parameters. Preset drilling parameter combinations for different sections can refer to the pre-set drilling speed and thrust values ​​for each section after dividing the total drilling depth into several sections based on the lithology variation curve. For example, a high-speed, low-thrust combination can be preset in soft rock sections, while a low-speed, high-thrust combination can be preset in hard rock sections.

[0026] The pose servo subsystem can refer to a series of servo drives and mechanical locking devices used to precisely position and lock the various motion axes of the drilling rig. For example, it consists of a first servo drive unit controlling the lifting and lowering of the sliding housing, a second servo drive unit controlling the horizontal feed of the support shell, and an electromagnetic locking unit that achieves mechanical locking between the sliding housing and the column. Under the coordination of the central control decision unit, these three components complete the precise movement and rigid fixation of the drill bit from the standby position to the drilling position. The pose adjustment command can refer to a set of control commands generated and issued by the central control decision unit, containing the target height value of the sliding housing, the horizontal feed trajectory, and the locking timing, used to drive the various execution units of the pose servo subsystem to complete the specified spatial position adjustment.

[0027] The drilling sensing subsystem refers to a collection of multiple sensors that perceive the interaction between the drill bit and the surrounding rock in real time during drilling. For example, an acoustic emission sensor positioned at the front of the gearbox captures rock fracture elastic waves, a triaxial vibration sensor monitors the vibration response of the drilling machine, and a micro-material identification probe measures the electrical properties of the rock surface at the bottom of the borehole. These multi-source signals complement each other to comprehensively reflect the drilling conditions. Multi-source sensing signals can refer to the collection of signals output from sensors based on different physical principles. For example, acoustic emission signals reflect rock fracture strength, vibration signals reflect structural dynamic response, and complex impedance signals reflect material electrical properties. These signals are synchronously uploaded to the central control decision unit for comprehensive analysis.

[0028] A multi-mode cuttings removal subsystem can refer to a functional unit that automatically switches fluid modes based on lithological conditions to remove cuttings and clean the transmission face. For example, this subsystem integrates three modes of action: high-pressure micro-jet, air curtain purging, and spray pre-wetting. When drilling in hard rock formations, it primarily uses high-pressure pulsed water jets to remove cuttings from the bottom of the hole, while air curtains isolate splashing debris and water mist films adhere to fine dust, achieving three-dimensional cleaning and maintenance of the borehole and transmission components. Cuttings removal strategy commands can refer to control commands generated by the central control decision unit based on the lithological hardness level fed back by the drilling sensing subsystem. These commands determine whether to activate high-pressure jets, adjust air curtain wind speed or spray flow rate, etc., to achieve the optimal cuttings removal scheme matching the drilling conditions.

[0029] The control system provided in this embodiment will be further described below through a detailed example: In the excavation face of a gently sloping auxiliary inclined shaft with a specific gradient, the anchor drilling rig is moved to the predetermined hole position and initially positioned. The operator activates the control system provided in this embodiment, and the self-stabilizing parking subsystem begins operation. A laser inclinometer embedded in the side of the chassis collects the instantaneous slope value of the contact surface between the chassis and the roadway floor in real time and transmits this slope value to the central control decision unit. The central control decision unit calculates the required tilt angle correction based on the slope value and then issues a command to the tilt angle fine-tuning actuator integrated inside the chassis. This tilt angle fine-tuning actuator uses a hydraulically driven double-axis universal joint structure, causing the entire rigid chassis to swing slightly in both pitch and roll degrees of freedom until the upper surface of the chassis reaches an absolutely horizontal state, thereby ensuring that the support column is in a vertical position. After the tilt angle is leveled, the pressure-friction composite sensing outriggers located at the four corners of the chassis begin to move. Miniature linear actuators inside each outrigger apply downward pressure, causing the high-friction tungsten carbide claw discs integrated on the lower end of the outrigger to embed into the tunnel floor. During the pressure application process, a flexible pressure sensor array within the outrigger monitors the contact pressure distribution in real time and feeds it back to the central control decision unit. The central control decision unit uses closed-loop control to ensure that the contact pressure of the four outriggers reaches a preset equilibrium threshold and forms a stable frictional self-locking mechanism. At this point, the anchor drilling rig completes high-rigidity parking on the slope, and the self-stabilizing parking subsystem generates a parking completion signal and sends it to the central control decision unit.

[0030] Upon receiving the parking completion signal, the central control decision unit immediately activates the positioning and modeling subsystem. This subsystem first calls the roadway digital twin model pre-stored in the central control decision unit's storage unit. Simultaneously, the lidar and high-definition camera module installed on the top of the support column are activated to perform a panoramic scan of the surrounding rock of the current working face, acquiring real-time point cloud data and high-definition texture images. The central control decision unit registers and fuses the real-time acquired point cloud data with the pre-stored roadway digital twin model, accurately locating the current position of the anchor drilling rig in virtual space. Based on the support parameters of this section in the construction design plan, the central control decision unit automatically marks the center coordinates of the borehole to be drilled on the roadway sidewall of the roadway digital twin model, and executes a coordinate system transformation algorithm to transform the center coordinates from the model coordinate system to the anchor drilling rig's own base coordinate system, generating precise coordinates of the borehole position. After locking the precise coordinates of the borehole position, the high-definition camera module zooms in and takes images of the surrounding rock area corresponding to those coordinates, acquiring high-resolution images of the surface texture, cracks, joints, and other structural features of that area. The central control decision unit runs a built-in deep convolutional neural network model to perform semantic segmentation and feature extraction on the feature images, identifying areas of dense fractures and boundaries of lithological changes. Combined with geological prediction information for the area retrieved from the tunnel's digital twin model, it generates a lithological variation curve from the borehole opening to the designed borehole depth. Based on this curve, the central control decision unit divides the borehole path into several sections with relatively consistent lithology and presets preliminary drilling speed and thrust parameter combinations for each section, forming pre-set drilling parameter combinations for each section, ready to be used during drilling.

[0031] Based on the obtained precise coordinates, the central control decision unit calculates the target height that the sliding shell needs to reach and the horizontal feed path of the support shell, and encapsulates this information into a pose adjustment command and sends it to the pose servo subsystem. The first servo drive unit in the pose servo subsystem responds first, driving the sliding shell to move up and down along the spiral lifting guide column of the column. When the sliding shell moves to near the target height, the first servo drive unit switches to micro-motion mode, and performs fine adjustment of the sliding shell height within millimeter precision based on the high-resolution position signal fed back in real time by the absolute grating ruler integrated on the column. After the sliding shell is precisely in place, the electromagnetic locking unit is energized, and the powerful electromagnet instantly attracts the pull rod connected to the limit wedge block, pulling the limit wedge block to accurately embed into the limit groove of the corresponding height on the column, realizing the mechanical rigid locking between the sliding shell and the column. Once the locking is complete, the second servo drive unit starts up. According to the feed speed curve planned by the central control decision unit, it drives the drive gear to rotate on the rack. The drive support shell drives the drilling machine body to move smoothly in a straight line along the slide rail towards the side wall of the tunnel until the front end of the drill bit contacts and reaches the target drilling position.

[0032] Once the drill bit reaches the borehole position, drilling operations officially commence, and the drilling sensing subsystem enters real-time monitoring mode. An acoustic emission sensor integrated at the front of the drill bit's gearbox continuously captures the elastic wave signals released by the drill bit during the compression and shearing of the rock. A triaxial vibration sensor fixed at the connection between the support shell and the drill bit synchronously acquires the vibration amplitude and frequency of the machine body in the axial, radial, and tangential directions. A miniature material identification probe, penetrating the drill bit's central hole and reaching the cutting edge, utilizes the principle of contact impedance spectrum analysis to contact the fresh rock surface at the bottom of the hole at the instant of each drill bit rotation, measuring the complex impedance value at that point. These three signals are transmitted in parallel to the central control decision unit as multi-source sensing signals. The central control decision unit performs a fast Fourier transform on the elastic wave signals, extracting the dominant frequency band energy and event count rate as a characterization of the rock mass fracture strength; it performs wavelet packet decomposition on the vibration signals to separate characteristic frequency bands related to changes in rock hardness; and it analyzes the real and imaginary parts of the complex impedance signal to identify the lithology of the current cutting interface in real time. The central control decision unit compares the fused rock mass fracture strength characterization, characteristic frequency bands, and lithology type with the lithology variation curve generated by the positioning modeling subsystem in real time. When the comparison results indicate that the measured lithology is becoming harder relative to the predicted curve (i.e., a sudden increase in the dominant frequency energy of the elastic wave signal, an intensification of high-frequency components in the vibration signal, and an increase in the real part of the complex impedance signal), the central control decision unit immediately issues instructions to the second servo drive unit to reduce the feed rate and simultaneously increase the upper limit of the thrust. When the measured lithology becomes softer, instructions are issued to increase the feed rate and reduce the thrust. The second servo drive unit has switched to torque control mode during drilling and adjusts the feed thrust and speed in real time and smoothly according to these drilling parameter adjustment instructions, forming a millisecond-level adaptive drilling closed-loop control.

[0033] Throughout the drilling and feed transmission process, the multi-state cuttings removal subsystem works collaboratively according to the instructions of the central control decision unit. Based on the lithology and hardness assessment results provided by the drilling sensing subsystem, the central control decision unit automatically adjusts the cuttings removal strategy. When drilling reaches rock formations of medium to high hardness, the high-pressure micro-jet unit integrated inside the support shell is activated. Its micro-ceramic plunger pump pressurizes the water in the tank and, through a micron-level nozzle at the end of the hollow spiral cuttings removal groove inside the drill bit, directly impacts the bottom of the hole in an intermittent jet pulse form synchronized with the drill bit's rotation speed. Utilizing the water hammer effect, the compacted rock powder at the bottom of the hole is transformed into a suspended slurry, which is then forced to be discharged from the hole at high speed along the spiral groove. Simultaneously, the air curtain generating unit embedded in the waste discharge trough of the slide rail operates synchronously with the start of the feed drive of the support shell. It ejects a high-speed planar airflow from a narrow slit in the center of the waste discharge trough, forming an inclined, transparent air curtain above the meshing surface of the rack and drive gear. This air curtain blows larger debris splashed from the borehole or falling onto the tooth surface away from the slide rail or directly guides it into the waste discharge trough. Furthermore, a spray pre-wetting unit located in the windward direction of the brush's movement sprays a very thin water mist film onto the rack surface, causing fine dust suspended in the air to be captured and condensed by the water mist before contacting the rack surface. The brush, mounted on the drive motor side frame, moves closely against the rack tooth surface under the continuous action of the elastic element, acting as the final mechanical barrier to scrape away the condensed wet mud and any remaining debris not blown away by the air curtain. This three-tiered synergistic protection system, consisting of high-pressure water jets, a high-speed air curtain, and a pre-wetted brush, ensures that the gear rack drive maintains long-term cleanliness and smooth meshing even in high-dust environments in roadways.

[0034] Throughout the drilling operation, the central control decision unit continuously monitors the system status by polling the feedback values ​​of various sensors in the drilling sensing subsystem and the multi-state cuttings removal subsystem at a fixed high-frequency rhythm. Once a sign of impending stuck drill bit is detected by exceeding the time-domain kurtosis index of the vibration signal and a sudden change in the event rate of the acoustic emission signal, the central control decision unit immediately executes a three-level protection strategy. The first level sends an emergency stop feed command to the posture servo subsystem to stop the jacking shell from moving forward while maintaining drill bit rotation to prevent complete jamming. The second level, if the drill rod torque continues to rise within a short period, commands the second servo drive unit to reverse the jacking shell in the opposite direction with a preset minimum step size, performing a drill bit retraction and cuttings removal action to expel the accumulated rock cuttings in the hole. The third level, after the vibration and acoustic emission signals return to a normal and stable range, the central control decision unit recalculates the drilling parameters for this section based on the lithology corresponding to the current location, using a gentler feed rate and thrust combination to continue drilling until the designed hole depth is safely reached.

[0035] After a single borehole operation is completed, the central control decision unit controls the second servo drive unit to smoothly pull the support shell back to the zero position of the slide rail with high-speed reverse motion. At the same time, the air curtain generation unit and high-pressure micro-jet unit of the multi-state slag removal subsystem are shut down to save energy and media. Subsequently, the electromagnetic locking unit is de-energized, and under the restoring force of the return spring, the limit wedge block is smoothly pulled out from the limit groove, and the mechanical lock between the slide shell and the column is released. If the construction plan requires the next borehole operation at the same height, the slide shell is kept at its current height, and the operator pushes the entire anchor drilling rig to rotate around the column axis to the next designed position, repeating the above addressing, locking, and drilling process. If the construction plan requires adjusting the working layer height, the first servo drive unit drives the slide shell to rise and fall along the column to the new target height, and the addressing, locking, and drilling process is executed again. This cycle is repeated to achieve gridded and continuous support drilling operations on the entire roadway sidewall.

[0036] The control system provided in this embodiment has the following advantages: By integrating functions such as slope self-stabilizing parking, digital twin positioning and lithology prediction, multi-axis pose servoing, multi-source acoustic and vibration sensing fusion adaptive drilling, and water-air-brush multi-mode coordinated slag removal into a unified closed-loop control system, it fundamentally solves many problems faced in the drilling operation of anchor bolts under the special working conditions of gentle slope inclined wells. The system can autonomously complete chassis leveling and high-rigidity friction locking on the slope, eliminating the risk of slippage during drilling operations; it uses digital twin technology to achieve precise automatic positioning of the borehole position, eliminating the reliance on manual visual inspection and experience; through multi-source information fusion during the drilling process and real-time comparison with the lithology prediction curve, it can adaptively adjust the feed parameters within milliseconds, effectively avoiding stuck drill accidents caused by sudden changes in lithology and ensuring borehole quality; the three-level linkage clean protection strategy of water, air, and brush realizes the active and passive integrated treatment of drilling slag removal and transmission surface cleaning, which is significantly better than the cleaning effect of a single mechanical brush, ensuring the long-term reliable operation of the transmission system. Ultimately, the system significantly improved the automation level, construction efficiency, hole quality, operational continuity, and safety of anchor bolt drilling operations in the gentle slope auxiliary inclined shaft roadway.

[0037] According to the aforementioned control system, the self-stabilizing parking subsystem includes a tilt angle fine-tuning actuator integrated inside the chassis, pressure-friction composite sensing feet arranged at the four corners of the chassis, and a laser inclinometer embedded in the side of the chassis. After the self-stabilizing parking subsystem is activated, the laser inclinometer sends the instantaneous slope value of the contact surface between the chassis and the tunnel floor to the central control decision unit. The central control decision unit calculates the tilt angle correction amount that the chassis needs to compensate based on the instantaneous slope value and issues a command to the tilt angle fine-tuning actuator. The tilt angle fine-tuning actuator adopts a hydraulically driven dual-axis universal joint structure, driving the entire chassis to move in both pitch and roll degrees of freedom. The system swings at a slight angle until the upper surface of the chassis reaches an absolutely horizontal state. Then, the miniature linear actuators inside the pressure-friction composite sensing foot apply downward pressure, causing the high-friction coefficient tungsten carbide claw disc integrated on the lower end face of each pressure-friction composite sensing foot to embed into the tunnel floor. The flexible pressure sensor array integrated within the pressure-friction composite sensing foot monitors the contact pressure distribution in real time and feeds it back to the central control decision unit. The central control decision unit then uses closed-loop control to ensure that the contact pressure of the four pressure-friction composite sensing feet reaches a preset equilibrium threshold and forms a friction self-locking mechanism. After completing high-rigidity parking, a parking completion signal is generated.

[0038] The tilt adjustment actuator can refer to a drive device installed inside the chassis for actively adjusting the chassis's spatial attitude. For example, it could be a hydraulically driven dual-axis universal joint structure capable of independently outputting torque on both the pitch and roll axes, thereby driving the entire chassis to oscillate slightly relative to the ground to compensate for the slope of the tunnel floor. The pressure-friction composite sensing outrigger can refer to an outrigger unit that combines high-friction locking and pressure sensing functions. For example, each outrigger has a high-friction coefficient tungsten carbide claw plate integrated on its lower end face, providing significant static friction after embedding into the floor. Simultaneously, a flexible pressure sensor array is embedded inside the outrigger to measure the pressure distribution on the contact surface in real time. The preset equalization threshold can refer to a set of pressure value ranges pre-stored within the central control decision unit, used to characterize the state where all four outriggers have formed stable and uniform contact with the floor. For example, when the contact pressure values ​​fed back by all outriggers fall within this threshold range and the difference between them is less than the allowable tolerance, it is determined that friction self-locking has been reliably established.

[0039] The following detailed embodiment further illustrates the working process of the aforementioned self-stabilizing parking subsystem: After the operator pushes the anchor drilling rig to the preset hole position in the gently sloping tunnel and erects the support column, they activate the self-stabilizing parking function via the control panel. The moment the self-stabilizing parking subsystem is activated, a laser inclinometer embedded in the side of the chassis emits a laser beam towards the tunnel floor and receives the reflected signal, calculating in real time the instantaneous slope value between the chassis plane and the floor contact surface. This value includes the tilt angle information of the floor in the longitudinal and transverse directions of the drilling rig. The laser inclinometer continuously transmits this instantaneous slope value to the central control decision unit at a high refresh rate.

[0040] After receiving the instantaneous slope value, the attitude calculation program inside the central control decision unit decomposes it into pitch and roll components, and calculates the pitch and roll correction amounts required to adjust the chassis surface to absolute level. The central control decision unit then encapsulates these two correction amounts into a leveling command and sends it to the tilt fine-tuning actuator integrated in the center of the chassis.

[0041] The core of the tilt adjustment actuator is a hydraulically driven dual-axis universal joint. The upper end plate of this universal joint is rigidly connected to the drilling rig chassis, while the lower end plate is connected to the chassis base via a slewing bearing. Upon receiving a command, the pitch and tilt hydraulic cylinders inside the universal joint extend and retract according to the correction amount, causing the entire chassis to swing slightly around the pitch and tilt axes. During this process, the laser inclinometer continuously provides feedback on the current chassis tilt angle, forming a closed-loop adjustment until the upper plane of the chassis reaches an absolutely horizontal state, meaning that the tilt angles in both the pitch and tilt directions are compensated to near zero, thus ensuring the column is strictly vertical.

[0042] After the chassis is leveled, the central control decision unit sends synchronous pressure commands to the four pressure-friction composite sensing outriggers located at the four corners of the chassis. Upon receiving the command, the miniature linear actuator inside each outrigger extends downwards, pushing the lower end face of the outrigger gradually closer to and ultimately pressing against the tunnel floor. The high-friction coefficient tungsten carbide claw disc integrated on the lower end face of the outrigger first contacts the floor surface. As the actuator continues to apply pressure, the carbide tips of the tungsten carbide claw disc gradually embed into the rock or concrete surface of the tunnel floor, forming an initial mechanical engagement.

[0043] During the process of embedding the tungsten carbide claw disk into the base plate, a flexible pressure sensor array integrated inside each leg monitors the pressure distribution on the contact surface between the leg and the base plate in real time. This sensor array consists of multiple sensing units, which can sense the magnitude of compressive stress in different areas of the contact surface and summarize the pressure values ​​at each point into a single pressure distribution signal, which is then fed back to the central control decision unit in real time via a fieldbus.

[0044] After receiving the pressure distribution signals from the four outriggers, the central control decision unit runs a closed-loop pressure equalization control algorithm. This algorithm continuously compares the total contact pressure of the four outriggers and the differences between them. If the pressure value of a certain outrigger is too low, it indicates that the outrigger is not making sufficient contact with the base plate. The central control decision unit then sends an incremental stroke command to the linear actuator of that outrigger, causing it to extend downwards until the pressure value of that outrigger rises to a level comparable to the other outriggers. When the contact pressure of all four outriggers falls within the preset equalization threshold range, and the maximum pressure difference between them is less than the system's set tolerance, the central control decision unit determines that all four outriggers have formed a reliable frictional self-lock. At this point, the linear actuator stops operating and maintains its current position, with the applied force maintained constant through a hydraulic or mechanical self-locking structure. Thus, the anchor drilling rig completes high-rigidity parking on the slope. The self-stabilizing parking subsystem generates a parking completion signal and sends it to the central control decision unit as a trigger condition for activating the subsequent positioning modeling subsystem.

[0045] The beneficial effects of this implementation method are as follows: By refining the structure and control logic of the self-stabilizing parking subsystem, the fully automated and closed-loop parking process on slopes is achieved. The tilt angle fine-tuning actuator can actively compensate for the slope in any direction, ensuring the verticality of the column and providing an accurate reference for subsequent drilling positioning; the pressure-friction composite sensing feet integrate a high-friction coefficient tungsten carbide claw disk and a flexible pressure sensor array, which, together with the pressure equalization closed-loop control of the central control decision unit, ensures that all four feet form a firm friction self-lock with the base plate, fundamentally eliminating the parking instability problem caused by uneven or locally soft base plate, and significantly improving the operational safety of the drilling rig in gentle slope inclined shafts.

[0046] According to the aforementioned control system, after the positioning and modeling subsystem is activated, it calls the pre-stored digital twin model of the roadway in the central control decision unit, and controls the lidar and high-definition camera modules installed on the top of the column to perform a panoramic scan of the surrounding rock of the current working face, collecting point cloud data and high-definition texture images; the central control decision unit registers and fuses the real-time collected point cloud data with the pre-stored digital twin model of the roadway, locates the current position of the anchor drilling rig in virtual space, marks the center coordinates of the borehole to be drilled on the roadway sidewall of the roadway digital twin model according to the construction design requirements, and transforms the center coordinates to the anchor drilling rig's own base coordinate system, generating... The system obtains the precise coordinates of the borehole location; after locking the borehole location, the high-definition camera module zooms in to capture images of the texture, fractures, and joint structures of the surrounding rock surface; the central control decision unit runs the built-in deep convolutional neural network model to perform semantic segmentation and feature extraction on the feature images, identify dense fracture zones and lithological change boundaries, and, combined with the tunnel geological prediction information retrieved from the tunnel digital twin model, generates a lithological variation curve within the borehole depth range. Based on this, the borehole path is divided into several sections, and a preliminary combination of drilling speed and thrust parameters is preset for each section to form a preset drilling parameter combination.

[0047] The lidar and high-definition camera module refers to a set of composite sensors installed on the top of the column. For example, the lidar is responsible for emitting laser beams and receiving reflected signals to obtain three-dimensional point cloud data of the surrounding rock at the working face, while the high-definition camera simultaneously captures color texture images of the same area. The data from both are time-stamped and then combined to form a complete digital description of the current surrounding rock. Registration and fusion refers to the process of aligning and overlaying real-time acquired point cloud data with a pre-stored digital twin model of the tunnel in a unified spatial coordinate system. For example, an iterative nearest-point algorithm based on feature points can be used to match the tunnel contour features in the real-time point cloud with the corresponding features in the digital twin model, thereby calculating the precise pose of the drilling rig in the tunnel. Semantic segmentation and feature extraction refer to the two core processing steps performed by the deep convolutional neural network model on the feature images of the surrounding rock. Semantic segmentation classifies each pixel in the image into different semantic categories such as fractures, joints, and intact rock. Feature extraction further identifies the spatial distribution of dense fracture zones and the boundary lines of different types of lithology from the segmentation results.

[0048] The following detailed embodiment further illustrates the working process of the aforementioned location-finding modeling subsystem: After the self-stabilizing parking subsystem completes high-rigidity parking and sends the parking completion signal to the central control decision unit, the central control decision unit immediately activates the positioning modeling subsystem. The positioning modeling subsystem first loads the digital twin model of the tunnel section from the non-volatile storage unit of the central control decision unit. This model is pre-constructed based on geological exploration data and construction design drawings before tunnel excavation, and includes the precise geometric dimensions of the tunnel, its strike azimuth, design slope, and predicted rock strata interfaces and lithological properties at each mileage location.

[0049] After the model is loaded, the positioning and modeling subsystem simultaneously activates the LiDAR and high-definition camera modules installed on the top of the column. The LiDAR performs a 360-degree panoramic scan of the surrounding rock of the current working face at a certain angular resolution, quickly acquiring dense point cloud data reflecting the three-dimensional morphology of the surrounding rock. Simultaneously triggered by the LiDAR scan, the high-definition camera module captures multiple high-definition texture images covering the scanned area at the same time interval. Both types of data are transmitted in real time to the data preprocessing buffer of the central control decision unit via a gigabit Ethernet interface.

[0050] After receiving real-time point cloud data and high-definition texture images, the central control decision unit first performs noise reduction and filtering on the point cloud data to remove outliers caused by dust or equipment vibration. Then, the central control decision unit runs a spatial registration algorithm to extract geometric features from the real-time point cloud, such as the contours of the tunnel roof and floor, sidewall boundaries, and obvious geological structural surfaces. These features are then matched with corresponding features in a pre-stored digital twin model of the tunnel to calculate the transformation matrix describing the current position and attitude of the bolt drilling rig in the tunnel coordinate system. At this point, the current position of the bolt drilling rig in virtual space is accurately located.

[0051] Based on this precise positioning result, the central control decision unit retrieves the design document corresponding to the current cross-section from its internal support construction scheme database. This document specifies the spacing, intervals, and borehole layout of the anchor bolts to be installed in this cross-section. According to this borehole layout, the central control decision unit automatically marks the center coordinates of the boreholes to be drilled sequentially on the sidewall of the roadway digital twin model. For each marked center coordinate, the central control decision unit performs a coordinate transformation, using the calculated transformation matrix to convert the center coordinates from the roadway model coordinate system to the anchor bolt drilling rig's own base coordinate system, generating precise coordinates for the corresponding borehole location. These precise coordinates include the horizontal azimuth and vertical height values ​​relative to the drilling rig's column base point.

[0052] After pinpointing the precise coordinates of a borehole location, the high-definition camera module automatically focuses and zooms to capture images of the surrounding rock area corresponding to those coordinates. Using a telephoto lens, it obtains high-resolution close-up images of this local area, clearly revealing the structural features of the rock surface, such as texture, micro-fracture distribution, and joint orientation. This close-up image is also transmitted to the central control decision unit.

[0053] The central control decision unit activates its built-in deep convolutional neural network model to process the close-up image. This model, pre-trained on a large number of labeled images of the surrounding rock in the tunnel, is capable of identifying different types of rock surface features. The processing consists of two stages: the first stage is semantic segmentation, where the model classifies each pixel in the image, distinguishing regions belonging to different semantic categories such as tensional fractures, shear joints, and intact rock blocks using different masks; the second stage is feature extraction, where, based on the semantic segmentation results, the model further extracts high-level features such as the spatial contours of densely fractured zones, the relative sizes of each rock block, and the boundary positions of different lithological regions.

[0054] The central control decision unit correlates and compares the structural features extracted from the images with the geological prediction information of the current mileage location in the digital twin model of the tunnel. The geological prediction information includes the lithology, thickness, and orientation of the main joint groups of the rock strata at that location, inferred from previous exploration. Combining the image recognition results and the geological prediction information, the central control decision unit generates a lithology variation curve along the designed borehole depth, which describes the predicted changes in rock hardness at different depths from the borehole opening to the bottom.

[0055] Based on the lithology variation curve, the central control decision unit divides the designed borehole depth into several continuous segments, with relatively uniform lithology grades within each segment. For each segment, the central control decision unit calls upon a pre-set drilling parameter database. This database stores recommended drilling speed and feed thrust combinations corresponding to different lithology grades, derived from extensive field tests and engineering experience. The central control decision unit matches an optimal set of drilling speed and thrust parameters for each segment, forming a complete set of pre-set drilling parameter combinations for each segment, and temporarily stores them in memory, ready to be called sequentially according to borehole depth when drilling begins.

[0056] The beneficial effects of this implementation method are as follows: By refining the workflow of the positioning and modeling subsystem, the entire chain of automation is achieved, from global positioning to the generation of precise local coordinates, and then to the forward prediction of the lithology of the surrounding rock at the borehole location. Registration of lidar point clouds and digital twin models enables autonomous and precise positioning without manual measurement and layout. Utilizing high-definition camera zoom shooting and semantic segmentation and feature extraction from a deep convolutional neural network model, it can automatically identify fissures and lithological changes on the surrounding rock surface, and generate lithological variation curves based on geological prediction information. This provides a reliable feedforward basis for adaptive parameter adjustments in the subsequent drilling process, fundamentally solving the problems of blind drilling and easy jamming when encountering sudden changes in lithology in traditional drilling rigs.

[0057] According to the aforementioned control system, the posture servo subsystem includes a first servo drive unit for driving the sliding case to rise and fall along the column, an electromagnetic locking unit for decoupling the control rod and the limit wedge block, and a second servo drive unit for driving the support case to move horizontally. The central control decision unit calculates the target height of the sliding case based on the received precise coordinates of the drilling position. The first servo drive unit drives the sliding case to rise and fall along the spiral lifting guide column of the column until the sliding case reaches near the target height, then switches to micro-motion mode. Based on the position signal fed back by the absolute grating ruler integrated on the column, the height of the sliding case is finely adjusted within millimeter-level accuracy. After the sliding case is in place, the electromagnetic locking unit is energized, and the electromagnet attracts the rod connected to the limit wedge block, pulling the limit wedge block into the corresponding limit groove on the column, thus achieving mechanical rigid locking of the sliding case. After the mechanical rigid locking is completed, the second servo drive unit is started. According to the feed speed curve planned by the central control decision unit, it drives the support case to move the drilling machine body smoothly in a straight line along the slide rail, so that the drill bit reaches the drilling position.

[0058] The first servo drive unit can refer to a precision servo drive device that controls the sliding housing's vertical movement along the column. For example, it could be a nut or gear mechanism driven by a servo motor and reducer, engaging with a spiral lifting guide post on the column. This mechanism can switch between high-speed long-stroke and low-speed micro-motion modes, balancing motion efficiency and positioning accuracy. The absolute grating ruler can refer to a high-precision linear displacement sensor installed along the column direction. Its output is the absolute encoded value for each position, providing the precise absolute height of the sliding housing relative to the column reference point at any time without requiring a zero-return operation, thus providing feedback signals for fine positioning in micro-motion mode. The electromagnetic locking unit can refer to a device that uses electromagnetic force to drive a mechanical locking mechanism. For example, when energized, the electromagnet generates a strong attraction, pulling the lever and overcoming the spring force of the return spring, quickly pushing the limit wedge block into the limit groove on the column, achieving a gapless rigid lock between the sliding housing and the column. When de-energized, the return spring removes the wedge block, unlocking the mechanism. The feed rate curve can refer to the preset trajectory of the horizontal movement speed of the support shell as a function of time or displacement, which is planned by the central control decision unit according to the drilling depth, rock conditions and construction process requirements. For example, when the drill bit approaches the rock wall, it uses a low-speed approach, and after contacting the rock wall, the feed rate is dynamically adjusted according to the preset drilling parameter combination.

[0059] The following detailed embodiment further illustrates the working process of the aforementioned pose servo subsystem: After the central control decision unit obtains the precise coordinates of the drilling position generated by the positioning modeling subsystem, the vertical component of these coordinates is the target height of the sliding shell required for this drilling operation. The central control decision unit then sends the target height value along with the activation command to the first servo drive unit of the pose servo subsystem.

[0060] After receiving the command, the first servo drive unit first determines the difference between the current position of the sliding housing and the target height. If the difference is large, it enters high-speed lifting mode, where the servo motor drives the sliding housing at its rated speed to move rapidly up and down along the spiral lifting guide of the column, significantly shortening the travel time. When the sliding housing moves to a preset deceleration range from the target height, the first servo drive unit automatically switches to micro-motion mode. In micro-motion mode, the servo motor runs at extremely low speed, and the central control decision unit reads the real-time height value of the sliding housing from the absolute grating ruler on the column at high frequency. It then calculates the difference between this real-time height value and the target height value, gradually reducing the motor output according to the magnitude of the difference, forming a closed-loop position control. Through this fine adjustment process, the final dwell height of the sliding housing is controlled within a millimeter-level accuracy range relative to the target height, ensuring accurate vertical positioning of the drill bit.

[0061] Once the sliding housing is precisely positioned, the central control decision unit sends a locking command to the electromagnetic locking unit. The core components of the electromagnetic locking unit are a high-capacity DC electromagnet and an armature fixedly connected to the pull rod. Upon receiving the command, the electromagnet coil is energized, instantly generating a powerful electromagnetic force that quickly attracts the armature and pull rod together. A limit wedge is fixedly connected to the other end of the pull rod. As the pull rod is attracted, the limit wedge is pulled along a guide groove on the column surface and precisely engages in a limit groove corresponding to its current position. The inclined surface of the limit wedge fits tightly against the inclined surface of the limit groove, eliminating any clearance between the sliding housing and the column, achieving a mechanically rigid lock of the sliding housing on the column. At this point, even if a large reaction force is generated during drilling, the height position of the sliding housing will not shift.

[0062] After confirming the mechanical rigidity lock, the central control decision unit immediately sends a start command and a pre-planned feed rate curve to the second servo drive unit. The servo motor of the second servo drive unit begins to rotate, transmitting power to the drive gear via a reducer. The drive gear meshes with a rack fixed to the lower end of the slide rail, converting the rotational motion into horizontal linear motion of the support shell along the slide rail. During the idle stroke phase before the drill bit contacts the rock wall, the second servo drive unit operates at high speed according to the rapid approach section of the feed rate curve, driving the support shell to quickly approach the tunnel sidewall. When the drill bit tip is about to contact the rock wall, the feed rate curve enters a low-speed transition section, and the second servo drive unit smoothly reduces its speed, allowing the drill bit to contact the rock surface gently, avoiding impact. After the drill bit contacts the rock surface, the second servo drive unit switches to torque control mode according to subsequent drilling parameter adjustment commands issued by the central control decision unit, preparing to begin the formal drilling operation. At this point, the drill bit has precisely reached the drilling position.

[0063] The beneficial effects of this implementation are as follows: Through the rapid and micro-motion dual-mode switching of the first servo drive unit in the pose servo subsystem, and the real-time closed-loop feedback of the absolute grating ruler, the large-stroke high-speed motion of the sliding body height and the millimeter-level precise positioning at the end are achieved, taking into account both work efficiency and positioning accuracy; the electromagnetic locking unit uses an electromagnetically driven limit wedge block mechanism to provide instantaneous, high-rigidity mechanical locking after the sliding body is in place, eliminating the elastic deformation and gaps that may exist in traditional hydraulic or mechanical locking methods, and ensuring the absolute stability of the vertical reference of the drilling rig during drilling; the second servo drive unit executes smooth feed according to the planned speed curve, realizing a smooth transition of the drill bit from standby to contact with the rock surface, laying the foundation for subsequent high-quality drilling.

[0064] According to the aforementioned control system, the drilling sensing subsystem includes an acoustic emission sensor integrated at the front end of the drilling machine's gearbox, a triaxial vibration sensor fixed at the connection between the support shell and the drilling machine, and a miniature material identification probe that penetrates the center hole of the drill bit to reach the cutting edge. After the drilling operation starts, the acoustic emission sensor continuously captures the elastic wave signals released by the rock during the extrusion and shearing of the drill bit. The triaxial vibration sensor synchronously collects the axial, radial, and tangential vibration amplitudes and frequencies of the drilling machine. The miniature material identification probe uses the principle of contact impedance spectrum analysis to contact the bottom rock surface at each cycle of the drill bit's rotation and measure the complex impedance of the bottom rock surface. The elastic wave signal, vibration amplitude and frequency, and complex impedance are transmitted in parallel to the central control decision unit as multi-source sensing signals.

[0065] Among them, an acoustic emission sensor can refer to a piezoelectric sensor used to detect the instantaneous release of elastic waves due to local deformation or fracture within a material. For example, it can be installed at the front end of the gearbox, in close contact with the drill bit housing, and can highly sensitively capture the high-frequency elastic wave signals emitted when rocks develop microcracks and break under the action of the drill bit's cutting edge. A triaxial vibration sensor can refer to a microelectromechanical system inertial sensor that can simultaneously measure its acceleration values ​​in three orthogonal axes in space. By being fixed to a rigid connector between the support shell and the drilling machine body, it reflects the dynamic vibration response of the machine body in real time under the interaction between the drill bit and the rock. Axial vibration reflects the resistance fluctuation in the feed direction, while radial and tangential vibrations reflect drill bit yaw and uneven cutting force. A micromaterial identification probe can refer to a tiny electrode that is insulated and encapsulated with only its tip exposed. It extends through a narrow hole in the center of the drill bit to the cutting edge of the drill bit. During each cycle of the drill bit's rotation, when the electrode rotates to the phase of contact with the bottom of the hole, its tip forms a momentary electrical contact with the fresh rock surface at the bottom of the hole. The measurement circuit injects a tiny multi-frequency AC excitation signal into the contact interface and synchronously acquires the response, thereby obtaining the complex impedance spectrum of the rock surface material. The amplitude and phase angle of this complex impedance are closely related to the lithological parameters of the rock, such as its mineral composition, porosity, and water content.

[0066] The following detailed embodiment further illustrates the working process of the aforementioned drilling sensing subsystem: Once the pose servo subsystem completes drill bit positioning, the central control decision unit issues a start command to the drilling machine, and the drill bit begins to rotate and commence formal drilling operations. Simultaneously, the drilling sensing subsystem is activated and enters a continuous monitoring state.

[0067] The acoustic emission sensor, integrated at the front of the drill bit's gearbox, is mounted on the metal housing outside the spindle bearing housing. This location places it along the path of elastic waves propagating from the cutting edge along the drill pipe to the machine body, resulting in minimal signal attenuation. As the drill bit's cutting edge continuously squeezes and shears the rock at the bottom of the hole, high-frequency elastic waves are instantaneously released during the initiation, propagation, and penetration of microcracks within the rock. The piezoelectric ceramic element inside the acoustic emission sensor converts these mechanical vibration waves into weak voltage signals. After amplification by a preamplifier and filtering out mechanical noise by a bandpass filter, a high signal-to-noise ratio elastic wave signal characterizing the real-time fracture strength of the rock is formed and transmitted to the data acquisition card of the central control decision unit via a shielded cable.

[0068] The triaxial vibration sensor, fixed at the connection between the support shell and the drilling machine body, is a microelectromechanical system (MEMS) inertial measurement device. It integrates three orthogonal sensitive mass blocks and corresponding capacitance detection units. When the drill bit cuts at the bottom of the hole, dynamic cutting reaction forces are generated due to uneven rock hardness, the presence of fissures, or drill bit wear. These reaction forces are transmitted to the drilling machine body through the drill rod, causing forced vibrations in the axial, radial, and tangential directions. The triaxial vibration sensor measures the instantaneous acceleration values ​​of the machine body in these three directions, outputting three voltage signals corresponding to axial, radial, and tangential accelerations, respectively. These three signals are sampled synchronously at a frequency much higher than the fundamental frequency corresponding to the drill bit rotation speed to fully capture the time-domain waveform and spectral characteristics of the vibration signal. The signals are also uploaded to the central control decision unit in real time via a data bus.

[0069] A miniature material identification probe, penetrating the drill bit's center bore and reaching the cutting edge, is a key component in the drilling sensing subsystem, providing direct lithological information. The probe itself is a high-strength stainless steel capillary with a tiny outer diameter, internally sealed with insulating resin. Only at its very tip is a tiny spherical or conical metal contact, the surface of which is flush with or slightly protruding from the drill bit's cutting edge. Inside the drill bit's center bore, an ultra-fine shielded wire connects the probe contact to an impedance measurement circuit mounted on a rotating slip ring at the drill bit's tail end. The impedance measurement circuit includes a precision programmable multi-frequency signal generator and a phase-sensitive detector unit. During drilling, with each revolution of the drill bit, the probe contact rotates with it, contacting the fresh rock surface at the bottom of the borehole within an extremely short angular phase window. At this time, the impedance measurement circuit injects a series of continuously scanning micro-AC current excitation signals into the rock surface through the probe contact, simultaneously measuring the voltage response generated at both ends of the rock surface. The phase-sensitive detector separates the real and imaginary parts of the response, thereby calculating the complex impedance value of the rock surface at the bottom of the borehole across the entire frequency sweep range. The complex impedance value is acquired within one revolution of the drill bit, and the data is packaged at the beginning of the next revolution. The complex impedance data measured in the previous revolution is then sent to the central control decision unit via wireless transmission or slip ring data channel.

[0070] At this point, the elastic wave signal output by the acoustic emission sensor, the axial, radial and tangential vibration amplitude and frequency signals output by the triaxial vibration sensor, and the complex impedance signal output by the micro material identification probe are simultaneously aggregated and transmitted in parallel to the real-time data processing engine of the central control decision unit via high-speed industrial Ethernet, awaiting subsequent fusion analysis and processing.

[0071] The beneficial effects of this implementation are as follows: By deploying acoustic emission sensors, triaxial vibration sensors, and micro-material identification probes within the drilling sensing subsystem, a multi-physics, multi-dimensional synchronous sensing drilling status monitoring system is constructed. Acoustic emission signals can sensitively reflect the severity of rock fracturing, vibration signals can reflect the dynamic interaction characteristics between the drilling rig and the surrounding rock, and the complex impedance measured by the micro-probe directly provides the electrical characteristics of the lithology at the cutting point. The three types of signals complement each other, overcoming the limitation of a single sensor having a single source of information under complex geological conditions. This provides a rich and reliable data foundation for the central control decision unit to accurately and robustly judge the drilling conditions and identify lithological changes, which is a key prerequisite for realizing subsequent adaptive drilling control.

[0072] According to the aforementioned control system, the central control decision unit performs the following specific method for fusing and analyzing multi-source sensing signals: It performs a fast Fourier transform on the elastic wave signal to extract the main frequency band energy and event count rate as a characterization of rock mass fracture strength; it performs wavelet packet decomposition on the vibration signal to separate characteristic frequency bands related to changes in rock hardness; it analyzes the real and imaginary parts of the complex impedance signal separately to identify the lithology type of the current cutting interface in real time; it compares the fused sensing features, including the characterization of rock mass fracture strength, characteristic frequency bands, and lithology type, with the lithology variation curve generated by the positioning modeling subsystem, and generates drilling parameter adjustment commands based on the comparison results.

[0073] The specific logic for issuing drilling parameter adjustment commands is as follows: When the measured rock hardens, i.e., the main frequency energy of the elastic wave signal suddenly increases, the high-frequency components of the vibration signal intensify, and the real part of the complex impedance signal increases, the central control decision unit immediately issues commands to the second servo drive unit in the posture servo subsystem to reduce the feed rate and simultaneously increase the upper limit of the thrust; when the measured rock softens, the central control decision unit issues commands to the second servo drive unit to increase the feed rate and reduce the thrust; the second servo drive unit switches to torque control mode during drilling and adjusts the feed thrust and speed in real time according to the drilling parameter adjustment commands.

[0074] Among these, the dominant frequency band energy refers to the sum of the squares of the amplitudes of all frequency components within the dominant frequency range corresponding to rock fracture characteristics in the spectrum after performing a fast Fourier transform on the elastic wave signal. This value directly reflects the amount of fracture energy released by the rock per unit time; a higher value indicates more severe rock fracture and a harder lithology. The event count rate refers to the number of burst pulses of the acoustic emission signal exceeding a preset voltage threshold per unit time. Each pulse corresponds to one rock micro-fracture event, and the count rate reflects the frequency of rock fracture activity. Wavelet packet decomposition is a time-frequency joint analysis method that decomposes the vibration signal layer by layer at different scales to obtain sub-signals in multiple frequency bands. The low-frequency band reflects the attitude changes of the drilling rig's rigid body motion, while the high-frequency band reflects the high-frequency impact components of the cutting process. By selecting specific frequency bands with the highest sensitivity to changes in rock hardness for analysis, the anti-interference capability of lithology identification can be improved. A characteristic frequency band refers to a specific sub-band that, after wavelet packet decomposition, has the strongest ability to distinguish changes in rock hardness. For example, the energy in this frequency band is significantly higher when drilling into hard rock than when drilling into soft rock. By monitoring the energy change trend of this frequency band, the direction of the change in hardness of the current rock layer relative to the previous rock layer can be determined. The real and imaginary parts of a complex impedance signal refer to the two parts obtained by decomposing the complex representation of the impedance of the measured rock surface. The real part reflects the resistive characteristics of the rock to current and is related to the porosity, water content, and mineral conductivity of the rock. The imaginary part reflects the capacitive reactance characteristics of the rock to current and is related to the dielectric constant of the rock. By using the characteristic vector formed by the real and imaginary parts, different types of rocks can be distinguished and identified.

[0075] The following detailed embodiment further illustrates the complete process by which the aforementioned central control decision unit fuses and analyzes multi-source sensing signals to generate drilling parameter adjustment commands: After the drilling sensing subsystem transmits the elastic wave signal, vibration signal and complex impedance signal in parallel to the central control decision unit, the real-time data processing engine of the central control decision unit immediately starts the multi-channel parallel solution process.

[0076] For the elastic wave signal channel, the central control decision unit first performs windowing and framing processing on the continuous elastic wave time-domain signal, dividing the signal into short-time analysis frames that are continuous in time. For each frame, the central control decision unit performs a Fast Fourier Transform (FFT) to convert the time-domain waveform into a spectral distribution. In the spectrum, the system has pre-stored the dominant frequency ranges corresponding to different rock types based on previous experimental calibrations. The central control decision unit calculates the sum of the squares of the amplitudes of all spectral lines within this dominant frequency range to obtain the dominant frequency band energy value of the current frame. Simultaneously, the central control decision unit uses a set voltage threshold to perform pulse detection on the time-domain waveform of the elastic wave signal, counting the number of pulses exceeding this threshold within a unit time window as the event count rate. The dominant frequency band energy and the event count rate together represent the rock mass fracture strength; higher values ​​indicate harder rock and greater cutting difficulty.

[0077] For the vibration signal channel, the central control decision unit performs wavelet packet decomposition on the axial, radial, and tangential vibration signals output by the triaxial vibration sensor. Taking the axial vibration signal as an example, the central control decision unit selects a wavelet basis function with good time-frequency localization characteristics to perform wavelet packet decomposition on the axial vibration signal at several levels, obtaining a decomposition tree composed of multiple sub-frequency bands. Based on the sensitivity analysis results established during the offline training phase, the central control decision unit selects several characteristic frequency bands that are most sensitive to changes in rock hardness from the decomposition tree, calculates the energy value of these characteristic frequency bands at the current moment, and compares the difference with the energy values ​​at historical moments to obtain the trend of energy change of the characteristic frequency bands. If the energy of the characteristic frequency bands increases significantly, it indicates an increase in high-frequency impact components during the cutting process, which is a dynamic characterization of rock hardening; conversely, it indicates rock softening.

[0078] For the complex impedance signal channel, the central control decision unit receives a set of complex impedance values ​​measured and uploaded by the micro-material identification probe during each drill bit revolution. This set of complex impedance values ​​is a discrete spectrum that varies with the excitation frequency. The central control decision unit extracts the real and imaginary parts of the complex impedance at two representative frequency points in the low-frequency and high-frequency bands to form a four-dimensional feature vector. This four-dimensional feature vector is input into a pre-trained lithology classification model. This model uses a classifier based on support vector machines or lightweight neural networks, which can determine the lithology of the rock at the current drill bit cutting interface in real time based on the region where the feature vector falls in the feature space. For example, it can classify the rock into common categories such as hard sandstone, argillaceous sandstone, mudstone, and shale, and provide a classification confidence score.

[0079] The central control decision unit integrates the rock fracture strength characterization, characteristic frequency band energy change trend, and current lithology type obtained from the above three channels, and compares them in real time with the lithology variation curve generated by the positioning modeling subsystem for the borehole location. The core logic of the comparison is to determine whether the measured lithology characteristics are consistent with the predicted curve, harder, or softer. If the current integrated analysis determines that the measured lithology is becoming harder relative to the predicted lithology grade corresponding to the current borehole depth, specifically manifested as a sudden increase in the main frequency band energy exceeding the preset increment threshold, a significant increase in characteristic frequency band energy, and a significant increase in the real part of the complex impedance, the central control decision unit automatically generates a drilling parameter adjustment command, which includes control parameters with the action type of "reducing the feed rate and increasing the upper limit of thrust". This command is immediately sent to the second servo drive unit of the posture servo subsystem via the motion control bus. The second servo drive unit has switched the control mode from position mode to torque control mode during drilling. Upon receiving the command, the servo drive reduces the set value of the speed loop to decrease the feed rate, while simultaneously increasing the maximum output value of the torque limit loop to increase the upper limit of the allowable thrust. Reducing the feed rate decreases the depth of cut per revolution of the drill bit, preventing overload of the cutting edge or jamming due to excessive depth of cut; increasing the upper limit of thrust ensures that the drill bit has sufficient axial pressure to effectively break hardened rock.

[0080] Conversely, if the fusion analysis determines that the measured lithology shows a softening trend, the central control decision unit generates and issues a drilling parameter adjustment command to "increase the feed rate and reduce the thrust." The second servo drive unit then increases the feed rate to improve drilling efficiency, while simultaneously lowering the thrust limit to prevent excessive thrust from causing the drill bit to sink too quickly in soft rock, resulting in borehole diameter deviations or drill pipe bending.

[0081] The entire fusion analysis and command generation process is executed in a high-frequency cycle. At the end of each cycle, the central control decision unit sends out the generated control commands, thus forming a millisecond-level "perception-decision-execution" closed loop, ensuring that the drilling parameters always match the actual lithological state of the current cutting interface.

[0082] The beneficial effects of this implementation method are as follows: By fusing and analyzing multi-source sensing signals through the central control decision unit and dynamically comparing them with the lithology variation curve, an adaptive drilling control closed loop from "pre-planning" to "in-process correction" is realized. Comprehensive analysis of multi-dimensional characteristics such as the dominant frequency energy and event count rate of acoustic emission, the characteristic frequency band of vibration, and the real and imaginary parts of complex impedance significantly improves the accuracy and robustness of lithology variation discrimination and reduces misjudgments caused by noise or accidental factors in single-source signals. Based on this, the generated drilling parameter adjustment commands can optimize drilling thrust and speed in real time. When encountering hard rock formations, the feed is automatically reduced to avoid overload and stuck drill bit; when encountering soft rock formations, the feed is automatically increased to improve efficiency, achieving autonomous adaptation to varying geological conditions during the drilling process.

[0083] According to the aforementioned control system, the multi-state slag removal subsystem includes a high-pressure micro-jet unit integrated inside the support shell, an air curtain generating unit embedded in the waste removal groove of the slide rail, and a spray pre-wetting unit located upstream of the brush movement direction on the support shell; the central control decision unit automatically adjusts the slag removal strategy based on the lithology hardness level determined by the drilling sensing subsystem; when the lithology is medium hardness or above, the high-pressure micro-jet unit is activated, and this high-pressure micro-jet unit directly impacts the bottom of the hole through the micron-level nozzle at the end of the hollow spiral chip removal groove of the drill bit in the form of intermittent jet pulses synchronized with the drill bit rotation speed, utilizing water hammer. The effect transforms rock powder into a suspended slurry and forces the slurry to be discharged out of the hole in the opposite direction along the spiral groove; the air curtain generating unit works synchronously at the moment the horizontal feed drive of the support shell is started, and high-speed planar airflow is injected from the narrow slit in the center of the waste discharge trough of the air curtain generating unit, forming an inclined air curtain above the meshing surface of the rack and gear, blowing the splashed or falling debris away to the outside of the slide rail or directly into the waste discharge trough; the spray pre-wetting unit sprays a layer of water mist film onto the surface of the rack, so that fine dust is captured and agglomerated when it comes into contact with the surface of the rack; the brush scrapes off the agglomerated wet mud and debris that has not been blown away by the air curtain under the action of the elastic element.

[0084] The high-pressure micro-jet unit refers to a micro-pumping system that ejects water at extremely low flow rates and extremely high pressures. For example, a micro-ceramic plunger pump pressurizes water in a tank, which is then ejected through a slender pipe and a micron-sized nozzle integrated with the drill bit at a pulse frequency of tens of times per second, directly impacting the bottom of the borehole. The impact kinetic energy of the jet and the water hammer effect rapidly disperse the cut but compacted rock powder, forming a thin slurry. The water hammer effect refers to the high-pressure shock wave phenomenon generated within the liquid due to the instantaneous momentum change when the high-speed jet impacts the rock surface at the bottom of the borehole in a very short time. This shock wave can effectively strip away rock powder particles adhering to the bottom of the borehole and fissures. An air curtain generating unit can refer to a device that uses high-speed airflow to form an isolation barrier. For example, compressed air is supplied by a micro compressor or downhole compressed air pipeline. After pressure stabilization and rectification, the compressed air is ejected at high speed from a narrow slit located in the center of the waste discharge tank in a laminar or near-laminar flow state, forming a flat high-speed airflow curtain. This air curtain obliquely covers the area above the meshing area of ​​the rack and drive gear, causing debris flying towards the tooth surface to be deflected by the airflow pressure within the air curtain. A spray pre-wetting unit can refer to a micro-spraying device that generates extremely fine water mist. For example, water is atomized into micron-sized water mist particles through micro-atomizing nozzles using ultrasonic or pressure swirling methods. This mist is evenly sprayed onto the rack tooth surface, forming an extremely thin liquid film. This liquid film uses the surface tension and capillary action of water to capture and adhere fine dust particles that fall with the air, preventing them from entering the gaps between the tooth surfaces.

[0085] The following detailed embodiment further illustrates the working process of the aforementioned multi-state slag discharge subsystem: During drilling operations, the central control decision unit continuously receives lithology hardness level assessment results from the drilling sensing subsystem. The lithology hardness level is a comprehensive classification index output by the central control decision unit after fusing and analyzing multi-source sensing signals; for example, lithology may be divided into several levels such as soft, medium hardness, and hard. Based on this lithology hardness level, the central control decision unit selects a matching control mode from a preset slag removal strategy table, generates slag removal strategy instructions, and sends them to the multi-state slag removal subsystem.

[0086] When drilling into rock formations of medium hardness or higher, the amount of rock dust produced by the borehole increases, the particles become coarser, and they are easily compacted to the bottom of the hole. At this point, the central control decision unit activates the high-pressure micro-jet unit. The micro-ceramic plunger pump of the high-pressure micro-jet unit draws clean water from the water tank integrated with the drilling rig, pressurizes it, and then delivers the high-pressure water to the end of the hollow spiral chip removal groove machined inside the drill bit body through high-pressure micro-diameter pipelines laid along the outside or inside of the drill rod. At the end of the spiral chip removal groove, near the cutting edge of the drill bit, one or more tiny nozzle holes are machined. High-pressure water is ejected from these micron-sized nozzles at extremely high flow rates, forming a fine high-pressure water jet that directly impacts the rock dust accumulation area at the center of the bottom of the hole. The water jet is sprayed intermittently at a pulse frequency synchronized with the drill bit rotation speed, spraying once each time the chip removal groove of the drill bit rotates to the position aligned with the nozzle. Utilizing the water hammer effect generated by the instantaneous impact of the water pulse on the bottom of the hole, the rock dust clumps that have been cut by the drill bit but compacted to the bottom of the hole are broken up and quickly mixed with water to form a suspension slurry. Subsequently, the high-pressure water flow and the rotation of the drill bit together force the slurry to flow out of the hole along the spiral rise angle of the spiral chip removal groove and into the slag collection groove at the front of the drilling rig.

[0087] While the high-pressure micro-jet unit is operating, the air curtain generating unit embedded in the waste discharge trough of the slide rail also enters the working state simultaneously at the moment the horizontal feed drive of the support shell is started. The air curtain generating unit receives compressed air from the downhole compressed air pipeline. After passing through internal filtration and pressure regulating valve group to adjust to a suitable pressure, it enters a slit-type nozzle arranged along the center of the waste discharge trough. The compressed air is ejected from this slit at high speed, forming a flat planar jet. The orientation of this slit nozzle is designed so that the ejected high-speed planar airflow is obliquely upward, exactly covering the area directly above the meshing surface of the rack and drive gear, forming an invisible but highly dynamic air curtain barrier. During drilling, larger debris particles splashed from the borehole area, or rock cuttings that bounce off and fall from the waste discharge trough, are deflected from their flight path by the momentum and aerodynamic force carried by the high-speed airflow when passing through the air curtain area. They are either blown to the outside of the slide rail and fall into the tunnel floor, or blown directly to the bottom of the waste discharge trough and discharged through the waste discharge trough opening, and cannot reach the meshing surface of the rack and gear.

[0088] For fine dust particles suspended in the air that the air curtain cannot completely intercept, a pre-wetting spray unit located in the windward direction of the brush's movement plays a crucial role. This unit, installed at the front of the support housing above the rack that the brush will pass over, consists of a miniature water atomizing nozzle and a water supply line. The nozzle uses pressure differential or ultrasonic vibration to break water into micron-sized droplets, continuously or intermittently spraying a very thin, uniform water mist film onto the rack's tooth surface to be cleaned. When fine dust particles suspended in the air come into contact with the tooth surface covered by this water mist film during settling or drifting, the dust particles are captured by the water film and agglomerate due to the viscosity of the water, forming tiny wet mud dots that adhere to the tooth surface, preventing them from entering the tooth gaps in a dry, loose form and causing abrasive wear.

[0089] As the drive motor operates, the brush moves along the rack. Under continuous pressure from the elastic element, the brush bristles adhere tightly to the tooth surfaces and roots of the rack. When the brush passes over the pre-wetted tooth surface area, the bristles scrape up and push away previously accumulated wet mud spots and a small amount of larger, damp debris that wasn't completely blown away by the air curtain, pushing them into the waste discharge trough and restoring the tooth surface to cleanliness. Because the bristles remove water-wetted mud rather than dry, hard particles, this significantly reduces bristle wear and avoids scratching the rack surface.

[0090] When the drilling sensing subsystem determines that the current drilling lithology is soft rock layer, the central control decision unit determines that the amount of rock powder generated is small and mostly in powder form. At this time, only the air curtain generation unit and the spray pre-wetting unit can be kept working, while the high-pressure micro-jet unit is turned off to save water, thereby realizing the intelligent matching of the slag removal strategy with the lithological conditions.

[0091] The beneficial effects of this implementation method are as follows: By deploying three different fluid treatment methods—high-pressure micro-jet, air curtain purging, and spray pre-wetting—within the multi-mode slag removal subsystem, and intelligently combining and switching them according to the rock hardness level, a three-dimensional cleanliness assurance system that combines active and passive approaches and addresses both internal and external issues is constructed. High-pressure pulse jet effectively solves the slag removal problem caused by compacted rock powder at the bottom of the hole during hard rock drilling; the air curtain spatially isolates large particles of debris from intruding on the transmission surface; and the spray pre-wetting mechanism transforms the abrasive behavior of fine dust into harmless wet condensation on the gear teeth. The synergistic work of the brush, air curtain, and water mist significantly extends the service life of the brush itself and the rack and pinion gears, ensuring long-term maintenance-free and reliable operation of the transmission system in high-concentration dust environments in roadways.

[0092] According to the aforementioned control system, the central control decision unit polls the feedback values ​​of each sensor in the drilling sensing subsystem and the multi-state cuttings removal subsystem at a fixed high-frequency rhythm throughout the entire drilling operation cycle. When the system detects signs of stuck drill bit by exceeding the time-domain kurtosis index of the vibration signal and abrupt changes in the event rate of acoustic emission, the central control decision unit executes a three-level protection strategy: Level 1: It issues an emergency stop feed command to the posture servo subsystem while maintaining drill bit rotation; Level 2: When the drill rod torque of the drill bit is detected to continue to rise, it commands the servo drive unit that drives the horizontal movement of the support shell to reverse the support shell in the opposite direction with a preset minimum step size to perform drill bit retraction and cuttings removal; Level 3: After the vibration signal and acoustic emission signal return to the normal range, it re-plans the drilling parameters for this section and continues drilling to the designed hole depth with a more moderate parameter combination.

[0093] Among them, high-frequency beat refers to the fixed time interval period for the central control decision unit to query the status of subordinate sensors and collect data, such as with a period on the order of milliseconds. This ensures that all key signals can be read and preliminarily judged within one control cycle, providing time guarantee for the timely detection of early signs of stuck drill bit. The time-domain kurtosis index is a dimensionless index obtained by statistical analysis of the time-domain waveform of vibration signals. It is used to characterize the sharpness of the signal amplitude distribution relative to the normal distribution. When the drilling process is stable, the vibration signal approximately follows a normal distribution, and the kurtosis value is close to a certain constant. When early signs of stuck drill bit, such as intermittent impacts or increased friction, appear, a large number of peaks far from the mean appear in the signal amplitude distribution, and the kurtosis index will increase significantly and exceed the preset threshold. It is a warning index that is highly sensitive to impact-type anomalies. A sudden change in the event rate can refer to a step-like and significant increase in the event count rate of acoustic emission signals within a short time window. During normal drilling, the event rate fluctuates within a relatively stable range. However, when the drill bit encounters a hard inclusion or the borehole begins to deviate, causing local overload of the cutting edge, rock fracture events increase sharply, manifesting as a sudden spike in the event rate. This sudden change characteristic helps to identify the rising risk of stuck drill bit early.

[0094] The following detailed embodiment further illustrates the process by which the aforementioned central control decision unit performs status monitoring and a three-level stuck drill protection strategy throughout the entire drilling operation cycle: Throughout the entire process from the start of drilling operations to reaching the designed hole depth and returning to zero, the central control decision unit continuously operates a monitoring cycle at a fixed high-frequency beat. Within each beat cycle, the central control decision unit sequentially polls the signal conditioning units of the acoustic emission sensor and the triaxial vibration sensor in the drilling sensing subsystem, as well as the pressure sensor of the high-pressure micro-jet unit, the wind pressure sensor of the air curtain generation unit, and the flow sensor of the spray pre-wetting unit in the multi-state slag removal subsystem, through the industrial Ethernet bus, reading the real-time feedback values ​​of each node and storing them in the monitoring data circular buffer.

[0095] At the end of each monitoring cycle, the central control decision unit performs rapid anomaly detection calculations on the latest acquired vibration and acoustic emission signals. For vibration signals, the central control decision unit selects time-domain data from the axial vibration channel and calculates the time-domain kurtosis index within the current sliding window. The specific calculation logic is as follows: the mean and standard deviation of the vibration acceleration sampling point sequence within the window are calculated, then the mean of the fourth power of the deviation of each sampling point relative to the mean is calculated and divided by the fourth power of the standard deviation to obtain the dimensionless kurtosis value. The central control decision unit compares the calculated current kurtosis value with the pre-stored stuck drill warning threshold. For acoustic emission signals, the central control decision unit calculates the increment of the event count rate between the current and previous monitoring cycles and compares it with the upper limit of the allowable increment within the normal fluctuation range.

[0096] When the monitoring algorithm determines that the time-domain kurtosis index of the vibration signal exceeds the preset threshold, and the event count rate of the acoustic emission signal changes abruptly by exceeding the upper limit of the increment within two consecutive monitoring cycles, the central control decision unit confirms that the risk of stuck drill has entered the precursor stage and immediately triggers the automated execution process of the preset three-level protection strategy.

[0097] The first level of protection is activated instantly. The central control decision unit generates an emergency stop feed command and sends it in the highest priority message format to the second servo drive unit in the pose servo subsystem via the motion control bus. Upon receiving the command, the second servo drive unit immediately applies dynamic braking to the servo motor driving the horizontal feed of the drill bit, stopping the drill bit's forward movement within the shortest possible distance to prevent further feed from exacerbating the drill bit jamming or causing the drill rod to break. Simultaneously, the central control decision unit continues to send rotation commands to the spindle drive unit of the drilling machine, keeping the drill bit rotating. The purpose of maintaining rotation is to use the circumferential motion of the drill bit's cutting edge to continue applying shearing action to the stuck rock, preventing static friction and cold welding between the drill bit and the borehole wall, and creating favorable conditions for subsequent drill retraction.

[0098] Within several monitoring cycles following the execution of the first-level protection action, the central control decision unit intensively monitors parameters reflecting drill rod torque. Drill rod torque can be obtained either from the load torque value estimated internally by the servo driver of the second servo drive unit or directly from a torque sensor mounted on the reducer output shaft. If the central control decision unit detects that the drill rod torque value does not decrease after the first-level protection action but continues to rise, it determines that simply stopping the feed is insufficient to resolve the stuck drill bit issue and triggers the second-level protection action. The central control decision unit sends a drill retraction command to the second servo drive unit, instructing the servo motor to rotate in the opposite direction with a preset minimum step size, driving the support shell to retract backward. This minimum step size is set to effectively pull the drill bit out of the stuck area without causing excessive tension on the drill rod or hole collapse due to excessively rapid retraction. Each time a minimum step size of retraction is executed, the central control decision unit pauses and reassesses the vibration and acoustic emission signals. If the indicators still do not decrease, it continues with the next minimum step size of retraction, repeating this process to perform the drill retraction and slag removal action until the drill bit is removed from the stuck area.

[0099] During the execution of the second-level protection action, the central control decision unit continuously judges whether the time-domain kurtosis index of the vibration signal and the event rate of acoustic emission have fallen back to within their respective normal range thresholds. Once it is detected that both of these indicators have returned to normal stable values, it indicates that the risk of stuck drill has been eliminated. The central control decision unit then terminates the drill retraction action and enters the third-level protection process. The central control decision unit retrieves the section information corresponding to the current hole depth and, combined with the actual drilling parameter records before the occurrence of the stuck drill precursor, replans the drilling parameters for the remaining length of that section. The core principle of this replanning is to adopt a more moderate setting than the original parameter combination. Specifically, this includes further reducing the feed rate by a percentage from the original preset value, while maintaining the upper limit of thrust at a relatively conservative level to avoid triggering stuck drill again. The new drilling parameter combination is generated and sent to the second servo drive unit, which then restarts the feed in a moderate mode and continues drilling until the end of that section and the final designed hole depth are reached.

[0100] The beneficial effects of this implementation method are as follows: By performing high-frequency status polling throughout the drilling cycle and conducting comprehensive early warning based on two highly sensitive characteristics—vibration kurtosis index and acoustic emission event rate mutation—early detection of stuck drill risk is achieved, significantly reducing the probability of missed and false alarms. The three-level progressive protection strategy, from emergency stop feed maintaining rotation, to drill retraction and slag removal, and then to parameter mitigation and re-drilling, has a clear logical hierarchy and progressive steps. This not only effectively and promptly eliminates the danger of stuck drill but also minimizes the negative impact of protective actions on drilling progress and the equipment itself, ensuring the safety and continuity of drilling operations under complex geological conditions.

[0101] According to the aforementioned control system, after a single drilling operation is completed, the central control decision unit controls the second servo drive unit to move in the reverse direction at high speed to the zero position, while simultaneously shutting down the air curtain generation unit and the high-pressure micro-jet unit of the multi-state slag discharge subsystem; subsequently, the electromagnetic locking unit is de-energized, and under the action of the reset spring, the limit wedge block is unlocked from the limit groove; when other hole operations at the same height are required, the current height is maintained, and the operator pushes the anchor drilling rig to rotate around the column to the next position; when the working layer height needs to be adjusted, the first servo drive unit drives the sliding shell to rise and fall to the new target height, repeating the addressing, locking, and drilling process to achieve grid-based support operations for the entire roadway wall.

[0102] The high-speed reverse movement to zero position refers to the second servo drive unit driving the support shell to smoothly return to the initial reference position on the slide rail at a high speed. This zero position is the safe standby position of the support shell furthest from the roadway sidewall, calibrated during system initialization. Returning to zero position provides a reference for drill rod replacement and repositioning in the next cycle. The reset spring refers to the compression or tension spring arranged opposite to the electromagnet's attraction direction in the electromagnetic locking unit. When the electromagnet is energized, the spring is compressed or stretched to store elastic potential energy. When the electromagnet is de-energized, the spring releases the elastic potential energy, driving the pull rod and the limiting wedge block to move in the opposite direction, thereby smoothly pulling the wedge block out of the limiting groove and unlocking it. Grid-based support operation refers to dividing the entire roadway sidewall into a grid consisting of several rows and columns according to the designed row spacing and interval. Each grid node corresponds to an anchor bolt hole. The control system completes the drilling operation row by row and hole by hole according to the order specified in the construction plan, from bottom to top, from left to right, or according to the order specified in the construction plan, to achieve systematic reinforcement of the roadway surrounding rock.

[0103] The following detailed embodiment further illustrates the processing flow of the aforementioned control system after a single drilling operation and the continuous multi-hole operation cycle: When drilling reaches the designed hole depth, the central control decision unit, based on the accumulated value of the drill bit's feed stroke indicating that the target depth has been reached, issues a stop rotation command to the drilling machine and a high-speed return command to the second servo drive unit of the posture servo subsystem. The servo motor of the second servo drive unit rotates in the opposite direction at a higher set speed. Through the meshing of the drive gear and rack, it drives the support shell, propelling the entire drilling machine along the slide rail in a rapid linear retraction motion away from the roadway sidewall. The support shell smoothly returns to the zero-position reference point of the slide rail, triggering the zero-position travel switch or receiving a zero-position indicator signal from the absolute encoder. The central control decision unit then confirms that the support shell has returned to the safe standby position.

[0104] Simultaneously, the central control decision unit issues a stop command to the multi-state slag discharge subsystem. The air intake solenoid valve of the air curtain generating unit closes, cutting off the compressed air supply, and the high-speed air curtain gradually disappears; the miniature ceramic plunger pump of the high-pressure micro-jet unit stops working, and the high-pressure water jet is interrupted. The spray pre-wetting unit can remain closed for a short delay as needed to spray out any remaining water mist in the pipeline, preventing water accumulation, bacterial growth, or freezing in the pipeline between shutdown and the next startup.

[0105] Subsequently, the central control decision unit sends an unlocking command to the electromagnetic locking unit. The electromagnet coil is de-energized, and the electromagnetic attraction disappears instantly. Under the restoring force of the return spring, the pull rod, along with the limiting wedge block, is smoothly pushed out of the limiting groove on the column until the limiting wedge block completely exits the limiting groove and returns to its retracted position inside the side shell. At this point, the mechanical rigid lock between the sliding shell and the column is completely released.

[0106] At this point, the operator decides on the next step based on the construction plan. If the plan requires continuing to other holes at the same working height, for example, if multiple anchor bolt holes need to be installed in this row for the current section, the operator does not need to operate the lifting function and keeps the sliding shell at its current height. The operator manually supports the handrail to overcome the residual friction between the chassis and the base plate, pushing the entire anchor bolt drilling rig to rotate horizontally around the vertical axis of the column. Since the lock between the sliding shell and the column has been released, the column can rotate freely within the slewing bearing on the chassis, and the drilling rig is rotated to the next designed drilling position. After reaching the new position, the operator presses the next hole confirmation button on the control panel, and the control system then repeats the entire process of positioning by the positioning and modeling subsystem, relocking of the sliding shell by the pose servo subsystem, feeding of the shell support, and drilling, completing the drilling of the new hole. This process is repeated continuously at the same height until all holes in the row are completed.

[0107] If the construction plan requires adjusting the working layer height to drill the next or previous row, for example, if all holes in the current row have been completed and it is necessary to move the hole up or down by one row spacing, the operator can input the new target row spacing height through the control panel or directly select the preset layer height switching mode. Upon receiving the instruction, the central control decision unit first confirms that the electromagnetic locking unit is unlocked, and then sends a lifting command to the first servo drive unit. The first servo drive unit drives the sliding housing to move up or down along the spiral lifting guide column of the column. After moving to near the new target height, it switches to micro-motion mode and uses feedback from the absolute grating ruler for precise positioning. Once in position, the electromagnetic locking unit is energized and locked again, and the subsequent addressing and drilling process is the same as described above. Through this row-by-row and column-by-column method, drilling operations are completed hole by hole according to the designed grid on the entire tunnel sidewall, achieving gridded and continuous support construction.

[0108] The beneficial effects of this embodiment are as follows: Through the automated processing of a series of steps after a single borehole operation is completed by the control system, including rapid zeroing of the support shell, timely shutdown of the multi-state slag removal equipment, rapid unlocking of the electromagnetic lock, and subsequent flexible switching between same-height rotation or cross-layer lifting actions according to construction needs, the process transitions for continuous multi-hole operations are highly smooth, minimizing manual operation and the risk of misoperation. The grid-based operation logic ensures complete and thorough coverage of the support construction, guaranteeing the systematic and uniform nature of the roadway surrounding rock reinforcement, and significantly improving the overall construction efficiency of the gentle slope auxiliary inclined shaft side anchor support. It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations. However, those skilled in the art should understand that the embodiments in this specification are not limited to the described order of actions, because according to the embodiments in this specification, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments in this specification.

[0109] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0110] The preferred embodiments disclosed above are merely illustrative of this specification. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the embodiments described herein. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the embodiments, thereby enabling those skilled in the art to better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A control system for a rock bolt drilling rig used in tunnel excavation on a gentle slope, integrated and installed on the rock bolt drilling rig, wherein the rock bolt drilling rig comprises a column, a sliding shell, a slide rail, a support shell, and a drilling body, characterized in that, The system includes a central control decision unit, and a self-stabilizing parking subsystem, a positioning modeling subsystem, a pose servo subsystem, a drilling perception subsystem, and a multi-state slag removal subsystem electrically connected to the central control decision unit. The self-stabilizing parking subsystem performs active tilt compensation and pressure friction composite locking on the chassis based on the acquired instantaneous slope value, and sends the parking completion signal to the central control decision unit. After receiving the parking completion signal forwarded by the central control decision unit, the positioning modeling subsystem scans the surrounding rock of the current working face, registers and fuses the collected real-time environmental data with the pre-stored roadway digital twin model, generates the precise coordinates of the borehole location, and generates the lithology variation curve and the preset drilling parameter combination for each section. The central control decision unit calculates the target height of the sliding shell and the horizontal feed path of the supporting shell based on the received precise coordinates, and sends a pose adjustment command to the pose servo subsystem. The pose servo subsystem coordinates the movement of the sliding shell and the supporting shell according to the pose adjustment command; The drilling sensing subsystem monitors the interaction between the drill bit and the surrounding rock in real time during the drilling process, generates multi-source sensing signals, and transmits them to the central control decision unit. The central control decision unit performs fusion analysis on the multi-source sensing signals, compares the analysis results with the lithology variation curve, generates drilling parameter adjustment instructions, and sends them to the posture servo subsystem. The multi-state slag removal subsystem removes rock slag from the borehole and cleans the sliding rail drive meshing surface based on the slag removal strategy instructions generated by the central control decision unit based on the lithology judgment results provided by the drilling perception subsystem.

2. The control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft according to claim 1, characterized in that, The self-stabilizing parking subsystem includes a tilt angle fine-tuning actuator, a pressure-friction composite sensing foot, and a laser inclinometer. After the self-stabilizing parking subsystem is started, the laser inclinometer will send the instantaneous slope value of the contact surface between the chassis and the roadway floor to the central control decision unit. The central control decision unit calculates the tilt angle correction amount that the chassis needs to compensate for based on the instantaneous slope value, and issues instructions to the tilt angle fine-tuning actuator. The pressure-friction composite sensing foot is used to embed the tungsten carbide claw disk into the tunnel floor. The flexible pressure sensor array integrated within the pressure-friction composite sensing leg monitors the contact pressure distribution in real time and feeds it back to the central control decision unit.

3. The control system for a rock bolt drilling rig for tunnel excavation in a gentle slope auxiliary inclined shaft according to claim 1, characterized in that, After the location-finding modeling subsystem is activated, it calls the roadway digital twin model pre-stored in the central control decision unit, and controls the lidar and high-definition camera module installed on the top of the column to perform a panoramic scan of the surrounding rock of the current working face, and collect point cloud data and high-definition texture images. The central control decision unit registers and fuses the real-time collected point cloud data with the pre-stored roadway digital twin model, locates the current position of the anchor drilling rig in virtual space, marks the center coordinates of the hole to be drilled on the roadway sidewall of the roadway digital twin model according to the construction design requirements, and transforms the center coordinates to the base coordinate system of the anchor drilling rig itself to generate the precise coordinates of the drilling position. After locking the borehole location, the high-definition camera module zooms to capture images of the borehole location to obtain images of the texture, cracks, and joint structure features of the surrounding rock surface; The central control decision unit runs a built-in deep convolutional neural network model to perform semantic segmentation and feature extraction on the feature image, identify the dense fracture zone and lithological change boundary, and combine the tunnel geological prediction information retrieved from the tunnel digital twin model to generate the lithological variation curve within the borehole depth range. Based on this, the borehole path is divided into several sections, and a preliminary combination of drilling speed and thrust parameters is preset for each section to form the preset drilling parameter combination.

4. The control system for a rock bolt drilling rig for tunnel excavation in a gentle slope auxiliary inclined shaft according to claim 1, characterized in that, The pose servo subsystem includes a first servo drive unit for driving the sliding shell to move up and down along the column, an electromagnetic locking unit for decoupling the control rod and the limiting wedge block, and a second servo drive unit for driving the support shell to move horizontally. The central control decision unit calculates the target height of the sliding shell based on the received precise coordinates of the borehole location; The first servo drive unit drives the sliding shell to move up and down along the spiral lifting guide column of the column until the sliding shell reaches the vicinity of the target height. Then it switches to micro-motion mode and realizes fine adjustment of the height of the sliding shell within the millimeter level based on the position signal fed back by the absolute grating ruler integrated on the column. After the sliding shell is in place, the electromagnetic locking unit is energized, and the electromagnet will attract the pull rod connected to the limiting wedge block, pulling the limiting wedge block to be embedded in the corresponding limiting groove on the column, thereby achieving mechanical rigid locking of the sliding shell. After the mechanical rigidity locking is completed, the second servo drive unit starts and drives the support shell to move smoothly in a straight line along the slide rail according to the feed speed curve planned by the central control decision unit, so that the drill bit reaches the drilling position.

5. The control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft according to claim 1, characterized in that, The drilling sensing subsystem includes an acoustic emission sensor integrated at the front end of the reduction gearbox of the drilling machine body, a triaxial vibration sensor fixed at the connection between the support shell and the drilling machine body, and a miniature material identification probe that penetrates the center hole of the drill bit to reach the cutting edge. After the drilling operation is started, the acoustic emission sensor continuously captures the elastic wave signal released by the rock during the crushing and shearing process of the drill bit; The triaxial vibration sensor synchronously acquires the axial, radial, and tangential vibration amplitudes and frequencies of the drilling machine body; The micro material identification probe utilizes the principle of contact impedance spectrum analysis to contact the rock surface at the bottom of the hole at each instant of the drill bit's rotation cycle and measure the complex impedance of the rock surface at the bottom of the hole. The elastic wave signal, the vibration amplitude and frequency, and the complex impedance are transmitted in parallel to the central control decision unit as the multi-source sensing signal.

6. The control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft according to claim 5, characterized in that, The specific method by which the central control decision unit performs fusion analysis on the multi-source sensing signals is as follows: The elastic wave signal was subjected to a fast Fourier transform, and the main frequency band energy and event count rate of the elastic wave signal were extracted as a characterization of the rock mass fracture strength. The vibration signal was subjected to wavelet packet decomposition to separate the characteristic frequency bands related to the changes in rock hardness; The real and imaginary parts of the complex impedance signal are analyzed separately to identify the lithology of the current cutting interface in real time. The fused sensing features, including the characterization of the rock mass fracture strength, the characteristic frequency band, and the lithology type, are compared with the lithology variation curve generated by the positioning modeling subsystem, and the drilling parameter adjustment command is generated based on the comparison results.

7. The control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft according to claim 6, characterized in that, The specific logic for issuing the drilling parameter adjustment command is as follows: When the measured lithological hardness exceeds the first hardness threshold, the central control decision unit immediately issues an instruction to the second servo drive unit in the posture servo subsystem to reduce the feed rate and simultaneously increase the upper limit of the thrust. When the measured lithological hardness is lower than the second hardness threshold, the central control decision unit issues an instruction to the second servo drive unit to increase the feed rate and reduce the thrust.

8. The control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft according to claim 1, characterized in that, The multi-mode slag discharge subsystem includes a high-pressure micro-jet unit integrated inside the support shell, an air curtain generating unit embedded in the waste discharge trough of the slide rail, and a spray pre-wetting unit located upstream of the brush movement direction on the support shell. The central control decision unit automatically adjusts the slag removal strategy based on the rock hardness level determined by the drilling sensing subsystem. When the rock type is medium hardness or above, the high-pressure micro-jet unit is activated. The high-pressure micro-jet unit directly impacts the bottom of the hole through the micron-level nozzle at the end of the hollow spiral chip removal groove of the drill bit in the form of intermittent jet pulses synchronized with the rotation speed of the drill bit. It uses the water hammer effect to turn the rock powder into a suspended slurry and forces the slurry to be discharged out of the hole in the opposite direction along the spiral groove. The air curtain generating unit works synchronously at the moment the horizontal feed drive of the support shell is started. High-speed planar airflow is ejected from the narrow slit in the center of the waste discharge trough of the air curtain generating unit, forming an inclined air curtain above the meshing surface of the rack and gear, blowing the splashed or falling debris away to the outside of the slide rail or directly into the waste discharge trough. The spray pre-wetting unit sprays a layer of water mist film onto the surface of the rack, so that fine dust is captured and agglomerated when it comes into contact with the surface of the rack; The brush scrapes away the condensed wet mud and debris that has not been blown away by the air curtain under the action of the elastic element.

9. The control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft according to claim 1, characterized in that, The central control decision unit polls the feedback values ​​of each sensor in the drilling sensing subsystem and the multi-state slag removal subsystem at a fixed high-frequency rhythm throughout the entire drilling operation cycle. When a pre-jamming signal is detected by exceeding the time-domain kurtosis index of the vibration signal and a sudden change in the event rate of acoustic emission, the central control decision unit executes a three-level protection strategy: The first stage involves sending an emergency stop feed command to the pose servo subsystem while maintaining the rotation of the drill bit. In the second stage, when the drill rod torque of the drill bit is detected to continue to rise, the servo drive unit that drives the horizontal movement of the support shell is commanded to reverse the support shell in the opposite direction with a preset minimum step size to perform the drill retraction and slag removal action. In the third stage, after the vibration and acoustic emission signals return to normal, the drilling parameters for this section are replanned, and drilling continues to the designed depth with a more moderate parameter combination.

10. The control system for a rock bolt drilling rig for tunneling in a gentle slope auxiliary inclined shaft according to claim 4, characterized in that, When a single drilling operation is completed, the central control decision unit controls the second servo drive unit to move in reverse at high speed to the zero position, and at the same time shuts down the air curtain generating unit and the high-pressure micro-jet unit of the multi-state slag discharge subsystem; Subsequently, the electromagnetic locking unit is de-energized, and under the action of the reset spring, the limiting wedge block is unlocked from the limiting groove. When it is necessary to perform work at other holes at the same height, maintain the current height and have the operator push the anchor drilling rig to rotate around the column to the next position; When the working height needs to be adjusted, the first servo drive unit drives the sliding shell to rise and fall to the new target height, repeating the addressing, locking and drilling process to achieve grid-based support operation for the entire tunnel wall.

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