A drilling system and method for locating ore in an underground mine

Abstract

This invention discloses a drilling system and method for locating underground mineral deposits, comprising a loading vehicle and a positioning component for precise calibration of drilling points. A workbench is located on one side of the loading vehicle, with fixed frames at both ends of the upper surface of the workbench. A movable slide is located between the two fixed frames, and a drill rod is housed within the movable slide. The drill rod is driven to rotate by a rotary motor and axially fed by a hydraulic cylinder. A drill bit is located on the lower surface of the drill rod. The positioning component is located at both ends of the upper surface of the workbench, and a through hole for the drill rod to pass through is located at the center of the upper surface of the workbench. In this invention, a linear cylinder, in conjunction with a pressure sensor and a distance sensor, controls a limiting ring in a closed loop, enabling continuous clamping and arbitrary position adjustment of the drill rod. This avoids the problem of intermittent positioning and inability to continuously adjust. Simultaneously, the two limiting rings continuously output radial constraint force during drilling, effectively suppressing drill rod sway.

Description

Technical Field

[0001] This invention relates to the field of mineral drilling technology, specifically to a drilling system and method for locating underground minerals. Background Technology

[0002] In the exploration and mining of underground mineral resources, precise location and drilling of ore strata are crucial for obtaining geological data, assessing ore reserves, and guiding subsequent mining operations. Existing underground ore location drilling technologies mainly encompass directional drilling, measurement-while-drilling (MSD), in-hole positioning, and geological steering. In the existing underground mining operation system, ore drilling operations rely on prior geological exploration data and on-site location and calibration work. Geological exploration equipment is used to determine the approximate distribution range of underground ore, stratum thickness, ore body strike, and other basic geological information. Then, combined with underground mapping equipment, pre-set drilling points are calibrated on-site to determine core operational parameters such as borehole location, drilling angle, and drilling depth. Subsequently, drilling equipment is operated to complete the targeted ore drilling operation.

[0003] A drilling positioning device for a mining drilling rig, disclosed in CN118029872A, includes a movable frame with a limit plate on it. A rotating block is rotatably mounted on the limit plate, and a drill rod is housed within the rotating block. Rotation of the rotating block causes the drill rod to rotate synchronously around the central axis of the rotating block. Both ends of the rotating block are connected to ratchet teeth with opposite directions of rotation. A sliding plate is slidably connected to the limit plate, and a first return spring is provided between the sliding plate and the limit plate. A groove for engaging the ratchet teeth is provided on the side wall of the sliding plate. A push plate abuts against the sliding plate. A first linear actuator has the push plate fixedly connected to the telescopic end of the first linear actuator. A first rotation source has a drive shaft that rotates to drive the rotating block. This application improves the positioning effect of the drill rod.

[0004] The aforementioned device, which uses an intermittent positioning method with ratchet and slot, cannot achieve continuous adjustment and cannot provide a continuous radial constraint force to suppress drill rod oscillation during vertical drilling operations. Summary of the Invention

[0005] The purpose of this invention is to provide a drilling system and method for locating underground minerals and rocks, in order to solve the technical problems that existing drilling positioning devices cannot achieve continuous adjustment and cannot provide a continuous radial constraint force to suppress drill rod sway during vertical drilling operations.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A drilling system and method for locating underground mineral deposits includes a loading vehicle and a positioning component for precise calibration of drilling points. The loading vehicle has a workbench on one side, with fixed frames at both ends of the upper surface of the workbench. A movable slide is located between the two fixed frames, and a drill rod is housed within the movable slide. The drill rod is driven to rotate by a rotary motor and fed axially by a hydraulic cylinder. A drill bit is located on the lower surface of the drill rod. The positioning component is located at both ends of the upper surface of the workbench. A through hole for the drill rod to pass through is located at the center of the upper surface of the workbench. Triaxial vibration sensors are located on both sides of the lower half of the drill rod's inner wall. A controller is installed on one side of one of the positioning components. A visual displacement sensor capable of adjusting its position is located at one end of the lower surface of the workbench. The transmitter of the visual displacement sensor is horizontally aligned with the side of the drill rod during measurement. The visual displacement sensor is electrically connected to the controller.

[0008] As a further embodiment of the present invention, receiving grooves are provided on both sides of the lower half of the inner wall of the drill rod, and conductive slip rings are installed on the upper half of the outer surface of the drill rod. A wire hole is provided inside the drill rod for inserting a cable. Two triaxial vibration sensors are located in the receiving grooves, and wear-resistant plates are provided in both receiving grooves. The wear-resistant plates are made of high manganese steel.

[0009] As a further embodiment of the present invention, a first slot is provided on both sides of the lower half of the outer surface of the drill rod. A mining borehole trajectory measuring instrument is installed in the first slot. A mounting steel plate is installed in each of the two first slots by means of bolts. A sealing strip is bonded to the mating surface of the mounting steel plate. The other end of the through hole is connected to the receiving groove and the first slot. The triaxial vibration sensor is connected to the rotor of the conductive slip ring through the cable in the through hole. The stator of the conductive slip ring is connected to the controller through the cable. The mining borehole trajectory measuring instrument is connected to the rotor of the conductive slip ring through the cable in the through hole.

[0010] As a further embodiment of the present invention, a second slot is provided at one end of the upper surface of the worktable, and a drive motor is provided in the second slot. The output shaft of the drive motor extends through the second slot to the lower surface of the worktable and is connected to a rotating rod through a bearing. A rotating shaft is rotatably installed at one end of the lower surface of the worktable, and an adjustment plate is fixedly installed on one side of the upper half segment of the rotating shaft. A visual displacement sensor is installed at one end of the lower surface of the adjustment plate.

[0011] As a further embodiment of the present invention, a driven gear is fixedly installed on the lower half of the outer surface of the rotating shaft, and a driving gear is installed on the outer surface of the rotating rod, with the driving gear meshing with the driven gear.

[0012] As a further embodiment of the present invention, the positioning component includes two mounting frames, which are respectively detachably mounted on both ends of the upper surface of the worktable. A triangular connecting block is fixedly mounted on one side of each of the two mounting frames, and multiple triangular connecting blocks are fixed to the worktable by bolts. A controller is mounted on one side of one of the mounting frames. A linear cylinder is mounted on one side of the outer surface of each of the two mounting frames. A pressure sensor is fixedly connected to the telescopic end of the linear cylinder. A limit ring is connected to the other end of the pressure sensor. Multiple balls are rotatably mounted on the inner wall of the limit ring. The pressure sensor is electrically connected to the controller. A groove is provided on one side of one of the limit rings, and a distance sensor is installed in the groove. The irradiation end of the distance sensor faces the other corresponding limit ring. The distance sensor is electrically connected to the controller. Both linear cylinders are electrically connected to the controller.

[0013] As a further embodiment of the present invention, two vibration damping rods are respectively installed on one side of the inner wall of each of the two mounting frames, a fixing block is fixedly installed on one side of the inner wall of each of the two mounting frames, and a reinforcing rib is fixedly installed on one side of each of the fixing blocks, and the reinforcing rib is fixedly installed on one side of the inner wall of the corresponding mounting frame.

[0014] As a further embodiment of the present invention, a damper is installed on one side of each of the multiple fixed blocks, a stabilizing spring is connected to one side of each of the multiple dampers, and the other end of each of the multiple stabilizing springs is connected to one side of a corresponding limiting ring.

[0015] As a further embodiment of the present invention, a cross-shaped groove is provided on one side of the lower half of the inner wall of both mounting frames. Herringbone gears are rotatably mounted on both sides of the transverse groove of the cross-shaped groove via bearings. A herringbone rack is installed at one end of the lower surface of the limiting ring, and the two herringbone gears are respectively meshed on both sides of the herringbone rack.

[0016] As a further embodiment of the present invention, a connecting frame plate is fixedly installed on the upper surface of the herringbone rack. The connecting frame plate is U-shaped, and the horizontal plate in the connecting frame plate passes through the hole provided on one side of the mounting frame. A protruding block is provided at one end of the upper surface of the connecting frame plate, and the protruding block is fixedly installed at one end of the lower surface of the limiting ring.

[0017] This invention also provides a drilling method for locating underground minerals and rocks, employing the aforementioned drilling system for locating underground minerals and rocks, and comprising the following steps:

[0018] S1. Drive the loader to the area to be drilled, align the through hole on the upper surface of the worktable with the preset drilling point, activate the positioning assembly, and the controller controls two linear cylinders to push the limit rings towards the drill rod. The pressure sensor detects the clamping force in real time and feeds it back to the controller, while the distance sensor measures the gap between the two limit rings and feeds it back to the controller, until the limit rings clamp the drill rod and the clamping force reaches the set value. Then, start the drive motor at one end of the lower surface of the worktable. The drive motor drives the rotating shaft and adjusting plate to rotate through the rotating rod, the driving gear, and the driven gear, causing the visual displacement sensor to rotate from the retracted position. Move the drill bit to the working position, aligning its transmitter horizontally with the side of the drill rod. Then, start the rotary motor to rotate the drill rod, and the hydraulic cylinder drives the drill rod to descend. The drill bit contacts the rock and begins drilling. During drilling, the visual displacement sensor continuously captures surface texture images of the drill rod's side. The controller uses a rotation correlation matching algorithm: first, it estimates the rotation angle between two adjacent frames based on the Fourier-Mellin transform, and performs pre-rotation correction on the image sub-region to eliminate the influence of the drill rod's rotational motion. Then, it calculates the axial descent displacement of the drill rod using the digital image correlation method. This displacement is the drilling depth of the drill bit.

[0019] S2. The triaxial vibration sensors on both sides of the lower half of the inner wall of the drill rod collect drilling vibration signals in real time and identify the material data of the ore through spectrum analysis. The data is then transmitted to the controller via cable and conductive slip ring. The mining borehole trajectory measuring instrument on both sides of the lower half of the outer surface of the drill rod detects the tilt angle of the drill rod in real time and transmits it to the controller. Based on the received data of drill bit depth, ore material, and drill rod tilt angle, the controller determines whether the drill bit deviates from the preset trajectory. If it deviates, the controller issues an alarm signal and stops drilling. After drilling is completed, the controller controls the linear cylinder to retract the limit ring, and the hydraulic cylinder lifts the drill rod to remove the drill bit.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This invention uses a visual displacement sensor to track the drilling depth of the drill bit in real time, a triaxial vibration sensor to identify the hardness of the ore, and a mining borehole trajectory measuring instrument to monitor the drill rod inclination angle. The data from these three sources are fused and sent to the controller via a conductive slip ring and cable to achieve precise positioning and trajectory determination of the drill bit in underground space, thereby completing the ore positioning and drilling operation.

[0022] 2. This invention uses a linear cylinder in conjunction with a pressure sensor and a distance sensor to control the limiting ring in a closed loop, thereby achieving continuous clamping and arbitrary position adjustment of the drill rod. This avoids the problem of intermittent positioning and inability to adjust continuously. At the same time, the two limiting rings continuously output radial constraint force during drilling, effectively suppressing drill rod sway. Herringbone gears and racks guide the movement to ensure smooth movement. Vibration damping rods, dampers, and stabilizing springs absorb high-frequency vibrations, improving the positioning accuracy of the hole section and the reliability of the system. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only examples of embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the visual displacement sensor in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the positioning component in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the triaxial vibration sensor in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the limiting ring structure in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the vibration damping rod in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the herringbone rack structure in an embodiment of the present invention.

[0031] Figure label:

[0032] 1. Loading vehicle; 101. Fixed frame; 102. Conductive slip ring;

[0033] 2. Workbench;

[0034] 3. Drill rod; 301. Drill bit; 302. Triaxial vibration sensor; 303. Receiving groove; 304. Mounting steel plate; 305. Wear-resistant plate; 306. Mining borehole trajectory measuring instrument;

[0035] 4. Drive motor; 401. Rotating rod; 402. Adjusting plate; 403. Driving gear; 404. Visual displacement sensor; 405. Driven gear; 406. Rotating shaft;

[0036] 5. Positioning components; 501. Mounting frame; 502. Triangular connecting block; 503. Fixing block; 504. Linear cylinder; 505. Pressure sensor; 506. Limit ring; 507. Reinforcing rib; 508. Stabilizing spring; 509. Vibration damping rod; 510. Herringbone gear; 511. Herringbone rack; 512. Connecting frame plate; 513. Distance sensor;

[0037] 6. Controller. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0039] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0040] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; they can refer to the internal connection of two components; they can refer to a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0041] See Figures 1-7 As shown, an embodiment of the present invention discloses a drilling system for locating underground mineral deposits, including a loading vehicle 1 and a positioning component 5 for precise calibration of the drilling points. A workbench 2 is provided on one side of the loading vehicle 1. Fixed frames 101 are provided at both ends of the upper surface of the workbench 2. A movable slide is provided between the two fixed frames 101. A drill rod 3 is provided inside the movable slide. The drill rod 3 is driven to rotate by a rotary motor and is driven to feed axially by a hydraulic cylinder. A drill bit 301 is provided on the lower surface of the drill rod 3. The positioning component 5 is located at both ends of the upper surface of the workbench 2. A through hole for the drill rod 3 to pass through is provided at the center of the upper surface of the workbench 2. Triaxial vibration sensors 302 are provided on both sides of the lower half of the inner wall of the drill rod 3. A controller 6 is installed on one side of one of the positioning components 5. A visual displacement sensor 404 with adjustable position is provided at one end of the lower surface of the workbench 2. The transmitting end of the visual displacement sensor 404 is horizontally aligned with the side of the drill rod 3 in the measurement state. The visual displacement sensor 404 is electrically connected to the controller 6.

[0042] The lower half of the inner wall of the drill rod 3 is provided with receiving grooves 303 on both sides. The upper half of the outer surface of the drill rod 3 is equipped with a conductive slip ring 102. The drill rod 3 is provided with a wire hole for inserting a cable. The two triaxial vibration sensors 302 are located in the receiving grooves 303. The two receiving grooves 303 are provided with wear-resistant plates 305. The wear-resistant plates 305 are made of high manganese steel.

[0043] The lower half of the outer surface of the drill rod 3 has first slots on both sides. A mining borehole trajectory measuring instrument 306 is installed in the first slot. A mounting steel plate 304 is installed in each of the two first slots by bolts. A sealing strip is bonded to the mating surface of the mounting steel plate 304. The other end of the wire hole is connected to the receiving groove 303 and the first slot. The triaxial vibration sensor 302 is connected to the rotor of the conductive slip ring 102 through the cable in the wire hole. The stator of the conductive slip ring 102 is connected to the controller 6 through the cable. The mining borehole trajectory measuring instrument 306 is connected to the rotor of the conductive slip ring 102 through the cable in the wire hole.

[0044] A second slot is provided at one end of the upper surface of the worktable 2. A drive motor 4 is provided in the second slot. The output shaft of the drive motor 4 extends through the second slot to the lower surface of the worktable 2 and is connected to a rotating rod 401 through a bearing. A rotating shaft 406 is rotatably installed at one end of the lower surface of the worktable 2. An adjustment plate 402 is fixedly installed on one side of the upper half segment of the rotating shaft 406. A visual displacement sensor 404 is installed at one end of the lower surface of the adjustment plate 402.

[0045] A driven gear 405 is fixedly installed on the lower half of the outer surface of the rotating shaft 406, and a driving gear 403 is installed on the outer surface of the rotating rod 401. The driving gear 403 and the driven gear 405 are meshed and connected.

[0046] During operation, the loader 1 travels to the area of ​​ore to be drilled, the through hole on the upper surface of the workbench 2 is aligned with the preset drilling point, the rotary motor is started to rotate the drill rod 3, and at the same time the hydraulic cylinder drives the drill rod 3 to descend. The drill bit 301 contacts the ore and begins drilling. Then, the drive motor 4 drives the rotating rod 401 to rotate, which in turn drives the driven gear 405 to rotate the rotating shaft 406 and the adjusting plate 402. The visual displacement sensor 404 is rotated from the retracted position to the working position, so that its transmitting end is horizontally aligned with the side of the drill rod 3. The visual displacement sensor 404 calculates the descending displacement of the drill rod 3 by continuously taking images of the surface texture of the side of the drill rod 3. The displacement represents the drilling depth of drill bit 301, and the depth data is transmitted to controller 6. The depth data acquired by visual displacement sensor 404 is fused with the inclination data acquired by mining borehole trajectory measuring instrument 306. It should be noted that drill rod 3 rotates and feeds axially simultaneously during drilling. Controller 6 employs a rotation correlation matching algorithm: based on Fourier-Mellin transform, the rotation angle of adjacent frames is estimated; pre-rotation correction is performed on image sub-regions; after eliminating rotation components, the axial displacement is calculated using digital image correlation, thereby obtaining the drilling depth and achieving spatial positioning of drill bit 301 in underground rock. The lower half of the inner wall of drill rod 3... Two triaxial vibration sensors 302 are symmetrically installed in the side receiving slot 303, respectively collecting vibration time-domain signals of the drill pipe 3 in the axial, transverse, and radial directions. The data from the two sensors can be cross-checked and eccentric rotation interference can be eliminated. The integrated microprocessor filters and extracts features from the signals. The extracted feature data is sent to the controller 6 via the conductive slip ring 102 and cable. The controller 6 has a built-in vibration spectrum feature library of different ores and rocks. It converts the time-domain signal into a frequency-domain spectrum through fast Fourier transform, extracts the main frequency, harmonics, and energy distribution features, and compares and matches them with the feature library to identify the type and hardness of the currently encountered ores and rocks. Then, high manganese steel is used for the process. The wear-resistant plate 305 effectively improves the wear resistance without affecting the signal. The mining borehole trajectory measuring instrument 306 on both sides of the lower half of the outer surface of the drill rod 3 is sealed and fixed in the first slot by the mounting steel plate 304. It detects the tilt angle of the drill rod 3 in real time and transmits it to the controller 6. The controller 6 judges whether the drill bit 301 deviates from the preset trajectory by combining the depth, material and angle data. If it deviates, it issues an alarm signal and stops drilling, so as to monitor the drilling status in real time. Relying on the mining borehole trajectory measuring instrument 306 to monitor the change of the tilt angle of the drill rod 3 in real time, and with the help of the visual displacement sensor 404, it accurately determines the drilling position and depth, and accurately completes the ore positioning and drilling operation.

[0047] See Figures 2-4As shown, the positioning component 5 includes two mounting frames 501, which are respectively detached and installed at both ends of the upper surface of the worktable 2. Triangular connecting blocks 502 are fixedly installed on one side of each of the two mounting frames 501. Multiple triangular connecting blocks 502 are fixed to the worktable 2 by bolts. The controller 6 is installed on one side of one of the mounting frames 501. Linear cylinders 504 are installed on one side of the outer surface of each of the two mounting frames 501. A pressure sensor 505 is fixedly connected to the telescopic end of the linear cylinder 504. A limit ring 506 is connected to the other end of the pressure sensor 505. Multiple balls are rotatably installed on the inner wall of the limit ring 506. The pressure sensor 505 is electrically connected to the controller 6. A groove is provided on one side of one of the limit rings 506. A distance sensor 513 is installed in the groove. The irradiation end of the distance sensor 513 faces the other corresponding limit ring 506. The distance sensor 513 is electrically connected to the controller 6. Both linear cylinders 504 are electrically connected to the controller 6.

[0048] Two vibration damping rods 509 are installed on one side of the inner wall of each of the two mounting frames 501. Fixing blocks 503 are fixedly installed on one side of the inner wall of each of the two mounting frames 501. Reinforcing ribs 507 are fixedly installed on one side of each of the multiple fixing blocks 503. The multiple reinforcing ribs 507 are fixedly installed on one side of the inner wall of the corresponding mounting frame 501.

[0049] Each of the multiple fixed blocks 503 has a damper installed on one side, and each of the multiple dampers has a stabilizing spring 508 connected to one side. The other end of each of the multiple stabilizing springs 508 is connected to one side of the corresponding limiting ring 506.

[0050] A cross-shaped groove is provided on one side of the lower half of the inner wall of each of the two mounting frames 501. Herringbone gears 510 are rotatably mounted on both sides of the transverse groove in the cross-shaped groove via bearings. A herringbone rack 511 is installed on one end of the lower surface of the limiting ring 506. The two herringbone gears 510 are respectively meshed on both sides of the herringbone rack 511.

[0051] A connecting frame plate 512 is fixedly installed on the upper surface of the herringbone rack 511. The connecting frame plate 512 is U-shaped. The horizontal plate in the connecting frame plate 512 passes through the hole provided on one side of the mounting frame 501. A protruding block is provided at one end of the upper surface of the connecting frame plate 512. The protruding block is fixedly installed at one end of the lower surface of the limiting ring 506.

[0052] The controller 6 controls the extension of two linear cylinders 504, which, via pressure sensor 505, push the limiting ring 506 towards the drill rod 3. The balls on the inner wall of the limiting ring 506 roll in contact with the drill rod 3. A distance sensor 513 is installed in the groove of one of the limiting rings 506, with its irradiation end facing one side of the other limiting ring 506. It measures the gap between the two limiting rings 506 in real time and feeds it back to the controller 6. Based on the pressure value of the pressure sensor 505 and the gap value of the distance sensor 513, the controller 6 continuously adjusts the extension and retraction of the linear cylinders 504, causing the limiting rings 506 to apply a stable and controllable clamping force to the drill rod 3. This, in turn, during drilling, ensures that the vibration damping rod 509, damper, and stabilizer... The fixed spring 508 absorbs the high-frequency vibration transmitted by the drill rod 3, preventing damage to the pressure sensor 505 and the linear cylinder 504. When the limit ring 506 moves, the connecting frame plate 512 drives the herringbone rack 511 to move. The herringbone rack 511 drives the herringbone gear 510 to rotate, which is used to guide and stabilize the movement trajectory of the limit ring 506, preventing deviation or jamming during the movement. Thus, the limit structure can be continuously and smoothly adjusted by relying on the cooperation of the herringbone gear 510 and the herringbone rack 511. At the same time, the limit rings 506 on both sides form a continuous radial binding force on the drill rod 3, effectively suppressing the swing generated by the drill rod 3 during operation, ensuring the overall positioning accuracy, and stably completing the positioning drilling operation.

[0053] The triaxial vibration sensor 302 is model GZW20 / 120, the mine borehole trajectory measuring instrument 306 is model YZG6.4, the pressure sensor 505 is model GPD60, the distance sensor 513 is model GHJ10, the controller 6 is model KXJ127, and the visual displacement sensor 404 is installed on the adjustment plate 402. In the measurement state, its transmitting end is horizontally aligned with the side of the drill rod 3 to measure the downward displacement of the drill rod 3. The visual displacement sensor can be a mine intrinsically safe image processing camera (such as KBA12S, KBA12B, ZHS2478, etc.) as the image acquisition unit, which works with the controller 6 to complete the displacement calculation. Alternatively, an integrated image displacement sensor module (such as PixArt OTS series optical tracking sensor) can be selected.

[0054] This invention also provides a drilling method for locating underground mineral rocks, comprising the following steps:

[0055] S1. Drive the loading vehicle 1 to the area of ​​ore to be drilled, align the through hole on the upper surface of the workbench 2 with the preset drilling point, activate the positioning component 5, and the controller 6 controls the two linear cylinders 504 to push the limit rings 506 towards the drill rod 3. The pressure sensor 505 detects the clamping force in real time and feeds it back to the controller 6. The distance sensor 513 measures the gap between the two limit rings 506 and feeds it back to the controller 6 until the limit rings 506 clamp the drill rod 3 and the clamping force reaches the set value. Then, start the drive motor 4 at one end of the lower surface of the workbench 2. The drive motor 4 drives the rotating shaft 406 and the adjusting plate 402 to rotate through the rotating rod 401, the driving gear 403 and the driven gear 405, so that... The visual displacement sensor 404 rotates from the retracted position to the working position, aligning its transmitter horizontally with the side of the drill rod 3. Then, the rotary motor is started to rotate the drill rod 3, and the hydraulic cylinder drives the drill rod 3 to descend. The drill bit 301 contacts the ore and begins drilling. During the drilling process, the visual displacement sensor 404 continuously captures surface texture images of the side of the drill rod 3. The controller 6 uses a rotation correlation matching algorithm: first, it estimates the rotation angle between two adjacent frames based on the Fourier-Mellin transform, and performs pre-rotation correction on the image sub-region to eliminate the influence of the drill rod rotation. Then, it calculates the axial descent displacement of the drill rod 3 using the digital image correlation method. This displacement is the drilling depth of the drill bit 301.

[0056] S2. The triaxial vibration sensors 302 on both sides of the lower half of the inner wall of the drill rod 3 collect drilling vibration signals in real time and identify the rock material data through spectrum analysis. The data is then transmitted to the controller 6 via cable and conductive slip ring 102. The mining borehole trajectory measuring instrument 306 on both sides of the lower half of the outer surface of the drill rod 3 detects the tilt angle of the drill rod 3 in real time and transmits it to the controller 6. The controller 6 determines whether the drill bit 301 deviates from the preset trajectory based on the received data of drill bit 301 depth, rock material, and drill rod 3 tilt angle. If it deviates, the controller 6 issues an alarm signal and stops drilling. After drilling is completed, the controller 6 controls the linear cylinder 504 to retract the limit ring 506 and the hydraulic cylinder to lift the drill rod 3 and remove the drill bit 301.

[0057] In summary, this embodiment of the invention uses a linear cylinder 504 in conjunction with a pressure sensor 505 and a distance sensor 513 to achieve continuous adjustment of the limiting ring 506, solving the problem of limited intermittent positioning adjustment. At the same time, the linear cylinder 504 drives the limiting ring 506 to hug the drill rod 3, and the balls on the inner wall of the limiting ring 506 roll in contact with the drill rod 3, which can continuously output radial constraint force and effectively suppress the swinging phenomenon that occurs during the drilling operation of the drill rod 3.

[0058] During operation, the loading vehicle 1 is moved to the work area and the through hole of the workbench 2 is aligned with the preset drilling point. The controller 6 extends and retracts via the linear cylinder 504, and, in conjunction with the pressure detection data from the pressure sensor 505 and the distance detection data from the distance sensor 513, the closed-loop control limit ring 506 completes continuous and precise adjustment and wraps around and fits against the drill rod 3, so that the limit ring 506 forms a continuous radial constraint on the drill rod 3. At the same time, the herringbone gear 510 and the herringbone rack 511 mesh and guide, ensuring that the movement of the limit ring 506 is smooth and regular. Subsequently, the rotary motor drives the drill rod 3 to rotate, and the hydraulic cylinder drives the drill rod 3 and... The drill bit 301 descends for drilling. The drive motor 4 drives the rotating shaft 406 and the adjusting plate 402 to rotate through the active gear 403 and the driven gear 405. This rotates the visual displacement sensor 404 from the retracted position to the working position and locks the angle to measure the drilling depth. During the drilling process, the mining borehole trajectory measuring instrument 306 on the outside of the drill rod 3 detects the tilt angle of the drill rod 3 in real time. The triaxial vibration sensor 302 inside the drill rod 3 collects ore and rock data in real time. All detections are transmitted to the controller 6 through the conductive slip ring 102 and the cable to complete the automated monitoring and control of the overall positioning and drilling.

[0059] The above description illustrates the basic principles of the present invention. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The above embodiments and descriptions in the specification are only for illustrating the principles of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the present invention without departing from the scope of the present invention should be included within the protection scope of the present invention.

Claims

1. A drilling system for locating underground minerals and rocks, characterized in that: The system includes a loading vehicle (1) and a positioning component (5) for precise calibration of drilling points in the rock and ore. The loading vehicle (1) has a workbench (2) on one side. The upper surface of the workbench (2) has fixed frames (101) at both ends. A movable slide is provided between the two fixed frames (101). A drill rod (3) is provided inside the movable slide. The drill rod (3) is driven to rotate by a rotary motor and is driven to feed axially by a hydraulic cylinder. A drill bit (301) is provided on the lower surface of the drill rod (3). The positioning component (5) is located on the upper surface of the workbench (2). At both ends, the upper surface of the workbench (2) is provided with a through hole for the drill rod (3) to pass through. Both sides of the lower half of the inner wall of the drill rod (3) are provided with triaxial vibration sensors (302). One of the positioning components (5) is equipped with a controller (6). One end of the lower surface of the workbench (2) is provided with a visual displacement sensor (404) that can adjust the position. The transmitting end of the visual displacement sensor (404) is horizontally aligned with the side of the drill rod (3) in the measurement state. The visual displacement sensor (404) is electrically connected to the controller (6).

2. The drilling system for locating underground minerals and rocks according to claim 1, characterized in that: The drill rod (3) has a receiving groove (303) on both sides of the lower half of the inner wall. The upper half of the outer surface of the drill rod (3) is equipped with a conductive slip ring (102). The drill rod (3) has a wire hole inside, which is used to insert a cable. The two triaxial vibration sensors (302) are located in the receiving groove (303). The two receiving grooves (303) are equipped with wear-resistant plates (305). The wear-resistant plates (305) are made of high manganese steel.

3. The drilling system for locating underground minerals and rocks according to claim 2, characterized in that: The lower half of the outer surface of the drill rod (3) is provided with first slots on both sides. A mining borehole trajectory measuring instrument (306) is provided in the first slot. A mounting steel plate (304) is installed in each of the two first slots by bolts. A sealing strip is bonded to the mating surface of the mounting steel plate (304). The other end of the wire hole is connected to the receiving groove (303) and the first slot. The triaxial vibration sensor (302) is connected to the rotor of the conductive slip ring (102) through the cable in the wire hole. The stator of the conductive slip ring (102) is connected to the controller (6) through the cable. The mining borehole trajectory measuring instrument (306) is connected to the rotor of the conductive slip ring (102) through the cable in the wire hole.

4. The drilling system for locating underground minerals and rocks according to claim 3, characterized in that: The workbench (2) has a second slot at one end of its upper surface. A drive motor (4) is installed in the second slot. The output shaft of the drive motor (4) extends through the second slot to the lower surface of the workbench (2) and is connected to a rotating rod (401) via a bearing. A rotating shaft (406) is rotatably installed at one end of the lower surface of the workbench (2). An adjustment plate (402) is fixedly installed on one side of the upper half of the rotating shaft (406). The visual displacement sensor (404) is installed at one end of the lower surface of the adjustment plate (402).

5. The drilling system for locating underground minerals and rocks according to claim 4, characterized in that: A driven gear (405) is fixedly installed on the lower half of the outer surface of the rotating shaft (406), and a driving gear (403) is installed on the outer surface of the rotating rod (401). The driving gear (403) meshes with the driven gear (405).

6. The drilling system for locating underground minerals and rocks according to claim 5, characterized in that: The positioning component (5) includes two mounting frames (501), which are respectively detached and installed at both ends of the upper surface of the workbench (2). A triangular connecting block (502) is fixedly installed on one side of each of the two mounting frames (501), and multiple triangular connecting blocks (502) are fixed to the workbench (2) by bolts. The controller (6) is installed on one side of one of the mounting frames (501). A linear cylinder (504) is installed on one side of the outer surface of each of the two mounting frames (501), and a pressure sensor is fixedly connected to the telescopic end of the linear cylinder (504). (505), the other end of the pressure sensor (505) is connected to a limiting ring (506), and multiple balls are rotatably installed on the inner wall of the limiting ring (506). The pressure sensor (505) is electrically connected to the controller (6). One of the limiting rings (506) has a groove on one side, and a distance sensor (513) is installed in the groove. The irradiation end of the distance sensor (513) faces the other corresponding limiting ring (506). The distance sensor (513) is electrically connected to the controller (6). Both linear cylinders (504) are electrically connected to the controller (6).

7. The drilling system for locating underground minerals and rocks according to claim 6, characterized in that: Two damping rods (509) are respectively installed on one side of the inner wall of each of the two mounting frames (501). A fixing block (503) is fixedly installed on one side of the inner wall of each of the two mounting frames (501). A reinforcing rib (507) is fixedly installed on one side of each of the fixing blocks (503). A damper is installed on one side of each of the fixing blocks (503). A stabilizing spring (508) is connected to one side of each of the dampers. The other end of each stabilizing spring (508) is connected to one side of the corresponding limiting ring (506).

8. The drilling system for locating underground minerals and rocks according to claim 7, characterized in that: The lower half of the inner wall of each of the two mounting frames (501) is provided with a cross-shaped groove. Herringbone gears (510) are rotatably installed on both sides of the transverse groove of the cross-shaped groove through bearings. A herringbone rack (511) is installed at one end of the lower surface of the limiting ring (506). The two herringbone gears (510) are respectively meshed on both sides of the herringbone rack (511).

9. A drilling system for locating underground minerals and rocks according to claim 8, characterized in that: A connecting frame plate (512) is fixedly installed on the upper surface of the herringbone rack (511). The connecting frame plate (512) is U-shaped. The horizontal plate in the connecting frame plate (512) passes through the hole provided on one side of the mounting frame (501). A protruding block is provided at one end of the upper surface of the connecting frame plate (512). The protruding block is fixedly installed at one end of the lower surface of the limiting ring (506).

10. A drilling method for locating underground minerals and rocks, characterized in that: The drilling system for locating underground minerals and rocks as described in claim 9 includes the following steps: S1. Drive the loading vehicle (1) to the area of ​​the ore to be drilled, align the through hole on the upper surface of the workbench (2) with the preset drilling point, start the positioning component (5), the controller (6) controls the two linear cylinders (504) to push the limit ring (506) to move towards the drill rod (3), the pressure sensor (505) detects the clamping force in real time and feeds it back to the controller (6), the distance sensor (513) measures the gap between the two limit rings (506) and feeds it back to the controller (6), until the limit ring (506) clamps the drill rod (3) and the clamping force reaches the set value, then start the drive motor (4) at one end of the lower surface of the workbench (2), the drive motor (4) drives the rotating shaft (406) and the driven gear (405) through the rotating rod (401), the driving gear (403) and the driven gear (405). The adjustment plate (402) rotates, causing the visual displacement sensor (404) to rotate from the retracted position to the working position, so that its transmitting end is horizontally aligned with the side of the drill rod (3). Then, the rotary motor is started to rotate the drill rod (3), and the hydraulic cylinder drives the drill rod (3) to descend. The drill bit (301) contacts the rock and begins to drill. During the drilling process, the visual displacement sensor (404) continuously captures surface texture images of the side of the drill rod (3). The controller (6) uses a rotation correlation matching algorithm: first, it estimates the rotation angle of two adjacent frames of images based on the Fourier-Mellin transform, and performs pre-rotation correction on the image sub-region to eliminate the influence of the drill rod rotation. Then, it calculates the axial downward displacement of the drill rod (3) through the digital image correlation method. This displacement is the drilling depth of the drill bit (301). S2. The triaxial vibration sensors (302) on both sides of the lower half of the inner wall of the drill rod (3) collect drilling vibration signals in real time and identify the rock material data through spectrum analysis. The signals are sent to the controller (6) through the cable and the conductive slip ring (102). The mining borehole trajectory measuring instrument (306) on both sides of the lower half of the outer surface of the drill rod (3) detects the tilt angle of the drill rod (3) in real time and transmits it to the controller (6). The controller (6) determines whether the drill bit (301) deviates from the preset trajectory based on the received data of drill bit (301) depth, rock material and drill rod (3) tilt angle. If it deviates, the controller (6) issues an alarm signal and stops drilling. After drilling is completed, the controller (6) controls the linear cylinder (504) to return the limit ring (506) and the hydraulic cylinder to lift the drill rod (3) and remove the drill bit (301).

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