A drilling machine for open pit mines and its autonomous drilling control method and system

Abstract

This invention discloses an autonomous drilling control system and method for open-pit mining drilling machinery, comprising: a vehicle chassis, a down-the-hole (DH) drill arm, a fusion vision system, a control system, and inertial navigation sensors; the fusion vision system includes a visible light camera and a lidar; the control system is configured to execute the following methods: S101. Establish a hole pose description model in the world coordinate system based on the hole layout diagram to obtain the pose parameters of the target hole; S102. Combine the kinematic model of the DH drill arm and the vehicle safety constraints to solve for the optimal vehicle parking pose; S103. After controlling the vehicle to move to the target pose, establish the pose mapping relationship between the target hole and the base coordinate system of the DH drill arm, and optimize the joint parameters of the DH drill arm; S104. Monitor the end pose of the DH drill arm in real time, and achieve precise alignment using a visual servo control algorithm; S105. Execute drilling operations and automatically switch to the next hole position. This invention solves the problem of traditional methods relying on manual experience to calibrate the target hole pose and adjust the posture of the vehicle and drill arm.

Description

Technical Field

[0001] This invention relates to the field of intelligent drilling rig control technology, specifically to an open-pit mine drilling machine and its autonomous drilling control method and system. Background Technology

[0002] In open-pit mining, drilling and blasting are the primary production steps, and their drilling accuracy and efficiency directly affect the blasting effect and mining costs. Traditional open-pit drilling operations mainly rely on manual operation, which has the following technical limitations:

[0003] Manual operators need to rely on experience to adjust the parking position and posture of the massive drilling rig, a process that is not only inefficient but also makes it difficult to ensure that the rig is in the optimal working position. Suboptimal rig positioning forces the drill arm to operate near the edge of its workspace or in odd configurations, significantly amplifying the drill arm's kinematic errors and resulting in a large deviation in the final borehole position.

[0004] In the prior art, the patent CN114810031A, entitled "An Intelligent Drilling Design and Construction Method for Open-Pit Mine Blasting," proposes an intelligent solution based on a data management platform, satellite positioning, and cloud transmission. This technical solution collects spatial geographic information of the blasting area using measuring equipment and constructs a three-dimensional data model. Based on the model and borehole network parameters, drilling parameters are designed, and the design results are uploaded to the data management platform. The platform then issues drilling tasks to the satellite-positioned automatic drilling rig via the Internet of Things and cloud transmission technology.

[0005] However, analysis revealed that although patent CN114810031A mentions the concepts of "automatic drilling machine" and "autonomous drilling," its technical solution mainly focuses on intelligent hole position design, parameterized task generation, and cloud allocation processes, without providing a substantive explanation of how the automatic drilling machine performs the drilling process.

[0006] Other related existing technologies, such as CN119195644A "A Down-the-Hole Drill Rig with Manual and Automatic Intelligent Dual Control System" and CN215006921U "Integrated Down-the-Hole Drill Remote Control Device", although they have achieved remote control function, they are still essentially within the scope of manual operation and have failed to achieve true intelligent autonomous drilling. Summary of the Invention

[0007] In existing open-pit mine drilling operations, operators rely on experience to adjust the parking position and posture of the massive drilling rig. This is not only inefficient but also fails to ensure the rig is in the optimal global pose that allows the drill arm to operate efficiently, without collisions, and with high precision at the target hole location. Suboptimal rig posture forces the drill arm to operate near the edges of its workspace or in odd configurations, significantly amplifying its kinematic errors and leading to deviations in the final borehole position. To address at least one of these technical problems, this invention provides an autonomous drilling control method and system for open-pit mine drilling machinery. Through a method for generating the rig posture of the achievable working hole, based on the hole layout diagram and the kinematic model of the down-the-hole drill arm, the optimal rig posture for the achievable target hole is generated, reducing drilling errors caused by manual adjustments to the rig posture.

[0008] To address the aforementioned technical problems, this invention provides an autonomous drilling control method for open-pit mining drilling machinery, comprising the following steps:

[0009] S101. Establish a hole pose description model in the world coordinate system based on the hole diagram, and obtain the pose parameters of the target hole;

[0010] S102. Combining the kinematic model of the down-the-hole drill arm and the vehicle body safety constraints, the optimal vehicle body parking posture is solved through optimization algorithms;

[0011] S103. After controlling the vehicle body to move to the target pose, establish the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm, and perform optimization solution of the joint parameters of the down-the-hole drill arm.

[0012] S104. Real-time monitoring of the end pose of the down-the-hole drill arm using a fusion vision system, and precise alignment based on a vision servo control algorithm;

[0013] S105. Perform drilling operations and automatically switch to the next hole position, then repeat the above steps.

[0014] Preferably, the hole pose description model in step S101 is a pose description of a single hole relative to the world coordinate system. for ,in The rotation matrix represents the position of the hole relative to the world coordinate system. This indicates the orientation of the hole relative to the world coordinate system.

[0015] Preferably, in step S102:

[0016] Define the base coordinate system of the down-the-hole drill manipulator, and its pose description matrix is: ;

[0017] The kinematic model of the down-the-hole drill arm is established as follows:

[0018]

[0019] This model reflects the influence of various joint parameters of the down-the-hole drill arm on the end position and attitude of the down-the-hole drill arm. Describe the position and orientation of the end of the down-the-hole drill arm relative to the down-the-hole drill arm base coordinates. The transformation matrix representing the end of the down-the-hole drill arm relative to the base coordinate system. This represents the homogeneous transformation matrix of adjacent joints of the down-the-hole drill arm.

[0020] Preferably, the optimization algorithm for the optimal vehicle parking pose in step S102 is solved by the following pose mapping relationship:

[0021] To ensure the down-the-hole drill arm accurately reaches the desired working hole position, and using the joint parameters of the down-the-hole drill arm as solution variables, with joint parameter constraints and the safe range of the vehicle chassis attitude as constraints, an optimization objective function is established:

[0022]

[0023] in express The inverse matrix describes the transformation matrix of the down-the-hole drill arm base coordinate system relative to the end of the down-the-hole drill arm. Let represent the joint parameters of the i-th joint. An optimization algorithm is used to optimize the objective function to find the vehicle body pose that can reach the working hole pose. The control system then drives the vehicle chassis to reach this pose.

[0024] Preferably, the method for establishing the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm in step S103, and optimizing the joint parameters of the down-the-hole drill arm, is as follows:

[0025] (1) Establish the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm: After reaching the working pose of the vehicle body, considering the attitude of the vehicle body, describe the pose of the down-the-hole drill relative to the base coordinate system of the down-the-hole drill arm. for

[0026]

[0027] in, The attitude of the vehicle body base coordinate system relative to the world coordinate system can be measured by an IMU mounted on the vehicle body.

[0028] (2) An optimization algorithm for the joint parameters of the robotic arm is established based on the drilling pose of the down-the-hole. By optimizing the joint parameters, the error between the end pose of the robotic arm and the target hole pose is minimized. The error function considers both position error and attitude error. The error function is constructed as follows:

[0029]

[0030] in, Indicates positional error. Indicates attitude error. Indicates the weighting coefficient;

[0031] (3) Using the error function as the objective function, joint limit constraints and singular configuration avoidance are added. An optimization algorithm is used to solve for the parameters of each joint of the robotic arm. The specific process is as follows:

[0032] a. Based on the number of joints to be solved and the constraint of each joint, randomly generate an initial solution set of joint parameters;

[0033] b. Calculate the objective function value, i.e., the error function. .

[0034] c. If the set objective function threshold is reached, or the maximum number of iterations is reached, exit the optimization process and obtain the desired angle of each joint; otherwise, repeat step a.

[0035] (4) The control system drives each joint of the down-the-hole drill arm to reach the desired parameters.

[0036] 6. The autonomous drilling control method for open-pit mining drilling machinery according to claim 1, characterized in that: the method for achieving precise alignment based on a visual servo control algorithm in step S104 includes the following steps:

[0037] (a) Real-time estimation of the end pose of the downhole drill arm through the fusion perception of visible light camera and lidar;

[0038] (b) Calculate the end pose error function and generate the velocity parameters of the end of the down-the-hole drill arm based on the error value;

[0039] (c) Map the end effector velocity to the velocities of each joint using the pseudo-inverse of the Jacobian matrix;

[0040] (d) Drive each joint of the down-the-hole drill arm to move at the desired speed, and iteratively execute steps (a) to (c) until the error converges to below the set threshold.

[0041] This invention also provides an autonomous drilling control system for open-pit mining drilling machinery, characterized in that it includes:

[0042] Vehicle chassis, down-the-hole drill arm, fusion vision system, control system and inertial navigation sensor;

[0043] The fusion vision system includes at least a visible light camera and a lidar;

[0044] The control system is configured to execute the steps described above.

[0045] The control system is also configured to monitor the vehicle's attitude stability in real time using inertial navigation sensors, and to activate a safety protection mechanism when an anomaly is detected.

[0046] Preferably, each joint of the down-the-hole drill arm is equipped with an encoder, the rotary joint is equipped with an angle encoder, and the movable joint is equipped with a displacement sensor, for real-time monitoring of joint parameters and feedback to the control system.

[0047] Preferably, the optimization algorithm uses joint parameter range constraints and vehicle body safe attitude range as optimization conditions, and the objective function includes the minimization requirements of position error and attitude error.

[0048] The present invention also provides an open-pit mine drilling machine, comprising an autonomous drilling control system as described in any of the preceding claims.

[0049] Compared with the prior art, the beneficial effects of the present invention are in at least one of the following aspects:

[0050] 1. Improved Drilling Positioning Accuracy and Efficiency: Traditional methods rely on manual experience to calibrate the target borehole pose and adjust the vehicle body and drill arm posture, which is time-consuming and its accuracy is limited by the operator's skill level. This invention incorporates key factors such as the target pose of the borehole layout diagram, the kinematic model of the drill arm, vehicle safety constraints, and joint parameter limitations into a mathematical model through "vehicle pose optimization generation" and "drill arm joint parameter optimization solution." It then uses optimization algorithms to solve for the optimal solutions for the vehicle body's working posture and the down-the-hole drill arm's working posture. This overcomes the randomness and limitations of manual adjustments, ensuring that the initial pose of the vehicle body and the coarse adjustment posture of the drill arm are in the optimal state, shortening the coarse positioning time and improving the initial alignment accuracy.

[0051] 2. Achieving high-precision end-effector alignment in complex environments: To accurately complete drilling operations, this invention employs "visual servo control fused with visible light camera and lidar" to construct a closed-loop feedback control law based on end-effector pose error, ensuring that the end of the down-the-hole drill arm can stably and accurately reach the target hole pose, meeting the accuracy requirements of drilling operations.

[0052] 3. Establishment of an autonomous drilling operation process: An autonomous drilling operation process was constructed: vehicle body working pose generation -> coarse alignment of down-the-hole drill arm -> vision servo fine alignment -> drilling execution -> next hole position. This facilitates the fully autonomous operation of drilling operations, improving overall work efficiency and continuity. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a structural diagram of the open-pit mine drilling machinery and its autonomous drilling control system of the present invention;

[0055] Figure 2 This is a flowchart illustrating the operation of the autonomous drilling control system for open-pit mining machinery according to the present invention, which implements the control method thereon. Detailed Implementation

[0056] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0057] Example 1

[0058] like Figure 1 and 2 As shown, an autonomous drilling control system and method for open-pit mining drilling machinery includes a chassis 1, a down-the-hole drill arm 2, a fusion vision system 3, a control system 6, and an inertial navigation unit (IMU) 7. The fusion vision system 3 includes a visible light camera 4 and a lidar 5, mounted at the front end of the chassis 1, and can observe the position of the end of the boom within the range of motion of the down-the-hole drill arm 2. The control system 6 is mounted on the chassis 1, and the inertial navigation unit (IMU) 7 is mounted on the plane of the chassis 1. Encoders are installed on each joint of the down-the-hole drill arm 2; angle encoders are installed on the rotary joints, and displacement sensors are installed on the movable joints.

[0059] The autonomous drilling control method for open-pit mining drilling machinery in this embodiment includes, as follows: Figure 2The method for generating the vehicle body pose of the reachable working hole is shown, along with a method for generating joint parameters of the down-the-hole drill arm 2 based on the desired working hole pose and a visual servo control method for the down-the-hole drill arm 2. After the drilling operation begins, a working hole pose description is generated based on the hole layout diagram. Combined with the kinematic model of the down-the-hole drill arm 2, the pose of the working target point on the vehicle body is obtained through the vehicle body pose generation method. After controlling the vehicle chassis 1 to reach the desired pose, the position and attitude of the current working hole relative to the base coordinate system of the down-the-hole drill arm 2 are calculated. With the working hole pose and the range of each joint parameter as constraints, the desired parameters of each joint for completing the drilling operation are calculated, and the control system controls the down-the-hole drill arm 2 to move to the desired parameters. After this, fine alignment is performed. The position and attitude of the end effector of the down-the-hole drill arm 2 are monitored in real time by a fusion vision system 3 using a visible light camera 4 and a lidar 5. When the error between the end effector pose and the desired working hole pose is less than a threshold, the drilling operation is executed. After drilling is completed, the next hole position is selected, and the above process is repeated.

[0060] Traditional methods rely on manual experience to calibrate the target borehole pose and adjust the vehicle body and drill arm posture, which is time-consuming and its accuracy is limited by the operator's skill level. This embodiment incorporates key factors such as the target pose of the borehole layout, the kinematic model of the drill arm, vehicle safety constraints, and joint parameter limitations into a mathematical model through "vehicle pose optimization generation" and "drill arm joint parameter optimization solution." It then uses optimization algorithms to solve for the optimal working postures of the vehicle body and the down-the-hole drill arm. This overcomes the randomness and limitations of manual adjustments, ensuring that the initial pose of the vehicle body and the coarse adjustment posture of the drill arm are in the optimal state, shortening the coarse positioning time and improving the initial alignment accuracy.

[0061] To accurately complete the drilling operation, this embodiment adopts "visual servo control based on the fusion of visible light camera and lidar" to construct a closed-loop feedback control law based on the end-effector pose error, ensuring that the end of the down-the-hole drill arm can stably and accurately reach the target hole pose, thus meeting the accuracy requirements of the drilling operation.

[0062] This embodiment establishes an autonomous drilling operation process: vehicle body working pose generation -> coarse alignment of the down-the-hole drill arm -> fine alignment by vision servo -> drilling execution -> next hole location. This facilitates fully autonomous operation of the drilling process, improving overall work efficiency and continuity.

[0063] Example 2

[0064] like Figure 1 and 2 As shown, an autonomous drilling control system and method for open-pit mining drilling machinery, based on the autonomous drilling control system for open-pit mining drilling machinery in specific embodiment 1, further includes the following steps in its specific implementation:

[0065] S101. Establish a hole pose description model in the world coordinate system based on the hole diagram, and obtain the pose parameters of the target hole;

[0066] S102. Combining the kinematic model of the down-the-hole drill arm and the vehicle body safety constraints, the optimal vehicle body parking posture is solved through optimization algorithms;

[0067] S103. After controlling the vehicle body to move to the target pose, establish the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm, and perform optimization solution of the joint parameters of the down-the-hole drill arm.

[0068] S104. Real-time monitoring of the end pose of the down-the-hole drill arm using a fusion vision system, and precise alignment based on a vision servo control algorithm;

[0069] S105. Perform drilling operations and automatically switch to the next hole position, then repeat the above steps.

[0070] In other specific embodiments, step S101 corresponds to the initial input "hole layout diagram" in the flowchart and the first processing module "target hole pose description model". Specifically, it involves: parsing the digitized hole layout diagram, establishing a hole pose description model in the world coordinate system, and obtaining the precise pose parameters of the target hole. In a preferred embodiment, the hole pose description model is a description of the pose of a single hole relative to the world coordinate system. for ,in The rotation matrix represents the position of the hole relative to the world coordinate system. This indicates the orientation of the hole relative to the world coordinate system.

[0071] This embodiment standardizes and digitizes the hole position parameters, providing accurate input for subsequent optimization algorithms and avoiding subjective errors from manual interpretation of the hole layout diagram. Through mathematical modeling, discrete hole position information is transformed into continuous and optimizable pose data, improving the automation level of data processing, laying the foundation for global path planning, and reducing the initialization error of the drilling position to the centimeter level.

[0072] In other specific embodiments, step S102 corresponds to the "down-the-hole drill arm kinematic model" module in the flowchart and the subsequent "vehicle pose generation" core module. This step integrates the coupled kinematic relationship between the "vehicle chassis" and the "boom," and specifically includes:

[0073] Define the base coordinate system of the down-the-hole drill manipulator, and its pose description matrix is: ;

[0074] The kinematic model of the down-the-hole drill arm is established as follows:

[0075]

[0076] This model reflects the influence of various joint parameters of the down-the-hole drill arm on the end position and attitude of the down-the-hole drill arm. Describe the position and orientation of the end of the down-the-hole drill arm relative to the down-the-hole drill arm base coordinates. The transformation matrix representing the end of the down-the-hole drill arm relative to the base coordinate system. This represents the homogeneous transformation matrix of adjacent joints of the down-the-hole drill arm, reflecting the influence of each joint parameter on the end effector pose.

[0077] The optimization algorithm for the optimal vehicle parking pose in step S102 is solved by the following pose mapping relationship:

[0078] To ensure the down-the-hole drill arm accurately reaches the desired working hole position, and using the joint parameters of the down-the-hole drill arm as solution variables, with joint parameter constraints and the safe range of the vehicle chassis attitude as constraints, an optimization objective function is established:

[0079]

[0080] in express The inverse matrix describes the transformation matrix of the down-the-hole drill arm base coordinate system relative to the end of the down-the-hole drill arm. Let represent the joint parameters of the i-th joint. An optimization algorithm is used to optimize the objective function to find the vehicle body pose that can reach the working hole pose. The control system then drives the vehicle chassis to reach this pose.

[0081] This embodiment replaces manual experience-based adjustments with mathematical optimization, ensuring the vehicle body is always in the globally optimal position, allowing the drill arm to operate in the central area of ​​the workspace and avoiding error amplification caused by singular configurations. This improves vehicle positioning accuracy, shortens drilling preparation time, and automatically avoids the risk of vehicle overturning through safety constraints, enhancing operational safety.

[0082] In other specific embodiments, the method for establishing the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm in step S103, and optimizing the joint parameters of the down-the-hole drill arm, is as follows:

[0083] (1) Establish the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm: After reaching the working pose of the vehicle body, considering the attitude of the vehicle body, describe the pose of the down-the-hole drill relative to the base coordinate system of the down-the-hole drill arm. for

[0084]

[0085] in, The attitude of the vehicle body base coordinate system relative to the world coordinate system can be measured by an IMU mounted on the vehicle body.

[0086] (2) An optimization algorithm for the joint parameters of the robotic arm is established based on the drilling pose of the down-the-hole. By optimizing the joint parameters, the error between the end pose of the robotic arm and the target hole pose is minimized. The error function considers both position error and attitude error. The error function is constructed as follows:

[0087]

[0088] in, Indicates positional error. Indicates attitude error. Indicates the weighting coefficient;

[0089] (3) Using the error function as the objective function, joint limit constraints and singular configuration avoidance are added. An optimization algorithm is used to solve for the parameters of each joint of the robotic arm. The specific process is as follows:

[0090] a. Based on the number of joints to be solved and the constraint of each joint, randomly generate an initial solution set of joint parameters;

[0091] b. Calculate the objective function value, i.e., the error function. .

[0092] c. If the set objective function threshold is reached, or the maximum number of iterations is reached, exit the optimization process and obtain the desired angle of each joint; otherwise, repeat step a.

[0093] (4) The control system drives each joint of the down-the-hole drill arm to reach the desired parameters.

[0094] In this embodiment, the coarse alignment stage uses an optimization algorithm to initially control the drilling accuracy. The weighting coefficients dynamically balance position and attitude errors, adapting to different rock strata conditions. Iterative solutions avoid the blindness of manual parameter tuning, resulting in high computational efficiency and reduced coarse alignment time, laying a high-precision foundation for fine alignment.

[0095] In other specific embodiments, to ensure that the down-the-hole drilling robot arm accurately reaches the target hole position, the method for achieving precise alignment based on the visual servo control algorithm in step S104 includes the following specific processes:

[0096] 1) Real-time estimation of the robotic arm's end-effector pose through camera and LiDAR fusion perception. A camera and LiDAR are installed at the observable location of the drill arm on the vehicle body. The spatial transformation relationship between the LiDAR and the camera is determined, and a time synchronization strategy is employed to achieve fusion perception between the camera and LiDAR. The end-effector feature points are detected by the camera, and combined with the 3D information from the LiDAR, the end-effector pose is obtained.

[0097] 2) Calculate the error function Generate speed parameters for the robotic arm's end effector based on error values. ,in This indicates the linear velocity at the end effector of the robotic arm. This indicates the angular velocity at the end of the robotic arm.

[0098] 3) Using the Jacobian matrix of the robotic arm, map the end effector velocity to the velocities of each joint. Based on the kinematic model of the robotic arm, calculate the mapping relationship between the end effector velocity and the joint velocities. ,in, Joint angle The Jacobian matrix at the given location. The expected motion velocity of each joint is calculated using the pseudo-inverse of the Jacobian matrix. ,in Indicates joint The pseudo-inverse of the Jacobian matrix.

[0099] 4) Drive each joint of the robotic arm to move at the desired speed, and repeat steps 1)-3) until convergence to below the threshold of the error function.

[0100] In this embodiment, visual servo closed-loop control improves the final drilling accuracy to the millimeter level. Multi-sensor fusion overcomes the interference of open-pit mine dust and light changes, controls response time, realizes real-time correction of the drilling process, and avoids cumulative errors.

[0101] After the down-the-hole drill arm reaches the desired position, it performs drilling operations. After completing the drilling, all steps of the autonomous drilling control method for open-pit mining drilling machinery are repeated for the next desired drilling position. This embodiment achieves seamless connection between drilling positions through full automation, shortening the single-hole operation cycle and improving overall operation efficiency. The system has self-diagnostic capabilities, automatically pausing and issuing alarms in case of abnormalities, ensuring the reliability of continuous operation.

[0102] like Figure 2 As shown, this embodiment is a complete closed-loop workflow that includes logical judgments and loops, and its execution order follows... Figure 2 The path shown, and the specific steps are as follows:

[0103] Step 1: Process Initiation and Input

[0104] The input for the entire operation process is a "hole layout diagram". The control system reads this digital hole layout diagram file and obtains parameters such as the coordinates, depth, and inclination angle of the planned borehole locations.

[0105] Step 2: Establish a description model of the target hole position and pose.

[0106] Based on the hole layout diagram, a "target hole pose description model" is established for the target hole to be drilled. This model is used to accurately describe the position and orientation of the target hole in the world coordinate system. Specifically, the pose of a single hole is described as a transformation matrix containing position and rotation information.

[0107] Step 3: Vehicle pose generation

[0108] This step is a crucial part of the process, corresponding to the "Vehicle Pose Generation" module in the diagram. Its purpose is to calculate an optimal parking position and orientation for the vehicle, ensuring that the down-the-hole drill arm mounted on the vehicle can successfully reach the target hole. This calculation requires consideration of the following models and constraints:

[0109] Kinematic model of down-the-hole drill arm: This model describes the mechanical structure of the down-the-hole drill arm and clarifies how the motion of each joint of the drill arm affects the position and orientation of its end effector.

[0110] Joint parameter constraints: These are the physical limitations on the range of motion of each joint in a down-the-hole drill arm.

[0111] Vehicle chassis attitude safety range: that is, the maximum allowable tilt angle and other safety limits of the vehicle body.

[0112] Based on the above model and constraints, an optimization algorithm is used to solve the problem. The objective of this optimization problem is to find a vehicle body pose such that, under this pose, the end effector of the down-the-hole drill arm can reach the target hole pose while satisfying all joint constraints. After a successful solution, the control system drives the vehicle chassis to move to the calculated optimal parking pose.

[0113] Step 4: Generating the working pose

[0114] After the vehicle body is moved into position, the process enters the "Working Pose Generation" module. At this point, the position of the target hole needs to be transformed from the world coordinate system to a coordinate system based on the vehicle body. Based on this transformed target pose and the kinematic model of the down-the-hole drill arm, the system calculates (e.g., using inverse kinematics) a set of target angle parameters for each joint of the down-the-hole drill arm. Subsequently, the control system drives the movement of each joint of the down-the-hole drill arm to initially align the end of the drill arm with the target hole; this process is called "coarse alignment".

[0115] Step 5: Visual Servo Precision Alignment and Control Cycle

[0116] After coarse alignment is completed, the process enters the high-precision "visual servo control" stage, which is a closed-loop feedback process.

[0117] Perception: The actual pose of the end of the downhole drill arm is observed and calculated in real time through a "fusion vision system" (in this embodiment, it consists of a visible light camera and a lidar).

[0118] Judgment: The system compares the real-time acquired "boom end pose" with the "expected target hole pose" and determines whether the deviation between the two is less than the set accuracy threshold.

[0119] If the deviation is greater than or equal to the threshold, then based on the calculated pose deviation, an adjustment command is generated through a visual servo control algorithm to control the micro-movements of each joint of the down-the-hole drill arm, thereby reducing the end-effector pose error. Subsequently, the process returns to the sensing stage of the previous step, observes, judges, and adjusts again, forming a closed-loop control cycle until the pose error meets the requirements.

[0120] If the deviation is less than the threshold, it means that the fine alignment has been completed, the process will exit this loop and proceed to the next step.

[0121] Step 6: Perform drilling operations

[0122] Once the precision alignment meets the accuracy requirements, the system controls the down-the-hole drill arm to perform the "drilling operation." The down-the-hole impactor and propulsion mechanism are activated, and drilling is carried out according to the set process parameters.

[0123] Step 7: Complete the judgment and process iteration

[0124] During the drilling operation, the system continuously monitors the condition "Drilling completed?".

[0125] If drilling is not completed, drilling operations shall continue.

[0126] Once drilling is complete, the system automatically determines whether there is a "next working hole".

[0127] If there is another hole to be drilled, the process automatically returns to the first step, using the hole layout information of the "next working hole" as input, and begins a new round of fully autonomous operation from "vehicle pose generation" to "drilling completion".

[0128] Once all holes have been worked on, the entire system operation process is complete.

[0129] The full-process control system and method described in this embodiment transforms the macroscopic design of the "hole layout" into the precise execution of "drilling operations" through a strategy combining "global vehicle posture optimization" and "local closed-loop end-vision servoing." The optimization algorithms and real-time feedback judgment mechanisms embedded in the process ensure the accuracy and reliability of each step. From the "perception-planning-execution-judgment" closed loop of a single hole location to the automatic cyclic connection between multiple hole locations, this solution achieves a leap from single-point automation to full-process autonomy in open-pit mine drilling operations, significantly improving drilling accuracy, operational efficiency, and system safety.

[0130] Example 3

[0131] This embodiment provides a drilling machine for open-pit mines, such as... Figure 1 As shown, it includes the autonomous drilling control system as described in Embodiments 1 and 2.

[0132] It should be noted that the above description of the embodiments is only for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention. Those skilled in the art can make various changes, modifications, substitutions, integrations and variations without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also fall within the scope of the present invention and should be defined by the claims.

Claims

1. An autonomous drilling control method of a drilling machine for an open-pit mine, characterized by, Includes the following steps: S101. Establish a hole pose description model in the world coordinate system based on the hole diagram, and obtain the pose parameters of the target hole; S102. Combining the kinematic model of the down-the-hole drill arm and the vehicle body safety constraints, the optimal vehicle body parking posture is solved through optimization algorithms; S103. After controlling the vehicle body to move to the target pose, establish the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm, and perform optimization solution of the joint parameters of the down-the-hole drill arm. S104. Real-time monitoring of the end pose of the down-the-hole drill arm using a fusion vision system, and precise alignment based on a vision servo control algorithm; S105. Perform drilling operations and automatically switch to the next hole position, then repeat the above steps.

2. The autonomous drilling control method for open-pit mining drilling machinery according to claim 1, characterized in that: The hole pose description model in the step S101 is to describe the pose of a single hole relative to a world coordinate system To , wherein represents the position of the hole relative to the world coordinate system, and the rotation matrix represents the pose of the hole relative to the world coordinate system.

3. The autonomous drilling control method for open-pit mining drilling machinery according to claim 1, characterized in that: In step S102: Define the base coordinate system of the down-the-hole drill manipulator, and its pose description matrix is: ; The kinematic model of the down-the-hole drill arm is established as follows: This model reflects the influence of various joint parameters of the down-the-hole drill arm on the end position and attitude of the down-the-hole drill arm. Describe the position and orientation of the end of the down-the-hole drill arm relative to the down-the-hole drill arm base coordinates. The transformation matrix representing the end of the down-the-hole drill arm relative to the base coordinate system. This represents the homogeneous transformation matrix of adjacent joints of the down-the-hole drill arm.

4. The autonomous drilling control method for open-pit mining drilling machinery according to claim 3, characterized in that: The optimization algorithm for the optimal vehicle parking pose in step S102 is solved by the following pose mapping relationship: To ensure the down-the-hole drill arm accurately reaches the desired working hole position, and using the joint parameters of the down-the-hole drill arm as solution variables, with joint parameter constraints and the safe range of the vehicle chassis attitude as constraints, an optimization objective function is established: in express The inverse matrix describes the transformation matrix of the down-the-hole drill arm base coordinate system relative to the end of the down-the-hole drill arm. Let represent the joint parameters of the i-th joint. An optimization algorithm is used to optimize the objective function to find the vehicle body pose that can reach the working hole pose. The control system then drives the vehicle chassis to reach this pose.

5. The autonomous drilling control method for open-pit mining drilling machinery according to claim 1, characterized in that: The method for establishing the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm in step S103, and optimizing the joint parameters of the down-the-hole drill arm, is as follows: (1) Establish the pose mapping relationship between the target hole and the base coordinate system of the down-the-hole drill arm: After reaching the working pose of the vehicle body, considering the attitude of the vehicle body, describe the pose of the down-the-hole drill relative to the base coordinate system of the down-the-hole drill arm. for in, The attitude of the vehicle body base coordinate system relative to the world coordinate system can be measured by an IMU mounted on the vehicle body. (2) An optimization algorithm for the joint parameters of the robotic arm is established based on the drilling pose of the down-the-hole. By optimizing the joint parameters, the error between the end pose of the robotic arm and the target hole pose is minimized. The error function considers both position error and attitude error. The error function is constructed as follows: in, Indicates positional error. Indicates attitude error. Indicates the weighting coefficient; (3) Using the error function as the objective function, joint limit constraints and singular configuration avoidance are added. An optimization algorithm is used to solve for the parameters of each joint of the robotic arm. The specific process is as follows: a. Based on the number of joints to be solved and the constraint of each joint, randomly generate an initial solution set of joint parameters; b. Calculate the objective function value, i.e., the error function. . c. If the set objective function threshold is reached, or the maximum number of iterations is reached, exit the optimization process and obtain the desired angle of each joint; otherwise, repeat step a. (4) The control system drives each joint of the down-the-hole drill arm to reach the desired parameters.

6. The autonomous drilling control method for open-pit mining drilling machinery according to claim 1, characterized in that: The method for achieving precise alignment based on the visual servo control algorithm in step S104 includes the following steps: (a) Real-time estimation of the end pose of the downhole drill arm through the fusion perception of visible light camera and lidar; (b) Calculate the end pose error function and generate the velocity parameters of the end of the down-the-hole drill arm based on the error value; (c) Map the end effector velocity to the velocities of each joint using the pseudo-inverse of the Jacobian matrix; (d) Drive each joint of the down-the-hole drill arm to move at the desired speed, and iteratively execute steps (a) to (c) until the error converges to below the set threshold.

7. An autonomous drilling control system for open-pit mining drilling machinery, characterized in that, include: Vehicle chassis, down-the-hole drill arm, fusion vision system, control system and inertial navigation sensor; The fusion vision system includes at least a visible light camera and a lidar; The control system is configured to perform the steps of the method according to any one of claims 1-6; The control system is also configured to monitor the vehicle's attitude stability in real time using inertial navigation sensors, and to activate a safety protection mechanism when an anomaly is detected.

8. The autonomous drilling control system for open-pit mining drilling machinery according to claim 7, characterized in that: Each joint of the down-the-hole drill arm is equipped with an encoder, the rotary joint is equipped with an angle encoder, and the movable joint is equipped with a displacement sensor, which is used to monitor the joint parameters in real time and feed them back to the control system.

9. The autonomous drilling control system for open-pit mining drilling machinery according to claim 8, characterized in that: The optimization algorithm uses joint parameter range constraints and vehicle body safe attitude range as optimization conditions, and the objective function includes the minimization requirements of position error and attitude error.

10. A drilling machine for open-pit mining, characterized in that: It includes the autonomous drilling control system as described in any one of claims 7-9.

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