A full-scene anti-interference drilling method, system, device and storage medium of a mine automatic drilling machine

Abstract

This invention discloses a full-scene anti-interference drilling method, system, equipment, and storage medium for automated mining drilling rigs, relating to the fields of intelligent mining equipment, robot environmental perception, and automated control technology. The method includes the following steps: S1, manual navigation and mapping stage; S2, mode switching and relocation mapping stage; S3, dynamic twin modeling and macroscopic collision avoidance stage; S4, fixed-point staring and high-precision scanning stage; S5, anchor bolt joint identification and concealment simulation stage; S6, microscopic servo control and anti-collision drilling stage; S7, interactive communication and digital twin update stage. This invention utilizes the aforementioned full-scene anti-interference drilling method, system, equipment, and storage medium for automated mining drilling rigs, reusing homogeneous non-repeating scanning radar to achieve cross-scale macro-micro collaborative perception and unmanned drilling operations for automated drilling rigs. This overcomes the problems of missed detection of slender obstacles and internal rock wall impacts, improving the operational safety and efficiency of automated mining drilling rigs.

Description

Technical Field

[0001] This invention relates to the fields of intelligent mining equipment, robot environmental perception and automated control technology, and in particular to a method, system, equipment and storage medium for all-scenario anti-interference drilling of an automated mining drilling rig. Background Technology

[0002] In confined underground spaces such as coal mine roadways where GPS signals are unavailable, anchor bolt support is a crucial step in ensuring roadway safety. Currently, mining drilling rigs primarily rely on manual operation or semi-automatic alignment when performing drilling and anchor bolt installation, presenting the following significant technical challenges: Environmental perception suffers from physical blind spots: Traditional mine-use explosion-proof lidar (such as Avia directional radar) has a limited field of view and significant blind spots at close range. When drilling operations face near-end anchor bolts, effective point cloud data cannot be obtained, leading to automated alignment failure.

[0003] Macroscopic movement can easily cause scratches: Mining drilling rigs are large and have long, protruding guide rails. When they move automatically in narrow and undulating mine tunnels or approach the drilling point, the guide rails are very likely to physically interfere with the tunnel walls.

[0004] Micro-drilling carries the risk of internal interference: There are often existing anchor plates and bolts installed on the working face of the tunnel. Not only may the movement of the external guide rails collide with exposed anchor plates, but the portions of existing bolts that have penetrated deep into the rock wall often have an inclined angle. Current technology cannot detect the direction of the bolts inside the wall; blindly drilling can easily cause the drill bit to strike old bolts, resulting in drill bit damage or a safety accident. Summary of the Invention

[0005] The purpose of this invention is to provide a method, system, equipment, and storage medium for anti-interference drilling of mining automated drilling rigs in all scenarios, solving the problems mentioned in the background art. These problems arise when existing mining drilling rigs are used in restricted underground unstructured spaces without GPS signals. These problems include the limited field of view of explosion-proof radar, large blind spots at close range, easy macroscopic movement and scraping of the drilling rig and long guide rails with narrow tunnels, and the tendency to blindly drill into the inclined and hidden old anchor rods inside the rock wall. As a result, sensor failure, drill bit breakage, and difficulty in safely closing the entire automated drilling process are caused by these issues.

[0006] To achieve the above objectives, this invention provides a full-scenario anti-interference drilling method for automated mining drilling rigs, comprising the following steps: S1. Manual cruise mapping stage: Responding to manual driving commands, the system acquires environmental point clouds collected by the non-repeating scanning lidar installed on the mining drilling rig during the movement, and constructs and stores a global point cloud map of the mine through real-time positioning and mapping algorithms. S2, Mode Switching and Relocation Mapping Stage: In response to the automatic mode switching command, load the global point cloud map, extract the real-time point cloud scanned by the current LiDAR, perform feature matching between the real-time point cloud and the global point cloud map, and complete the initial relocation of the mining drill rig in the global point cloud map; obtain the standard borehole coordinates in the standard borehole coordinate system issued by the central control room, and map the standard borehole coordinates to the global target drilling point in the global point cloud map through matrix transformation; S3. Dynamic twin modeling and macro-collision avoidance stage: Construct a three-dimensional mathematical model of the mining drilling rig. Based on the real-time pose of the drilling rig after repositioning, perform path planning and collision prediction in the global point cloud map. Control the drilling rig to move autonomously. If the drilling rig body or drill rod guide rail interferes with the roadway during the predicted movement, automatically adjust the attitude angle and height of the drill rod guide rail to shrink and avoid obstacles until the drilling rig reaches the vicinity of the global target drilling point. S4. Fixed-point staring and high-precision scanning stage: After the drilling rig reaches the designated position, it brakes and stops. Using the time integration characteristics of the non-repeating scanning lidar in a stationary state, the current working face is scanned to obtain a local dense point cloud that meets the accuracy requirements. S5. Anchor Bolt Joint Identification and Concealed Inference Stage: Based on local dense point cloud, geometric matching is carried out to jointly detect the position of existing anchor plates and exposed anchor bolts on the working surface. The true length and three-dimensional direction angle of the existing anchor bolt are calculated based on the cylindrical fitting model. The reverse extension inference is carried out along the three-dimensional direction angle into the wall to generate the inclined concealed interference area representing the existing anchor bolt in the wall. S6. Micro-servo control and anti-collision drilling stage: Real-time calculation of the multi-level dynamic transformation matrix between the standard coordinate system and the radar, radar to the machine body and the machine body to the end of the drill rod guide rail; Combined with the calculated multi-level dynamic transformation matrix, the pitch angle and lifting height of the drill rod guide rail are adaptively adjusted so that the drill rod guide rail can be safely inserted between the two existing anchor rods on the outside, and avoid the inclined hidden interference area in the wall in the advancing posture, so as to realize the interference-free automatic drilling action; S7. Interactive Communication and Digital Twin Update Stage: Real-time bidirectional communication between the mining drilling rig's computing unit and the underlying programmable logic controller and the top-level centralized control room is realized; servo control commands generated in S6 are sent downwards, and visualized images are transmitted upwards to the centralized control room to drive the user interface to update digital twin information. The visualized images include a global point cloud map, identified existing anchor bolt positions, inferred interference areas, and the real-time status of the drilling rig.

[0007] Preferably, the specific steps for data acquisition by the non-repeating scanning lidar in S1 are as follows: S11. Two non-repetitive scanning lidars are fixedly installed on the front and rear of the top of the mining drilling rig and symmetrically arranged to form a complementary physical layout. S12. During the movement, using the physical layout of S11, two non-repeating scanning lidars move with the body to achieve full coverage of the forward environment and side point clouds of the mine. S13. In a stationary state, the high-density field of view at the center of the physical layout is used to perform a full-coverage scan of the working surface, overcoming the sparse point cloud defect of a single frame and eliminating the near-range blind zone of the radar hardware.

[0008] Preferably, the specific steps of S2 are as follows: S21. Repositioning and Registration: Extract the geometric features of the current real-time single-frame point cloud of the lidar, use the point cloud registration algorithm to calculate the rotation matrix and translation vector between the real-time single-frame point cloud and the global point cloud map, and solve to obtain the initial absolute pose of the mining drilling rig in the global coordinate system. S22, Standard System Mapping: Extract known reference object feature points from the global point cloud map, calculate the origin translation vector and rotation Euler angle of the standard drilling coordinate system, construct a global transformation matrix, multiply the standard drilling coordinates by the global transformation matrix to obtain the global target drilling point in the absolute coordinate system of the global point cloud map.

[0009] Preferably, the specific steps of S3 are as follows: S31. Establish a multi-level rigid body bounding box model that includes the drilling rig chassis and the movable drill rod guide rail, as a three-dimensional mathematical model of the mining drilling rig. S32. During the approach movement of the drilling rig, the real-time chassis odometer data and guide rail encoder data are substituted into the multi-level rigid body bounding box model, and three-dimensional Boolean intersection detection is performed in the voxel mesh of the global point cloud map. S33. When it is predicted that there is motion interference between the drill rod guide rail and the point cloud mesh, the inverse kinematics algorithm is used to solve the safe avoidance space, and the lifting height of the drill rod guide rail is reduced or the pitch angle is adjusted first, so that the mining drilling rig passes through the narrow roadway in a contracted anti-collision posture.

[0010] Preferably, the specific steps of S5 are as follows: S51. Perform curvature and reflectivity feature segmentation on the local dense point cloud, and prioritize matching and extracting the anchor plate planar point cloud set. S52. Using the anchor plate plane point cloud set as the spatial normal reference, extract the cylindrical point cloud of the exposed anchor rod using the cylindrical model fitting algorithm. S53. Calculate the central axis of the cylindrical point cloud and determine the three-dimensional orientation angles of the exposed part; S54. Starting from the intersection point of the exposed parts on the wall surface, generate a safety-encased cylinder with one end penetrating into the wall along the opposite direction of the three-dimensional angle, as an inclined concealed interference area.

[0011] Preferably, the specific steps of S6 are as follows: S61. The real-time positioning and mapping algorithm of S1 outputs the repositioning and registration results with S2, and updates the global transformation matrix from the standard coordinate system to the radar coordinate system in real time. S62. By reading the factory calibration parameters, call the fixed external parameter transformation matrix from the radar coordinate system to the drilling rig body coordinate system; S63. By reading the hydraulic cylinder and motor encoder readings fed back by the PLC in real time, and substituting them into the DH forward kinematic parameter equation, the dynamic transformation matrix from the drilling rig body coordinate system to the end of the drill rod guide rail is solved and updated in real time. S64. Using the calculated multi-level dynamic transformation matrix, the target drilling trajectory, existing external anchor bolts, and internal inclined hidden interference areas are uniformly mapped to the drilling rig coordinate system. S65. Calculate the cylindrical sweep envelope of the drill bit advancing at a specified angle, and solve the three-dimensional spatial distance between the envelope and the existing external anchor and the internal inclined hidden interference area respectively. S66. If the three-dimensional spatial distance is less than the safety threshold, the starting coordinates or entry angle of the drill rod guide rail are adjusted so that the propulsion trajectory is completely contained within the safety gap, thereby achieving interference-free drilling operations.

[0012] A system for an all-scenario anti-interference drilling method for an automated mining drilling rig includes: Manual mapping module: Used to collect point clouds and generate and save a global map of the mine in response to manual driving mode; Relocation and Mapping Module: Used in automatic mode to extract real-time point cloud, perform feature matching and relocation on the global map, and complete the mapping from standard borehole coordinates to the global map; Twin modeling and approach collision avoidance module: used to build a mathematical model of the drilling rig and predict interference during operation, and to avoid obstacles by adjusting the guide rail attitude; Staring perception scanning module: used to acquire local dense point clouds that meet accuracy requirements by scanning over time when the drilling rig is stopped; Feature recognition and concealment simulation module: used to jointly identify the position and angle of existing anchor bolts from dense point cloud, and reverse-engineer the inclined concealed interference area in the wall; Servo anti-collision control module: used to calculate the underlying multi-level transformation matrix in real time, and adjust the guide rail angle and height to ensure that it is safely inserted between the anchor bolts and avoids interference inside the wall; Communication and Digital Twin Interaction Module: Used for bidirectional communication with the PLC to issue drilling commands and to send back a visualized image containing the features of the newly added anchor bolts and the hidden interference area to the central control room to refresh the UI.

[0013] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1-6.

[0014] A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described in any one of claims 1-6.

[0015] Therefore, the present invention employs the above-mentioned method, system, equipment, and storage medium for anti-interference drilling in all scenarios of an automated mining drilling rig, and has the following beneficial effects: (1) This invention breaks through the hardware limitations under special working environments through the deep collaboration of "physical layout optimization" and "algorithm spatiotemporal reuse". The non-repeating scanning lidar is symmetrically arranged on the front and rear of the top of the machine body, so that the front and rear field of view of the radar can cover the roadway environment in front and behind when the mining drilling rig is moving, and can also cover the road surface and the tunnel surface on the roof in front of the chassis, eliminating blind spots. Combined with the operation logic of moving to build large maps and fixed-point integration to scan details, it successfully overcomes the inherent defects of the traditional explosion-proof radar's limited field of view and close-range detection blind spots, that is, it realizes cross-scale full coverage high-precision perception from macro-roadway navigation to micro-anchor bolt feature extraction.

[0016] (2) The invention's unique "outside-inside" reverse deduction mechanism for concealed blind zones completely eliminates the risk of blind drilling that has long plagued mining operations. Existing obstacle avoidance technologies can only avoid surface obstacles within the sensor's line of sight, while this invention, by accurately extracting the three-dimensional angles of exposed anchor rods, uses a cylindrical fitting model to calculate the tilt direction of old anchor rods deeply buried inside the rock wall and completely invisible to the sensor. The virtual interference zone generated on this basis provides an absolutely safe propulsion corridor for drilling the guide rail, fundamentally avoiding serious engineering disasters such as drill bit breakage and cutting off internal old anchor rods.

[0017] (3) The high-dynamic multi-level rigid body bounding box and kinematic twin technology introduced in this invention endow large rigid mechanical equipment with excellent "flexible" passage and adaptive operation capabilities. The multi-axis linkage and the connection of the underlying coordinate chain not only eliminate the risk of vehicle body scratches during fully automated driving, but also design an active "head-down, retraction" anti-collision posture for the long guide rail mechanism that is unique to drilling rigs and prone to interference. This highly flexible macro-micro collaborative obstacle avoidance mechanism greatly improves the mobility and passage rate of automated drilling rigs in harsh and irregular unstructured underground spaces.

[0018] (4) This invention transforms massive spatial point cloud data into intuitive digital twin visualization images through deep integration and algorithmic closed-loop communication between the industrial control computer, PLC, and centralized control warehouse. The system can not only autonomously calculate the DH matrix for servo avoidance drilling, but also highlight and render the originally abstract, hidden dangerous areas on the UI interface of the centralized control warehouse. This transparent and digital intuitive feedback mechanism enables the system to have a complete production operation logic of "autonomous planning and decision-making, with human safety as a safety net", providing a standardized digital solution with great engineering value for the comprehensive unmanned and intelligent transformation of mining special equipment.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating an embodiment of the all-scenario anti-interference drilling method, system, equipment, and storage medium for an automated mining drilling rig according to the present invention. Figure 2 This is a schematic diagram of the drilling rig and radar field of view of an embodiment of the all-scenario anti-interference drilling method, system, equipment and storage medium of an automated mining drilling rig according to the present invention; Figure 3 This invention relates to an embodiment of a full-scene anti-interference drilling method, system, equipment, and storage medium for an automated mining drilling rig, and includes overall envelope and motion detection. Figure 4 This invention relates to an anchor bolt identification and deduction method, system, equipment and storage medium for an automated mining drilling rig with full-scene anti-interference drilling; Figure 5 This is a flowchart illustrating the collision prediction and shrinkage obstacle avoidance process of an embodiment of the all-scenario anti-interference drilling method, system, equipment and storage medium for an automated mining drilling rig of the present invention. Figure 6 This is a flowchart illustrating the anchor bolt identification and concealment simulation process of an embodiment of the all-scenario anti-interference drilling method, system, equipment, and storage medium for an automated mining drilling rig according to the present invention.

[0021] Reference numerals in the attached diagram: 1. Drilling rig chassis; 2. Drilling rig guide rail; 3. Non-repetitive scanning lidar; 4. Industrial control computer; 5. PLC. Detailed Implementation

[0022] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] Example Please see Figures 1-6 This invention provides a method, system, equipment, and storage medium for interference-free drilling of automated mining drilling rigs across all scenarios. Addressing the problem of motion interference between the drilling rig and small or concealed anchor bolts during navigation and deployment in the confined, reference-free space of a mine, this invention employs two non-repeating scanning lidars for spatiotemporal dual-modal detection. During the navigation phase, the drilling rig moves and constructs a global 3D prior map of the tunnel, mapping standard drilling coordinates to this map to achieve autonomous approach. During the operation phase, real-time interference prediction and path planning are performed by combining the drilling rig's kinematic model and the global point cloud. Upon reaching the target location, the drilling rig stops and utilizes the time integration characteristics of non-repeating scanning to acquire a local dense point cloud of the working face, jointly extracting the geometric features of the anchor plate and exposed anchor bolts. Subsequently, the concealed trajectory of the anchor bolts within the rock wall is inverted and deduced to construct a virtual avoidance zone, and the guide rail posture is controlled to perform interference-free drilling. This invention reuses a homogeneous non-repetitive scanning radar to achieve cross-scale macro-micro collaborative perception, enabling unmanned drilling operations of automated drilling rigs. It effectively overcomes the problems of missing detection of slender obstacles and internal rock wall impacts, significantly improving the operational safety and efficiency of automated mining drilling rigs.

[0025] This embodiment provides a full-scene anti-interference drilling system for an automated mining drilling rig, including a mining drilling rig chassis 1, a multi-degree-of-freedom drill rod guide rail 2, a non-repetitive scanning LiDAR 3, a mining explosion-proof industrial control computer 4 (industrial PC), a programmable logic controller (PLC) 5, and a remote control compartment for remote monitoring and control. The bottom of the multi-degree-of-freedom drill rod guide rail 2 is connected to the front end of the mining drilling rig chassis 1. The non-repetitive scanning LiDAR 3 is fixedly installed on the top of the mining drilling rig chassis 1 via a high-rigidity explosion-proof bracket. The industrial PC 4 is electrically connected to the non-repetitive scanning LiDAR 3, the PLC 5, and the remote control compartment. The remote control compartment acquires data through communication cables and sends control commands to the drilling rig. The specific structure of the remote control compartment is existing technology and will not be described in detail here. The mining drilling rig chassis 1 serves as the supporting base for the entire mobile operation and has an explosion-proof electrical control box inside. The industrial PC 4 and the PLC 5 are integrated and installed inside the explosion-proof electrical control box. The industrial control computer 4 receives high-frequency three-dimensional point cloud data collected by the non-repetitive scanning lidar 3 via a high-speed industrial Ethernet, and sends servo control commands to the PLC 5 via a network cable. The output of the PLC 5 is connected to the walking drive motor of the mining drilling rig chassis 1 and the lifting hydraulic cylinder and pitch angle adjustment motor of the multi-degree-of-freedom drill rod guide rail 2, and is used to execute the underlying electromechanical-hydraulic servo actions.

[0026] The non-repetitive scanning lidar 3 employs a symmetrical tilted structure in its physical layout on the top of the unit. The center of the non-repetitive scanning lidar 3's scanning field of view is tilted downwards at 45 degrees, and also offset to the left, right, and upwards at set angles. This layout allows the radar's forward field of view to cover the tunnel environment ahead while the mining drilling rig is moving, its downward field of view to cover the road surface in front of the chassis, and its upward field of view to cover the tunnel surface above the rig, eliminating blind spots. When the drilling rig is stationary, the high-density central scanning field of view accurately covers the drilling face on the rock wall to the side. This spatiotemporal multiplexing design, combining a fixed hardware layout with different operating states, avoids physical obstruction of the scanning beam by the unit components, fundamentally eliminating the detection blind spots of traditional directional radars during close-range operations.

[0027] The industrial control computer 4 integrates a three-dimensional kinematic digital twin module and a macroscopic approach collision avoidance module. Based on the actual physical dimensions of the mining drilling rig, the industrial control computer 4 establishes the mining drilling rig chassis 1 and the multi-degree-of-freedom drill rod guide rail 2 as independent rigid body bounding boxes, and combines their physical hinge points to form a multi-level rigid body bounding box model. When the drilling rig moves towards the target hole position, the industrial control computer 4 acquires the chassis odometer and guide rail joint encoder data fed back by the PLC5 in real time, and puts the multi-level rigid body bounding boxes into the three-dimensional voxel mesh of the global point cloud map constructed by the lidar for Boolean intersection detection. When it is predicted that the large body or the multi-degree-of-freedom drill rod guide rail 2 protruding in front of the body will interfere with the movement of the narrow tunnel rock wall, the industrial control computer 4 issues an intervention command, prioritizing the control of the guide rail's hydraulic cylinder to lower its height and adjust the pitch angle, so that the overall machine is in a retracted collision avoidance posture, ensuring the equipment safely passes through narrow or undulating areas.

[0028] The industrial control computer 4 also integrates a module for high-precision extraction of local point clouds and deduction of hidden blind zones. After the mining drilling rig chassis 1 stops moving, the industrial control computer 4 automatically suspends the point cloud downsampling mechanism in the global mapping and switches to a local fixed-point staring mode. The system extracts the non-destructive original point cloud collected by the non-repeating scanning lidar 3 within the static time window and performs time-dimensional integration to generate a high-resolution local dense point cloud. Based on this dense point cloud, the industrial control computer 4 uses curvature and reflectivity joint extraction technology to match the planar features of the existing anchor plate on the rock wall surface, and uses the center of the anchor plate plane as the seed point to fit the cylindrical point cloud of the exposed anchor rod using the cylindrical RANSAC algorithm. After calculating the central axis of the cylinder, the precise three-dimensional direction angle of the exposed anchor rod can be obtained. Starting from the intersection of the exposed anchor rod and the wall, extending in the opposite direction of the three-dimensional direction angle into the wall, the system generates a safe enveloping cylinder with one end penetrating into the wall, which is marked as the inclined hidden interference area.

[0029] The industrial control computer 4 has a complete set of DH forward and inverse kinematic parameter matrix modules pre-stored. After generating the inclined concealed interference region, the industrial control computer 4 performs real-time serial calculations of the multi-level dynamic transformation matrix between the standard coordinate system, radar coordinate system, body coordinate system, and guide rail drill point coordinate system. The known external anchors and the internal inclined concealed interference region are uniformly mapped to the body coordinate system, and the shortest three-dimensional Euclidean distance between the advance sweep envelope of the multi-degree-of-freedom drill rod guide rail 2 and the interference region is calculated. When there is a risk of collision, the initial spatial position, pitch angle, and lifting height of the multi-degree-of-freedom drill rod guide rail 2 are adaptively adjusted using the Jacobian matrix inverse algorithm, so that the guide rail is precisely inserted between the two existing external anchors and the drilling trajectory avoids the old anchors inside the wall, completely eliminating drill bit damage caused by blind drilling.

[0030] This embodiment provides a full-scenario anti-interference drilling method for automated mining drilling rigs, which includes the following steps: S1. Manual Patrol Mapping and Target Relocation: First, responding to manual driving or remote control commands, the mining drilling rig is moved within the tunnel. The industrial control computer 4 receives point clouds collected in real-time by the non-repeating scanning lidar 3, processes them using the SLAM algorithm, and saves the global 3D prior point cloud map of the tunnel. Then, switching to automatic mode, the system extracts the real-time point cloud for feature matching, achieving initial relocation of the drilling rig in the global point cloud map. Simultaneously, the target borehole positions based on the mine's standard borehole coordinate system, issued by the remote control center, are acquired. The global transformation matrix is ​​calculated using the singular value decomposition algorithm, accurately mapping the standard borehole positions to the global absolute target drilling points on the map.

[0031] S2. Twin Modeling and Macro-Approach Collision Avoidance: The system drives a multi-level rigid body bounding box model and performs 3D Boolean intersection collision prediction of the expected driving trajectory on the global map based on real-time pose; it controls the mining drill to move autonomously to the drilling point, and when it is predicted that the machine body or guide rail will interfere with the roadway during the movement, it automatically sends the bottom control command to PLC5 to adjust the attitude angle and height of the multi-degree-of-freedom drill rod guide rail 2 to mechanically retract and avoid obstacles until it reaches the vicinity of the working target point without collision.

[0032] S3. Fixed-point staring and high-resolution feature extraction: After the mining drilling rig reaches the designated position, it brakes and stops, and the chassis locks. The non-repetitive scanning lidar 3 enters the local staring scanning mode, and uses the time integration characteristics of non-repetitive scanning to continuously scan the current working face; the industrial control computer 4 stops the environmental point cloud downsampling, and obtains local dense point cloud data that exceeds the density of conventional single frames, so as to capture the geometric features of small anchor plates and exposed anchor bolts with high fidelity.

[0033] S4. Joint Anchor Bolt Identification and Concealed Blind Zone Simulation: The industrial control computer 4 performs geometric curvature matching based on local dense point clouds, jointly detects the precise three-dimensional position of existing anchor plates and exposed anchor bolts on the working surface, and uses a cylindrical fitting algorithm to calculate the true length and three-dimensional direction angle of the exposed anchor bolts; taking the geometric center of the intersection of the exposed parts on the wall surface as the starting point, and performing ray geometric simulation in the opposite direction of the three-dimensional direction angle into the wall, it generates an inclined concealed interference area that represents the direction of the old anchor bolts inside the wall.

[0034] S5, Multi-level Coordinate Calculation and Micro-servo Drilling: The system calculates the dynamic multi-level transformation matrix in real time from the standard coordinate system to the radar coordinate system, from the radar to the body coordinate system, and from the body to the end of the drill rod guide rail; it maps the existing external anchors and the derived internal tilting hidden interference area to the body coordinate system, and adaptively adjusts the pitch angle and the height of the lifting hydraulic cylinder of the multi-degree-of-freedom drill rod guide rail 2 through inverse kinematics solution, so that the drill rod guide rail can be safely inserted between the two existing external anchors, and avoid the internal hidden interference area in the advancing posture, and sends a command to PLC5 to execute interference-free automatic drilling.

[0035] S6. Closed-loop communication and digital twin interaction: Throughout the entire lifecycle of automatic drilling and movement, the industrial control computer 4 maintains high-frequency bidirectional communication with the PLC5 and the remote control room; it dispatches servo drive pulses and direction commands to the lower layer in real time; and transmits visualized digital twin images, including panoramic mapping maps, identified anchor bolt entity point cloud models, reverse-engineered internal virtual interference cylinder areas, and real-time dynamic linkage of the drilling rig's multi-level joints, to the industrial display in the control room via the downhole ring network, driving the user interface to synchronously refresh three-dimensional thermal and attitude data, thereby achieving transparent closed-loop monitoring of fully automated operations.

[0036] This embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of the present invention.

[0037] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of the present invention.

[0038] Therefore, the present invention adopts the above-mentioned method, system, equipment and storage medium for anti-interference drilling of mining automated drilling rigs in all scenarios. It reuses the same source non-repeating scanning radar to realize cross-scale macro-micro collaborative perception, realizes unmanned drilling operation of automated drilling rigs, effectively overcomes the problems of missed detection of slender obstacles and internal impact of rock walls, and significantly improves the operation safety and efficiency of mining automated drilling rigs.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for preventing interference during drilling in all scenarios using an automated mining drilling rig, characterized in that, Includes the following steps: S1. Manual cruise mapping stage: Responding to manual driving commands, the system acquires environmental point clouds collected by the non-repeating scanning lidar installed on the mining drilling rig during the movement, and constructs and stores a global point cloud map of the mine through real-time positioning and mapping algorithms. S2, Mode Switching and Relocation Mapping Stage: In response to the automatic mode switching command, load the global point cloud map, extract the real-time point cloud scanned by the current LiDAR, perform feature matching between the real-time point cloud and the global point cloud map, and complete the initial relocation of the mining drill rig in the global point cloud map; obtain the standard borehole coordinates in the standard borehole coordinate system issued by the central control room, and map the standard borehole coordinates to the global target drilling point in the global point cloud map through matrix transformation; S3. Dynamic twin modeling and macro-collision avoidance stage: Construct a three-dimensional mathematical model of the mining drilling rig. Based on the real-time pose of the drilling rig after repositioning, perform path planning and collision prediction in the global point cloud map. Control the drilling rig to move autonomously. If the drilling rig body or drill rod guide rail interferes with the roadway during the predicted movement, automatically adjust the attitude angle and height of the drill rod guide rail to shrink and avoid obstacles until the drilling rig reaches the vicinity of the global target drilling point. S4. Fixed-point staring and high-precision scanning stage: After the drilling rig reaches the designated position, it brakes and stops. Using the time integration characteristics of the non-repeating scanning lidar in a stationary state, the current working face is scanned to obtain a local dense point cloud that meets the accuracy requirements. S5. Anchor Bolt Joint Identification and Concealed Inference Stage: Based on local dense point cloud, geometric matching is carried out to jointly detect the position of existing anchor plates and exposed anchor bolts on the working surface. The true length and three-dimensional direction angle of the existing anchor bolt are calculated based on the cylindrical fitting model. The reverse extension inference is carried out along the three-dimensional direction angle into the wall to generate the inclined concealed interference area representing the existing anchor bolt in the wall. S6. Micro-servo control and anti-collision drilling stage: Real-time calculation of the multi-level dynamic transformation matrix between the standard coordinate system and the radar, radar to the machine body and the machine body to the end of the drill rod guide rail; Combined with the calculated multi-level dynamic transformation matrix, the pitch angle and lifting height of the drill rod guide rail are adaptively adjusted so that the drill rod guide rail can be safely inserted between the two existing anchor rods on the outside, and avoid the inclined hidden interference area in the wall in the advancing posture, so as to realize the interference-free automatic drilling action; S7. Interactive Communication and Digital Twin Update Stage: Real-time bidirectional communication between the mining drilling rig's computing unit and the underlying programmable logic controller and the top-level centralized control room is realized; servo control commands generated in S6 are sent downwards, and visualized images are transmitted upwards to the centralized control room to drive the user interface to update digital twin information. The visualized images include a global point cloud map, identified existing anchor bolt positions, inferred interference areas, and the real-time status of the drilling rig.

2. The all-scenario anti-interference drilling method for an automated mining drilling rig according to claim 1, characterized in that, The specific steps for data acquisition by the non-repeating scanning lidar in S1 are as follows: S11. Two non-repetitive scanning lidars are fixedly installed on the top of the mining drilling rig, directly in front and directly behind, and symmetrically arranged to form a complementary physical layout. S12. During the movement, using the physical layout of S11, two non-repeating scanning lidars move with the body to achieve full coverage of the forward environment and side point clouds of the mine. S13. In a stationary state, the high-density field of view at the center of the physical layout is used to perform a full-coverage scan of the working surface, overcoming the sparse point cloud defect of a single frame and eliminating the near-range blind zone of the radar hardware.

3. The all-scenario anti-interference drilling method for an automated mining drilling rig according to claim 1, characterized in that, The specific steps of S2 are as follows: S21. Repositioning and Registration: Extract the geometric features of the current real-time single-frame point cloud of the lidar, use the point cloud registration algorithm to calculate the rotation matrix and translation vector between the real-time single-frame point cloud and the global point cloud map, and solve to obtain the initial absolute pose of the mining drilling rig in the global coordinate system. S22, Standard System Mapping: Extract known reference object feature points from the global point cloud map, calculate the origin translation vector and rotation Euler angle of the standard drilling coordinate system, construct a global transformation matrix, multiply the standard drilling coordinates by the global transformation matrix to obtain the global target drilling point in the absolute coordinate system of the global point cloud map.

4. The all-scenario anti-interference drilling method for an automated mining drilling rig according to claim 1, characterized in that, The specific steps of S3 are as follows: S31. Establish a multi-level rigid body bounding box model that includes the drilling rig chassis and the movable drill rod guide rail, as a three-dimensional mathematical model of the mining drilling rig. S32. During the approach movement of the drilling rig, the real-time chassis odometer data and guide rail encoder data are substituted into the multi-level rigid body bounding box model, and three-dimensional Boolean intersection detection is performed in the voxel mesh of the global point cloud map. S33. When it is predicted that there is motion interference between the drill rod guide rail and the point cloud mesh, the inverse kinematics algorithm is used to solve the safe avoidance space, and the lifting height of the drill rod guide rail is reduced or the pitch angle is adjusted first, so that the mining drilling rig passes through the narrow roadway in a contracted anti-collision posture.

5. The all-scenario anti-interference drilling method for an automated mining drilling rig according to claim 1, characterized in that, The specific steps of S5 are as follows: S51. Perform curvature and reflectivity feature segmentation on the local dense point cloud, and prioritize matching and extracting the anchor plate planar point cloud set. S52. Using the anchor plate plane point cloud set as the spatial normal reference, the cylindrical point cloud of the exposed anchor rod is extracted using the cylindrical model fitting algorithm. S53. Calculate the central axis of the cylindrical point cloud and determine the three-dimensional orientation angles of the exposed part; S54. Starting from the intersection point of the exposed parts on the wall surface, generate a safety-encased cylinder with one end penetrating into the wall along the opposite direction of the three-dimensional angle, as an inclined concealed interference area.

6. The all-scenario anti-interference drilling method for an automated mining drilling rig according to claim 3, characterized in that, The specific steps of S6 are as follows: S61. The real-time positioning and mapping algorithm of S1 outputs the repositioning and registration results with S2, and updates the global transformation matrix from the standard coordinate system to the radar coordinate system in real time. S62. By reading the factory calibration parameters, call the fixed external parameter transformation matrix from the radar coordinate system to the drilling rig body coordinate system; S63. By reading the hydraulic cylinder and motor encoder readings fed back by the PLC in real time, and substituting them into the DH forward kinematic parameter equation, the dynamic transformation matrix from the drilling rig body coordinate system to the end of the drill rod guide rail is solved and updated in real time. S64. Using the calculated multi-level dynamic transformation matrix, the target drilling trajectory, existing external anchor bolts, and internal inclined hidden interference areas are uniformly mapped to the drilling rig coordinate system. S65. Calculate the cylindrical sweep envelope of the drill bit advancing at a specified angle, and solve the three-dimensional spatial distance between the envelope and the existing external anchor and the internal inclined hidden interference area respectively. S66. If the three-dimensional spatial distance is less than the safety threshold, the starting coordinates or entry angle of the drill rod guide rail are adjusted so that the propulsion trajectory is completely contained within the safety gap, thereby achieving interference-free drilling operations.

7. A system for applying the all-scenario anti-interference drilling method of an automated mining drilling rig according to any one of claims 1-6, characterized in that, include: Manual mapping module: Used to collect point clouds and generate and save a global map of the mine in response to manual driving mode; Relocation and Mapping Module: Used in automatic mode to extract real-time point cloud, perform feature matching and relocation on the global map, and complete the mapping from standard borehole coordinates to the global map; Twin modeling and approach collision avoidance module: used to build a mathematical model of the drilling rig and predict interference during operation, and to avoid obstacles by adjusting the guide rail attitude; Staring perception scanning module: used to acquire local dense point clouds that meet accuracy requirements by scanning over time when the drilling rig is stopped; Feature recognition and concealment simulation module: used to jointly identify the position and angle of existing anchor bolts from dense point cloud, and reverse-engineer the inclined concealed interference area in the wall; Servo anti-collision control module: used to calculate the underlying multi-level transformation matrix in real time, and adjust the guide rail angle and height to ensure that it is safely inserted between the anchor bolts and avoids interference inside the wall; Communication and Digital Twin Interaction Module: Used for bidirectional communication with the PLC to issue drilling commands and to send back a visualized image containing the features of the newly added anchor bolts and the hidden interference area to the central control room to refresh the UI.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it implements the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

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