Artificial intelligence-based adaptive control method and system for drilling depth of electric hammer

Abstract

The present application relates to the field of electric tool control, and discloses an adaptive control method and system for the depth of an electric hammer drill based on artificial intelligence, comprising: forming a construction surface reference and a geometric depth interval, completing consistency determination of a clamping state through state classification gating and a clamping difference type, generating an impact package identifier and forming an upper bound of a predicted footage, obtaining an in-transit depth occupation and an available depth budget through a depth occupation type and a depth budget type, selecting a conventional impact package or a surrounding type probe, obtaining a confirmed footage through a cause-effect confirmation type and forming an impact footage interval, fusing to form a control depth interval, calling a response coefficient type and a footage calculation type to establish a local response relationship and complete impact package permission decision, and terminating automatic depth control after forming a final pending footage interval and a final control depth interval. The present application includes the pre-occupied depth and the in-transit depth occupation into the available depth budget, combines the cause-effect confirmation and the local response establishment, reduces the risk of over-depth, and facilitates the final accounting when the abnormal termination is completed.

Description

Technical Field

[0001] This invention relates to the field of power tool control, specifically to an adaptive control method and system for hammer drill depth based on artificial intelligence. Background Technology

[0002] Electric hammer drills are used to drill holes in concrete, brick walls, and other substrates. The pneumatic impact mechanism uses a motor-driven excitation piston, coupled via an air chamber, to cause the hammer to strike the drill bit's tail, thus advancing the drill bit. Existing depth control methods mainly include mechanical depth limiting and electronic distance measurement stops. Mechanical depth limiting uses a depth rod, limiting sleeve, or drill bit limiting ring; the operator stops drilling once the limiting element is against the working surface or borehole opening. Electronic distance measurement stops use laser, ultrasonic, or time-of-flight ranging; the system alerts or cuts off the motor once the target depth is reached. Other solutions adjust the output based on motor current, speed, thrust, and vibration, or utilize machine learning to identify reverse torque, drill-through, and operational anomalies.

[0003] Existing methods typically issue a stop or warning command after geometric ranging reaches the target depth. Pneumatic impact has an irreversible execution range; if the flyweight crosses this range, cutting off the motor or opening the bypass valve will still complete the impact and advance the footage. If authorized but unconfirmed, or irreversibly uncalculated depth occupancy is not included in the depth margin upon which subsequent authorizations are based, impacts will continue to be authorized even when approaching the target depth, leading to over-depth.

[0004] Geometric displacement is influenced by material removal, clamping conditions, hole bottom response, and measurement effectiveness. Existing methods lack a mechanism to acquire the advance response under consistent clamping conditions and to link geometric displacement with the impact process for confirmation. They also lack means to establish local advance relationships within a limited energy range, and it is expected that the advance will be inconsistent with the current hole bottom response.

[0005] When an impact has occurred but footage confirmation cannot be completed, existing methods lack a way to separately count unconfirmed footage and add it to the normal control depth. Depth verification is easily interrupted after abnormal termination. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an adaptive control method and system for electric hammer drilling depth based on artificial intelligence. It solves the problems of insufficient constraints on ultra-deep authorization under irreversible impact conditions, lack of mechanism to attribute confirmed footage to the impact process and establish local footage relationship, and lack of depth verification closure method when footage confirmation is not possible.

[0007] To achieve the above objectives, the present invention provides the following technical solution: The first aspect of this invention provides an adaptive control method for the drilling depth of an electric hammer based on artificial intelligence, comprising the following steps: Obtain and form a set of drilling control parameters based on the target drilling depth, establish a construction surface benchmark, and form a geometric depth range; Confirm the actual impact, implement state classification gating, and call the clamping difference method to complete the clamping state consistency determination; An impact package identifier is generated for the impact package, forming the upper bound of the expected advance. The depth occupancy method is called to calculate the depth occupancy in transit, and the depth budget method is called to calculate the available depth budget. Based on the available depth budget, a regular impact package or a surrounding trial is selected and executed. The causal confirmation method is called to obtain the confirmed advance. The upper bound of the expected advance for the same impact package is only counted in either the pre-occupied depth or the depth occupancy in transit at the same time. The confirmed advance is included in the cumulative impact advance value, and the impact advance interval is formed by the cumulative impact advance value. The control depth range is formed by merging the geometric depth range and the impact advance range. Within the preset verified package energy range, the response coefficient formula and the advance calculation formula are called to establish a local response relationship and obtain the estimated advance. When the clamping state consistency is determined to be passed, the impact package permission decision is completed and the drive command is issued. The abnormal type is identified and the pre-occupied depth and the in-transit depth occupancy are handled to form the final undecided advance range and the final control depth range and complete the final calculation, and terminate the automatic depth control of the electric hammer.

[0008] Furthermore, the steps for forming the geometric depth range include: Obtain or generate drill bit identifiers, form a set of drilling control parameters based on drill bit identifiers, and initialize the validity of local response relationships to invalid; open the electronically controlled bypass valve and control the drill bit to rotate at low speed within the allowable rotation speed range, and form a stability mark by axial thrust, contact reference component displacement, drill bit retainer position and machine body attitude. When the stability mark is equal to 1, record the initial displacement of the contact reference component, the initial position of the drill bit retainer and the initial optical axial distance to form the construction surface reference; form the contact geometric depth and optical geometric depth respectively. When both paths are valid, take the larger lower bound of the single path and the smaller upper bound of the single path to form the geometric depth interval, and use the geometric depth interval as the current control depth interval. When only one path is valid, add the preset single-path additional uncertainty and write it as the current control depth interval.

[0009] Furthermore, to confirm the actual impact, the steps for implementing state classification gating include: The actual impact is confirmed based on the hammer position and peak impact acceleration. An impact synchronization feature frame is formed and input into a gradient boosting decision tree classifier to obtain the state category and state confidence. When each confirmed actual impact in the impact package is a valid advance and the state confidence of the impact package is not less than the preset confidence threshold, it is allowed to enter the causal advance confirmation. When the state category is rebound-dominated, the forward velocity of the hammer target in subsequent candidate impact packages is reduced. When the state category is local response change, the validity of the local response relationship is set to invalid. After the impact packages that have been included in the depth occupancy and have not yet been confirmed or abnormally calculated are processed, the encirclement trial is selected and executed. When the state category is air strike, chip removal obstruction, measurement abnormality or unknown state, it is switched to abnormal handling.

[0010] Furthermore, the steps for determining the consistency of the clamping state by invoking the clamping difference method include: Before the impact package is executed, the clamping state vector is collected, and the clamping difference formula is called to obtain the clamping state difference. When the clamping state difference is within the preset allowable range of clamping state difference, the clamping state consistency is judged as passed. The remaining depth is obtained by subtracting the upper limit of the current control depth interval from the target drilling depth. When the geometric depth interval is valid and the remaining depth is not less than the expected footage upper limit of the conventional impact package, the conventional impact package is selected and executed. When the remaining depth is not greater than the preset threshold for approaching the target drilling depth, or when the state classification gating obtains a local response change and the impact package already included in the depth occupied in transit has been confirmed or the abnormal timing is recorded, a first low-energy test impact package, an intermediate-energy test impact package, and a second low-energy test impact package are planned to form the upper bound of the expected drilling depth, and the clamping state vector before the execution of the first low-energy test impact package is used as the test reference vector; when the sum of the upper bounds of the expected drilling depth of the three impact packages is not greater than the available depth budget, the sequence coverage check is passed; when the clamping state differences between the intermediate-energy test impact package and the second low-energy test impact package relative to the test reference vector are both within the allowable range of clamping state differences, the current test impact package is executed in the execution order.

[0011] Furthermore, the steps of generating impact package identifiers for impact packages, forming the upper bound of the expected advance, calling the depth occupancy method to calculate the in-transit depth occupancy, and calling the depth budget method to calculate the available depth budget include: An impact package identifier is generated and written to the unprocessed impact package identifier set. The impact package status migrates between pre-occupied, in progress, in transit, pending confirmation, confirmed, and completed abnormal accounting. When the fly hammer position is not less than the irrevocable position, the upper limit of the expected advance is moved from the pre-occupied depth to the in transit depth. When the local response relationship is valid, the candidate impact package and the test impact package have the same structure, and the upper limit of the planned equivalent energy transfer of the candidate impact package is within the verified package energy range, the upper limit of the expected advance is formed by superimposing the calculated advance with the compensation amount. Otherwise, the upper limit of the expected advance is formed by superimposing the factory conservative advance envelope with the compensation amount. The compensation amount is formed based on the clamping state difference, state confidence, and depth interval width. The depth occupancy method is called to calculate the in transit depth occupancy, and the depth budget method is called to calculate the available depth budget based on the current controlled depth interval.

[0012] Furthermore, the steps to form the impact advance range include: After the impact package is completed, a processing window bound to the impact package identifier is established. When permission is granted to enter the causal progress confirmation, the causal confirmation flag is obtained by multiplying the valid geometric measurement flag, valid impact flag, axial thrust stability flag, attitude stability flag, and displacement stability holding flag. The stable geometric depth point value before impact is taken as the midpoint of the geometric depth interval before impact package execution, and the stable geometric depth point value after impact is taken as the midpoint of the geometric depth interval after impact package execution. The causal confirmation formula is called to obtain the confirmed progress. When the causal confirmation flag is equal to 1, the confirmed progress is written to the impact progress cumulative value, the in-transit depth occupation is cleared, and the impact progress interval is formed by the impact progress cumulative value.

[0013] Furthermore, the process of merging the geometric depth range and the impact advance range to form a control depth range, and establishing a local response relationship by calling the response coefficient formula and the advance calculation formula within the preset verified energy range to obtain the estimated advance includes the following steps: When both the geometric depth interval and the impact advance interval are valid, the control depth interval is formed by taking the larger of the lower bounds and the smaller of the upper bounds of the two intervals, and the current control depth interval is updated with the control depth interval. When all three test impact packages have completed causal advance confirmation, the clamping state consistency is determined to be passed, the actual impact package structure conforms to the fixed test impact package structure, and the actual equivalent energy transferred by the impact package is greater than 0, the local response coefficient is obtained by calling the response coefficient formula. When the local response coefficient belongs to the preset physical envelope, the structural identifier of the fixed test impact package structure is used as the impact package structure binding information, and the drill bit identifier, the current control depth range, the construction surface benchmark and the verified package energy range are bound together, and the validity of the local response relationship is set to valid; when the candidate impact package and the impact package structure binding information are consistent and the upper limit of the candidate impact package's planned equivalent energy transfer belongs to the verified package energy range, the advance calculation formula is called to obtain the estimated advance, and then the estimated advance is superimposed with the compensation amount to form the expected advance upper limit.

[0014] Furthermore, when the clamping state consistency determination is passed, the steps to complete the impact package permission decision and issue the drive command include: When the upper limit of the expected advance of the impact package to be permitted is not greater than the available depth budget, the impact package permission decision is passed, the upper limit of the expected advance is included in the pre-occupied depth, the impact package status is set to pre-occupied and moved to execution, and the power control bypass valve is closed and the motor target speed is set.

[0015] Furthermore, the steps of identifying and handling pre-occupied depth and in-transit depth occupancy, forming the final undetermined advance range and the final control depth range, completing the final verification, and terminating the automatic depth control of the electric hammer include: According to the preset abnormal handling rule table, the abnormal type is handled. When the hammer position is less than the irrevocable position, the pre-occupied depth is released. When the hammer position is not less than the irrevocable position, the depth in transit is maintained. When the impact package that has actually occurred still cannot obtain the confirmation of allowable entry for causal progress, a final unresolved progress interval is formed. The lower limit of unresolved progress is set to 0, the upper limit of expected progress is added to its upper limit, the impact package is marked as having completed abnormal calculation, and removed from the unprocessed impact package identifier set. The unprocessed impact package identifier set consists of impact package identifiers that have not yet been confirmed or abnormally calculated. The normal control depth range is defined as the control depth range before termination. The lower limit of the final control depth is taken as its lower limit, and the upper limit of the final control depth is taken as the sum of its upper limit and the upper limit of the final undetermined advance range. The final control depth range is formed and the final calculation is completed. When the electric bypass valve is open, there are no new effective impacts, and the unprocessed impact package identifier set is empty, the termination condition is met and the automatic depth control of the electric hammer is terminated.

[0016] A second aspect of the present invention provides an adaptive control system for hammer drill depth based on artificial intelligence, comprising: The benchmark modeling module is used to acquire and form a set of drilling control parameters based on the target drilling depth, establish a construction surface benchmark, and form a geometric depth range; the state perception module is used to confirm the actual impact, implement state classification gating, and call the clamping difference to complete the clamping state consistency judgment. The advance decision module is used to generate impact package identifiers for impact packages, form the upper bound of the expected advance, call the depth occupancy method to calculate the depth occupancy in transit, call the depth budget method to calculate the available depth budget, select a regular impact package or a surrounding trial based on the available depth budget and execute it, call the causal confirmation method to obtain the confirmed advance, the upper bound of the expected advance for the same impact package is only counted in either the pre-occupied depth or the depth occupancy in transit at the same time, the confirmed advance is included in the cumulative impact advance value and the impact advance interval is formed by the cumulative impact advance value; The fusion control module is used to merge the geometric depth range and the impact advance range to form the control depth range, call the response coefficient formula and the advance calculation formula to establish the local response relationship and obtain the estimated advance, and complete the impact package permission decision and issue the drive command when the clamping state consistency is determined to be passed. The abnormal termination module is used to identify the abnormal type and handle the pre-occupied depth and in-transit depth occupancy, form the final undetermined advance interval and the final control depth interval, complete the final calculation, and terminate the automatic depth control of the electric hammer.

[0017] This invention provides an adaptive control method and system for hammer drill depth based on artificial intelligence. It has the following beneficial effects: 1. This invention incorporates the mutually exclusive use of pre-occupied depth and in-transit depth into the available depth budget. After the flying hammer reaches the irrevocable position, the expected upper limit of the advance is moved into the in-transit depth and cannot be released. The impact package permission decision is only passed when the expected upper limit of the advance is not greater than the available depth budget, thereby reducing the risk of over-depth.

[0018] 2. After the consistency determination of the clamping state is passed, the present invention performs a surrounding test, obtains the confirmed advance through the causal confirmation formula and includes it in the cumulative value of impact advance, and then calls the response coefficient formula and the advance calculation formula to establish a local response relationship within the verified energy range, so that the upper limit of the expected advance corresponds to the current hole bottom response.

[0019] 3. For impact packages that have occurred but for which causal progress confirmation cannot be obtained, the present invention includes the upper limit of the expected progress in the final unresolved progress interval. The upper limit of the final control depth is obtained by adding the upper limit of the normal control depth interval and the upper limit of the final unresolved progress interval. The final calculation can still be completed in the event of abnormal termination. Attached Figure Description

[0020] Figure 1 This is a system architecture diagram of the present invention; Figure 2 This is a flowchart of the method of the present invention; Figure 3 This is a flowchart illustrating the baseline modeling process of the present invention; Figure 4 This is a flowchart of the state perception process of the present invention; Figure 5 This is a flowchart of the advance decision-making process of the present invention; Figure 6 This is a flowchart of the fusion control process of the present invention; Figure 7 This is a flowchart illustrating the abnormal termination process of the present invention. Figure 8 This is a data diagram showing the control process of drilling a hole at a target drilling depth of 40mm in an application embodiment of the present invention; Figure 9This is a box plot of the endpoint depth error under different target drilling depths in an application embodiment of the present invention. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 This invention provides an adaptive control system for hammer drill depth based on artificial intelligence, comprising: The benchmark modeling module is used to read the drilling control parameter set, establish the construction surface benchmark, and form the geometric depth range and control depth range.

[0023] The state perception module is used to confirm the actual impact, form an impact synchronization feature frame, obtain the state category and implement state classification gating, and complete the consistency determination of the clamping state based on the clamping difference.

[0024] The advance decision module is used to form the upper limit of the expected advance, determine the available depth budget based on depth occupancy and depth budget, select conventional impact package or encirclement test, and form the confirmed advance based on causal confirmation.

[0025] The fusion control module is used to fuse the geometric depth range and the impact advance range, establish the local response relationship based on the response coefficient formula, generate the estimated advance based on the advance calculation formula, complete the package-by-package authorization, and issue drive commands.

[0026] The abnormal termination module is used to handle abnormal types, maintain the depth in transit, form the final undetermined advance interval and complete the final calculation, and then output the final control depth interval before ending automatic depth control.

[0027] See appendix Figure 2 This invention provides an adaptive control method for the drilling depth of an electric hammer drill based on artificial intelligence, comprising the following steps: S1, the benchmark modeling module reads the drilling control parameter set, establishes the construction surface benchmark, and forms the geometric depth range and the control depth range.

[0028] S2, the state perception module confirms the actual impact, forms an impact synchronization feature frame, implements state classification gating, and completes the clamping state consistency determination based on the clamping difference.

[0029] S3, the advance decision module forms the upper limit of the expected advance, calculates the available depth budget based on depth occupancy and depth budget, selects conventional impact package or encirclement test, and forms the confirmed advance based on causal confirmation.

[0030] S4, the fusion control module merges the geometric depth range and the impact advance range, establishes the local response relationship based on the response coefficient formula, forms the estimated advance based on the advance calculation formula, completes the package-by-package authorization and issues the drive command; if the termination condition is not met, it returns to S2.

[0031] S5, the abnormal termination module handles the abnormal type, forms the final undetermined advance range and completes the final verification, and then outputs the final control depth range before ending automatic depth control.

[0032] The technical solutions in the embodiments of the present invention will be further explained below in conjunction with the specific processing procedures.

[0033] In this embodiment, the electric hammer includes a brushless motor, a rotating mechanism, a pneumatic impact mechanism, a vibrating piston, a fly hammer, a drill bit, a drill bit retaining sleeve, an electronic braking circuit, and an electrically controlled bypass valve. The brushless motor drives the rotating mechanism, which in turn moves the vibrating piston in the pneumatic impact mechanism. The electrically controlled bypass valve is located in the air chamber of the pneumatic impact mechanism; when the electrically controlled bypass valve is closed, it creates an air cushion effect to drive the fly hammer; when the electrically controlled bypass valve is open, it releases the effective air cushion impact, allowing the drill bit to rotate at a low speed without creating an effective impact.

[0034] The flyweight position sensor is positioned at the corresponding location on the flyweight's motion path, and the high-range acceleration sensor is positioned to receive impact transmission. The motor current detection circuit is connected to the brushless motor's current detection terminal, and the speed or rotor position detector detects the brushless motor's speed or rotor position. The axial thrust sensor is positioned on the output bearing's load path, the drill bit retainer axial position sensor detects the drill bit retainer's position, and the machine body attitude inertial measurement unit detects the machine body attitude.

[0035] The contact reference element is slidably connected to the housing and rests against the working surface during drilling; a contact reference element displacement sensor detects the displacement of the contact reference element. A multi-zone time-of-flight ranging sensor is located at the front of the housing, and its ranging window is protected by a ranging window cover. The contact reference element serves as the primary geometric source, while the multi-zone time-of-flight ranging sensor serves as an auxiliary verification source. A trigger status input circuit detects when the operator releases the trigger.

[0036] The controller is connected to the motor drive circuit, the electronic bypass valve, the electronic braking circuit, the trigger status input circuit, and various sensors. The controller receives the hammer position, peak impact acceleration, motor-side signal, contact reference displacement, effective distance measurement, drill bit retainer position, machine body attitude, and axial thrust, and outputs the electronic bypass valve closing command, the electronic bypass valve opening command, the target motor speed, the restricted braking command, and the drive cancellation command.

[0037] The irrevocable position is a calibrated position threshold on the flyweight's motion path. It is calibrated by the stroke marker point in combination with the bypass valve's action delay and the motor's limited braking response time, and then stored in the controller. When the flyweight position is not less than the irrevocable position, the controller will move the upper limit of the remaining expected advance of the corresponding impact package from the pre-occupied depth to the in-transit depth and continue to complete the actual impact confirmation, causal advance confirmation, or anomaly verification.

[0038] See appendix Figure 3 In this embodiment, step S1 is executed by the reference modeling module built into the controller, which is used to form a set of drilling control parameters, establish a construction surface reference, and form a geometric depth range and a corresponding control depth range. The contact geometric depth serves as the primary geometric source, while the optical geometric depth is used to verify the contact measurement results; both use the construction surface reference as the depth starting point.

[0039] S101, the baseline modeling module receives the target drilling depth and reads the drill bit diameter, drill bit length and drill bit type from the drill bit parameter table, drill bit identification carrier or manually selected drill bit specifications; it combines the above parameters in the order of preset fields to generate a drill bit identification, and reads the corresponding drill bit identification directly when it exists.

[0040] The baseline modeling module, based on the drill bit identification, reads the allowable rotational speed range, allowable fly hammer speed range, fixed impact pack structure, fixed trial impact pack structure, fly hammer equivalent mass, verified pack energy range, factory conservative footage envelope, factory conservative single impact footage upper limit, and related uncertainties from the drill bit parameter table or pre-stored parameters to form a drilling control parameter set. The factory conservative footage envelope records the conservative footage upper limit according to the impact pack structure and fly hammer target speed level. The related uncertainties are the cumulative value of the upper limits of the factory calibration error, the repeated measurement discrete range, and the parameter leveling error.

[0041] The baseline modeling module initializes the validity of local response relationships to invalid and checks the brushless motor, electronically controlled bypass valve, motor current detection circuit, speed or rotor position detector, and key sensors. Key sensors include the flyweight position sensor, high-range acceleration sensor, contact reference component displacement sensor, multi-area time-of-flight ranging sensor, axial thrust sensor, drill bit retainer axial position sensor, body attitude inertial measurement unit, and trigger status input circuit. Automatic depth control is not initiated if there is no output, over-range operation, communication interruption, or a fault condition; automatic depth control is initiated only if all check results are normal.

[0042] For filtering, time alignment, coordinate projection, parameter storage, and shock packet identification generation of sensor data, those skilled in the art can use digital filtering, timestamp alignment, coordinate transformation, and non-volatile storage. The specific implementation of these techniques is well-known in the field and will not be elaborated here.

[0043] The impact package is executed after a single impact package authorization decision. Its number of impacts, impact interval, rotation speed, and the forward velocity of the flyweight target are all linked to the impact package identifier. The trial impact package and the candidate impact package use the same number of impacts, impact interval, rotation speed, and electronically controlled bypass valve operation mode, distinguished only by the forward velocity of the flyweight target. The upper limit of the planned equivalent energy transfer for the candidate impact package falls within the verified package energy range, which is a closed interval.

[0044] When the status of the impact package changes from pre-occupied to in execution, and the hammer position is not less than the irrevocable position, it is moved to in-transit occupied; when the impact package execution ends, at least one actual impact has been confirmed, and all actual impacts that occurred during the execution period have been confirmed, it is moved to pending confirmation and counted; when the impact package execution ends but no actual impact has been confirmed, it remains in in-transit occupied and is transferred to exception handling.

[0045] Pending confirmation entries will be migrated to confirmed entries or completed abnormal accounting based on the processing results. Pre-occupied and in-process entries will be included in the pre-occupied depth; in-transit and pending confirmation entries will be included in the in-transit depth; confirmed entries will be written into the cumulative impact footage value; the upper limit of the expected footage or the confirmed footage of the same impact package will only be included in one of them at any given time.

[0046] When any planned impact within an existing impact package causes the flyweight position to be at least at the irrevocable position for the first time, the baseline modeling module moves the upper bound of the expected advance that has not yet been written into the cumulative impact advance value from the pre-occupied depth to the in-transit depth occupancy. When the impact package execution ends and all actual impacts that occurred during the execution period are confirmed, only the impact package status is changed, and the in-transit depth occupancy is not added again. Flyweight movements that are not assigned to an existing impact package and whose flyweight position is at least at the irrevocable position generate a temporary impact identifier, forming a temporary in-transit impact, and are directly counted in the in-transit depth occupancy according to the upper bound of the temporary impact's expected advance.

[0047] Impact package identifiers that have entered the pre-occupied, in-process, in-transit, or pending confirmation status, and have not yet been migrated to confirmed or completed abnormal accounting, together with temporary impact identifiers that have not yet been confirmed or abnormally accounted for, constitute the set of unprocessed impact package identifiers.

[0048] Impact package identifiers that have only completed planning but have not yet passed the impact package permission decision are not added to the unprocessed impact package identifier set. When an impact package whose hammer position is less than the irrevocable position and which has not actually impacted is cancelled, the corresponding pre-occupied depth is released, and the corresponding impact package identifier is removed from the unprocessed impact package identifier set.

[0049] S102, the benchmark modeling module opens the electrically controlled bypass valve to stop effective impact and controls the drill bit to rotate at a low speed within the allowable rotation speed range. After the drill bit tip and the contact benchmark jointly abut against the construction surface, the maximum and minimum values ​​of axial thrust, contact benchmark displacement, drill bit retainer position, and machine body attitude are obtained within the preset stable holding period, and the corresponding differences are calculated. When the difference is within the preset stable range, the corresponding axial thrust stability flag, contact displacement stability flag, retainer position stability flag, or attitude stability flag is set to 1; otherwise, it is set to 0.

[0050] The stability holding period and stability range are set based on sensor noise, machine vibration, and reference repeatability. For example, the stability holding period can be set to 0.3s to 1s, the axial thrust variation can be set to 5N to 20N, the displacement of the contact reference element and the position variation of the drill bit retainer sleeve can be set to 0.05mm to 0.2mm, and the change in machine attitude can be set to 0.5° to 2°. When all the above stability indicators are equal to 1, the initial displacement of the contact reference element, the initial position of the drill bit retainer sleeve, and the initial optical axial distance after projection through the machine attitude are recorded to form the construction surface reference.

[0051] S103, the reference modeling module obtains the contact geometry depth by subtracting the increment of the drill bit retainer position relative to the initial position of the contact reference component from the increment of the contact reference component displacement relative to the initial displacement of the contact reference component. If the difference between adjacent samples of the contact reference component displacement is greater than a preset displacement abrupt change threshold, the change in the body attitude is not within the preset allowable range of attitude change, and the change in the distance difference between the current effective ranging areas relative to the reference distance difference is greater than a preset regional difference threshold, then the contact reference component is determined to have lateral slippage.

[0052] When the displacement of the contact reference component enters the preset non-contact position range and the axial thrust is less than the preset contact thrust threshold, it is determined that the contact reference component has detached.

[0053] The non-contact position range is calibrated based on the return position and sliding stroke of the contact reference component. For example, it can be set to 0% to 10% of the stroke from the return end. The contact thrust threshold is set based on the minimum stable axial thrust when the contact reference component is against the construction surface. For example, it can be set to 5N to 20N.

[0054] If the contact reference component detaches, slides laterally, or the contact reference component displacement sensor malfunctions, the contact geometry depth will be marked as invalid; new impact package permissions will be suspended when the contact reference component detaches. The displacement mutation threshold and area difference threshold are set according to the installation gap and ranging repeatability, for example, they can be set to 0.2mm to 1mm and 0.5mm to 3mm respectively.

[0055] The baseline modeling module defines regions with echo quality below a preset echo quality threshold as low-echo regions, regions with distances within a preset drill bit or housing obstruction range as obstruction regions, and regions with distance changes exceeding a preset distance jump threshold as distance jump regions. After excluding these regions, an effective ranging measurement is formed. The preset drill bit or housing obstruction range is factory-calibrated based on the installation location, field of view, and drill bit shape of the multi-region time-of-flight ranging sensor.

[0056] If the proportion of the current effective area to the total ranging area is less than the preset effective area proportion, the effective ranging area is determined to be insufficient. The echo quality threshold, distance jump threshold, and effective area proportion are set based on the range and repeated measurement results of the multi-area time-of-flight ranging sensor. For example, the normalized echo quality threshold can be set to 0.2 to 0.4, the distance jump threshold can be set to 1 mm to 5 mm, and the effective area proportion can be set to 50% to 70%.

[0057] The effective range is projected onto the drill bit axis according to the body attitude to obtain the current optical axis distance; the optical geometric depth is obtained by subtracting the increment of the drill bit retainer position relative to the initial position of the drill bit retainer from the difference between the initial optical axis distance and the current optical axis distance.

[0058] If, within a predetermined number of consecutive sampling periods, the fixed echo near the ranging window is not less than a predetermined near-field echo threshold, and the effective area ratio is less than a predetermined effective area ratio, the ranging window is deemed contaminated. If the ranging window is contaminated, the effective ranging area is insufficient, or the attitude change is outside the allowable range, the optical geometric depth is marked as invalid.

[0059] The preset number and near-field echo threshold are set based on the echo baseline under clean conditions in the ranging window. For example, the preset number can be set to 3 to 10 sampling periods, and the near-field echo threshold can be set to 2 to 5 times the average near-field echo value under clean conditions.

[0060] The allowable range of attitude change is set based on the sensor's field of view, mounting angle, and axial projection error; for example, it can be set to a closed interval from -3° to +3°. If the optical geometric depth is invalid for 3 to 10 consecutive sampling cycles, the optical ranging is determined to be continuously invalid, and automatic depth control is maintained only based on the contact geometric depth.

[0061] The contact uncertainty is the sum of the upper bounds of the calibration error of the contact reference component displacement sensor, the calibration error of the drill bit retaining sleeve axial position sensor, and the axial installation error; the optical uncertainty is the sum of the upper bounds of the distance measurement calibration error, the attitude projection error, the effective area discretization error, and the drill bit retaining sleeve position error.

[0062] When both geometric depths are valid, a single-path lower bound and a single-path upper bound are formed respectively. The larger of the two single-path lower bounds is taken as the geometric depth lower bound, and the smaller of the two single-path upper bounds is taken as the geometric depth upper bound. A geometric depth interval is formed when the geometric depth lower bound is not greater than the geometric depth upper bound; when the geometric depth lower bound is greater than the geometric depth upper bound, a geometric measurement conflict is determined, new impact package permission is stopped, and the construction surface benchmark is re-checked.

[0063] When only one geometric depth is valid, a preset single-path additional uncertainty is superimposed on the corresponding uncertainty to form an expanded uncertainty, and the resulting geometric depth interval is written as the current control depth interval. The single-path additional uncertainty is set based on the calibration error of a single measurement source, for example, it can be set to 0.2mm to 1mm. After each planned impact of an impact pack is completed, the continuous impact pack count is incremented by 1; when the continuous impact pack count reaches the preset upper limit of the number of continuous impact packs, the permission for new impact packs is stopped.

[0064] The upper limit for the number of consecutive impact packets is set based on the single-path additional uncertainty and the fixed impact packet structure; for example, it can be set to 1 to 3 packets. When the dual-path geometric depth becomes valid again and the lower bound of the geometric depth is not greater than the upper bound of the geometric depth, the consecutive impact packet count is reset to zero; when both paths of geometric depth are invalid, new impact packet permission is stopped and the process enters an exception handling phase. When the geometric depth interval is valid and the measured value meets the stability condition, the midpoint of the interval is taken as the stable geometric depth point value.

[0065] See appendix Figure 4 In this embodiment, step S2 is executed by the state-aware module built into the controller. This module confirms the actual impact, detects the single equivalent energy transfer and the actual equivalent energy transfer of the impact package, forms an impact synchronization feature frame, implements state classification gating, and completes the clamping state consistency determination. The equivalent energy transfer characterizes the reduction in kinetic energy before and after the hammer impact. State classification gating limits the advance confirmation and subsequent control branches. The clamping state consistency determination is used to eliminate the influence of operator force application and changes in machine posture on the advance response.

[0066] S201, the state perception module identifies the flying hammer entering the impact motion zone and maintaining positive motion based on the position timing of the flying hammer position sensor, and detects the peak value of the impact acceleration within the preset impact synchronization time limit; when the peak value of the impact acceleration is not less than the preset impact confirmation threshold, the actual impact is confirmed. The impact synchronization time limit is set according to the sampling period and time alignment error of the flying hammer position sensor and the high-range acceleration sensor, for example, it can be set to 1ms to 5ms; the impact confirmation threshold is set according to the root mean square value of the acceleration signal under the condition of no effective impact, for example, it can be 3 to 8 times the root mean square value.

[0067] The forward velocity before impact is taken as the rate of change of position of the flyweight before reaching the impact position, and the rebound velocity after impact is taken as the absolute value of the reverse velocity of the flyweight after leaving the impact position. The equivalent mass of the flyweight is read from the drilling control parameter set, multiplied by the difference between the square of the forward velocity before impact and the square of the rebound velocity after impact, and then divided by 2 to obtain the single-impact equivalent energy; if the result is less than 0, it is taken as 0. The single-impact equivalent energy of each confirmed actual impact within the same impact package is added together to obtain the actual equivalent energy of the impact package; drive commands with unconfirmed actual impacts are not included in the calculation.

[0068] When any planned impact within the impact package causes the flying hammer position to be no less than the irrevocable position for the first time, the corresponding expected advance upper limit will be moved into the in-transit depth occupation according to the state transition rule of S101.

[0069] When the flying hammer, which is not assigned to an existing impact package, reaches an irreversible position, a temporary impact marker is generated. The target speed level of the flying hammer is determined based on the forward velocity before impact. When the forward velocity before impact is between two adjacent target speed levels of the flying hammer, the minimum target speed level of the flying hammer with a lower speed limit not less than the forward velocity before impact is selected. The corresponding factory-conservative upper limit of single impact advance is read, and the compensation amount is superimposed according to the pre-stored compensation amount formation rule to obtain the temporary impact expected advance upper limit, which is then directly included in the in-transit depth occupancy.

[0070] The state perception module sets the acquisition period centered on the candidate impact moment corresponding to the flying hammer position event. It obtains the motor current integral from the data integration of the motor current detection circuit, obtains the motor speed drop and motor speed recovery time from the data of the speed or rotor position detector, obtains the low-speed rotation load characteristics from the current and speed data during low-speed rotation, and obtains the ranging echo quality from the effective area echo.

[0071] Even when a flying hammer location event exists but the actual impact confirmation condition is not met, an impact synchronization feature frame is still formed for the gradient boosting decision tree classifier to determine the air-shot; only impacts that have completed actual impact confirmation participate in the calculation of single equivalent energy transfer and impact packet actual equivalent energy transfer.

[0072] The data acquisition period is set based on the duration of the impact signal and the motor speed recovery time, and may include 10ms to 50ms before the impact and 20ms to 100ms after the impact.

[0073] The motor current integral, motor speed drop, motor speed recovery time, pre-impact forward velocity, post-impact rebound velocity, peak impact acceleration, axial thrust, contact reference displacement, drill bit retainer position, roll angle, pitch angle, and yaw angle in the machine's attitude, ranging echo quality, impact sequence, and low-speed rotating load characteristics are aligned with the fly hammer position event and impact acceleration event to form an impact synchronization feature frame containing these 15 inputs. If no impact acceleration peak value meeting the impact confirmation threshold is detected, the impact acceleration peak value is taken as the maximum acceleration value within the candidate impact period and is not treated as a missing input.

[0074] The impact packet identifier is used to bind the impact synchronization feature frame and the impact packet, and does not participate in the state category calculation. The pre-impact forward velocity, post-impact rebound velocity, peak impact acceleration, contact reference component displacement, drill bit retainer position, and machine attitude are key inputs; the absence of any key input will result in a measurement anomaly. Other inputs are non-key inputs; their absence is handled according to the missing branch of the decision tree determined during the training phase, without changing the input dimension. For signal filtering and time alignment, those skilled in the art can use digital filtering and timestamp interpolation; their specific implementations are well-known techniques in the field and will not be elaborated upon here.

[0075] S202, the gradient boosting decision tree classifier consists of multiple rounds of regression trees. Each round builds a regression tree for effective advance, rebound dominance, airburst, chip removal obstruction, local response changes, and measurement anomalies. Internal nodes divide samples according to input features and splitting thresholds, while leaf nodes output incremental scores for the corresponding state categories. The outputs of each round are multiplied by the learning rate and then accumulated. Exponential normalization is used to convert the scores of each state category into state confidence scores, and the state category with the highest state confidence score is taken as the classification result.

[0076] Offline training was performed on a test bench, with the training input consistent with the runtime impact synchronization feature frames. Invalid values ​​were removed from the training samples according to the physical range of each input parameter, and data exceeding the calibration range was truncated to the corresponding boundary. When non-critical inputs were missing, the missing state was preserved, and during the regression tree splitting process, the missing sample was determined to enter the left or right branch based on the decrease in the loss function. The same boundary truncation and missing branch rules were used during runtime as in the training phase.

[0077] The effective advance label is given by independent displacement measurement results; the rebound-dominant label is given when the ratio of the rebound velocity after impact to the forward velocity before impact reaches a preset rebound ratio range without forming an effective advance. The preset rebound ratio range is set based on the correspondence between independent displacement measurement results on the test bench and the fly hammer velocity, for example, it can be set to a closed interval of 0.5 to 0.9; the air impact label is given by the fly hammer position and the peak impact acceleration; the chip removal obstruction label is given by continuous load characteristics and chip removal status; the local response change label is given by the change in advance response before and after; the measurement anomaly label is given by artificially set abnormal samples caused by ranging obstruction, contact reference part detachment, and attitude changes. Samples with more than two conflicting labels are not included in training.

[0078] The training samples can be divided into training, validation, and test sets at ratios of 70%, 15%, and 15%, respectively, and trained using a multi-class log loss function. Iteration stops when the validation set loss fails to decrease within a preset number of consecutive rounds. The number of consecutive rounds is set based on the number of training samples and the number of regression trees, for example, it can be set to 10 to 30 rounds.

[0079] The number of regression trees for each state category can be set from 50 to 300, the maximum tree depth can be set from 3 to 8 layers, and the learning rate can be set from 0.03 to 0.2. These parameters are determined based on the validation set loss and classification results. After training, the classifier parameters are stored in the controller, and only the classifier parameters are read during runtime.

[0080] The state-aware module inputs the impact synchronization feature frames into the gradient boosting decision tree classifier to obtain the state category and state confidence. When the state confidence is less than a preset confidence threshold, it is recorded as an unknown state. The confidence threshold is set according to the state confidence distribution of misclassified samples in the validation set, for example, it can be set to 0.6 to 0.8.

[0081] When a single impact package contains multiple candidate impact events, the impact package's state category is merged in the following order: measurement anomaly, air impact, chip removal obstruction, local response change, springback dominance, and effective footage. The state category appearing earlier in the aforementioned order takes precedence as the impact package's state category. The state confidence of an impact package is the minimum value among the state confidences of the candidate impact events that determine the state category of that impact package. Causal footage confirmation is only permitted if all confirmed actual impacts within the impact package constitute effective footage, and the state confidence of the impact package is not less than the confidence threshold.

[0082] When the status category of the impact package is valid footage advance, and all confirmed actual impacts within the impact package have completed the status classification, permission to enter causal footage advance confirmation is granted; when the status category is rebound-dominated, the forward velocity of the flying hammer target of subsequent candidate impact packages is reduced by one level relative to the current flying hammer target velocity level, and the current impact package is kept in the current existing in-transit occupied or pending confirmation count status until causal footage advance confirmation or abnormal calculation is completed. When the status category is air impact, measurement abnormality, or unknown status, stop the new impact package permission and proceed to the subsequent S501; when the status category is chip removal obstruction, stop the new impact package permission, open the electronically controlled bypass valve and maintain low-speed rotation for chip removal, and then proceed to S501; when the status category is local response change, set the validity of the local response relationship to invalid, and wait for the impact package that is occupied in transit or awaits confirmation to be included in the count to complete the confirmation or abnormal calculation before entering the encirclement test.

[0083] During measurement anomalies, the geometrically relevant depth is frozen and written. Once a valid geometric depth range is obtained again and the stability condition is met, the freeze is lifted. If the actual impact cannot be confirmed by extending the processing window and reclassifying, it is transferred to the final unresolved depth range for verification.

[0084] S203 Before each trial impact package, candidate impact package, or regular impact package is executed, the state perception module opens the electronically controlled bypass valve, maintains low-speed rotation, and collects the clamping state vector composed of axial thrust, displacement change rate of contact reference component, drill bit retainer position, drill bit retainer position change rate, low-speed rotation load characteristics, and machine body attitude characteristics.

[0085] The first low-energy test impact package is executed when the axial thrust stabilization flag, contact displacement stabilization flag, retaining sleeve position stabilization flag, and attitude stabilization flag are all equal to 1, and the clamping state vector before execution is used as the test reference vector; the intermediate energy test impact package and the second low-energy test impact package are compared with the test reference vector before execution.

[0086] The candidate impact package or regular impact package is compared with the most recent impact package that has completed causal footage confirmation and passed the clamping state consistency judgment. If no comparable impact package exists, the clamping state vector acquired when the stability condition is first met in the current drilling stage is used as the comparison benchmark. The clamping state difference is calculated using the clamping difference formula: ; In the formula, For impact package With impact pack Differences in clamping states; The number of clamping state components; For the first The weights of each clamping state component; For impact package The Each clamping state component; For impact package The Each clamping state component; For the first The calibration scale for each clamping state component, and Greater than 0; To achieve a sum; To take the absolute value.

[0087] The weights are set to non-negative values ​​based on the correlation between each clamping state component and the confirmed advance change. The calibration scale is the range of variation of the corresponding clamping state component in the clamping stability calibration sample. The preset allowable range of clamping state difference is set as a closed interval based on the distribution of clamping state difference in the clamping stability sample, for example, it can be set to 0 to 0.8.

[0088] If the difference in the clamping state of the intermediate energy test impact packet and the second low energy test impact packet relative to the test reference vector is within the allowable range of clamping state difference, the corresponding test impact packet is allowed to be executed; if both clamping state differences are within the allowable range and all three test impact packets have completed causal advance confirmation, the clamping state consistency judgment of this encirclement test is passed.

[0089] If the current impact package fails the test, keep the electronically controlled bypass valve open and re-acquire the clamping state vector; if it fails the test again, cancel the current impact package that is still included in the pre-occupied depth and whose hammer position is less than the irrevocable position, and keep the portion already included in the in-transit depth.

[0090] See appendix Figure 5 In this embodiment, step S3 is executed by the advance decision module built into the controller. It is used to form the upper bound of the expected advance, calculate the available depth budget, select a conventional impact package or a containment probe, and complete causal advance confirmation. The upper bound of the expected advance limits the depth occupied by a single impact package, the available depth budget is used to determine whether the impact package can be executed, and the causal advance confirmation is used to attribute geometric displacement to the corresponding impact package.

[0091] S301, the advance decision module obtains the depth interval width by subtracting the lower bound from the upper bound of the current control depth interval; if the current control depth interval has not yet been formed, the width of the geometric depth interval is used. The absolute value of the calculated residual, the clamping state difference, the normalized insufficiency of the state confidence relative to the confidence threshold, and the depth interval width are compared with the preset segmentation range, and the non-negative compensation components are read and summed to obtain the compensation amount. When the confidence threshold is greater than 0 and less than 1, if the state confidence is not less than the confidence threshold, the normalized insufficiency of the state confidence relative to the confidence threshold is obtained by dividing the difference obtained by subtracting the state confidence from 1 by the difference obtained by subtracting the confidence threshold from 1; the calculation result is limited to a closed interval between 0 and 1; when the state confidence is less than the confidence threshold, it is recorded as an unknown state and does not enter the packet-by-packet permission.

[0092] If the current clamping state difference of the impact pack has not yet been formed, the most recent valid clamping state difference is used; if no valid value exists, the upper limit of the allowable range of clamping state difference is used. After obtaining the current clamping state difference, the compensation amount is re-formed, and the per-pack permission is re-executed when the upper limit of the expected drilling footage increases. The segment range and compensation component are set based on the prototype test and drilling control parameter set. For example, the effective range of each input can be divided into 3 to 5 segments, and each compensation component can be set to 0 mm to 0.5 mm.

[0093] The upper limit of the planned equivalent transfer energy of the candidate impact package is read based on the impact package structure, the target speed setting of the flyweight, and the factory calibration results. If the local response relationship is valid, and the candidate impact package and the test impact package have the same number of impacts, impact intervals, rotational speeds, and electrically controlled bypass valve operation, and the upper limit of the planned equivalent transfer energy of the candidate impact package falls within the verified package energy range, the estimated feed rate is obtained based on the local response relationship established in S402, and a compensation amount is added to form the expected upper limit of the feed rate. In other cases, the conservative upper limit of the feed rate is read from the factory conservative feed rate envelope, and then a compensation amount is added. Before the local response relationship is established, each test impact package uses the factory conservative feed rate envelope.

[0094] S302, the footage decision module calculates the remaining depth by subtracting the current control depth upper bound from the target drilling depth. The remaining depth does not deduct pre-occupied depth or in-transit depth occupancy. Impact package permission decisions only use the available depth budget. The estimated footage upper bounds of each impact package in a pre-occupied or in-process state are added together to obtain the pre-occupied depth. In-transit depth occupancy is calculated using a depth occupancy method. ; In the formula, For a moment In-transit depth occupancy; For set Member number in; It belongs to; An impact package and a set of temporary impacts are defined as an impact package and a set of impacts where the hammer position is not less than the irrevocable position and the impact package has not yet been completed or the actual impacts that have occurred during the execution period have not yet been fully confirmed. For the first The remaining expected upper limit of the advance or the temporary impact expected upper limit of the advance for each member; This refers to the set of impact packages for which actual impact confirmation has been completed but causal advance confirmation has not yet been completed. For the first The upper limit of the expected advance of the impact package.

[0095] gather With sets Mutually exclusive; when both sets are empty, the in-transit depth is 0.

[0096] The hardware depth margin is the sum of the depth margin corresponding to the preset bypass valve action resolution, the depth margin corresponding to the preset state switching resolution, and the depth margin corresponding to the preset sampling synchronization resolution; components already included as temporary in-transit impacts are not included again. Each component is set according to the action delay, sampling period, and factory conservative upper limit of single impact advance, for example, it can be set to 0.05mm to 0.3mm.

[0097] Available depth budgets can be calculated using depth budgeting: ; In the formula, For a moment Available depth budget; Target drilling depth; For a moment The upper bound of the current control depth; For a moment In-transit depth occupancy; For a moment Pre-occupancy depth; For a moment Hardware depth margin; Used to indicate hardware depth margin.

[0098] When the current control depth interval has not yet been formed, the upper bound of the current control depth is taken as the upper bound of the geometric depth; when only a single source is valid, the upper bound of the single source interval that has already been written as the current control depth interval is taken.

[0099] When the geometric depth range is valid and the remaining depth is not less than the expected upper limit of the conventional impact package, select the conventional impact package under the fixed impact package structure and call S403. When changing the impact package structure, invalidate the validity of the local response relationship and use the factory conservative advance envelope.

[0100] If the remaining depth is not greater than the preset threshold for approaching the target drilling depth, or if a local response change occurs and the impact package in transit or pending confirmation has been confirmed or is in an abnormal timing state, then a first low-energy test impact package, an intermediate-energy test impact package, and a second low-energy test impact package are planned. The threshold for approaching the target drilling depth is set based on the upper limit of the expected footage of the three test impact packages and the hardware depth margin, for example, it can be set to 1mm to 5mm. The three test impact packages have the same number of impacts, impact intervals, rotation speed, and electronic bypass valve operation mode; the forward velocity of the fly hammer target of the intermediate-energy test impact package is greater than that of the two low-energy test impact packages, and the forward velocity of the fly hammer target of the two low-energy test impact packages is the same, and all three velocities are within the allowable fly hammer velocity range.

[0101] Three trial impact packages are assigned impact package identifiers, which are then bound to planning parameters, estimated advance limits, and execution order. The pre-occupied depth is not written to these identifiers initially. If the sum of the three estimated advance limits is not greater than the available depth budget, the sequence coverage check passes, and S403 is called sequentially according to the execution order. The next trial impact package is permitted only after the previous one has completed its state transition and updated its available depth budget. If the check fails, no new pre-occupied depth is generated; a re-check is performed after in-transit confirmation or abnormal calculation. If the re-check still fails, the process proceeds to termination.

[0102] S303, when the first low-energy test impact package meets the stability condition, or when the current clamping state difference of the intermediate energy test impact package, the second low-energy test impact package, and the candidate impact package is within the preset allowable range of clamping state difference, the advance decision module closes the electronically controlled bypass valve and executes the current impact package according to the fly hammer position feedback; after the impact package ends, the electronically controlled bypass valve is opened, and the processing window bound to the impact package identifier is entered.

[0103] The processing window begins at the end of the impact package and ends when the stable geometric depth point value after the impact is obtained, the anomaly verification is completed, or the preset processing time limit is reached. The processing time limit is set according to the impact vibration decay time and the measurement stabilization time, for example, it can be set to 0.2s to 1s; the stable geometric depth point value before the impact and the impact package identifier are saved together.

[0104] If permission to proceed with causal measurement is not granted and the impact hammer position is not less than the irrevocable position or the actual impact has been confirmed, the impact package status remains in transit or pending confirmation, and the transit depth occupancy remains recorded. After measurement and stability conditions are restored, reconfirmation is performed. If the conditions are not restored by the processing time limit, proceed to S501. The valid geometric measurement indicator is formed from the geometric depth validity result of S103, the valid impact indicator is formed from the actual impact confirmation result of S201, and the axial thrust stability indicator and attitude stability indicator are formed according to the stability determination method of S102.

[0105] When the difference between the maximum and minimum values ​​of the stable geometric depth point within the preset displacement stability holding period is not greater than the preset displacement stability threshold, the displacement stability holding flag is 1; otherwise, it is 0. The displacement stability holding period is set according to the impact vibration decay time and the geometric depth sampling period, for example, it can be set to 0.2s to 1s. The displacement stability threshold is set according to the geometric depth measurement noise, for example, it can be set to 0.05mm to 0.2mm.

[0106] Upon receiving permission to proceed with causal verification, the valid geometric measurement marker, valid impact marker, axial thrust stability marker, attitude stability marker, and displacement stability holding marker are each set to 0 or 1 and multiplied together to obtain the causal verification marker. The stable geometric depth values ​​before and after the impact are both taken as the midpoint of the corresponding geometric depth interval. The causal verification formula is used to calculate and confirm the progress. ; In the formula, For the first Confirmed progress of the impact package; For the first A causal confirmation marker for an impact package; To obtain the maximum value; For the first Stable geometric depth point value after each impact package is executed; For the first Stable geometric depth point values ​​before each impact package is executed.

[0107] When the causal confirmation flag is equal to 1, the confirmed advance is added to the cumulative impact advance value, the impact package status is changed to confirmed and included, and the corresponding in-transit depth occupancy is cleared. When the causal confirmation flag is equal to 0, the corresponding displacement is recorded in the non-hole displacement residual; when the actual impact has occurred, it remains pending confirmation and in-transit depth occupancy, and is reconfirmed or transferred to S501 after the conditions are restored.

[0108] The absolute value of the non-hole-forming displacement residual is added to the uncertainty corresponding to the current geometric depth range until a stable geometric depth point value is obtained again. New impact package authorization is suspended when geometric measurements remain invalid; if the aircraft attitude or axial thrust changes abnormally, the local response relationship update qualification for the corresponding impact package is revoked.

[0109] The uncertainty of each confirmed impact package is the sum of half the geometric depth intervals before and after the impact, plus the depth corresponding to the time alignment error. The depth corresponding to the time alignment error is obtained by multiplying the upper bound of the absolute value of the rate of change of drill bit axial displacement within the processing window by the upper bound of the time alignment error. After the uncertainty of each impact package is accumulated, it is subtracted from and added to the cumulative impact footage value to form the lower and upper bounds of the impact footage, respectively. When the lower bound of the impact footage is less than 0, it is taken as 0, thus forming the impact footage interval. The planned parameters, together with the number of impacts, impact intervals, rotation speed, and the operation mode of the electrically controlled bypass valve in the actual execution record, together form the actual impact package structure, which is then verified by S402.

[0110] See appendix Figure 6 In this embodiment, step S4 is executed by the fusion control module built into the controller. It is used to form a control depth range, establish local response relationships, complete package-by-package authorization, and issue drive commands. The control depth range provides a measurement benchmark for the available depth budget, and the local response relationships are only used for advance calculations within a fixed impact package structure and the verified package energy range.

[0111] S401, when both the geometric depth range and the impact advance range are valid, the fusion control module takes the larger of the two lower bounds as the lower bound of the control depth and the smaller of the two upper bounds as the upper bound of the control depth. When the lower bound of the control depth is not greater than the upper bound of the control depth, the intersection of the two ranges is not empty, and the control depth range is formed by the lower bound of the control depth and the upper bound of the control depth; when the lower bound of the control depth is greater than the upper bound of the control depth, a dual-channel depth conflict is determined and new impact package permission is stopped. Impact packages that are in a pre-occupied or executing state, whose hammer position is less than the irrevocable position, and are still counted in the pre-occupied depth are cancelled, and the in-transit depth occupancy is kept counted.

[0112] When only one depth range is valid, a preset single-path additional uncertainty is superimposed on the uncertainty of that depth source to form a single-source range, which is written as the current control depth range. Its upper bound is used to calculate the available depth budget. When all depth sources are invalid, proceed to S5.

[0113] S402: After all three trial impact packages have been executed and causal progress confirmation completed, the fusion control module verifies the eligibility for updating local response relationships, state categories, clamping state consistency judgment, actual impact package structure, and actual equivalent transferred energy of the impact packages. If the eligibility for updating the three local response relationships has not been invalidated, the state categories do not fall under local response change, chip removal obstruction, air impact, or measurement anomaly, the clamping state consistency judgment is passed, the actual impact package structure conforms to the fixed trial impact package structure, and the actual equivalent transferred energy of the three impact packages is greater than 0, then the local response relationship continues to be established; if any condition is not met, the validity of the local response relationship is set to invalid.

[0114] The confirmed advance of each of the two low-energy test impact packages is divided by the actual equivalent energy transferred by the corresponding impact package to obtain the advance response per unit energy of the first low-energy test and the advance response per unit energy of the second low-energy test. If both fall within the same preset response range, further processing continues. The response range is set as a closed range based on the calibration results under stable clamping conditions, for example, it can be set to 0 mm / J to 0.2 mm / J.

[0115] When the execution center times increase, the time difference between the intermediate energy probe impact packet and the first low-energy probe impact packet is divided by the time difference between the second low-energy probe impact packet and the first low-energy probe impact packet to obtain the time ratio, which is then used as the interpolation weight. When the interpolation weight belongs to a closed interval of 0 to 1, the value obtained by multiplying the first low-energy confirmation advance by one minus the interpolation weight is added to the value obtained by multiplying the second low-energy confirmation advance by the interpolation weight to obtain the interpolated low-energy advance. The actual equivalent energy transferred by the two low-energy probe impact packets is processed using the same method to obtain the interpolated low-energy transferred energy. When the execution center times do not increase or the interpolation weight does not belong to the above closed interval, the local response relationship cannot be established.

[0116] When the interpolated low-energy transfer energy is greater than 0, and the actual equivalent transfer energy of the intermediate energy test impact packet is greater than the interpolated low-energy transfer energy, the local response coefficient is calculated using the response coefficient formula: ; In the formula, This represents the local response coefficient at the current bottom of the hole; To confirm the advance of the intermediate energy test impact package; For interpolation of low-energy advance; The actual equivalent energy transferred by the impact pack of the intermediate energy test impact pack; To transfer energy for interpolation of low energy.

[0117] When the local response coefficient belongs to the preset physical envelope, verify that the actual impact bag structure is consistent with the fixed test impact bag structure, and use the structural identifier of the fixed test impact bag structure as the impact bag structure binding information of the local response relationship; the local response relationship is also bound to the drill bit identifier, the current bottom of the hole, and the verified bag energy range.

[0118] Only when the actual impact packet structure of the subsequent candidate impact packet is consistent with the binding information of the impact packet structure can the local response relationship be adopted, the local response coefficients, interpolated low-energy advance and interpolated low-energy transferred energy be saved, and then the validity of the local response relationship be set to valid.

[0119] The current borehole bottom is characterized by the current controlled depth range and the working surface reference. The physical envelope is set as a closed interval based on the calibration results of the same drill bit and fixed test impact bag structure, for example, it can be set to 0 mm / J to 0.2 mm / J. If the denominator condition or the aforementioned establishment condition is not met, the local response relationship is determined to be invalid, the local response relationship is declared invalid, the validity of the local response relationship is set to invalid, and the factory conservative depth envelope is adopted.

[0120] If the local response relationship is valid, the candidate impact packet and the test impact packet have the same structure, and the upper bound of the planned equivalent energy transfer of the candidate impact packet is within the verified packet energy range, the estimated footage is calculated using the footage estimation formula: ; In the formula, For candidate impact packages The estimated advance; For interpolation of low-energy advance; This represents the local response coefficient at the current bottom of the hole; The equivalent upper bound of the energy transfer for candidate impact package plans; To transfer energy for interpolation of low energy.

[0121] The estimated advance is added to the compensation amount formed by S301 to obtain the upper limit of the expected advance. For impact packages that were previously calculated using the advance calculation method and have been migrated to confirmed impact packages, the difference between the estimated and confirmed advance is used to form the estimated residual. Three to ten qualified samples are selected from the most recent to the oldest execution time, and the maximum absolute value of the difference is used as the current estimated residual; if no qualified samples are available, it is set to 0. The actual equivalent energy transferred by the impact package is only used to establish local response relationships, form estimated residuals, and determine the validity of local response relationships.

[0122] If the clamping state consistency is deemed unsuccessful, or if the state category shows local response changes, chip removal obstruction, air impact, or measurement abnormalities, or if the candidate impact package structure differs from the fixed impact package structure, or if the upper limit of the planned equivalent transfer energy of the candidate impact package does not fall within the verified package energy range, the local response relationship is deemed invalid, the local response relationship is deemed obsolete, and the factory conservative advance envelope is used instead.

[0123] S403, the fusion control module updates the pre-occupied depth, in-transit depth occupancy, hardware depth margin, and available depth budget according to S302. When a pending impact packet has not yet been included in the pre-occupied set and the available depth budget does not include its own expected upper limit of advance, the expected upper limit of advance is compared with the available depth budget; if the expected upper limit of advance is not greater than the available depth budget, the impact packet licensing decision is passed; otherwise, it is rejected.

[0124] When the impact package clearance decision is passed, the impact package status is set to pre-occupied and the pre-occupied depth is written. The electronically controlled bypass valve remains open, and the current clamping status vector is acquired. If the difference in the current clamping status increases the upper bound of the expected advance, the available depth budget is recalculated, and the impact package clearance decision is made again.

[0125] If the current impact package is the first low-energy test impact package and the stability condition is met, or if the current impact package is an intermediate-energy test impact package, the second low-energy test impact package, a candidate impact package, or a regular impact package and the current clamping state difference is within the allowable range of clamping state difference, and the updated impact package permission decision is still pass, an impact package permission result containing the number of impacts, impact interval, rotation speed, and the forward speed of the flying hammer target is generated. The impact package status is then transferred to execution, and then the power control bypass valve closing command and the motor target speed are issued.

[0126] If the current impact pack does not meet the corresponding stability condition or clamping state difference condition, or if the updated impact pack permission decision is not passed and the hammer position is less than the irrevocable position, execute the cancel drive command, release the pre-occupied depth, and remove the corresponding impact pack identifier from the set of unprocessed impact pack identifiers.

[0127] When the hammer position is not less than the irrevocable position, the upper limit of the expected advance that has not yet been written into the impact advance accumulation value is moved from the pre-occupied depth to the in-transit depth occupancy. Afterwards, the electronically controlled bypass valve can still be opened or the brushless motor drive can be restricted, but the already formed in-transit depth occupancy must not be released. Once the impact package execution is completed, at least one actual impact has been confirmed, and all actual impacts that occurred during the execution period have been confirmed, they are moved to the pending confirmation count. After the causal advance confirmation is completed, the in-transit depth occupancy is cleared and written into the impact advance accumulation value. Temporary in-transit impacts are directly counted into the in-transit depth occupancy according to the upper limit of the temporary impact's expected advance. Each impact package must be re-permitted.

[0128] If the current impact packet has completed depth and occupancy updates but the termination condition has not been met, return to S201 to continue detection; if the encirclement probe trigger condition is met, proceed to S302, S303, and S402. The candidate impact packet set consists of impact packets under a fixed impact packet structure, where the target forward velocity of the fly hammer is within the allowable fly hammer velocity range, and the upper bound of the candidate impact packet's planned equivalent transfer energy is within the verified packet energy range. If the candidate impact packet set is empty, or if the available depth budget is less than the smallest expected advance upper bound in the candidate impact packet set, proceed to S5.

[0129] See appendix Figure 7In this embodiment, step S5 is executed by the abnormal termination module built into the controller. This module identifies the abnormality type, processes pre-occupied depth and in-transit depth occupancy, forms the final undetermined advance interval, and completes the final verification. Automatic depth control of the electric hammer is terminated when the termination condition is met. The impact of the flying hammer position is not less than the irrevocable position, and the corresponding in-transit depth occupancy is maintained until causal advance confirmation or abnormal verification is completed.

[0130] S501, the exception termination module reads the preset exception handling rule table. The exception handling rule table is indexed by exception type and records recoverable or unrecoverable states, pre-occupied depth handling methods, in-transit depth occupancy handling methods, baseline reconstruction flag, encirclement probe flag, and termination flag.

[0131] Anomalies include ranging anomalies, contact reference component detachment, dual-channel depth conflict, local response relationship failure, chip removal obstruction, air impact, measurement anomalies, unknown status, sequence coverage check failure, flyweight position sensor anomaly, electrically controlled bypass valve anomaly, operator trigger release, and insufficient available depth budget. Operator trigger release is obtained from the trigger status input circuit.

[0132] If an anomaly is resolved within the preset recovery check period and the critical sensors and actuators pass self-tests, the anomaly handling rule table maps the anomaly to a recoverable state. If the anomaly persists, the critical sensor or electrically controlled bypass valve fails its self-test, the operator releases the trigger, or the available depth budget cannot cover any candidate impact packs, it is mapped to an unrecoverable state. The recovery check period is set based on the sensor recovery time and chip removal time, for example, it can be set to 0.5s to 3s. Anomalies not included in the anomaly handling rule table are treated as unrecoverable.

[0133] The sustained high resistance is determined based on the current level corresponding to the integral of the motor current, the motor speed recovery time, and the axial thrust. Sustained high resistance is defined as the condition that these three parameters continuously meet the preset high resistance criteria within a preset holding period.

[0134] The high resistance condition is set based on the brushless motor's rated current, normal speed recovery time, and axial thrust sensor range. For example, the current level can be set to 80% to 100% of the rated current, the motor speed recovery time can be set to 0.2s to 1s, the axial thrust can be set to 100N to 500N, and the holding period can be set to 0.5s to 2s. When a sustained high resistance occurs, the current state is recorded as unrecoverable, a human-machine interface prompt indicating manual inspection is given, and the process proceeds to S502 without material category identification.

[0135] After entering the anomaly handling phase, if the hammer position sensor is normal and the hammer position is less than the irrevocable position, the anomaly termination module cancels the impact package that is still in a pre-occupied or executing state and releases the corresponding pre-occupied depth; impact packages with hammer positions not less than the irrevocable position continue to be counted in the in-transit depth occupancy. If the hammer position sensor is abnormal and it cannot be confirmed whether the hammer has crossed the irrevocable position, the corresponding pre-occupied depth is not released, the corresponding expected upper limit of the advance is conservatively counted in the in-transit depth occupancy, and the process is transferred to anomaly accounting.

[0136] When the electrically controlled bypass valve is functioning normally, it is opened. If the electrically controlled bypass valve malfunctions and its open state cannot be confirmed, the brushless motor drive is immediately restricted and limited braking is implemented. When the flyweight position sensor is functioning normally, the flyweight position and impact acceleration are continuously monitored. If the flyweight position sensor malfunctions, a high-range acceleration sensor is used to detect whether a new effective impact has occurred, and the corresponding malfunction is mapped to an unrecoverable state.

[0137] When both the drop hammer position sensor and the high-range accelerometer are functioning normally, delayed impacts occurring during anomaly handling are confirmed as actual impacts. After the impact package execution is completed and all actual impacts that occurred during the execution period are confirmed, the corresponding impact package is moved to the pending confirmation count. When the drop hammer position sensor malfunctions and the high-range accelerometer detects a new impact response, a temporary impact flag is established. The in-transit depth occupancy is counted according to the upper limit of the expected advance for the temporary impact, and the process is transferred to anomaly accounting.

[0138] When an anomaly type is mapped to a recoverable state, control is restored according to the anomaly handling rule table. If the construction surface datum is valid and the local response relationship is valid, normal impact package drilling is resumed and the process returns to S201. If the construction surface datum fails, the process returns to S102 to rebuild the construction surface datum and re-establish the geometric depth interval with the current control depth interval. If datum reconstruction results in inconsistencies between the current hole bottom or construction surface datum and the local response relationship binding record, the validity of the local response relationship is set to invalid.

[0139] If the construction surface benchmark is valid, and the anomaly type is a local response relationship failure or a sequence coverage check failure, the local response relationship is invalidated, and the factory conservative advance envelope is used to form the upper limit of the expected advance. After the impact package in transit or pending confirmation is confirmed or the anomaly is verified, the encirclement test is restarted. After the measurement anomaly is eliminated, a valid geometric depth range is re-obtained and the stability condition is met, and the geometrically related depth writing freeze is lifted. If the sequence coverage check still fails, or the anomaly is not eliminated after the recovery check period expires, the current status is changed to an unrecoverable status and the process transitions to S502.

[0140] The final pending footage interval is initialized with both the lower and upper bounds set to 0. If, after extending the processing window, reclassifying, and restoring measurement and stability conditions, an impact that has already occurred still cannot obtain confirmation of allowing entry into causal footage, the corresponding displacement is not written into the impact footage accumulation value; the lower bound of the pending footage for that impact package is set to 0, and the upper bound of the expected footage is added to the upper bound of the final pending footage interval. If a temporary impact in transit cannot be confirmed, the upper bound of the expected footage for that temporary impact is added in the same way.

[0141] When the first impact package or temporary in-transit impact enters the final pending footage interval, the last valid control depth interval before its execution that did not contain the displacement of the pending impact is saved as the calculation starting point for the normal control depth interval. Subsequent impact packages or temporary in-transit impacts entering the final pending footage interval do not overwrite this calculation starting point. Confirmed footage and corresponding uncertainties after causal footage verification are then used to update the normal control depth interval; geometric displacements caused by pending impacts are not written into the normal control depth interval. After completing the anomaly verification, the impact package identifier or temporary impact identifier is marked as having completed the anomaly verification, the corresponding in-transit depth is cleared, and it is removed from the set of unprocessed impact package identifiers.

[0142] S502: If the available depth budget is less than the smallest expected advance upper limit in the candidate impact package set, or if the candidate impact package set is empty, the process will directly enter termination mode. If there is an anomaly mapped to an unrecoverable state in the preset anomaly type set, a measurement and control anomaly will be generated and the process will enter termination mode. The anomaly termination module stops granting new impact package licenses.

[0143] If the drop hammer position sensor is normal and the drop hammer position is less than the irrevocable position, the corresponding pre-occupied depth is released. If the drop hammer position sensor is abnormal and it cannot be confirmed whether the drop hammer has exceeded the irrevocable position, the corresponding upper limit of the expected advance is conservatively included in the in-transit depth occupancy. If the electrically controlled bypass valve is normal, it is opened. If the electrically controlled bypass valve is abnormal, the opening of the electrically controlled bypass valve is not used as a termination condition, and the brushless motor is directly subjected to restricted braking. Delayed impacts where the drop hammer position is not less than the irrevocable position are kept included in the in-transit depth occupancy until causal advance confirmation or abnormality verification is completed.

[0144] Impact packets that can regain a complete impact synchronization feature frame and be reclassified as valid footage are confirmed according to S303; other pending impact packets and temporary in-transit impacts are anomaly recalculated according to the final pending footage interval. If there is no final pending footage, the latest control depth interval formed after normal confirmation is used as the normal control depth interval; if there is a final pending footage, the control depth interval formed after excluding pending impact displacement is used as the normal control depth interval.

[0145] The lower bound of the final control depth is taken as the lower bound of the normal control depth interval, and the upper bound of the final control depth is taken as the sum of the upper bound of the normal control depth interval and the upper bound of the final undetermined advance interval. This forms the final control depth interval and serves as the depth result.

[0146] The non-impact motion zone is determined based on whether the flyweight position falls within a preset non-impact position range, and the safe low speed is determined based on whether the brushless motor speed falls within a preset safe speed range. The non-impact position range is determined based on the flyweight stroke and irrevocable position calibration, for example, it can be set to 0% to 30% of the stroke measured from the flyweight return end; the safe speed range is set based on the stopping requirements of the brushless motor and rotating mechanism, for example, it can be set to 0 r / min to 300 r / min.

[0147] When both the flyweight position sensor and the electronically controlled bypass valve are normal, the electronically controlled bypass valve is open, the flyweight is in the non-impact motion zone, the brushless motor is stopped or at a safe low speed, and there are no new effective impacts within the preset end observation period and the unprocessed impact package identifier set is empty, the automatic depth control ends.

[0148] When the hammer position sensor or the electronically controlled bypass valve malfunctions, the brushless motor stops, the electronic braking circuit maintains limited braking, and no new effective impact is detected within the preset fault observation period, and the impact package identifier set is empty, the automatic depth control of the hammer stops and a human-machine interface prompt for manual inspection is given. The end observation period and the fault observation period are set according to the maximum impact cycle and the impact vibration decay time, for example, they can be set to 0.2s to 1s and 0.5s to 2s respectively.

[0149] The final execution control includes stopping new impact package permission, applying limited braking to the brushless motor, and opening the electronically controlled bypass valve when it is working normally; when the electronically controlled bypass valve is abnormal, the fault status record of the electronically controlled bypass valve is maintained and human-machine prompts for manual inspection are given.

[0150] To further aid in understanding the technical solutions of the embodiments of the present invention, a specific application example is given below.

[0151] A concrete drill bit with a diameter of 8 mm and a length of 160 mm was used to drill holes in C30 concrete test blocks, with a target drilling depth of 40 mm. The fixed impact pack structure consisted of two impacts with an impact interval of 40 ms and a rotation speed of 600 r / min; the equivalent mass of the fly hammer was 0.18 kg, and the allowable range for the difference in clamping state was a closed interval of 0 to 0.8.

[0152] After establishing the construction surface benchmark, the benchmark modeling module obtains a contact geometric depth range of 37.42mm to 37.70mm and an optical geometric depth range of 37.48mm to 37.65mm. The intersection of the two ranges is 37.48mm to 37.65mm, and the stable geometric depth point value is 37.565mm.

[0153] The state perception module detected a probe impact package with a pre-impact forward velocity of 4.8 m / s and a post-impact rebound velocity of 2.2 m / s. The single-impact equivalent energy transfer of this impact is calculated as follows: ; The calculated result is 1.638 J. The sum of the two single equivalent transfer energies within this test impact package is 3.20 J. The actual equivalent transfer energies of the intermediate energy test impact package and the second low energy test impact package are 5.10 J and 3.12 J, respectively. The confirmed advances of the three test impact packages are 0.48 mm, 0.92 mm, and 0.46 mm, respectively.

[0154] Before the execution of the three trial impact packets, the weighted differences formed by each clamping state component were 0.05, 0.04, 0.03, 0.06, 0.04, and 0.02, respectively. The clamping state differences were as follows: ; The difference in clamping state is within the allowable range, and the clamping state consistency is deemed acceptable. The execution center of the intermediate energy test impact packet is located between the two low-energy test impact packets. The interpolated low-energy advance is 0.47 mm, the interpolated low-energy transferred energy is 3.16 J, and the local response coefficient is: ; The local response coefficient is 0.232 mm / J. When the upper bound of the equivalent transferred energy of the candidate impact package is 4.40 J, the estimated advance is: ; The compensation amount is 0.18mm, and the expected upper limit of the advance is 0.938mm. At this time, the remaining expected upper limit of the advance for one impact package in the in-transit group is 0.30mm, and the expected upper limit of the advance for one impact package to be included in the group is 0.22mm. The in-transit depth occupancy is: ; The current upper limit of the control depth is 37.65mm, the pre-occupied depth is 0.40mm, the hardware depth margin is 0.18mm, and the available depth budget is: ; The available depth budget is 1.25 mm, and the expected upper limit of the advance is no greater than the available depth budget. The impact package approval decision is passed. The stable geometric depth point values ​​before and after the execution of this candidate impact package are 37.71 mm and 38.43 mm, respectively. The causal confirmation flag is equal to 1, and the confirmed advance is: ; Once the 0.72mm advance is confirmed and written into the cumulative impact advance value, the corresponding in-transit depth occupation is cleared. Subsequent impact packages are authorized one by one in the same manner until the available depth budget can no longer cover the smallest expected advance upper limit in the candidate impact package set. At this point, the final calculation is completed and automatic depth control ends.

[0155] To verify the control effect, C30 concrete test blocks from the same batch were used to compare this scheme, the fixed impact package threshold control scheme, and the package-by-package control scheme using only the factory conservative drilling envelope at target drilling depths of 30mm, 40mm, and 50mm. Each scheme completed 30 boreholes at each target drilling depth, for a total of 270 boreholes. The resolution of the independent displacement measurement device was 0.01mm. The final depth error was obtained by subtracting the target drilling depth from the measured borehole depth after automatic depth control.

[0156] In the exemplary verification records, the average absolute depth errors of the three schemes were 0.26 mm, 0.79 mm, and 0.44 mm, respectively, and the 95th percentiles of the absolute depth errors were 0.62 mm, 1.91 mm, and 1.06 mm, respectively. Taking an endpoint depth error greater than 0.5 mm as excessive drilling, the proportions of excessive drilling for the three schemes were 7.8%, 35.6%, and 22.2%, respectively. The results show that, under the conditions of this application, the proposed scheme can reduce the endpoint depth error and its dispersion.

[0157] See appendix Figure 8 The upper data area's vertical axis represents depth in mm; solid lines indicate the lower control depth, dashed lines indicate the upper control depth, and dotted lines indicate the target drilling depth. The middle data area's vertical axis also represents depth in mm; solid lines indicate pre-occupied depth, and dashed lines indicate depth occupied in transit. The lower data area's vertical axis represents the impact package permission result; vertical lines with hollow circles indicate the impact package permission result, and vertical dashed lines indicate the moment when the hammer position is first not less than the irrevocable position.

[0158] See appendix Figure 9 For each target drilling depth, the hollow box represents this scheme, the light gray box represents the fixed impact package threshold control scheme, and the dark gray box represents the package-by-package control scheme that only uses the factory conservative advance envelope. The center line of the box represents the median, and the upper and lower boundaries of the box represent the interquartile range.

[0159] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these specific embodiments are merely illustrative. Those skilled in the art can omit, substitute, and modify the details of the above methods and systems in various ways without departing from the principles and essence of the present invention. For example, combining the above method steps to perform substantially the same function and achieve substantially the same result using substantially the same method falls within the scope of the present invention.

Claims

1. An adaptive control method for hammer drill depth based on artificial intelligence, characterized in that, Includes the following steps: Obtain and form a set of drilling control parameters based on the target drilling depth, establish a construction surface benchmark, and form a geometric depth range; Confirm the actual impact, implement state classification gating, and call the clamping difference method to complete the clamping state consistency determination; An impact package identifier is generated for the impact package, forming the upper bound of the expected advance. The depth occupancy method is called to calculate the depth occupancy in transit, and the depth budget method is called to calculate the available depth budget. Based on the available depth budget, a regular impact package or a surrounding probe is selected and executed. The causal confirmation method is called to obtain the confirmed advance. The upper bound of the expected advance for the same impact package is only counted in either the pre-occupied depth or the depth occupancy in transit at the same time. The confirmed advance is included in the cumulative impact advance value, and the impact advance interval is formed by the cumulative impact advance value. The control depth range is formed by merging the geometric depth range and the impact advance range. Within the preset verified package energy range, the response coefficient formula and the advance calculation formula are called to establish a local response relationship and obtain the estimated advance. When the clamping state consistency is determined to be passed, the impact package permission decision is completed and the drive command is issued. Identify the anomaly type and process the pre-occupied depth and the in-transit depth occupancy, form the final undetermined advance interval and the final control depth interval, complete the final calculation, and terminate the automatic depth control of the electric hammer.

2. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 1, characterized in that, The steps to form a geometric depth range include: Obtain or generate a drill bit identifier, form the drilling control parameter set based on the drill bit identifier, and initialize the validity of local response relationships to invalid; Open the electronically controlled bypass valve and control the drill bit to rotate at a low speed within the allowable rotation speed range. A stability mark is formed by the axial thrust, the displacement of the contact reference element, the position of the drill bit retaining sleeve, and the attitude of the machine body. When all the stability marks are equal to 1, record the initial displacement of the contact reference element, the initial position of the drill bit retaining sleeve, and the initial optical axial distance to form the construction surface reference. The contact geometric depth and optical geometric depth are formed separately. When both paths are effective, the larger of the lower bound of a single path and the smaller of the upper bound of a single path are taken to form the geometric depth interval, and the geometric depth interval is used as the current control depth interval. When only one path is effective, the preset single-path additional uncertainty is added and written as the current control depth interval.

3. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 1, characterized in that, The steps for confirming the actual impact and implementing state classification gating include: The actual impact is confirmed based on the position of the flying hammer and the peak value of the impact acceleration. An impact synchronization feature frame is formed and input into the gradient boosting decision tree classifier to obtain the state category and state confidence. When each confirmed actual impact within the impact package is a valid advance and the confidence level of the impact package's status is not less than the preset confidence level threshold, permission to enter causal advance confirmation is granted. When the state category is rebound-dominant, reduce the forward velocity of the flying hammer target in subsequent candidate impact packages; When the state category is local response change, the validity of the local response relationship is set to invalid. After the impact package that has been included in the in-transit depth occupancy and has not yet been confirmed or abnormally calculated is processed, the encirclement probe is selected and executed. When the state category is air strike, chip removal obstruction, measurement abnormality, or unknown state, it will switch to abnormal handling.

4. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 2, characterized in that, The steps for determining the consistency of the clamping state by calling the clamping difference function include: Before the impact package is executed, the clamping state vector is collected, and the clamping difference formula is called to obtain the clamping state difference. When the clamping state difference is within the preset allowable range of clamping state difference, the clamping state consistency is determined to be passed. The remaining depth is obtained by subtracting the upper limit of the current control depth interval from the target drilling depth. When the geometric depth interval is valid and the remaining depth is not less than the expected footage upper limit of the conventional impact package, the conventional impact package is selected and executed. When the remaining depth is not greater than the preset threshold for approaching the target drilling depth, or when the state classification gating obtains a local response change and the impact package already included in the depth occupied in transit has been confirmed or the abnormal timing is recorded, a first low-energy test impact package, an intermediate-energy test impact package and a second low-energy test impact package are planned to form the upper limit of the expected drilling depth, and the clamping state vector before the execution of the first low-energy test impact package is used as the test reference vector. The sequence coverage check passes when the sum of the expected upper bounds of the three impact packets is not greater than the available depth budget. When the difference in the clamping state between the intermediate energy test impact package and the second low energy test impact package relative to the test reference vector is within the allowable range of the clamping state difference, the current test impact package is executed in the execution order.

5. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 2, characterized in that, The steps for generating an impact package identifier, establishing an upper bound for the estimated advance, calculating the in-transit depth occupancy using the depth occupancy method, and calculating the available depth budget using the depth budget method include: The impact package identifier is generated and written into the unprocessed impact package identifier set. The impact package status transitions between pre-occupied, executing, in transit, pending confirmation of inclusion, confirmed inclusion, and completed abnormal accounting. When the flying hammer position is not less than the irrevocable position, the upper limit of the expected advance will be moved from the pre-occupied depth to the in-transit depth occupancy. When the local response relationship is valid, the candidate impact package and the test impact package have the same structure, and the upper limit of the planned equivalent energy transfer of the candidate impact package is within the range of the verified package energy, the expected upper limit of the advance is formed by the calculated advance superimposed compensation amount; otherwise, the expected upper limit of the advance is formed by the factory conservative advance envelope superimposed compensation amount. The compensation amount is formed based on the difference in clamping state, the state confidence level, and the width of the depth interval. The depth occupancy formula is invoked to calculate the in-transit depth occupancy, and the depth budget formula is invoked to calculate the available depth budget based on the current controlled depth range.

6. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 1, characterized in that, The steps to form the impact advance range include: After the impact package is executed, a processing window bound to the impact package identifier is created; Once permission is granted to proceed with causal verification, the causal confirmation flag is obtained by multiplying the valid geometric measurement flag, valid impact flag, axial thrust stability flag, attitude stability flag, and displacement stability holding flag. The stable geometric depth point value before impact is taken as the midpoint of the geometric depth interval before the impact package is executed, and the stable geometric depth point value after impact is taken as the midpoint of the geometric depth interval after the impact package is executed. The causal confirmation formula is called to obtain the confirmed advance. When the causal confirmation flag is equal to 1, the confirmed advance is written into the impact advance cumulative value, the in-transit depth occupancy is cleared, and the impact advance interval is formed by the impact advance cumulative value.

7. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 2, characterized in that, The steps of forming a control depth range by merging the geometric depth range and the impact advance range, and establishing a local response relationship by calling the response coefficient formula and the advance calculation formula within a preset verified energy range to obtain the estimated advance include: When both the geometric depth range and the impact advance range are valid, the control depth range is formed by taking the larger of the lower bounds and the smaller of the upper bounds of the two ranges, and the current control depth range is updated with the control depth range. When all three test impact packs have completed causal advance confirmation, the clamping state consistency is determined to be passed, the actual impact pack structure conforms to the fixed test impact pack structure, and the actual equivalent energy transferred by the impact packs is greater than 0, the local response coefficient is obtained by calling the response coefficient formula. When the local response coefficient belongs to the preset physical envelope, the structural identifier of the fixed test impact bag structure is used as the impact bag structure binding information, and the drill bit identifier, the current control depth range, the construction surface reference and the verified bag energy range are bound, and the validity of the local response relationship is set to valid; When the candidate impact package is consistent with the impact package structure binding information and the upper limit of the candidate impact package's planned equivalent energy transfer is within the verified package energy range, the advance calculation formula is called to obtain the estimated advance, and then the estimated advance is superimposed with the compensation amount to form the expected advance upper limit.

8. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 1, characterized in that, When the clamping state consistency determination is passed, the steps for completing the impact package permission decision and issuing the drive command include: When the upper limit of the expected advance of the impact package to be permitted is not greater than the available depth budget, the impact package permission decision is passed, the upper limit of the expected advance is included in the pre-occupied depth, the impact package status is set to pre-occupied and moved to execution, and the power control bypass valve closing command and the motor target speed are issued.

9. The adaptive control method for hammer drill depth based on artificial intelligence according to claim 1, characterized in that, The steps of identifying and handling the pre-occupied depth and the in-transit depth occupancy, forming the final undetermined advance interval and the final control depth interval, completing the final verification, and terminating the automatic depth control of the electric hammer include: The exception type is processed according to the preset exception handling rule table. When the flying hammer position is less than the irrevocable position, the pre-occupied depth is released. When the flying hammer position is not less than the irrevocable position, the in-transit depth is maintained. When an impact package that has actually occurred still cannot obtain confirmation of causal progress, the final unresolved progress interval is formed. The lower bound of the unresolved progress is set to 0, the upper bound of the expected progress is added to its upper bound, the impact package is marked as having completed abnormal accounting, and removed from the set of unprocessed impact package identifiers. The set of unprocessed impact package identifiers consists of impact package identifiers that have not yet been confirmed or have been abnormally accounted for. The normal control depth range is defined as the control depth range before termination. The lower limit of the final control depth is taken as its lower limit, and the upper limit of the final control depth is taken as the sum of its upper limit and the upper limit of the final undetermined advance range. The final control depth range is formed and the final calculation is completed. When the electric bypass valve has been opened, there are no new effective impacts, and the set of unprocessed impact package identifiers is empty, the termination condition is determined to be met and the automatic depth control of the electric hammer is terminated.

10. An adaptive control system for electric hammer drilling depth based on artificial intelligence, characterized in that, The adaptive control method for hammer drill depth based on artificial intelligence, as described in any one of claims 1-9, comprises: The benchmark modeling module is used to acquire and form a set of drilling control parameters based on the target drilling depth, establish a construction surface benchmark, and form a geometric depth range; The state perception module is used to confirm the actual impact, implement state classification gating, and call the clamping difference function to complete the clamping state consistency determination. The advance decision module is used to generate an impact package identifier for the impact package, form the upper bound of the expected advance, call the depth occupancy method to calculate the depth occupancy in transit, call the depth budget method to calculate the available depth budget, select a regular impact package or a surrounding probe based on the available depth budget and execute it, and call the causal confirmation method to obtain the confirmed advance. The upper bound of the expected advance for the same impact package is only counted in either the pre-occupied depth or the depth occupancy in transit at the same time. The confirmed advance is included in the cumulative impact advance value and the impact advance interval is formed by the cumulative impact advance value. The fusion control module is used to merge the geometric depth range and the impact advance range to form the control depth range, call the response coefficient formula and the advance calculation formula to establish the local response relationship and obtain the estimated advance, and complete the impact package permission decision and issue the drive command when the clamping state consistency is determined to be passed. The abnormal termination module is used to identify the abnormal type and handle the pre-occupied depth and in-transit depth occupancy, form the final undetermined advance interval and the final control depth interval, complete the final calculation, and terminate the automatic depth control of the electric hammer.

Images