A hydraulic constant thrust monitoring system and feed adjusting method for a mine rock drilling jumbo

Abstract

The present application relates to the technical field of hydraulic control of mine rock drilling machinery equipment, and particularly relates to a mine rock drilling jumbo hydraulic constant thrust monitoring system and a feeding adjustment method; the hydraulic constant thrust feeding adjustment method comprises: completing parameter initialization configuration; identifying a current rock drilling working condition type; comparing and operating actual rock drilling feeding thrust with preset constant thrust reference parameters, and calculating a real-time thrust deviation value and a deviation change rate; dynamically correcting hydraulic system output pressure and feeding flow; matching a corresponding constant thrust regulation strategy according to the current rock drilling working condition type; the hydraulic constant thrust monitoring system comprises: an equipment parameter initialization module, a real-time working condition parameter acquisition module, a thrust deviation calculation module, a self-adaptive thrust adjustment module and a working condition layered constant pressure regulation module; through the above-mentioned mode, full-working-condition self-adaptive constant value control of thrust in the drilling process is realized, drilling efficiency is effectively improved, the service life of drilling tools is prolonged, and the risk of sticking is reduced.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology for mining rock drilling machinery and equipment, and in particular to a hydraulic constant thrust monitoring system and feed adjustment method for a mining rock drilling rig. Background Technology

[0002] In mine roadway excavation and tunnel excavation, rock drilling rigs are core pieces of equipment. These rigs drive the rock drill and drill rod forward via a propulsion mechanism, using impact and rotation to complete the drilling operation. The stability of the propulsion force directly determines the drilling quality, drill bit life, and operational efficiency.

[0003] Traditional rock drilling rigs typically use a fixed-displacement pump for propulsion hydraulic systems, combined with throttling speed control. The propulsion speed is set manually by adjusting an overflow valve or throttle valve. This open-loop control method has the following prominent problems: First, the mineral and rock occurrence conditions are complex and variable. During drilling, factors such as rock hardness and the degree of fracture development change in real time, and the cutting resistance experienced by the drill bit fluctuates nonlinearly. Fixed propulsion parameters cannot adapt to load changes. When the propulsion force is insufficient, the drilling efficiency decreases, while excessive propulsion force can easily lead to abnormal drill bit wear or even stuck drill accidents.

[0004] Secondly, although some existing rock drilling equipment has introduced pressure sensors to detect the working pressure of the propulsion cylinder, most of them use a simple pressure threshold comparison control method, which can only achieve overpressure unloading protection and lacks the ability to continuously adjust the propulsion force in a closed loop, making it difficult to maintain a constant effective thrust.

[0005] Third, the demand for propulsion varies significantly under different rock drilling conditions (such as soft rock drilling, hard rock drilling, and sudden changes in rock strata). It is impossible to automatically match the corresponding control strategy according to the changes in working conditions, resulting in large fluctuations in control effect under different rock strata conditions.

[0006] To address the aforementioned issues, there is an urgent need for a hydraulic constant thrust feed adjustment method that integrates parameter initialization configuration, real-time identification of working condition types, thrust deviation calculation and status determination, adaptive adjustment gain matching, and layered differential control of working conditions. This method aims to achieve adaptive constant value control of thrust throughout the drilling process, effectively improving drilling efficiency, extending drill bit life, and reducing the risk of stuck drill. Summary of the Invention

[0007] The purpose of this invention is to provide a hydraulic constant thrust monitoring system and feed adjustment method for mining rock drilling rigs, which aims to achieve adaptive constant value control of thrust under all working conditions during drilling, effectively improving drilling efficiency, extending drill bit life and reducing the risk of stuck drill.

[0008] To achieve the above objectives, the present invention provides a hydraulic constant thrust feed adjustment method for a mining rock drilling rig, comprising the following steps: Detect the start signal of the rock drilling rig, perform a self-check of the faults of the entire rock drilling rig and the hydraulic feed system, input and solidify the preset constant thrust reference parameters, thrust fluctuation allowable threshold, algorithm control parameters and matching parameters corresponding to various rock drilling conditions, and complete the parameter initialization configuration. During rock drilling operations, working condition data is collected, and the current rock drilling condition type is identified in real time through multi-dimensional parameter fusion. The working condition data includes hydraulic pressure of the feed hydraulic cylinder, feed flow rate of the hydraulic system, actual feed speed of the drill bit, and vibration parameters of the rock drilling load. Extract the hydraulic pressure of the feed hydraulic cylinder from the working condition data and convert it into the actual rock drilling feed thrust. Compare the actual rock drilling feed thrust with the preset constant thrust benchmark parameter to calculate the real-time thrust deviation value and the rate of deviation change, and determine whether the current thrust operation status is in the qualified constant range. Based on the real-time thrust deviation value and the rate of deviation change, the hydraulic proportional valve opening adjustment amount is obtained, the hydraulic system output pressure and feed flow are dynamically corrected, and the gain is adaptively matched and adjusted according to the magnitude of the deviation. Based on the current rock drilling conditions, a corresponding constant thrust control strategy is matched, and the hydraulic pressure, flow rate, and feed rate are adjusted in a differentiated manner.

[0009] Among them, the steps of detecting the start-up signal of the rock drilling rig, performing self-checks on the faults of the entire rock drilling rig and hydraulic feed system, recording and solidifying the preset constant thrust reference parameters, thrust fluctuation allowable threshold, algorithm control parameters, and matching parameters corresponding to various rock drilling conditions, and completing the parameter initialization configuration are as follows: The system monitors the start-up signal of the rock drilling rig in real time. After capturing a valid start-up signal, it triggers the equipment self-test program to start and troubleshoot the entire circuit, signal lines, hydraulic pump station, electromagnetic proportional pressure regulating valve, detection sensor, and feed hydraulic cylinder of the rock drilling rig. Under normal operating conditions and without equipment malfunctions, based on the rock hardness level at the construction site, pre-enter constant thrust benchmark parameters, thrust fluctuation allowable threshold, and algorithm control parameters, and simultaneously enter matching control parameters for various rock drilling conditions such as no drilling, soft rock, hard rock, and sudden rock formation changes. The various control parameters entered are permanently stored, and the parameter initialization configuration is completed.

[0010] The process of collecting working condition data during rock drilling operations and identifying the current rock drilling condition type in real time through multi-dimensional parameter fusion includes the following steps: hydraulic pressure of the feed hydraulic cylinder, feed flow rate of the hydraulic system, actual feed speed of the drill bit, and vibration parameters of the rock drilling load. Real-time data collection throughout the rock drilling operation, continuously acquiring hydraulic pressure data of the feed hydraulic cylinder, feed flow data of the hydraulic system, actual feed speed data of the drill bit, and load vibration parameters during the rock drilling operation. The collected data under various operating conditions are subjected to noise reduction and filtering preprocessing to remove abnormal and invalid data caused by environmental interference. The system statistically analyzes the changes in hydraulic pressure, the amplitude fluctuations of load vibration, and the operating trends of feed speed to form multi-dimensional operating condition characteristic data.

[0011] After statistically analyzing the changes in hydraulic pressure, the amplitude fluctuations of load vibration, and the operational trends of feed speed to generate multi-dimensional operating condition characteristic data: By integrating multi-dimensional working condition feature data and comparing it with preset working condition judgment standards, the current rock drilling working condition type can be identified and determined in real time. Among them, the rock drilling working condition types include dry drilling, soft rock, hard rock, and rock strata change.

[0012] The steps involved extracting the hydraulic pressure of the feed hydraulic cylinder from the working condition data, converting it into actual rock drilling thrust, comparing the actual rock drilling thrust with the preset constant thrust benchmark parameter, calculating the real-time thrust deviation value and the rate of deviation change, and determining whether the current thrust operating state is within the qualified constant range. Extract the hydraulic pressure of the feed hydraulic cylinder from the multi-dimensional working condition feature data, and convert the hydraulic pressure of the feed hydraulic cylinder into the actual feed thrust of the rock drilling operation through the preset pressure-thrust correspondence. The calculated actual feed thrust is compared with the fixed and stored constant thrust reference parameters to obtain the real-time thrust deviation value. At the same time, the thrust change amplitude per unit time is obtained to determine the thrust deviation change rate.

[0013] Among them, after comparing the converted actual feed thrust with the solidified constant thrust reference parameter to obtain the real-time thrust deviation value, and simultaneously obtaining the thrust change amplitude per unit time to determine the thrust deviation change rate: The real-time thrust deviation value is compared with the preset thrust fluctuation allowable threshold to determine whether the current thrust operation status is within the qualified constant range, and to identify abnormal operation statuses such as thrust exceeding the tolerance, thrust decay, and thrust surge.

[0014] Among them, in the steps of obtaining the hydraulic proportional valve opening adjustment amount based on the real-time thrust deviation value and the rate of deviation change, dynamically correcting the hydraulic system output pressure and feed flow, and adaptively matching and adjusting the gain according to the magnitude of the deviation: Obtain real-time thrust deviation value and deviation change rate to determine the amplitude and fluctuation state of the current thrust fluctuation; By combining the magnitude of the thrust deviation with the rate of change of the deviation, the corresponding hydraulic proportional valve opening adjustment amount is matched through preset control logic. The corresponding adjustment gain is adaptively matched according to different states of thrust deviation. The gain is adjusted smoothly when the deviation is small, adjusted rapidly when the deviation is large, and adjusted steadily when the thrust oscillation is stable.

[0015] After the steps of adaptively matching the corresponding adjustment gain according to different states of thrust deviation, using a smooth adjustment gain for small deviation states, a rapid adjustment gain for large deviation states, and a stable adjustment gain for thrust oscillation states: Based on the determined valve opening adjustment amount and the matching adjustment gain, the output pressure and feed flow of the hydraulic system are dynamically corrected.

[0016] Among them, in the step of matching the corresponding constant thrust control strategy according to the current rock drilling condition type and adjusting the hydraulic pressure, flow rate and feed rate differently: Retrieve the current rock drilling condition type and invoke the dedicated constant thrust control strategy corresponding to the condition type; For drilling in dry conditions, maintain a low-pressure constant thrust standby state and match the no-load high-speed feed mode; For soft rock and hard rock conditions, the hydraulic flow rate, hydraulic system response speed and drill bit feed rate are adjusted differently based on a constant reference thrust. For conditions of sudden changes in rock strata, a step-by-step gradual adjustment method is adopted to smoothly correct hydraulic pressure and flow parameters.

[0017] This invention also provides a hydraulic constant thrust monitoring system for a mining rock drilling rig, comprising an equipment parameter initialization module, a real-time operating condition parameter acquisition module, a thrust deviation calculation module, an adaptive thrust adjustment module, and an operating condition layered constant pressure control module; wherein: The equipment parameter initialization module is used to detect the start-up signal of the rock drilling rig, perform self-checks of the faults of the entire rock drilling rig and hydraulic feed system, input and solidify the preset constant thrust reference parameters, thrust fluctuation allowable threshold, algorithm control parameters and matching parameters corresponding to various rock drilling conditions, and complete the parameter initialization configuration. The real-time working condition parameter acquisition module is used to collect working condition data during rock drilling operations and to identify the current rock drilling working condition type in real time through multi-dimensional parameter fusion; wherein, the working condition data includes hydraulic pressure of feed hydraulic cylinder, feed flow rate of hydraulic system, actual feed speed of drill bit, and vibration parameters of rock drilling load. The thrust deviation calculation module is used to extract the hydraulic pressure of the feed hydraulic cylinder from the working condition data and convert it into the actual rock drilling thrust. It compares the actual rock drilling thrust with the preset constant thrust benchmark parameter to calculate the real-time thrust deviation value and the rate of deviation change, and determines whether the current thrust operation status is in the qualified constant range. The adaptive thrust adjustment module is used to obtain the hydraulic proportional valve opening adjustment amount based on the real-time thrust deviation value and the deviation change rate, dynamically correct the hydraulic system output pressure and feed flow, and adaptively match and adjust the gain according to the deviation magnitude. The working condition-layer constant pressure control module is used to match the corresponding constant thrust control strategy according to the current rock drilling working condition type, and to adjust the hydraulic pressure, flow rate and feed speed differently.

[0018] This invention discloses a hydraulic constant thrust monitoring system and feed adjustment method for a mining rock drilling rig. The system comprises an equipment parameter initialization module, a real-time working condition parameter acquisition module, a thrust deviation calculation module, an adaptive thrust adjustment module, and a working condition layered constant pressure control module, performing the following steps: detecting the rock drilling rig's start-up signal; performing a self-check of the rock drilling rig and its hydraulic feed system; recording and solidifying preset constant thrust benchmark parameters, thrust fluctuation allowable thresholds, algorithm control parameters, and matching parameters corresponding to various rock drilling conditions, thus completing parameter initialization configuration; collecting working condition data during rock drilling operations and identifying the current rock drilling condition type in real time through multi-dimensional parameter fusion; wherein the working condition data includes the hydraulic pressure of the feed hydraulic cylinder, the hydraulic system feed flow rate, the actual feed speed of the drill bit, and the rock drilling load vibration parameters; extracting the hydraulic pressure of the feed hydraulic cylinder from the working condition data. The thrust is calculated and converted into actual drilling feed thrust. The actual drilling feed thrust is compared with the preset constant thrust benchmark parameter to obtain the real-time thrust deviation value and the rate of deviation change, and to determine whether the current thrust operation status is within the qualified constant range. Based on the real-time thrust deviation value and the rate of deviation change, the hydraulic proportional valve opening adjustment amount is obtained, and the hydraulic system output pressure and feed flow are dynamically corrected. The gain is adaptively matched and adjusted according to the magnitude of the deviation. According to the current drilling working condition type, the corresponding constant thrust control strategy is matched, and the hydraulic pressure, flow rate and feed speed are adjusted differentially. Through parameter initialization configuration, real-time identification of working condition type, thrust deviation calculation and status judgment, adaptive adjustment gain matching, and working condition layered differential control, the full-condition adaptive constant value control of the thrust during drilling is realized, which effectively improves drilling efficiency, extends drill bit life and reduces the risk of stuck drill. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of the steps of the hydraulic constant thrust feed adjustment method for the mining rock drilling rig of the present invention.

[0021] Figure 2 This is a flowchart of steps S100 of the present invention.

[0022] Figure 3 This is a flowchart of steps S200 of the present invention.

[0023] Figure 4 This is a flowchart of steps S300 of the present invention.

[0024] Figure 5 This is a flowchart of steps S400 of the present invention.

[0025] Figure 6 This is a flowchart of steps S500 of the present invention.

[0026] Figure 7 This is a schematic diagram of the hydraulic constant thrust monitoring system for mining rock drilling rigs of the present invention.

[0027] Figure 8 This is a schematic diagram of the electronic device of the present invention. Detailed Implementation

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0029] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0031] Please see Figures 1-6 This invention provides a method for adjusting the hydraulic constant thrust feed of a mining rock drilling rig, comprising the following steps: S100: Detects the start-up signal of the rock drilling rig, performs a self-check of the entire rock drilling rig and its hydraulic feed system, records and solidifies preset constant thrust reference parameters, thrust fluctuation allowable thresholds, algorithm control parameters, and matching parameters corresponding to various rock drilling conditions, and completes parameter initialization configuration; the specific process is as follows: S101: Real-time monitoring of the start-up signal of the rock drilling rig. After capturing a valid start-up signal, the equipment self-test program is triggered to start and troubleshoot the whole circuit, signal lines, hydraulic pump station, electromagnetic proportional pressure regulating valve, detection sensor, and feed hydraulic cylinder of the rock drilling rig. S102: Under normal operating conditions and without equipment malfunctions, pre-enter constant thrust benchmark parameters, thrust fluctuation allowable threshold, and algorithm control parameters according to the rock hardness level at the construction site. At the same time, enter matching control parameters corresponding to various rock drilling conditions such as no drilling, soft rock, hard rock, and sudden rock formation changes. S103: Store the entered control parameters in a fixed manner and complete the parameter initialization configuration.

[0032] In this embodiment, a power-on signal detection thread runs continuously, scanning the start command signal output from the human-machine interface, the on-state signal of the physical buttons, and the start code signal sent from the remote control terminal at a period of no less than 100 milliseconds. When any of the above channels detects a valid level change that is stable for more than 200 milliseconds, a valid power-on signal is determined to have been captured, and the device self-test program is then triggered.

[0033] After the self-test program is started, fault diagnosis is performed sequentially according to the preset test sequence. The overall circuit diagnosis includes: outputting diagnostic test pulses to each actuator drive module, checking whether the current response value fed back by the drive module is consistent with the command value, and determining whether the power amplifier circuit is intact; applying rated current load to each power module, and checking whether the output voltage fluctuation is within the rated error range. The signal line diagnosis includes: sequentially injecting standard test voltage signals into the signal channels connected to each sensor, checking the attenuation of the returned signal and the noise amplitude; when the returned signal amplitude is less than 90% of the input signal or the noise amplitude exceeds 5% of the signal range, it is determined that the signal line has a poor contact or shielding failure fault. The hydraulic feed system troubleshooting includes: starting the hydraulic pump station pre-pressurization program; detecting the pump outlet pressure build-up time and stable pressure value under no-load operation to determine if the pump station can build pressure normally; sending multiple gradient current drive signals to the proportional electromagnet of the electromagnetic proportional pressure regulating valve; detecting the deviation between the actual valve core opening and the commanded opening fed back by the valve core position sensor; if the deviation exceeds 5% of the rated opening, it is determined that the valve core is stuck or the zero drift exceeds the standard; performing a full-stroke motion test on the feed hydraulic cylinder; driving the hydraulic cylinder to complete the extension and retraction movements under no-load conditions; detecting the pressure build-up in the two chambers of the hydraulic cylinder, the piston rod movement speed, and the linearity of the full-stroke displacement feedback to determine if the hydraulic cylinder has internal leakage, creep, or insufficient stroke faults; verifying the range of each detection sensor to confirm that the zero point and full-scale output values ​​of the first pressure sensor, second pressure sensor, flow meter, displacement sensor, and vibration sensor are all within the calibration error range.

[0034] After all the above troubleshooting items have been completed, record all troubleshooting results in the diagnostic log. If any fault is found during the troubleshooting process, immediately terminate the self-test program, display the fault code and fault location information through the human-machine interface, and prohibit further operation. If all troubleshooting items pass, generate a normal status and allow entry into the parameter configuration stage.

[0035] After all self-tests pass and the equipment is confirmed to be fault-free, switch to parameter configuration mode. The operator enters parameters through the input terminal of the human-machine interface, based on the rock hardness grade data measured at the construction site.

[0036] The constant thrust benchmark parameter is entered as follows: Based on the geological exploration report or on-site rock hardness test results, the operator determines the Protodyakonov hardness coefficient range for the current working area and selects the corresponding thrust value from the pre-stored hardness coefficient-thrust mapping table as the target constant thrust benchmark parameter. A lower thrust value is selected for extremely soft rock with a Protodyakonov hardness coefficient f less than 3; a medium-low thrust value is selected for soft rock with f between 3 and 6; a medium-high thrust value is selected for medium-hard rock with f between 6 and 10; and a high thrust value is selected for hard rock with f greater than 10. The allowable thrust fluctuation threshold is entered as follows: Based on the drilling accuracy requirements and drill string type, the operator sets an upper limit for positive thrust fluctuation and a lower limit for negative thrust fluctuation. This threshold is typically taken between ±5% and ±15% of the target benchmark value.

[0037] The algorithm control parameters are entered as follows: the operator or equipment maintenance personnel input the base values ​​of the proportional control coefficient, integral control coefficient, and derivative control coefficient through the human-machine interface, and simultaneously input the adjustable upper and lower limits of each control coefficient, as well as the large deviation judgment threshold and small deviation judgment threshold. These algorithm control parameters determine the adaptive adjustment response behavior in the subsequent step S400.

[0038] The input method for the corresponding control parameters for various rock drilling conditions is as follows: Based on the operator's past operating experience with this rock drilling rig under different rock strata conditions and the reference data provided by the equipment manufacturer, the operator inputs the upper limit value of thrust adjustment, the limit value of adjustment rate, the hydraulic system pressure protection threshold, and the limit value of feed rate for each of the four conditions: no-drilling, soft rock, hard rock, and rock strata change. Specifically, the upper limit value of thrust adjustment is set to the lowest and the limit value of feed rate is set to the highest for no-drilling; the upper limit value of thrust adjustment is set to a medium-low and the limit value of feed rate is set to a relatively high for soft rock; the upper limit value of thrust adjustment is set to the highest and the limit value of feed rate is set to a relatively low for hard rock; and the upper limit value of thrust adjustment is set to a medium and the limit value of feed rate is set to a medium-low for rock strata change, with the adjustment rate limit set to the lowest to achieve smooth adjustment.

[0039] After all parameters are entered, the parameter solidification and storage operation is performed. The constant thrust baseline parameters, thrust fluctuation allowable thresholds, algorithm control parameters, and matching control parameters corresponding to various drilling conditions are organized into a parameter configuration table according to a preset data structure and written to a designated storage partition of the non-volatile memory. After writing, the stored data is read back from the non-volatile memory and compared item by item with the original entered data. When the verification matches, the parameter configuration table is loaded from the non-volatile memory into the working register, making all parameters active and readily accessible. A "Parameter initialization complete" status message is displayed on the human-machine interface, indicating that the parameter initialization configuration is complete.

[0040] S200: Collects working condition data during rock drilling operations and identifies the current rock drilling condition type in real time through multi-dimensional parameter fusion; the working condition data includes the hydraulic pressure of the feed hydraulic cylinder, the feed flow rate of the hydraulic system, the actual feed speed of the drill bit, and the vibration parameters of the rock drilling load; the specific process is as follows: S201: Real-time acquisition of working condition data throughout the rock drilling operation, continuously acquiring hydraulic pressure data of the feed hydraulic cylinder, feed flow data of the hydraulic system, actual feed speed data of the drill bit, and load vibration parameters during the rock drilling operation. S202: Perform noise reduction and filtering preprocessing on the collected various working condition data to remove abnormal and invalid data caused by environmental interference; S203: Statistically analyze the changes in hydraulic pressure, the amplitude fluctuations of load vibration, and the operating trend of feed speed to form multi-dimensional working condition characteristic data; S204: Integrates multi-dimensional working condition feature data and compares it with preset working condition judgment standards to identify and determine the current rock drilling working condition type in real time; among which, rock drilling working condition types include dry drilling working condition, soft rock working condition, hard rock working condition, and rock strata change working condition.

[0041] In this embodiment, after the rock drilling rig enters the drilling operation state, it initiates a real-time data acquisition task, continuously acquiring the output signals of each sensor at a preset fixed sampling period. The first pressure sensor detects the hydraulic pressure data of the rodless chamber of the propulsion cylinder, which is output as an analog voltage signal and converted into a digital pressure value through an analog-to-digital converter. The second pressure sensor detects the hydraulic pressure data of the rod chamber of the propulsion cylinder, which is used for back pressure compensation during subsequent thrust calculation.

[0042] Feed flow data is collected by a flow meter installed in the feed oil circuit of the hydraulic system. The flow meter outputs a pulse signal with a frequency proportional to the flow rate. The real-time feed flow rate is calculated by measuring the number of pulses per unit time. Drill bit position data is collected by a displacement sensor installed on the feed beam. The displacement sensor outputs an analog signal proportional to the rock drill's movement position. After reading this signal according to the sampling period, the actual feed speed of the drill bit is calculated by subtracting the position value of the previous moment from the current position value and then dividing by the sampling period. Load vibration parameters during rock drilling are collected by an accelerometer or vibration sensor installed on the rock drill housing. These parameters are expressed in the form of acceleration amplitude or velocity amplitude, reflecting the intensity of mechanical vibration generated when the drill bit interacts with the rock strata.

[0043] The raw operating data collected from each channel are input into the preprocessing module for noise reduction and filtering. For hydraulic pressure data and feed flow data, a moving average filtering algorithm is used: the arithmetic mean of the current sampling point and its preceding N-1 sampling points is used as the effective data output at that moment, where the value of N is determined according to the pressure pulsation frequency of the hydraulic system, and is usually an odd number between 5 and 11, so that the cutoff frequency of the filter is lower than one-tenth of the hydraulic pump piston frequency, effectively filtering out high-frequency noise components caused by hydraulic pump pressure pulsation.

[0044] For the drill bit feed rate data, a first-order low-pass filtering algorithm is used for processing: the speed measurement value of the current sampling period is weighted and summed with the filtered output value of the previous moment according to the preset filtering coefficient to obtain the filtered speed value of the current moment. The filtering coefficient is between 0.1 and 0.3, so that the filter can effectively filter out the acceleration noise introduced by mechanical vibration without introducing excessive phase lag.

[0045] For load vibration parameters, a combination of bandpass filtering and amplitude detection is used: first, the bandpass filter retains the frequency band components corresponding to the rock drilling impact frequency, and filters out low-frequency mechanical oscillations and high-frequency electromagnetic interference. Then, the absolute value of the filtered signal is taken and smoothed to obtain the amplitude envelope data characterizing the load vibration intensity.

[0046] During the filtering process of various types of data, abnormal and invalid data removal is performed simultaneously: when the data value of a certain sampling point exceeds the normal range of 5% to 95% of the sensor's range, the data is determined to be abnormal and invalid, removed, and replaced with the data value of the previous valid sampling point. After noise reduction filtering and abnormal data removal, the valid operating condition data of each channel is stored in the data buffer area and arranged in chronological order to form an operating condition data sequence.

[0047] Extract operating condition data sequences from multiple consecutive sampling periods from the data buffer, and perform statistical analysis on each sequence to form multi-dimensional operating condition feature data.

[0048] For the statistical analysis of hydraulic pressure changes, using the current moment as the endpoint and a preset time window as the statistical interval, the average, maximum, minimum, and standard deviation of the pressure in the rodless chamber of the propulsion cylinder are calculated within this interval. The average value reflects the overall level of the current propulsion force, the difference between the maximum and minimum values ​​reflects the pressure fluctuation amplitude, and the standard deviation reflects the degree of pressure dispersion. These pressure statistics constitute the pressure dimension characteristic data.

[0049] For the statistical analysis of vibration amplitude fluctuations under load, the mean, peak, and ratio of peak to mean vibration amplitudes are calculated within the same time window. When the ratio of peak to mean exceeds a preset impact threshold, it indicates that the drill bit is subjected to intermittent high-intensity impact loads, reflecting the presence of localized hard spots or fracture structures in the rock strata. The above vibration statistics constitute the vibration dimension characteristic data.

[0050] To statistically analyze the trend of feed rate changes, linear regression analysis was performed on the feed rate series within the same time window, calculating the slope and goodness of fit of the speed series. A positive slope indicates an upward trend in feed rate, reflecting a decrease in rock hardness or good drill bit cutting condition; a negative slope indicates a downward trend in feed rate, reflecting an increase in rock hardness or drill bit wear and dulling. A goodness of fit close to 1 indicates stable speed changes, while a goodness of fit deviating from 1 indicates drastic speed fluctuations. Simultaneously, the difference between the maximum and minimum feed rate values ​​within the time window was calculated as the speed fluctuation amplitude characteristic. These speed statistics constitute the speed dimension feature data.

[0051] The statistical feature data of pressure, vibration and velocity dimensions are summarized and arranged according to a unified time-series index to form a multi-dimensional set of working condition feature data for working condition identification.

[0052] The multi-dimensional working condition feature data formed in step S203 is input into the working condition identification module to perform multi-dimensional fusion judgment.

[0053] First, the current feed rate characteristic value is compared with the preset empty drilling determination threshold. When the feed rate is higher than the upper limit threshold of empty drilling speed, the propulsion cylinder pressure is lower than the lower limit threshold of empty drilling pressure, and the load vibration amplitude is less than the upper limit threshold of empty drilling vibration, the current condition is determined to be empty drilling, that is, the drill bit has detached from the rock formation and is in an unloaded forward state.

[0054] When the above-mentioned dry drilling conditions are not met, the rock formation condition determination process is initiated. The current feed rate characteristic value, average hydraulic pressure value, and average vibration amplitude value are compared with the pre-stored standard parameter ranges for soft rock, hard rock, and rock formation abrupt change conditions in multiple dimensions. The standard characteristics of soft rock conditions are: feed rate in the high-speed range, hydraulic pressure in the low-to-medium level, and vibration amplitude in the low-to-medium range with gentle fluctuations. The standard characteristics of hard rock conditions are: feed rate in the low-speed range, hydraulic pressure in the high level, vibration amplitude in the high range with periodic impact components. The standard characteristics of rock formation abrupt change conditions are: at least two dimensions of feed rate, hydraulic pressure, and vibration amplitude show drastic changes exceeding the set rate of change within a short period of time, and the directions of change are opposite (i.e., pressure increases accompanied by speed decreases, or pressure decreases accompanied by speed increases).

[0055] The specific method for multi-dimensional fusion judgment is as follows: The similarity between the feature data of each dimension and the standard features of each type of working condition is calculated. This similarity is calculated using the weighted reciprocal of the absolute value of the deviation of each dimension's features, with higher weighting coefficients assigned to the feed speed and vibration amplitude dimensions, and medium weighting assigned to the pressure dimension. The working condition type with the highest weighted similarity is taken as the preliminary judgment result.

[0056] Subsequently, the judgment result at the current moment is compared with the judgment result at the previous moment. When a change in operating condition type occurs, an anti-jitter confirmation mechanism is activated: the judgment result is continuously observed over several consecutive sampling periods. Only when the changed operating condition type continuously and stably exceeds a preset confirmation time threshold is the change in operating condition type confirmed and the new operating condition identifier locked. If the judgment result reverts within the confirmation time window, the confirmation of this change is canceled, and the operating condition identifier remains unchanged.

[0057] The final confirmed current rock drilling condition type identifier is stored in the condition memory register, which serves as the basis for matching the corresponding constant thrust control strategy in step S500.

[0058] S300: Extracts the hydraulic pressure of the feed hydraulic cylinder from the working condition data and converts it into the actual rock drilling thrust. It then compares the actual rock drilling thrust with the preset constant thrust benchmark parameter to calculate the real-time thrust deviation value and the rate of deviation change, determining whether the current thrust operating state is within the acceptable constant range. The specific process is as follows: S301: Extract the hydraulic pressure of the feed hydraulic cylinder from the multi-dimensional working condition feature data, and convert the hydraulic pressure of the feed hydraulic cylinder into the actual feed thrust of the rock drilling operation through the preset pressure-thrust correspondence. S302: Compare the calculated actual feed thrust with the fixed and stored constant thrust reference parameters to obtain the real-time thrust deviation value, and at the same time obtain the thrust change amplitude per unit time to determine the thrust deviation change rate. S303: Compare the real-time thrust deviation value with the preset thrust fluctuation allowable threshold to determine whether the current thrust operation status is within the qualified constant range, and identify abnormal operation statuses such as thrust deviation, thrust decay, and thrust surge.

[0059] In this embodiment, the hydraulic pressure values ​​of the rodless chamber and the rod chamber of the feed hydraulic cylinder at the current moment are extracted from the multi-dimensional working condition feature data formed in step S203. The propulsion cylinder parameters solidified in step S103 include the effective area values ​​of the rodless chamber and the rod chamber, which represent the conversion ratio between hydraulic pressure and mechanical force.

[0060] First, the hydraulic pressure value of the rodless chamber is multiplied by the effective area of ​​the rodless chamber to obtain the positive thrust value output by the propulsion cylinder; simultaneously, the hydraulic pressure value of the rod chamber is multiplied by the effective area of ​​the rod chamber to obtain the reverse resistance value generated by the retraction chamber of the propulsion cylinder. Since there is mechanical contact friction between the drill bit and the propulsion beam guide rail during drilling feed, the mechanical friction resistance compensation value also needs to be read from the solidified parameters in step S103.

[0061] The actual feed thrust of the rock drill at the current moment is obtained by subtracting the reverse resistance value from the forward thrust value, and then subtracting the mechanical friction resistance compensation value. The entire conversion process is based on the physical correspondence between hydraulic pressure and mechanical force, without relying on empirical formulas or statistical models.

[0062] The target constant thrust reference value, fixed in step S103, is read from the working register. The actual feed thrust value calculated in step S301 is subtracted from the target constant thrust reference value to obtain the real-time thrust deviation value at the current moment. When the thrust deviation value is positive, it indicates that the actual thrust is lower than the target value, and the thrust is insufficient, requiring an increase in thrust. When the thrust deviation value is negative, it indicates that the actual thrust is higher than the target value, and the thrust is overloaded, requiring a decrease in thrust. When the thrust deviation value is zero or close to zero, it indicates that the actual thrust is consistent with the target value, and the thrust is in a balanced state.

[0063] Simultaneously, the historical thrust deviation value from the previous sampling moment is read from the data buffer. The current thrust deviation value is subtracted from the historical thrust deviation value from the previous moment to obtain the change in thrust deviation within a unit sampling period. This change is then divided by the duration of the sampling period to obtain the thrust deviation change rate. The unit of this change rate is kilonewtons per second. A positive value indicates that the deviation is increasing in the positive direction, meaning that the actual thrust relative to the target value is further decreasing. A negative value indicates that the deviation is increasing in the negative direction, meaning that the actual thrust relative to the target value is further increasing. Zero or a minimum value indicates that the deviation is stabilizing.

[0064] The thrust fluctuation allowable threshold, which was fixed in step S103, is read from the working register. This threshold includes an upper limit for positive fluctuation and a lower limit for negative fluctuation. The real-time thrust deviation value calculated in step S302 is compared with the thrust fluctuation allowable threshold for determination.

[0065] When the positive amplitude of the thrust deviation is less than or equal to the upper limit of the positive fluctuation and the negative amplitude of the thrust deviation is less than or equal to the absolute value of the lower limit of the negative fluctuation, the current thrust operation is determined to be in the qualified constant range, and the actual thrust is maintained within the range of allowable fluctuation near the target constant value, thus maintaining normal drilling status.

[0066] When the thrust deviation exceeds the above-mentioned allowable fluctuation range, the specific type of abnormal operating state is further determined. When the thrust deviation is positive and continues to increase beyond the upper limit of the positive fluctuation range to reach the preset attenuation judgment time length, it is identified as an abnormal thrust attenuation state, that is, the actual thrust is continuously lower than the target value and the deviation is constantly expanding, usually caused by insufficient oil supply from the hydraulic system or severe wear of the drill bit. When the thrust deviation is negative and continues to decrease beyond the lower limit of the negative fluctuation range to reach the preset sudden increase judgment time length, it is identified as an abnormal thrust sudden increase state, that is, the actual thrust is continuously higher than the target value and the excess is constantly expanding, usually caused by the drill bit encountering hard rock interlayers or the initial signs of stuck drill bit. When the absolute value of the thrust deviation exceeds the allowable threshold but does not continue to increase but shows oscillating characteristics, it is identified as an abnormal thrust exceedance state, that is, the thrust repeatedly crosses the allowable boundary around the target value, usually caused by hydraulic system oscillation or sensor signal noise.

[0067] The above abnormal operating state identification results serve as additional input information for subsequent steps S400 (adjusting gain selection) and S500 (adjusting operating condition control strategy).

[0068] S400: Based on real-time thrust deviation value and deviation change rate, the hydraulic proportional valve opening adjustment amount is obtained, the hydraulic system output pressure and feed flow are dynamically corrected, and the gain is adaptively matched and adjusted according to the deviation magnitude; the specific process is as follows: S401: Obtain the real-time thrust deviation value and the rate of change of deviation, and determine the amplitude and state of the current thrust fluctuation; S402: Combining the magnitude of the thrust deviation and the rate of change of the deviation, the corresponding hydraulic proportional valve opening adjustment amount is matched through preset control logic; S403: Adaptively match the corresponding adjustment gain according to different states of thrust deviation. Use smooth adjustment gain for small deviation, fast adjustment gain for large deviation, and stable adjustment gain for thrust oscillation. S404: Based on the determined valve opening adjustment amount and the matching adjustment gain, dynamically correct the output pressure and feed flow of the hydraulic system.

[0069] In this embodiment, the real-time thrust deviation value and thrust deviation change rate at the current moment are obtained from step S302, and the amplitude and fluctuation state of the current thrust fluctuation are comprehensively determined.

[0070] Thrust fluctuation amplitude determination: The absolute value of the thrust deviation is compared with the large deviation determination threshold and the small deviation determination threshold fixed in step S103. When the absolute value of the deviation is greater than the large deviation determination threshold, it is determined to be a large fluctuation; when the absolute value of the deviation is between the small deviation determination threshold and the large deviation determination threshold, it is determined to be a medium fluctuation; when the absolute value of the deviation is less than the small deviation determination threshold, it is determined to be a small fluctuation.

[0071] Thrust fluctuation state determination: The fluctuation state is determined comprehensively based on the magnitude and direction of the deviation change rate, combined with the sign of the current deviation value. When the deviation value and the deviation change rate have the same sign (e.g., positive deviation with a positive change rate, or negative deviation with a negative change rate), it indicates that the deviation is developing in the direction of increasing deviation, and is determined to be a divergent state; when the deviation value and the deviation change rate have opposite signs (e.g., positive deviation with a negative change rate, or negative deviation with a positive change rate), it indicates that the deviation is developing in the direction of decreasing convergence, and is determined to be a convergent state; when the deviation change rate is near zero and the deviation value is within the allowable range, it is determined to be a stable state; when the deviation change rate frequently changes sign and the deviation value exhibits cyclical fluctuations, it is determined to be an oscillating state.

[0072] The fluctuation amplitude level and fluctuation state determined in step S401 are used as inputs, and the adjustment direction and adjustment amplitude of the hydraulic proportional valve opening are determined through preset control logic.

[0073] The rules for determining the adjustment direction are as follows: when the thrust deviation is positive (actual thrust is lower than the target value), the adjustment direction is to increase the opening of the proportional valve to allow more hydraulic oil to enter the rodless chamber of the propulsion cylinder and increase the propulsion pressure; when the thrust deviation is negative (actual thrust is higher than the target value), the adjustment direction is to decrease the opening of the proportional valve or increase the overflow of the relief valve to reduce the pressure in the rodless chamber of the propulsion cylinder.

[0074] The rules for determining the adjustment range are as follows: Under conditions of large fluctuations and divergence, the adjustment range is set to the maximum level, i.e., the proportional valve opening adjustment is set to the upper limit of the rated adjustment range. Under conditions of medium fluctuations, the adjustment range is determined linearly based on the relative position between the absolute value of the deviation and the threshold; the larger the deviation, the larger the adjustment range. Under conditions of small fluctuations and convergence or stability, the adjustment range is set to the minimum level, with only minor corrections applied. Under oscillating conditions, the adjustment range is limited to the lower limit of the medium level to avoid excessive adjustment exacerbating oscillations.

[0075] The preset control logic is embedded in a two-dimensional decision table. The rows of the decision table correspond to the fluctuation amplitude level, the columns correspond to the fluctuation state, and the table items are the corresponding adjustment amplitude levels. The adjustment amplitude level under the current state can be quickly obtained by looking up the table.

[0076] Based on the fluctuation amplitude and fluctuation state determined in step S401, the corresponding adjustment gain mode is adaptively selected.

[0077] When the condition is determined to be a small deviation state (the absolute value of the deviation is less than the small deviation threshold), a smooth adjustment gain mode is applied. In this mode, the proportional adjustment coefficient is set to 50% to 80% of the base value, the integral adjustment coefficient is set to 20% to 50% of the base value, and the derivative adjustment coefficient is set to 50% of the base value. The smooth adjustment gain mode uses a lower gain value to apply the adjustment effect slowly and smoothly, avoiding propulsion overshoot and oscillation caused by over-adjustment.

[0078] When the condition is determined to be a moderate deviation, the standard adjustment gain mode is applied. In this mode, the proportional, integral, and derivative adjustment coefficients are all taken from the base values ​​entered in step S103, without any additional scaling. The standard adjustment gain mode tracks the target thrust value at a normal response speed and is suitable for most conventional adjustment scenarios.

[0079] When a large deviation is detected (the absolute value of the deviation is greater than the large deviation threshold), a fast-adjustment gain mode is activated. In this mode, the proportional gain coefficient is set to 1.2 to 1.5 times the base value, the integral gain coefficient is set to 0.5 to 0.8 times the base value, and the derivative gain coefficient is set to 1.5 to 2.0 times the base value. The high proportional and derivative gain coefficients in the fast-adjustment gain mode enable a rapid response to large deviations, quickly bringing the thrust back to near the target value; the integral gain coefficient is moderately reduced to avoid integral saturation.

[0080] When thrust oscillation is detected, a stabilization gain adjustment mode is applied. In this mode, the proportional gain is set to 0.6 to 0.8 times the base value, the integral gain is set to 0 to 0.1 times the base value (i.e., weakening or eliminating the integral effect), and the derivative gain is set to 1.5 to 2.5 times the base value. The stabilization gain adjustment mode significantly reduces the proportional and integral gains to weaken the oscillation driving force, while enhancing the derivative gain to provide damping, effectively suppressing oscillation and allowing the thrust to quickly return to stability.

[0081] Based on the adjustment direction and adjustment range determined in step S402 and the adjustment gain mode matched in step S403, the final hydraulic proportional valve opening control command value is calculated.

[0082] The specific calculation method is as follows: Using the current proportional valve opening command value as a reference, the adjustment range is multiplied by the scaling factor of the proportional coefficient under the adjustment gain mode to obtain the actual opening change. This change is then added to or subtracted from the reference value according to the adjustment direction to obtain the corrected proportional valve opening command value. This command value is output as a current signal to the proportional electromagnet of the electromagnetic proportional pressure regulating valve via a digital-to-analog converter channel. The electromagnetic force generated by the proportional electromagnet is proportional to the input current, pushing the valve core to the corresponding opening position, thereby regulating the flow and pressure of the hydraulic oil entering the propulsion cylinder.

[0083] Simultaneously, the feed flow control signal is adjusted synchronously based on changes in the hydraulic system's output pressure, ensuring that the output pressure and feed flow change in a proportional relationship. When the proportional valve opening increases, the output pressure rises, the feed flow increases accordingly, and the propulsion force increases; when the proportional valve opening decreases, the output pressure decreases, the feed flow decreases accordingly, and the propulsion force decreases. This dynamic correction process is repeated in each sampling cycle, achieving continuous real-time adjustment of the propulsion force.

[0084] S500: Based on the current rock drilling condition, a corresponding constant thrust control strategy is matched, and the hydraulic pressure, flow rate, and feed rate are adjusted differentially; the specific process is as follows: S501: Retrieve the current rock drilling condition type and call the exclusive constant thrust control strategy corresponding to the condition type; S502: For dry drilling conditions, it maintains a low-pressure constant thrust standby state and matches the no-load high-speed feed mode. S503: For soft rock and hard rock conditions, the hydraulic flow rate, hydraulic system response speed and drill bit feed speed are adjusted differently based on a constant reference thrust. S504: For sudden changes in rock strata, a step-by-step adjustment method is adopted to smoothly correct hydraulic pressure and flow parameters.

[0085] In this embodiment, the current rock drilling condition type identifier, confirmed and locked in step S204, is read from the condition memory register. Based on this identifier, the dedicated constant thrust control strategy program module corresponding to the current condition type is retrieved and called from the control strategy library pre-stored in non-volatile memory. Each type of rock drilling condition has a preset independent control strategy, which specifies the setting rules for the target thrust value, the adjustment logic for the proportional valve opening, the limit value of the feed rate, and the protection threshold of the hydraulic system pressure under that condition.

[0086] When the current working condition is identified as "drilling without load," a dedicated control strategy for this condition is executed. Under this strategy, the constant thrust reference parameter is automatically switched to the idle value, which is significantly lower than the target thrust value during normal drilling. Only a very low thrust level, sufficient to overcome the frictional resistance of the propulsion mechanism itself, needs to be maintained. The electromagnetic proportional pressure regulating valve is controlled to maintain the pressure in the rodless chamber of the propulsion cylinder at a low-pressure idle level, while simultaneously removing the upper limit of the feed speed, allowing the drill string to advance at its maximum unloaded speed. When the drill string transitions from the idle state to contact with the rock formation, a sudden change in load vibration parameters occurs. This change is captured by the real-time working condition identification in step S204, and the idle-load control strategy is automatically switched out.

[0087] When the current working condition is identified as soft rock, a special control strategy for soft rock is implemented. Under this strategy, the constant thrust baseline parameter is maintained at the low to medium target level corresponding to soft rock drilling, the hydraulic flow rate is adjusted to a higher level to support rapid feed, the hydraulic system response speed is set to a fast response mode to follow frequent changes in feed speed, and the upper limit of drill string feed speed is relaxed to the high-speed range to fully utilize the efficient drilling capability under soft rock conditions.

[0088] When the current working condition is identified as hard rock, a dedicated control strategy for hard rock is implemented. Under this strategy, the constant thrust baseline parameter is maintained at the high target level corresponding to hard rock drilling. The hydraulic flow rate is adjusted to a medium-low level to ensure sufficient thrust without excessively scouring the cuttings at the bottom of the hole. The hydraulic system response speed is set to the standard response mode to avoid frequent adjustments that could cause impact loads. The upper limit of the drill bit feed speed is limited to the low-speed range to ensure smooth cutting in hard rock. Both working conditions achieve differentiated adaptation by adjusting the flow rate, response speed, and upper speed limit under the core control objective of constant baseline thrust.

[0089] When the current operating condition type is a sudden change in rock strata, a special control strategy for this condition is implemented. Under this strategy, the mode of directly following the deviation for rapid adjustment is paused, and a step-by-step gradual adjustment mode is switched to the current mode.

[0090] The specific method of step-by-step gradual adjustment is as follows: After detecting a sudden change in rock formation, the actual thrust and feed rate values ​​at the moment of the change are first recorded as the adjustment benchmark. The total target adjustment amount is divided into multiple equal adjustment steps according to time sequence, with each step size ranging from 10% to 20% of the total adjustment amount, and the execution time interval for each step set to 200 to 500 milliseconds. After the previous adjustment action is completed and the thrust response is stable, the next adjustment action is executed, so that the adjustment process presents a step-like gradual curve, rather than a one-time large adjustment.

[0091] In each step adjustment, the output hydraulic pressure and flow correction are limited to the preset adjustment rate limit for that working condition, ensuring that a single correction will not cause drastic fluctuations in propulsion. When the sudden change in rock strata condition is resolved and the working condition identification result switches to another stable working condition, the step-by-step gradual adjustment is terminated, and the standard control mode for the corresponding working condition is restored.

[0092] Corresponding to the aforementioned embodiments of the hydraulic constant thrust feed adjustment method for mining rock drilling rigs, this application also provides embodiments of a hydraulic constant thrust monitoring system for mining rock drilling rigs.

[0093] Figure 7 This is a structural schematic diagram of a hydraulic constant thrust monitoring system for a mining rock drilling rig, according to an exemplary embodiment. (Refer to...) Figure 7The system may include: an equipment parameter initialization module, a real-time operating condition parameter acquisition module, a thrust deviation calculation module, an adaptive thrust adjustment module, and an operating condition stratified constant pressure control module; wherein: The equipment parameter initialization module is used to detect the start-up signal of the rock drilling rig, perform self-checks of the faults of the entire rock drilling rig and hydraulic feed system, input and solidify the preset constant thrust reference parameters, thrust fluctuation allowable threshold, algorithm control parameters and matching parameters corresponding to various rock drilling conditions, and complete the parameter initialization configuration. The real-time working condition parameter acquisition module is used to collect working condition data during rock drilling operations and to identify the current rock drilling working condition type in real time through multi-dimensional parameter fusion; wherein, the working condition data includes hydraulic pressure of feed hydraulic cylinder, feed flow rate of hydraulic system, actual feed speed of drill bit, and vibration parameters of rock drilling load. The thrust deviation calculation module is used to extract the hydraulic pressure of the feed hydraulic cylinder from the working condition data and convert it into the actual rock drilling thrust. It compares the actual rock drilling thrust with the preset constant thrust benchmark parameter to calculate the real-time thrust deviation value and the rate of deviation change, and determines whether the current thrust operation status is in the qualified constant range. The adaptive thrust adjustment module is used to obtain the hydraulic proportional valve opening adjustment amount based on the real-time thrust deviation value and the deviation change rate, dynamically correct the hydraulic system output pressure and feed flow, and adaptively match and adjust the gain according to the deviation magnitude. The working condition-layer constant pressure control module is used to match the corresponding constant thrust control strategy according to the current rock drilling working condition type, and to adjust the hydraulic pressure, flow rate and feed speed differently.

[0094] In this embodiment, the equipment parameter initialization module detects the start-up signal of the rock drilling rig, performs a self-check of the entire rock drilling rig and its hydraulic feed system, and records and solidifies preset constant thrust benchmark parameters, thrust fluctuation allowable thresholds, algorithm control parameters, and matching parameters corresponding to various rock drilling conditions, thus completing the parameter initialization configuration. The real-time working condition parameter acquisition module collects working condition data during rock drilling operations and identifies the current rock drilling condition type in real time through multi-dimensional parameter fusion. The working condition data includes the hydraulic pressure of the feed hydraulic cylinder, the feed flow rate of the hydraulic system, the actual feed speed of the drill bit, and the rock drilling load vibration parameters. The thrust deviation calculation module extracts the hydraulic pressure of the feed hydraulic cylinder from the working condition data and converts it into the actual rock drilling thrust, comparing the actual rock drilling thrust with the preset constant thrust benchmark parameters. The system calculates the real-time thrust deviation value and the rate of change of the deviation to determine whether the current thrust operation is within a qualified constant range. The adaptive thrust adjustment module obtains the hydraulic proportional valve opening adjustment amount based on the real-time thrust deviation value and the rate of change of the deviation, dynamically corrects the hydraulic system output pressure and feed flow, and adaptively matches the adjustment gain according to the magnitude of the deviation. The working condition layered constant pressure control module matches the corresponding constant thrust control strategy according to the current rock drilling working condition type, and differentially adjusts the hydraulic pressure, flow, and feed speed. Through parameter initialization configuration, real-time identification of working condition type, thrust deviation calculation and status determination, adaptive adjustment gain matching, and working condition layered differential control, the system achieves full-condition adaptive constant value control of the thrust during drilling, effectively improving drilling efficiency, extending drill bit life, and reducing the risk of stuck drill.

[0095] Regarding the system in the above embodiments, the specific ways in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0096] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0097] Accordingly, this application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the hydraulic constant thrust feed adjustment method for a mining rock drilling rig as described above. Figure 8The diagram shown is a hardware structure diagram of any device with data processing capabilities, including a hydraulic constant thrust monitoring system for a mining rock drilling rig provided in an embodiment of the present invention. (Except for...) Figure 8 In addition to the processor, memory, and network interface shown, any data processing device in the embodiment may also include other hardware depending on the actual function of the data processing device, which will not be described in detail here.

[0098] Accordingly, this application also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the hydraulic constant thrust feed adjustment method for a mining rock drilling rig as described above. The computer-readable storage medium can be an internal storage unit of any data processing device as described in any of the foregoing embodiments, such as a hard disk or memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc., equipped on the device. Furthermore, the computer-readable storage medium can include both internal storage units of any data processing device and external storage devices. The computer-readable storage medium is used to store the computer program and other programs and data required by the data processing device, and can also be used to temporarily store data that has been output or will be output.

[0099] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0100] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A method for adjusting the hydraulic constant thrust feed of a mining rock drilling rig, characterized in that, Includes the following steps: Detect the start signal of the rock drilling rig, perform a self-check of the faults of the entire rock drilling rig and the hydraulic feed system, input and solidify the preset constant thrust reference parameters, thrust fluctuation allowable threshold, algorithm control parameters and matching parameters corresponding to various rock drilling conditions, and complete the parameter initialization configuration. During rock drilling operations, working condition data is collected, and the current rock drilling condition type is identified in real time through multi-dimensional parameter fusion. The working condition data includes hydraulic pressure of the feed hydraulic cylinder, feed flow rate of the hydraulic system, actual feed speed of the drill bit, and vibration parameters of the rock drilling load. Extract the hydraulic pressure of the feed hydraulic cylinder from the working condition data and convert it into the actual rock drilling feed thrust. Compare the actual rock drilling feed thrust with the preset constant thrust benchmark parameter to calculate the real-time thrust deviation value and the rate of deviation change, and determine whether the current thrust operation status is in the qualified constant range. Based on the real-time thrust deviation value and the rate of deviation change, the hydraulic proportional valve opening adjustment amount is obtained, the hydraulic system output pressure and feed flow are dynamically corrected, and the gain is adaptively matched and adjusted according to the magnitude of the deviation. Based on the current rock drilling conditions, a corresponding constant thrust control strategy is matched, and the hydraulic pressure, flow rate, and feed rate are adjusted in a differentiated manner.

2. The hydraulic constant thrust feed adjustment method for mining rock drilling rigs as described in claim 1, characterized in that, In the steps of detecting the start-up signal of the rock drilling rig, performing self-checks on the entire rock drilling rig and its hydraulic feed system, recording and solidifying preset constant thrust reference parameters, thrust fluctuation allowable thresholds, algorithm control parameters, and matching parameters corresponding to various rock drilling conditions, and completing parameter initialization configuration: The system monitors the start-up signal of the rock drilling rig in real time. After capturing a valid start-up signal, it triggers the equipment self-test program to start and troubleshoot the entire circuit, signal lines, hydraulic pump station, electromagnetic proportional pressure regulating valve, detection sensor, and feed hydraulic cylinder of the rock drilling rig. Under normal operating conditions and without equipment malfunctions, based on the rock hardness level at the construction site, pre-enter constant thrust benchmark parameters, thrust fluctuation allowable threshold, and algorithm control parameters, and simultaneously enter matching control parameters for various rock drilling conditions such as no drilling, soft rock, hard rock, and sudden rock formation changes. The various control parameters entered are permanently stored, and the parameter initialization configuration is completed.

3. The hydraulic constant thrust feed adjustment method for mining rock drilling rigs as described in claim 1, characterized in that, In rock drilling operations, working condition data is collected, and the current rock drilling condition type is identified in real time through multi-dimensional parameter fusion. This working condition data includes parameters such as the hydraulic pressure of the feed hydraulic cylinder, the feed flow rate of the hydraulic system, the actual feed speed of the drill bit, and the vibration parameters of the rock drilling load. Real-time data collection throughout the rock drilling operation, continuously acquiring hydraulic pressure data of the feed hydraulic cylinder, feed flow data of the hydraulic system, actual feed speed data of the drill bit, and load vibration parameters during the rock drilling operation. The collected data under various operating conditions are subjected to noise reduction and filtering preprocessing to remove abnormal and invalid data caused by environmental interference. The system statistically analyzes the changes in hydraulic pressure, the amplitude fluctuations of load vibration, and the operating trends of feed speed to form multi-dimensional operating condition characteristic data.

4. The hydraulic constant thrust feed adjustment method for mining rock drilling rigs as described in claim 3, characterized in that, After statistically analyzing the changes in hydraulic pressure, the amplitude fluctuations of load vibration, and the operational trends of feed speed to form multi-dimensional operating condition characteristic data: By integrating multi-dimensional working condition feature data and comparing it with preset working condition judgment standards, the current rock drilling working condition type can be identified and determined in real time. Among them, the rock drilling working condition types include dry drilling, soft rock, hard rock, and rock strata change.

5. The hydraulic constant thrust feed adjustment method for mining rock drilling rigs as described in claim 3, characterized in that, In the process of extracting the hydraulic pressure of the feed hydraulic cylinder from the working condition data and converting it into the actual rock drilling thrust, comparing the actual rock drilling thrust with the preset constant thrust benchmark parameter, calculating the real-time thrust deviation value and the rate of deviation change, and determining whether the current thrust operating state is within the qualified constant range: Extract the hydraulic pressure of the feed hydraulic cylinder from the multi-dimensional working condition feature data, and convert the hydraulic pressure of the feed hydraulic cylinder into the actual feed thrust of the rock drilling operation through the preset pressure-thrust correspondence. The calculated actual feed thrust is compared with the fixed and stored constant thrust reference parameters to obtain the real-time thrust deviation value. At the same time, the thrust change amplitude per unit time is obtained to determine the thrust deviation change rate.

6. The hydraulic constant thrust feed adjustment method for mining rock drilling rigs as described in claim 5, characterized in that, After comparing the converted actual feed thrust with the fixed, stored constant thrust reference parameters to obtain the real-time thrust deviation value, and simultaneously acquiring the thrust change amplitude per unit time to determine the thrust deviation change rate: The real-time thrust deviation value is compared with the preset thrust fluctuation allowable threshold to determine whether the current thrust operation status is within the qualified constant range, and to identify abnormal operation statuses such as thrust exceeding the tolerance, thrust decay, and thrust surge.

7. The hydraulic constant thrust feed adjustment method for a mining rock drilling rig as described in claim 1, characterized in that, In the steps of obtaining the hydraulic proportional valve opening adjustment amount based on the real-time thrust deviation value and the rate of deviation change, dynamically correcting the hydraulic system output pressure and feed flow, and adaptively matching and adjusting the gain according to the magnitude of the deviation: Obtain real-time thrust deviation value and deviation change rate to determine the amplitude and fluctuation state of the current thrust fluctuation; By combining the magnitude of the thrust deviation with the rate of change of the deviation, the corresponding hydraulic proportional valve opening adjustment amount is matched through preset control logic. The corresponding adjustment gain is adaptively matched according to different states of thrust deviation. The gain is adjusted smoothly when the deviation is small, adjusted rapidly when the deviation is large, and adjusted steadily when the thrust oscillation is stable.

8. The hydraulic constant thrust feed adjustment method for a mining rock drilling rig as described in claim 7, characterized in that, After adaptively matching the corresponding adjustment gain according to different thrust deviation states, using a gradual adjustment gain for small deviation states, a rapid adjustment gain for large deviation states, and a stable adjustment gain for thrust oscillation states: Based on the determined valve opening adjustment amount and the matching adjustment gain, the output pressure and feed flow of the hydraulic system are dynamically corrected.

9. The hydraulic constant thrust feed adjustment method for a mining rock drilling rig as described in claim 1, characterized in that, In the steps of matching the corresponding constant thrust control strategy according to the current rock drilling condition type and adjusting the hydraulic pressure, flow rate and feed rate differently: Retrieve the current rock drilling condition type and invoke the dedicated constant thrust control strategy corresponding to the condition type; For drilling in dry conditions, maintain a low-pressure constant thrust standby state and match the no-load high-speed feed mode; For soft rock and hard rock conditions, the hydraulic flow rate, hydraulic system response speed and drill bit feed rate are adjusted differently based on a constant reference thrust. For conditions of sudden changes in rock strata, a step-by-step gradual adjustment method is adopted to smoothly correct hydraulic pressure and flow parameters.

10. A hydraulic constant thrust monitoring system for a mining rock drilling rig, used to monitor the hydraulic constant thrust feed adjustment method for the mining rock drilling rig as described in claim 1, characterized in that... It includes a device parameter initialization module, a real-time operating condition parameter acquisition module, a thrust deviation calculation module, an adaptive thrust adjustment module, and a stratified constant pressure control module; among which: The equipment parameter initialization module is used to detect the start-up signal of the rock drilling rig, perform self-checks of the faults of the entire rock drilling rig and hydraulic feed system, input and solidify the preset constant thrust reference parameters, thrust fluctuation allowable threshold, algorithm control parameters and matching parameters corresponding to various rock drilling conditions, and complete the parameter initialization configuration. The real-time working condition parameter acquisition module is used to collect working condition data during rock drilling operations and to identify the current rock drilling working condition type in real time through multi-dimensional parameter fusion; wherein, the working condition data includes hydraulic pressure of feed hydraulic cylinder, feed flow rate of hydraulic system, actual feed speed of drill bit, and vibration parameters of rock drilling load. The thrust deviation calculation module is used to extract the hydraulic pressure of the feed hydraulic cylinder from the working condition data and convert it into the actual rock drilling thrust. It compares the actual rock drilling thrust with the preset constant thrust benchmark parameter to calculate the real-time thrust deviation value and the rate of deviation change, and determines whether the current thrust operation status is in the qualified constant range. The adaptive thrust adjustment module is used to obtain the hydraulic proportional valve opening adjustment amount based on the real-time thrust deviation value and the deviation change rate, dynamically correct the hydraulic system output pressure and feed flow, and adaptively match and adjust the gain according to the deviation magnitude. The working condition-layer constant pressure control module is used to match the corresponding constant thrust control strategy according to the current rock drilling working condition type, and to adjust the hydraulic pressure, flow rate and feed speed differently.

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