A borehole position adjustment method, electronic device, drilling rig and medium

Abstract

The application discloses a borehole position adjustment method, an electronic device, a drilling machine and a medium. By automatically identifying and classifying the inverse solution unattainable borehole to be adjusted, the strategy of translating to the center of the section is used to generate a candidate position meeting the geometric and kinematic constraints, and a backtracking algorithm is used to solve the globally optimal borehole link, so that the inverse solution of all boreholes is achieved without manual intervention. The application effectively solves the problem of arm inverse solution failure caused by roadway overbreak and underbreak, significantly improves the automation degree and operation efficiency of borehole adjustment, and provides technical support for full-process unmanned autonomous operation of the drilling machine.

Description

Technical Field

[0001] This application relates to the field of automation technology for mining equipment, and in particular to a method for adjusting the position of blast holes, electronic equipment, drilling rigs, and media. Background Technology

[0002] In underground mining operations, drilling rigs perform drilling operations via the end of their booms. The operation process is as follows: 1. Designers generate a borehole layout design based on the tunnel cross-section diagram (borehole coordinates, borehole bottom coordinates, borehole depth, dip angle, and azimuth angle); 2. Obtain point cloud data of the actual working face of the roadway using 3D laser scanning; 3. Map the designed boreholes onto the actual working face point cloud to obtain the actual borehole / bottom coordinates; 4. Calculate the angles of each joint using reverse engineering of the boom, and perform drilling operations hole by hole.

[0003] The shortcomings of existing technologies include: Defect 1: Inverse kinematics (TK) fails to reach blast holes after point cloud mapping. The designed blast holes are generated based on an ideal cross-sectional model. However, due to over- and under-excavation in the actual roadway, there are deviations between the working face and the design model. After mapping the blast holes to the actual point cloud, some hole positions fall outside the boom's working space or near the joint's limit position, causing the boom's TK to fail (become unreachable). Actual measurements show that the TK reachability rate before adjustment was only 90%.

[0004] Defect 2: Handling unreachable blast holes relies on manual intervention. The current practice is for operators to manually fine-tune the coordinates of unreachable blast holes and then recalculate them. Adjusting a single hole requires repeated trial and error, while batch adjustments are time-consuming and inefficient. Furthermore, the adjusted hole positions may deviate from the hole spacing constraints required by the blasting design.

[0005] Defect 3: Inability to support one-click autonomous operation. Because unreachable boreholes require manual intervention, drilling operations cannot achieve fully automated operation. Summary of the Invention

[0006] This application aims to propose a method, electronic equipment, drilling rig, and medium for adjusting borehole positions, which can automatically adjust borehole positions in batches, improve the inverse kinematics reachability, and ensure blasting quality.

[0007] In a first aspect, embodiments of this application provide a method for adjusting the position of a borehole, including: Obtain the borehole parameters of multiple initial boreholes from the planar borehole template, as well as the actual working face point cloud of the target roadway. The borehole parameters include borehole opening coordinates, borehole bottom coordinates, borehole depth, dip angle, and azimuth angle. The initial working plane is determined based on the borehole coordinates of multiple initial blast holes. The initial working plane is then translated along the roadway axis until it is externally tangent to the point cloud of the actual working face, thereby obtaining the actual working plane and the blast hole parameters of multiple target blast holes on the actual working plane. Based on the borehole parameters of the multiple target boreholes and the point cloud of the actual working face, the multiple target boreholes are classified into borehole types, including predetermined boreholes that can be reached by inverse kinematics and boreholes that cannot be reached by inverse kinematics and need to be adjusted. For each of the boreholes to be adjusted, the borehole coordinates are translated in a direction closer to the center of the cross section by a preset step size to obtain a set of candidate positions that satisfy the inverse solution reachability, maximum movement constraint and minimum borehole spacing constraint. Based on the candidate position set of all the blast holes to be adjusted, a backtracking blast hole link solution is performed to obtain the blast hole coordinates of multiple adjusted blast holes that satisfy the minimum blast hole spacing constraint. The bottom coordinates, depth, inclination angle, and azimuth angle of each adjusted blast hole are calculated based on the actual working face point cloud, the borehole coordinates of each adjusted blast hole, and the bottom coordinates of the corresponding blast hole to be adjusted. Based on the borehole coordinates, bottom coordinates, depth, dip angle, and azimuth angle of each adjusted borehole and each predetermined borehole, remapping and inverse solution are performed to execute the drilling operation.

[0008] Secondly, embodiments of this application provide an electronic device, which includes a processor and a memory storing computer program instructions; when the processor executes the computer program, it implements the borehole position adjustment method as described in the first aspect embodiment above.

[0009] Thirdly, embodiments of this application provide a drilling rig, including the electronic equipment described in the second aspect of the embodiments above.

[0010] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the borehole position adjustment method as described in the first aspect embodiment above.

[0011] The borehole position adjustment method, electronic equipment, drilling rig, and medium of this application embodiment automatically identify and classify boreholes that are inaccessible through inverse kinematics. They generate candidate positions that satisfy geometric and kinematic constraints using a strategy of translation towards the cross-section center, and solve for the globally optimal borehole link using a backtracking algorithm. This achieves inverse kinematic accessibility for all boreholes without manual intervention. This application effectively solves the problem of boom inverse kinematic failure caused by over- or under-excavation of the tunnel, significantly improves the automation level and operational efficiency of borehole adjustment, and provides technical support for the fully unmanned autonomous operation of the drilling rig.

[0012] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing this application. Attached Figure Description

[0013] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart of a method for adjusting the position of a borehole according to an embodiment of this application; Figure 2 This is a schematic diagram of the initial working plane translation and external tangency according to an embodiment of this application; Figure 3 This is a schematic diagram illustrating candidate position generation according to an embodiment of this application; Figure 4 This is a schematic diagram illustrating the determination of the actual entry coordinates according to an embodiment of this application. Detailed Implementation

[0014] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0015] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0016] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0017] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0018] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0019] See Figure 1 , Figure 1 This is a flowchart of a borehole position adjustment method provided in one embodiment of this application. The borehole position adjustment method includes, but is not limited to, steps S100 to S700: Step S100: Obtain the borehole parameters of multiple initial boreholes of the planar borehole template, as well as the actual working face point cloud of the target roadway. The borehole parameters include borehole opening coordinates, borehole bottom coordinates, borehole depth, dip angle, and azimuth angle. Step S200: Determine the initial working plane based on the borehole coordinates of multiple initial blast holes, and translate the initial working plane along the roadway axis until the initial working plane is externally tangent to the point cloud of the actual working face, thereby obtaining the actual working plane and the blast hole parameters of multiple target blast holes on the actual working plane. Step S300: Based on the borehole parameters of multiple target boreholes and the actual working face point cloud, the borehole types of multiple target boreholes are classified. The borehole types include predetermined boreholes that can be reached by inverse kinematics and boreholes that cannot be reached by inverse kinematics and need to be adjusted. Step S400: For each borehole to be adjusted, translate the borehole coordinates of the borehole to be adjusted in a direction closer to the center of the cross section by a preset step size to obtain a set of candidate positions that satisfy the inverse solution reachability, maximum movement constraint and minimum borehole spacing constraint. Step S500: Based on the candidate position set of all blast holes to be adjusted, backtrack to select the blast hole link solution and obtain the blast hole coordinates of multiple adjusted blast holes that satisfy the minimum blast hole spacing constraint. Step S600: Calculate the bottom coordinates, depth, dip angle, and azimuth of each adjusted blast hole based on the actual working face point cloud, the borehole opening coordinates of each adjusted blast hole, and the bottom coordinates of the corresponding blast hole to be adjusted. Step S700: Based on the borehole coordinates, bottom coordinates, depth, dip angle and azimuth angle of each adjusted borehole and each predetermined borehole, perform remapping and inverse solution, and execute drilling operation.

[0020] In this embodiment, by automatically identifying and classifying boreholes that are unreachable by inverse kinematics, a strategy of translating towards the cross-section center is used to generate candidate positions that satisfy geometric and kinematic constraints. A backtracking algorithm is then used to solve for the globally optimal borehole link, thereby achieving inverse kinematic reachability for all boreholes without manual intervention. This application effectively solves the problem of boom inverse kinematic failure caused by over- or under-excavation of the roadway, significantly improving the automation level and operational efficiency of borehole adjustment, and providing technical support for the fully unmanned autonomous operation of drilling rigs.

[0021] In step S100 above, the planar blast hole template is an ideal blast hole layout scheme generated by the designer based on the tunnel cross-section diagram. It includes the geometric parameters of multiple initial blast holes designed under the ideal tunnel cross-section model. Specifically, the planar blast hole template defines the data such as the borehole coordinates, borehole bottom coordinates, borehole depth, dip angle, and azimuth angle of each initial blast hole in the standard cross-section coordinate system. In practical applications, this planar blast hole template can be preset or dynamically generated according to different tunnel cross-section shapes (such as rectangular, trapezoidal, arched, etc.) and blasting process requirements.

[0022] Obtaining the actual working face point cloud of the target roadway refers to using a 3D laser scanner mounted on a drilling rig or other mobile platform to scan the surface of the roadway excavation face and collect high-density 3D spatial point data. Due to over-excavation, under-excavation, and uneven rock mass during roadway excavation, there are significant deviations between the actual working face and the design model. The point cloud data obtained through 3D laser scanning can accurately reflect the geometry of the working face, providing a precise physical reference for subsequent borehole position adjustments. In some embodiments, a density-based spatial clustering algorithm with noise can be used to remove isolated noise points from the point cloud, preventing noise points from interfering with the calculation of plane tangency and ray intersection.

[0023] See Figure 2 , Figure 2 This is a schematic diagram of the external translation of the initial working plane according to an embodiment of this application. In step S200 above, determining the initial working plane based on the orifice coordinates of multiple initial blast holes specifically involves selecting the orifice coordinates of any three non-collinear initial blast holes to determine the initial working plane. (Selecting three points...) Calculate the plane normal vector ,like If the three points are not collinear, the plane is determined; if all combinations are collinear, mark as failed and return.

[0024] The tunnel axis direction is selected as the movement direction vector, and the movement direction vector points from the bottom of the borehole to the opening. The actual working face point cloud is then mapped using the plane normal vector. Divided into positive and negative sides, the positive side is selected as the target side point cloud based on the sign of the dot product of the movement direction vector and the plane normal vector. The signed distance from each point in the target side point cloud to the initial working plane is calculated, and the one with the largest absolute value is taken as the translation amount. The initial working plane is translated along the movement direction vector by this translation amount until the initial working plane is externally tangent to the actual working face point cloud, thus obtaining the actual working plane and the borehole parameters of multiple target boreholes on the actual working plane.

[0025] The initial working plane is translated along the roadway axis until it is externally tangent to the actual working face point cloud. The actual working plane is obtained because the actual roadway working face is often uneven and non-ideal due to the influence of blasting vibrations, rock stress release, and geological structures. Directly using the initial working plane generated based on an ideal cross-section might result in some boreholes being suspended (corresponding to under-excavated areas) or penetrating too deeply into the rock mass (corresponding to over-excavated areas), leading to problems such as drilling angle deviations, uneven drill rod stress, and even stuck drill bits. By translating the initial working plane along the roadway axis until it is externally tangent to the actual working face point cloud, the adjusted working plane is ensured to closely adhere to the highest convex point of the working face, thus providing a unified reference plane that conforms to the actual physical boundaries for all target boreholes. The target borehole parameters determined based on this reference plane more closely approximate the actual geometry of the roadway, laying a data foundation for the subsequent accurate division of inverse kinematics reachable and inaccessible boreholes.

[0026] In the prior art, there is also a scheme that uses the average surface of concave and convex surfaces as the actual working face (working face). Although this scheme is simple to calculate, it cannot guarantee that all borehole openings are located on the solid rock surface. In contrast, the external tangent plane strategy adopted in this application can ensure that the working plane is located in front of the working face, avoid interference between the drill bit and the rock surface protrusion, and leave enough space for subsequent borehole position adjustment, thereby improving the safety and reliability of the operation.

[0027] The above step S300 includes, but is not limited to, steps S310 to S340: Step S310: For each target borehole, draw a ray from the borehole opening to the bottom of the borehole based on the borehole opening coordinates and the bottom of the borehole coordinates; Step S320: If there is no point cloud in the actual working face point cloud within the preset neighborhood radius of the ray, the borehole type of the target borehole is determined as an adjustment borehole that is unreachable by inverse solution. Step S330: If there is a point cloud in the actual working face point cloud within the preset neighborhood radius of the ray, mark the target blast hole as the predetermined blast hole for initial screening. Step S340: Mapping and pre-inverse solution are performed based on the borehole parameters of the pre-screened boreholes and the actual working face point cloud to classify the borehole types of multiple pre-screened boreholes. The borehole types include pre-screened boreholes that can be reached by inverse solution and boreholes to be adjusted that cannot be reached by inverse solution.

[0028] Steps S310 to S330 constitute the geometric initial screening process, while step S340 is the pre-inverse kinematics fine screening process. During the geometric initial screening, a virtual ray extending along the borehole axis from the borehole opening is constructed, and a reasonable neighborhood radius threshold is set to quickly determine whether there is solid rock support ahead of the borehole path. If there is no point cloud data within the ray's neighborhood, it indicates that the corresponding working face is concave or suspended, and the drilling tool cannot establish an effective drilling fulcrum there, directly determining it as inverse kinematics unreachable. If point cloud data exists, it is preliminarily considered to have geometric drilling conditions and marked as a pre-screened borehole. This rapid screening mechanism based on spatial geometric relationships can significantly reduce the number of boreholes requiring subsequent complex kinematics inverse kinematics calculations, improving overall processing efficiency.

[0029] The process then proceeds to the pre-inverse kinematics fine screening stage. For the pre-screened blast holes, the parameters of the blast holes are first mapped to the actual working face point cloud to obtain the true blast hole parameters. Then, the kinematic model of the drilling rig boom is used for inverse kinematics verification to check whether there is a feasible solution that meets the joint angle constraints, obstacle avoidance constraints, and working space range. If the inverse kinematics is successful and all joint parameters are within the allowable range, the blast hole is finally confirmed as an inverse kinematics-reachable pre-screened blast hole, and no position adjustment is required. If the inverse kinematics fails, for example, due to joint over-limits, singular poses, or the risk of collision with the roadway wall or other equipment, it is reclassified as an inverse kinematics-unreachable blast hole requiring adjustment.

[0030] In other embodiments, the geometric initial screening process can be omitted, and pre-reverse sieving can be performed directly. This should not be regarded as a limitation of this application.

[0031] See Figure 3 , Figure 3 This is a schematic diagram illustrating candidate position generation according to an embodiment of this application. The above-mentioned step S400 includes, but is not limited to, steps S410 to S440: Step S410: Calculate the direction vector of the borehole coordinates of each blast hole to be adjusted pointing to the center of the section, project the direction vector onto the actual working plane and normalize it to obtain the translation vector; Step S420: The orifice coordinates of the borehole to be adjusted are translated along the direction of the translation vector by a preset step size to obtain multiple initial candidate positions where the translation distance is less than the preset maximum movement. Step S430: Calculate the Euclidean distance between each initial candidate position and the orifice coordinates of each predetermined borehole, and eliminate initial candidate positions whose Euclidean distance is less than the preset minimum borehole spacing to obtain multiple intermediate candidate positions. Step S440: Calculate the bottom coordinates, depth, dip angle, and azimuth angle of each intermediate candidate position based on the actual working face point cloud, each intermediate candidate position, and the bottom coordinates of the corresponding borehole to be adjusted. Then, perform mapping and pre-inverse solution based on the actual working face point cloud, each intermediate candidate position, and the bottom coordinates, depth, dip angle, and azimuth angle of the intermediate candidate position to obtain the set of candidate positions reachable by the inverse solution.

[0032] In steps S410 and S420, the cross-section center refers to the center point of the roadway cross-section geometry. For regular cross-sections (such as circles or rectangles), it can be directly calculated using geometric formulas; for irregular cross-sections, the center of the smallest circumcircle or the centroid can be used as an approximate center. In some implementations, the Gaussian kernel density estimation method can be used to model the height distribution of the cross-section point cloud, and the height value at the point of maximum probability density can be taken as the cross-section ground height.

[0033] The borehole coordinates to be adjusted are moved step by step along the translation vector direction. The step size for each movement can be set according to accuracy requirements and computational efficiency, and is not limited here. After each movement, it is checked whether the current translation distance exceeds the preset maximum movement amount (this preset maximum movement amount is usually determined comprehensively based on the tunnel cross-section size, blasting effect requirements, and boom working range, aiming to prevent the borehole position from deviating too far from the design position, affecting the blasting profile or causing resource waste). If the translation distance does not exceed the preset maximum movement amount, the current position is recorded as the initial candidate position; if it exceeds, the search in that direction is stopped. In this way, a series of potential borehole positions distributed along the centripetal direction are generated, and these positions constitute the basic set for subsequent screening.

[0034] In step S430, to ensure that the adjusted borehole layout complies with blasting safety regulations and to avoid mutual interference or impact blasting caused by excessively small spacing between adjacent boreholes, it is necessary to perform spacing verification on the initial candidate positions. Specifically, the Euclidean distance between each initial candidate position and the coordinates of all confirmed boreholes reachable by inverse kinematics is calculated. If the distance between an initial candidate position and any given borehole is less than the preset minimum borehole spacing, the position is determined not to meet the safety constraints and is eliminated. The preset minimum borehole spacing can be dynamically adjusted according to factors such as rock properties, explosive type, and borehole diameter, and is not limited here. After this round of screening, the remaining intermediate candidate positions satisfy both the geometric trend of centripetal adjustment and ensure a safe distance from existing legal boreholes.

[0035] In step S440, verifying the kinematic feasibility of intermediate candidate positions is a crucial step in ensuring the feasibility of the final solution. For each intermediate candidate position, mapping and pre-inverse solution verification are required to ensure that each element in the final generated candidate position set is not only geometrically reasonable but also mechanically feasible, providing a high-quality solution space for subsequent global optimal link solving.

[0036] The borehole adjustment strategy in this application involves gradual adjustment along the center of the cross-section. The physical basis of this strategy is that the central region of the tunnel cross-section typically has better rock integrity and is far from stress concentration zones or fracture zones at the tunnel's edge. Moving towards the center not only helps find more stable drilling fulcrums but also effectively avoids irregular edge areas caused by over- or under-excavation, thereby increasing the probability of successful inverse kinematics. Furthermore, the borehole adjustment in the central region has a relatively small impact on the overall blasting profile, which is beneficial for maintaining the tunnel's forming quality. Compared to existing candidate position adjustment strategies in any direction, the centripetal translation strategy of this application has stronger directionality and purposefulness, significantly reducing the search space and computational complexity.

[0037] Furthermore, the premise of blasting design is that the borehole openings are coplanar (on the same working face). With conventional borehole adjustments, directly shifting the three-dimensional coordinates causes the borehole opening to "drift" off the working face, disrupting coplanarity. This application constrains the three-dimensional adjustment to the actual working plane, ensuring that the coplanarity of the borehole openings remains unchanged before and after adjustment.

[0038] In some implementations, reference Figure 3 , Figure 3 The borehole to be adjusted is designated as A, and the center of the cross-section is designated as C. Initial candidate positions include A1, A2, A3, and A4. Since the Euclidean distance between A2 and A3 and the borehole coordinates of other predetermined boreholes is less than the preset minimum borehole spacing, they are eliminated, leaving only A1 and A4 as intermediate candidate positions. After mapping and pre-inverse solution, both A1 and A4 are reachable via inverse solution; therefore, the final candidate position set includes A1 and A4.

[0039] It should be noted that, Figure 3 The X and Y coordinates in the diagram only represent two directions of the actual working plane, and are not related to... Figure 2 The X and Y coordinates are different.

[0040] The above step S500 includes, but is not limited to, steps S510 to S530: Step S510: Sort all the blast holes to be adjusted according to their spatial location. According to the sorting order, select the target candidate position from the candidate position set for each blast hole to be adjusted as the blast hole opening coordinates. After each selection of the target candidate position, verify the Euclidean distance with the blast hole opening coordinates of the previous adjusted blast hole. Step S520: If the Euclidean distance between the target candidate position and the orifice coordinates of the previous adjusted borehole is less than the preset minimum borehole spacing, backtrack and modify the orifice coordinates of the previous adjusted borehole and solve again to obtain the orifice coordinates of multiple adjusted boreholes that satisfy the minimum borehole spacing constraint. Step S530: If, after exhaustive backtracking, there are still adjusted boreholes that do not meet the minimum borehole spacing constraint, select the borehole coordinates of the multiple adjusted boreholes that violate the minimum borehole spacing constraint the least.

[0041] In steps S510 to S530, taking the tunnel top as an arch and the blast holes to be adjusted all located at the edge of the arch as an example, sorting all the blast holes to be adjusted according to their spatial position means sorting all the blast holes to be adjusted sequentially according to the shape of the arch. Specifically, a YZ coordinate system is established with the projection point of the center of the cross-section on the actual working plane as the origin (there is no X coordinate because the blast hole adjustment process is all carried out on the actual working plane, and the X coordinate does not change; the coordinate setting principle is the same as...). Figure 2 (Same for both), the Y coordinate represents the left and right direction, and the Z coordinate represents the up and down direction. When Y is less than 0, Z is in ascending order; when Y is greater than 0, Z is in descending order.

[0042] Based on the characteristics of borehole arrangement in the tunnel cross-section, the embodiments of this application sort adjacent boreholes to be adjacent in space, reducing the two-dimensional borehole spacing constraint to a one-dimensional chain constraint, thereby reducing computational complexity.

[0043] The backtracking algorithm is used to select an optimal combination from the set of candidate positions for all boreholes to be adjusted. Specifically, since each borehole to be adjusted may have multiple candidate positions reachable by inverse solutions, and the adjustment positions of different boreholes must satisfy the minimum borehole spacing constraint, this is a typical combinatorial optimization problem. This application uses a backtracking algorithm with depth-first search combined with pruning strategy to solve the problem: First, all boreholes to be adjusted are sorted by spatial location. Then, a target candidate position is selected for each borehole to be adjusted in turn, and during the selection process, it is checked in real time whether the distance between the selected position and the boreholes to be adjusted in the selected position satisfies the minimum borehole spacing constraint. If the currently selected target candidate position causes a conflict, the algorithm backtracks to the previous level of borehole and tries its next target candidate position; if all target candidate positions of a borehole cause a conflict, the algorithm continues to backtrack upwards. If the backtracking is exhausted and there are still adjusted boreholes that do not satisfy the minimum borehole spacing constraint, the borehole coordinates of the multiple adjusted boreholes that violate the minimum borehole spacing constraint the fewest times are selected, ensuring that the algorithm always has a solution.

[0044] This application's embodiments, by attempting to modify the selection of multiple preceding boreholes when an anomaly occurs during recursive adjustment, can efficiently traverse the solution space. In some embodiments, this application also employs depth constraints to prevent recursion explosion, setting an upper limit on the backtracking depth for constraint.

[0045] refer to Figure 4 , Figure 4 This is a schematic diagram illustrating the determination of the actual entry coordinates according to an embodiment of this application. The above-mentioned step S600 includes, but is not limited to, steps S610 to S630: Step S610: Based on the orifice coordinates of each adjusted blast hole, synchronously translate the bottom coordinates of the corresponding blast hole to be adjusted to obtain the bottom coordinates of the adjusted blast hole. Step S620: Determine the actual entry coordinates of each adjusted blast hole based on the borehole coordinates and bottom coordinates of each adjusted blast hole, as well as the actual working face point cloud. Step S630: Calculate the depth, inclination angle, and azimuth angle of each adjusted borehole based on the borehole opening coordinates, bottom coordinates, and actual entry coordinates.

[0046] In step S610 above, the bottom coordinates of the borehole to be adjusted are synchronously translated along the same direction and distance as the borehole opening. This allows for the rapid acquisition of the adjusted bottom coordinates, ensuring that the borehole length and approximate orientation do not undergo drastic changes, and providing initial values ​​for subsequent accurate calculations.

[0047] Step S620 above includes, but is not limited to, steps S621 to S623: Step S621: For each adjusted borehole, draw a ray from the borehole opening to the bottom of the borehole based on the borehole opening coordinates and the bottom of the borehole coordinates; Step S622: Select the target point cloud from the actual working surface point cloud that is located within the preset neighborhood radius of the ray and has the smallest projection length on the ray. Step S623: Determine the coordinates of the projection points of the target point cloud onto the ray as the actual entry coordinates of the adjusted borehole.

[0048] In steps S621 to S623 above, the location where the drill bit actually contacts the rock surface can be precisely locked by finding the nearest intersection point between the ray and the actual working face point cloud. Because the actual working face is uneven, although the adjusted borehole coordinates are located on a uniform external tangent plane, the actual entry point of the borehole into the rock mass may vary slightly due to local micro-topography. Selecting the target point cloud with the smallest projected length, i.e., the rock surface point encountered first along the drilling direction, as the actual entry coordinates conforms to the physical drilling process. This step corrects the deviation between the theoretical borehole opening and the actual drilling starting point, ensuring that the geometric parameters calculated subsequently are based on the actual drilling path.

[0049] In step S630 above, the orifice coordinates of the blast hole have been adjusted to be... The bottom coordinates of the hole are as follows The actual entrance coordinates are Kong Shen ,inclination ,in, The distance from the bottom of the hole to the actual working plane, azimuth angle. .

[0050] In step S700 above, the borehole coordinates, borehole bottom coordinates, borehole depth, inclination angle and azimuth angle of all boreholes (including predetermined boreholes that do not need adjustment and adjusted boreholes) are remapped and inversely solved to generate the corresponding joint angle sequence and motion path plan. Based on this, the boom is driven to complete the positioning, drilling and withdrawal actions of all boreholes in sequence, realizing fully automated unmanned operation.

[0051] The borehole position adjustment method of this application can be deployed on a point cloud computing service, supporting two deployment modes: (1) edge deployment: deployed on an underground edge server to receive commands from this device and report the processing results to the center; (2) center deployment: deployed on a ground center server to uniformly process point cloud data from various devices. The service communicates with the device and the Web front end through the MessageQueuing Telemetry Transport (MQTT) message bus, stores task, borehole, and section data through MongoDB, and accesses point cloud files through the Grid File System (GridFS).

[0052] This application also provides an electronic device, including a processor and a memory. The memory stores a program or instructions that can run on the processor. When the program or instructions are executed by the processor, they implement the various steps of the above-described method for adjusting the position of the borehole and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0053] This application also provides a drilling rig, including the aforementioned electronic device. When the program or instructions in the electronic device are executed by the processor, they implement the various steps of the above-described borehole position adjustment method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0054] This application also provides a computer-readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described borehole position adjustment method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0055] It should be clarified that this application is not limited to the specific configurations and processes described above. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of this application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0056] The functional blocks described above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0057] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0058] It should be understood that the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in this application, and such modifications or substitutions should be covered within the scope of protection of this application.

Claims

1. A method for adjusting the position of blast holes, applied to a drilling rig, characterized in that, The method for adjusting the position of the borehole includes: Obtain the borehole parameters of multiple initial boreholes from the planar borehole template, as well as the actual working face point cloud of the target roadway. The borehole parameters include borehole opening coordinates, borehole bottom coordinates, borehole depth, dip angle, and azimuth angle. The initial working plane is determined based on the borehole coordinates of multiple initial blast holes. The initial working plane is then translated along the roadway axis until it is externally tangent to the point cloud of the actual working face, thereby obtaining the actual working plane and the blast hole parameters of multiple target blast holes on the actual working plane. Based on the borehole parameters of the multiple target boreholes and the point cloud of the actual working face, the multiple target boreholes are classified into borehole types, including predetermined boreholes that can be reached by inverse kinematics and boreholes that cannot be reached by inverse kinematics and need to be adjusted. For each of the boreholes to be adjusted, the borehole coordinates are translated in a direction closer to the center of the cross section by a preset step size to obtain a set of candidate positions that satisfy the inverse solution reachability, maximum movement constraint and minimum borehole spacing constraint. Based on the candidate position set of all the blast holes to be adjusted, a backtracking blast hole link solution is performed to obtain the blast hole coordinates of multiple adjusted blast holes that satisfy the minimum blast hole spacing constraint. The bottom coordinates, depth, inclination angle, and azimuth angle of each adjusted blast hole are calculated based on the actual working face point cloud, the borehole coordinates of each adjusted blast hole, and the bottom coordinates of the corresponding blast hole to be adjusted. Based on the borehole coordinates, bottom coordinates, depth, dip angle, and azimuth angle of each adjusted borehole and each predetermined borehole, remapping and inverse solution are performed to execute the drilling operation.

2. The method for adjusting the position of boreholes according to claim 1, characterized in that, Based on the borehole parameters of multiple target boreholes and the actual working face point cloud, the multiple target boreholes are classified into borehole types. These borehole types include predetermined boreholes reachable through inverse kinematics and boreholes to be adjusted that are unreachable through inverse kinematics, including: For each target borehole, a ray pointing from the borehole opening to the bottom is drawn based on the borehole opening coordinates and the bottom borehole coordinates; If there is no point cloud in the actual working face point cloud within the preset neighborhood radius of the ray, the borehole type of the target borehole is determined as an adjustment borehole that is unreachable by inverse solution. If a point cloud exists within the preset neighborhood radius of the ray in the actual working face point cloud, the target borehole is marked as a predetermined borehole for initial screening. Mapping and pre-inverse solving are performed based on the borehole parameters of the predetermined boreholes in the initial screening and the point cloud of the actual working face to classify the borehole types of the multiple predetermined boreholes in the initial screening. The borehole types include predetermined boreholes that can be reached by inverse solving and boreholes to be adjusted that cannot be reached by inverse solving.

3. The method for adjusting the position of boreholes according to claim 1, characterized in that, For each of the boreholes to be adjusted, the borehole coordinates are translated towards the center of the cross-section by a preset step size to obtain a set of candidate positions that satisfy the inverse solution reachability, maximum movement constraint, and minimum borehole spacing constraint, including: Calculate the direction vector pointing from the orifice coordinates of each of the blast holes to be adjusted to the center of the cross section, project the direction vector onto the actual working plane and normalize it to obtain the translation vector; The orifice coordinates of the borehole to be adjusted are translated along the direction of the translation vector by a preset step size, resulting in multiple initial candidate positions where the translation distance is less than the preset maximum movement. Calculate the Euclidean distance between each initial candidate position and the borehole coordinates of each predetermined borehole, and eliminate the initial candidate positions whose Euclidean distance is less than the preset minimum borehole spacing to obtain multiple intermediate candidate positions; Based on the actual working face point cloud, each intermediate candidate position and the bottom coordinates of the corresponding borehole to be adjusted, the bottom coordinates, depth, dip angle and azimuth angle of each intermediate candidate position are calculated. Based on the actual working face point cloud, each intermediate candidate position and the bottom coordinates, depth, dip angle and azimuth angle of the intermediate candidate position, mapping and pre-inverse solution are performed to obtain the set of candidate positions reachable by the inverse solution.

4. The method for adjusting the position of boreholes according to claim 1, characterized in that, The step of backtracking and solving the borehole link problem based on the candidate position set of all the boreholes to be adjusted to obtain the borehole coordinates of multiple adjusted boreholes that satisfy the minimum borehole spacing constraint includes: All the blast holes to be adjusted are sorted according to their spatial location. According to the sorting order, a target candidate position is selected from the candidate position set for each blast hole to be adjusted as the hole coordinate of the adjusted blast hole. After each selection of the target candidate position, the Euclidean distance with the hole coordinate of the previous adjusted blast hole is verified. If the Euclidean distance between the target candidate position and the orifice coordinates of the previous adjusted borehole is less than the preset minimum borehole spacing, the orifice coordinates of the previous adjusted borehole are backtracked and modified to be solved again, so as to obtain the orifice coordinates of multiple adjusted boreholes that satisfy the minimum borehole spacing constraint.

5. The method for adjusting the position of boreholes according to claim 4, characterized in that, The step of backtracking to select borehole links based on the candidate position set of all the boreholes to be adjusted, to obtain the borehole coordinates of multiple adjusted boreholes that satisfy the minimum borehole spacing constraint, further includes: If, after exhaustive backtracking, there are still adjusted boreholes that do not meet the minimum borehole spacing constraint, select the borehole coordinates of the multiple adjusted boreholes that violate the minimum borehole spacing constraint the fewest times.

6. The method for adjusting the position of boreholes according to claim 1, characterized in that, The calculation of the bottom coordinates, depth, dip angle, and azimuth angle of each adjusted borehole based on the actual working face point cloud, the borehole opening coordinates of each adjusted borehole, and the bottom coordinates of the corresponding borehole to be adjusted includes: Based on the orifice coordinates of each adjusted borehole, the bottom coordinates of the corresponding borehole to be adjusted are synchronously translated to obtain the bottom coordinates of the adjusted borehole. The actual inlet coordinates of each adjusted borehole are determined based on the borehole opening coordinates and bottom coordinates of each adjusted borehole, as well as the actual working face point cloud. The hole depth, inclination angle, and azimuth angle of each adjusted blast hole are calculated by back-calculating the hole depth, inclination angle, and azimuth angle based on the hole opening coordinates, hole bottom coordinates, and actual entrance coordinates of each adjusted blast hole.

7. The method for adjusting the position of boreholes according to claim 6, characterized in that, The step of determining the actual entry coordinates of each adjusted borehole based on its orifice coordinates and bottom coordinates, and the actual working face point cloud, includes: For each adjusted borehole, a ray pointing from the borehole opening to the bottom is drawn based on the borehole opening coordinates and the borehole bottom coordinates; Select the target point cloud from the actual working face point cloud that is located within a preset neighborhood radius of the ray and has the smallest projection length on the ray; The coordinates of the projection points of the target point cloud onto the ray are determined as the actual entry coordinates of the adjusted borehole.

8. An electronic device, characterized in that, The electronic device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the borehole position adjustment method as described in any one of claims 1 to 7.

9. A drilling rig, characterized in that, Including the electronic device as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the borehole position adjustment method as described in any one of claims 1 to 7.

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