Intelligent monitoring device for mast attitude of photovoltaic auger drilling rig, and control method therefor

Abstract

The present invention provides an intelligent monitoring device for the mast attitude of a photovoltaic auger drilling rig, and a control method therefor. The intelligent monitoring device for the mast attitude of a photovoltaic auger drilling rig comprises: a drilling rig body, wherein a main boom is rotatably installed on the front end of the drilling rig body, a secondary boom is rotatably connected to the end of the main boom distant from the drilling rig body, a mast is rotatably installed on the end of the secondary boom distant from the main boom, a driving member is connected between each pair of adjacent components among the drilling rig body, the main boom and the secondary boom, and a rotation driving member for driving the mast to rotate is connected between the secondary boom and the mast; a main boom rotation angle sensor used for measuring the rotation angle of the main boom; a secondary boom rotation angle sensor used for measuring the rotation angle of the secondary boom; a distance measuring sensor used for measuring the distance between the mast and the ground; a bidirectional inclination angle sensor used for measuring the inclination angles of the mast in the front-back direction and the left-right direction; and a mast attitude intelligent control module used for collecting information from the described sensors and controlling the operation of the driving member. According to the present invention, the attitude of the mast is automatically adjusted by means of a program, improving the mast attitude control precision of the drilling rig, helping to improve the quality of drilling construction.

Description

Photovoltaic auger drilling rig mast posture intelligent monitoring device and control method Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an intelligent monitoring device for the mast posture of a photovoltaic auger and a control method thereof. Background Art

[0002] PV auger drilling operations have strict requirements for the verticality and inclination of the pile holes. Failure to properly control this can easily lead to substandard quality, resulting in rework and even quality accidents. Therefore, proper mast posture control is crucial. Currently, mast posture control for PV auger drilling rigs is performed manually using a level, which is labor-intensive and susceptible to subjective influences from the measurement operator. Summary of the Invention

[0003] In view of the above situation, the present invention provides an intelligent monitoring device for the posture of a photovoltaic auger drill mast and a control method thereof, which can solve the problem of inaccurate manual control of the posture of a photovoltaic auger drill mast.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is to provide an intelligent monitoring device for the mast posture of a photovoltaic auger drill, which comprises:

[0005] A drilling rig body, wherein a boom is rotatably mounted on the front end of the drilling rig body, an end of the boom away from the drilling rig body is rotatably connected to a fork arm, an end of the fork arm away from the boom is rotatably mounted to a mast, a first driving member for driving the boom to rotate is connected between the drilling rig body and the boom, a second driving member for driving the fork arm to rotate is connected between the boom and the fork arm, and a rotary driving member for driving the mast to rotate is connected between the fork arm and the mast;

[0006] A boom angle sensor for measuring the rotation angle of the boom, wherein the boom angle sensor is mounted on the boom;

[0007] A forearm rotation angle sensor for measuring the rotation angle of the forearm, wherein the forearm rotation angle sensor is installed on the upper arm or the forearm;

[0008] a distance measuring sensor for measuring the distance between the mast and the ground, wherein the distance measuring sensor is mounted on the mast;

[0009] a bidirectional tilt sensor for measuring the tilt angles of the mast in the front-back direction and the left-right direction, wherein the bidirectional tilt sensor is mounted on the mast;

[0010] A mast attitude intelligent control module is installed on the drilling rig body. The mast attitude intelligent control module collects information from the boom angle sensor, the arm angle sensor, the ranging sensor and the bidirectional tilt sensor, and controls the operation of the first drive member, the second drive member and the rotary drive member.

[0011] Preferably, the first driving member is a first hydraulic rod, a first end of the first hydraulic rod is connected to the drilling rig body, and a second end of the first hydraulic rod is connected to the middle of the boom.

[0012] Preferably, the second driving member is a second hydraulic rod, a first end of the second hydraulic rod is connected to the middle of the upper arm, and a second end of the second hydraulic rod is connected to the middle of the lower arm.

[0013] Preferably, an industrial computer is further included, the industrial computer is installed on the drilling rig body, and the mast posture intelligent control module is operated by the industrial computer.

[0014] The present invention provides a control method using a photovoltaic auger mast posture intelligent monitoring device, comprising the following steps:

[0015] S1: Start the drilling rig, move it to the designated working area, and park it;

[0016] S2: Start the mast attitude intelligent control module and input the mast attitude parameters: the parameters of the mast front and rear tilt angle θ and the mast left and right tilt angle β (θ_x s ,β_y s ) and construction tolerance Δθ S and Δβ S ;

[0017] S3: The mast attitude intelligent control module obtains the initial mast attitude parameters, including the original inclination angle θ_x0 of the mast in the front-back direction, the original inclination angle β_y0 of the mast in the left-right direction, the original rotation angle γ0 of the boom, and the original rotation angle η0 of the jib;

[0018] S4: The mast attitude intelligent control module adjusts the boom through the first drive member so that the boom rotation angle γ meets the following requirements:

[0019] γ=γ initial

[0020] And γ min ≤γ≤γ max

[0021] Where: γ initial Indicates the initial setting value of the boom angle, γ min Indicates the minimum setting value of the boom angle, γ maxIndicates the maximum setting value of the boom angle;

[0022] S5: The mast attitude intelligent control module obtains the real-time inclination angle θ_x of the mast in the front and rear directions through the bidirectional inclination sensor i , and calculate the mast fore-aft tilt angle deviation Δθ according to the following formula:

[0023] Δθ=θ_x i -θ_x s ;

[0024] S6: If |Δθ|≤Δθ S , indicating that the mast's fore-aft tilt angle deviation meets the requirements, skip S7; if |Δθ|>Δθ S , indicating that the mast's fore-aft tilt angle deviation is greater than the threshold, and the process goes to S7;

[0025] S7: The mast attitude intelligent control module obtains the real-time rotation angle of the boom γ through the boom angle sensor i , obtain the real-time angle η of the forearm through the forearm angle sensor i , if γ i +η i >90°, control the second driving member to increase the angle between the upper arm and the lower arm, and repeat S5 and S6; if γ i +η i <90°, control the second driving member to reduce the angle between the upper arm and the lower arm, and repeat S5 and S6 until |Δθ|≤Δθ S ;

[0026] S8: The mast attitude intelligent control module obtains the real-time inclination angle β_y of the left and right directions of the mast through the bidirectional inclination sensor i , and calculate the mast left and right tilt angle deviation Δβ according to the following formula:

[0027] Δβ=β_y i -β_y s ;

[0028] S9: If |Δβ|≤Δβ S , indicating that the mast left and right tilt angle deviation meets the requirements, skip S10; if |Δβ|>Δβ S , indicating that the mast's left and right tilt angle deviation is greater than the threshold, and the process goes to S10;

[0029] S10: The mast attitude intelligent control module controls the rotary drive element to adjust the real-time inclination angle β_y of the mast in the left and right directions i , each time the angle is adjusted to Δβ, repeat S8 and S9 until |Δβ|≤Δβ S ;

[0030] S11: The mast attitude intelligent control module obtains the distance H from the mast to the ground through the distance measuring sensor. If H min ≤H≤H max , then skip S12; if H<H min or H>H max , then enter S12;

[0031] Among them: H min Indicates the minimum setting value of the distance from the mast to the ground, H max Indicates the maximum setting value of the distance from the mast to the ground;

[0032] S12: The mast posture intelligent control module adjusts the distance between the mast and the ground through the first driving member, and repeats S3-S11 until the drilling rig mast posture meets the requirements;

[0033] S13: End the adjustment procedure.

[0034] A further improvement of the control method of the photovoltaic auger mast posture intelligent monitoring device of the present invention is that the second driving member is a second hydraulic rod, the first end of the second hydraulic rod is connected to the middle of the upper arm, and the second end of the second hydraulic rod is connected to the middle of the lower arm;

[0035] When controlling the second driving member to increase the angle between the upper arm and the lower arm, controlling the second hydraulic rod to extend;

[0036] When the second driving member is controlled to reduce the angle between the upper arm and the lower arm, the second hydraulic rod is controlled to shorten.

[0037] A further improvement of the control method of the photovoltaic auger mast posture intelligent monitoring device of the present invention is that the boom rotation angle γ is the angle between the boom axis and the plumb line;

[0038] When the mast attitude intelligent control module obtains the boom angle, the real-time included angle between the boom axis and the plumb line is obtained through the boom angle sensor.

[0039] A further improvement of the control method of the photovoltaic auger mast posture intelligent monitoring device of the present invention is that the arm rotation angle η is the angle at which the axis of the arm intersects the axis of the arm;

[0040] When the mast attitude intelligent control module obtains the arm rotation angle, the real-time intersection angle between the axis of the arm and the axis of the boom is obtained through the arm rotation angle sensor.

[0041] The beneficial effects of the present invention are that the photovoltaic auger mast posture intelligent monitoring device and control method of the present invention obtain the real-time inclination angle of the mast in the front-back direction and the left-right direction through a bidirectional inclination sensor, control the second drive member to rotate the upper arm and the lower arm under the action of the mast posture intelligent control module to further adjust the mast front-back direction angle, control the rotary drive member to rotate the mast left and right to further adjust the mast left-right direction angle; obtain the distance from the mast to the ground through a distance measuring sensor, and control the first drive member to adjust the distance from the mast to the ground under the action of the mast posture intelligent control module, thereby automatically completing the control of the drilling rig mast posture. The present invention has the capabilities of real-time perception of drilling rig posture, intelligent decision-making, and automatic control, simplifies the drilling rig mast posture control program, improves the drilling rig mast posture control accuracy, and is conducive to improving the quality of drilling construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] FIG1 is a schematic diagram of the overall structure of the photovoltaic auger mast posture intelligent monitoring device of the present invention.

[0044] 1-Drilling rig body; 2-Boom; 3-Forearm; 4-Mast; 5-First hydraulic rod; 6-Second hydraulic rod; 7-Rotary hydraulic cylinder; 8-Boom angle sensor; 9-Forearm angle sensor; 10-Distance sensor; 11-Bidirectional tilt sensor; 12-Mast attitude intelligent control module. DETAILED DESCRIPTION

[0045] To facilitate understanding of the present invention, the following description is given with reference to the accompanying drawings and embodiments.

[0046] Referring to FIG1 , the present invention provides a photovoltaic auger mast posture intelligent monitoring device, comprising a drilling rig body 1, a boom angle sensor 8, a forearm angle sensor 9, a distance sensor 10, a bidirectional tilt sensor 11, and a mast posture intelligent control module 12. Among them:

[0047] A boom 2 is rotatably mounted on the front end of the drilling rig body 1. An arm 3 is rotatably connected to the end of the boom 2 away from the drilling rig body 1. A mast 4 is rotatably mounted to the end of the arm 3 away from the boom 2. Driving parts are connected between adjacent pairs of the drilling rig body 1, boom 2, and arm 3. A first driving part that drives the boom 2 to rotate is connected between the drilling rig body 1 and boom 2, and a second driving part that drives the arm 3 to rotate is connected between the boom 2 and arm 3. A rotating driving part that drives the mast 4 to rotate is connected between the arm 3 and the mast 4. The rotating driving part can be a rotating hydraulic cylinder 7. The drilling rig body 1 can be fuel-driven, or it can adopt other energy drive modes, such as electric drive or hybrid drive.

[0048] The boom angle sensor 8 is used to measure the rotation angle of the boom 2. The boom angle sensor 8 is installed on the boom 2. After installation, a level ruler is used to assist in calibration and zeroing.

[0049] The arm angle sensor 9 is used to measure the rotation angle of the arm 3. The arm angle sensor 9 is installed on the boom 2 or arm 3. After installation, an inclination sensor is used to assist in calibration and zeroing. The boom angle sensors 8 and 9 have a measurement accuracy better than 0.1° and a range of 0-360°. In this embodiment, the boom angle sensor 8 is installed at the first end of the boom 2, i.e., the end of the boom 2 closest to the drill rig body 1; the arm angle sensor 9 is installed at the second end of the boom 2, i.e., the end of the boom 2 closest to the arm 3.

[0050] A distance measuring sensor 10 is used to measure the distance between the mast 4 and the ground. The distance measuring sensor 10 is installed on the mast 4. The accuracy of the distance measuring sensor 10 is better than 1 mm.

[0051] A bidirectional tilt sensor 11 is used to measure the tilt angles of the mast 4 in the front-back direction and the left-right direction. The bidirectional tilt sensor 11 is installed on the mast 4. The measurement accuracy of the bidirectional tilt sensor is better than 0.1° and the range is ±90°.

[0052] The mast attitude intelligent control module 12 is installed on the drilling rig body 1. The mast attitude intelligent control module 12 collects information from the boom angle sensor 8, the arm angle sensor 9, the ranging sensor 10 and the bidirectional tilt sensor 11, and controls the operation of the first drive member, the second drive member and the rotary drive member.

[0053] Preferably, the first driving member is a first hydraulic rod 5 , a first end of the first hydraulic rod 5 is connected to the drilling rig body 1 , and a second end of the first hydraulic rod 5 is connected to the middle of the boom 2 .

[0054] Preferably, the second driving member is a second hydraulic rod 6, the first end of which is connected to the middle of the boom 2, and the second end of which is connected to the middle of the arm 3. In this embodiment, the second end of the first hydraulic rod 5 is connected to the middle of the boom 2 near the drilling rig body 1, and the first end of the second hydraulic rod 6 is connected to the middle of the boom 2 near the arm 3.

[0055] Preferably, an industrial computer is also included, which is installed on the drilling rig body 1 and operates the mast attitude intelligent control module 12. The industrial computer is connected to the boom angle sensor 8, the arm angle sensor 9, the distance sensor 10, and the bidirectional tilt sensor 11 via wired or wireless means.

[0056] The present invention provides a control method using a photovoltaic auger mast posture intelligent monitoring device, comprising the following steps:

[0057] S1: Start the drilling rig body 1, move the drilling rig body 1 to the designated working area, and park it;

[0058] S2: Start the mast attitude intelligent control module 12, input mast attitude parameters: parameters of the mast front and rear tilt angle θ and the mast left and right tilt angle β (θ_x s ,β_y s ) and construction tolerance Δθ S and Δβ S ;

[0059] The front-back direction of the mast refers to the x-direction, the left-right direction of the mast refers to the y-direction, and the inclination angles of the x-direction and the y-direction when perpendicular to the horizontal plane are 90°.

[0060] S3: The mast attitude intelligent control module 12 obtains the initial mast attitude parameters, including the original inclination angle θ_x0 of the mast in the front-back direction, the original inclination angle β_y0 of the mast in the left-right direction, the original rotation angle γ0 of the boom, and the original rotation angle η0 of the jib;

[0061] S4: The mast attitude intelligent control module 12 adjusts the boom 2 through the first hydraulic rod 5 so that the boom rotation angle γ meets the following requirements:

[0062] γ=γ initial

[0063] And γ min ≤γ≤γ max

[0064] Where: γ initial Indicates the initial setting value of the boom angle, γ min Indicates the minimum setting value of the boom angle, γ max Indicates the maximum setting value of the boom angle; γ min and γ maxIt can be determined based on the geometric characteristics of the drilling rig, the requirements of the operation task and the distance between the mast and the ground;

[0065] S5: The mast attitude intelligent control module 12 obtains the real-time inclination angle θ_x of the mast in the front and rear directions through the bidirectional inclination sensor 11 i , calculate the mast fore-aft inclination angle deviation Δθ according to the following formula:

[0066] Δθ=θ_x i -θ_x s ;

[0067] S6: If |Δθ|≤Δθ S , indicating that the mast's fore-aft tilt angle deviation meets the requirements, skip S7; if |Δθ|>Δθ S , indicating that the mast's fore-aft tilt angle deviation is greater than the threshold, and the process goes to S7;

[0068] S7: The mast attitude intelligent control module 12 obtains the real-time rotation angle γ of the boom through the boom angle sensor 8 i , obtain the real-time η of the forearm angle through the forearm angle sensor 9 i , if γ i +η i >90°, control the second hydraulic rod 6 to increase the angle between the boom 2 and the arm 3, and repeat S5 and S6; if γ i +η i <90°, control the second hydraulic rod 6 to reduce the angle between the boom 2 and the arm 3, and repeat S5 and S6 until |Δθ|≤Δθ S ;

[0069] S8: The mast attitude intelligent control module 12 obtains the real-time inclination angle β_y of the left and right directions of the mast through the bidirectional inclination sensor 11 i , calculate the mast left and right tilt angle deviation Δβ according to the following formula:

[0070] Δβ=β_y i -β_y s ;

[0071] S9: If |Δβ|≤Δβ S , indicating that the mast left and right tilt angle deviation meets the requirements, skip S10; if |Δβ|>Δβ S , indicating that the mast's left and right tilt angle deviation is greater than the threshold, and the process goes to S10;

[0072] S10: The mast attitude intelligent control module 12 controls the rotary hydraulic cylinder 7 to adjust the real-time inclination angle β_y of the mast in the left and right directions i , each time the angle is adjusted to Δβ, repeat S8 and S9 until |Δβ|≤Δβ S ;

[0073] S11: The mast attitude intelligent control module 12 obtains the distance H from the mast 4 to the ground through the distance measuring sensor 10. If H min ≤H≤H max , then skip S12; if H<H min or H>H max , then enter S12;

[0074] Among them: H min Indicates the minimum setting value of the distance from the mast to the ground, H max Indicates the maximum setting value of the distance from the mast to the ground;

[0075] S12: The mast attitude intelligent control module 12 adjusts the distance between the mast 4 and the ground through the first hydraulic rod 5, and repeats S3-S11 until the drilling rig mast attitude meets the requirements;

[0076] S13: End the adjustment procedure.

[0077] A further improvement of the control method of the photovoltaic auger mast posture intelligent monitoring device of the present invention is that the second driving member is a second hydraulic rod 6, a first end of the second hydraulic rod 6 is connected to the middle of the boom 2, and a second end of the second hydraulic rod 6 is connected to the middle of the arm 3;

[0078] When the second driving member is controlled to increase the angle between the upper arm 2 and the lower arm 3, the second hydraulic rod 6 is controlled to extend;

[0079] When the second driving member is controlled to reduce the angle between the boom 2 and the arm 3 , the second hydraulic rod 6 is controlled to shorten.

[0080] A further improvement of the control method of the photovoltaic auger mast posture intelligent monitoring device of the present invention is that the boom rotation angle γ is the angle between the axis of the boom 2 and the plumb line.

[0081] When the mast attitude intelligent control module obtains the boom angle, the real-time included angle between the boom 2 axis and the plumb line is obtained through the boom angle sensor 8, with the clockwise direction being positive. When the two coincide, it is 0°, and when they are vertical, it is 90°.

[0082] A further improvement of the control method of the photovoltaic auger mast posture intelligent monitoring device of the present invention is that the arm rotation angle η is the angle at which the axis of the arm 3 intersects the axis of the arm 2;

[0083] When the mast attitude intelligent control module obtains the arm angle, the real-time intersection angle between the axis of the arm 3 and the axis of the boom 2 is obtained through the arm angle sensor 9. The clockwise direction is positive, and the two axes are 0° when they coincide and 90° when they are perpendicular.

[0084] Using the photovoltaic auger drill mast posture intelligent monitoring device and control method of the present invention, the mast posture intelligent control module collects data from the drill mast's distance sensor 10 and bidirectional tilt sensor 11, performs judgments and calculations, then controls the first hydraulic lever 5 to rotate the boom 2 and adjust the distance from the mast 4 to the ground, controls the second hydraulic lever 6 to rotate the arm 3 to adjust the mast 4's fore-aft tilt, and controls the rotary hydraulic cylinder 7 to rotate the mast 4 left and right to adjust the mast 4's left-right tilt, thereby adjusting the drill mast's posture. The photovoltaic auger drill mast posture intelligent monitoring device and control method of the present invention automatically adjust the mast's posture through a program, improving the drilling rig's mast posture control accuracy and facilitating improved drilling construction quality.

[0085] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A photovoltaic auger mast posture intelligent monitoring device, characterized in that: include: A drilling rig body, wherein a boom is rotatably mounted on the front end of the drilling rig body, an end of the boom away from the drilling rig body is rotatably connected to a fork arm, an end of the fork arm away from the boom is rotatably mounted to a mast, a first driving member for driving the boom to rotate is connected between the drilling rig body and the boom, a second driving member for driving the fork arm to rotate is connected between the boom and the fork arm, and a rotary driving member for driving the mast to rotate is connected between the fork arm and the mast; A boom angle sensor for measuring the rotation angle of the boom, wherein the boom angle sensor is mounted on the boom; A forearm rotation angle sensor for measuring the rotation angle of the forearm, wherein the forearm rotation angle sensor is installed on the upper arm or the forearm; a distance measuring sensor for measuring the distance between the mast and the ground, wherein the distance measuring sensor is mounted on the mast; a bidirectional tilt sensor for measuring the tilt angles of the mast in the front-to-back direction and the left-to-right direction, wherein the bidirectional tilt sensor is mounted on the mast; A mast attitude intelligent control module is installed on the drilling rig body. The mast attitude intelligent control module collects information from the boom angle sensor, the arm angle sensor, the ranging sensor and the bidirectional tilt sensor, and controls the operation of the first drive member, the second drive member and the rotary drive member.

2. The photovoltaic auger mast posture intelligent monitoring device according to claim 1, characterized in that: The first driving member is a first hydraulic rod, a first end of the first hydraulic rod is connected to the drilling rig body, and a second end of the first hydraulic rod is connected to the middle part of the boom.

3. The photovoltaic auger mast posture intelligent monitoring device according to claim 1, characterized in that: The second driving member is a second hydraulic rod, a first end of the second hydraulic rod is connected to the middle of the upper arm, and a second end of the second hydraulic rod is connected to the middle of the lower arm.

4. The photovoltaic auger mast posture intelligent monitoring device according to claim 1, characterized in that: It also includes an industrial computer, which is installed on the drilling rig body, and the mast posture intelligent control module is operated by the industrial computer.

5. A control method for the photovoltaic auger mast posture intelligent monitoring device according to claim 1, characterized in that: The steps include: S1: Start the drilling rig, move the drilling rig to the designated working area, and park it; S2: Start the mast attitude intelligent control module and input the mast attitude parameters: the parameters of the mast front and rear tilt angle θ and the mast left and right tilt angle β (θ_x s ,β_y s ) and construction allowable deviation Δθ S and Δβ S ; S3: The mast attitude intelligent control module obtains the initial mast attitude parameters, including the original inclination angle θ_x0 of the mast in the front-back direction, the original inclination angle β_y0 of the mast in the left-right direction, the original rotation angle γ0 of the boom, and the original rotation angle η0 of the jib; S4: The mast attitude intelligent control module adjusts the boom through the first drive member so that the boom rotation angle γ meets the following requirements: c=c initial And c min ≤γ≤γ max Where: γ initial Indicates the initial setting value of the boom angle, γ min Indicates the minimum setting value of the boom angle, γ max Indicates the maximum setting value of the boom angle; S5: The mast attitude intelligent control module obtains the real-time inclination angle θ_x of the mast in the front and rear directions through the bidirectional inclination sensor i , and calculate the mast fore-aft tilt angle deviation Δθ according to the following formula: Δθ=θ_x i -θ_x s ; S6: If |Δθ|≤Δθ S , skip S7; if |Δθ|>Δθ S , enter S7; S7: The mast attitude intelligent control module obtains the real-time rotation angle of the boom γ through the boom angle sensor i , obtain the real-time angle η of the forearm through the forearm angle sensor i , if γ i +η i >90°, control the second driving member to increase the angle between the upper arm and the lower arm, and repeat S5 and S6; if γ i +η i <90°, control the second driving member to reduce the angle between the upper arm and the lower arm, and repeat S5 and S6 until |Δθ|≤Δθ S ; S8: The mast attitude intelligent control module obtains the real-time inclination angle β_y of the left and right directions of the mast through the bidirectional inclination sensor i , and calculate the mast left and right tilt angle deviation Δβ according to the following formula: Δβ=β_y i -b_y s ; S9: If |Δβ|≤Δβ S , skip S10; if |Δβ|>Δβ S , enter S10; S10: The mast attitude intelligent control module controls the rotary drive element to adjust the real-time inclination angle β_y of the mast in the left and right directions i , each time the angle is adjusted to Δβ, repeat S8 and S9 until |Δβ|≤Δβ S ; S11: The mast attitude intelligent control module obtains the distance H from the mast to the ground through the distance measuring sensor. If H min ≤H≤H max , then skip S12; if H<H min or H>H max , then enter S12; Among them: H min Indicates the minimum setting value of the distance from the mast to the ground, H max Indicates the maximum setting value of the distance from the mast to the ground; S12: The mast posture intelligent control module adjusts the distance between the mast and the ground through the first driving member, and repeats S3-S11 until the drilling rig mast posture meets the requirements; S13: End the adjustment procedure.

6. The control method of the photovoltaic auger mast posture intelligent monitoring device according to claim 5, characterized in that: The second driving member is a second hydraulic rod, a first end of the second hydraulic rod is connected to the middle of the upper arm, and a second end of the second hydraulic rod is connected to the middle of the lower arm; When controlling the second driving member to increase the angle between the upper arm and the lower arm, controlling the second hydraulic rod to extend; When the second driving member is controlled to reduce the angle between the upper arm and the lower arm, the second hydraulic rod is controlled to shorten.

7. The control method of the photovoltaic auger drilling rig mast posture intelligent monitoring device according to claim 5, characterized in that: The boom rotation angle γ is the angle between the boom axis and the plumb line; When the mast attitude intelligent control module obtains the boom angle, the real-time included angle between the boom axis and the plumb line is obtained through the boom angle sensor.

8. The control method of the photovoltaic auger drilling rig mast posture intelligent monitoring device according to claim 5, characterized in that: The arm rotation angle η is the angle at which the axis of the arm intersects the axis of the upper arm; When the mast attitude intelligent control module obtains the arm rotation angle, the real-time intersection angle between the axis of the arm and the axis of the boom is obtained through the arm rotation angle sensor.

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