Underground Drill Rig IMU Compensation for Feed Rail Bending
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Solution Overview
Problem
Existing mobile underground drilling rigs face challenges in achieving accurate control of the feed rail, which affects the efficiency of rock drilling operations in challenging environments like underground mines.
Innovation Solution
A control apparatus and method utilizing an inertial measurement unit (IMU) and kinematic model data to adjust drill tool position information, incorporating supplementary sensor data to correct for inaccuracies caused by bending and manufacturing tolerances, enhancing drilling accuracy by combining this data with compensation information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional feed rail control is used without supplementary sensors, then the device complexity is lower, but the measurement precision of drill tool position is insufficient due to bending and manufacturing tolerances
Solution Approach 1:
An inertial measurement unit (IMU) is introduced as an intermediary device between the feed rail and the control system. The IMU measures bending angles and tilt angles of the feed rail, providing supplementary data that mediates between the mechanical structure and the control algorithm, enabling more precise position calculation without directly modifying the feed rail structure itself.
Solution Approach 2:
The patent replaces purely mechanical position measurement methods with a sensor-based measurement system. Instead of relying solely on mechanical linkages and physical position sensors, the system uses inertial sensors (accelerometers and gyroscopes) to detect feed rail deformation and orientation, substituting mechanical measurement approaches with sensor-based detection.
2Manufacturing precision
If the feed rail is made more rigid to reduce bending, then the manufacturing precision improves, but the device complexity and weight increase
Solution Approach 1:
The system implements feedback control by continuously measuring the actual feed rail position and orientation using IMU sensors, comparing it with the desired position, and adjusting the feed rail actuation accordingly. This feedback mechanism compensates for bending and structural flexibility without requiring the feed rail to be overly rigid, maintaining manufacturing precision while reducing structural complexity.
Solution Approach 2:
The patent changes the control parameters from direct position control to orientation and position compensation control. By measuring bending angles and tilt angles and using these parameters to adjust the drill tool position calculation, the system maintains manufacturing precision through parameter compensation rather than through increased structural rigidity.
3Reliability
If compensation information is added to correct position errors, then the drilling accuracy improves, but the device complexity increases
Solution Approach 1:
The system performs preliminary actions by pre-calculating and storing compensation information for known bending patterns and manufacturing tolerances. Before actual drilling occurs, the control system is configured with compensation data that can be automatically applied during operation, reducing the need for complex real-time calculations and improving drilling accuracy without proportionally increasing algorithmic complexity.
Solution Approach 2:
The control system performs self-service by automatically using the IMU sensor data and compensation information to correct position errors without requiring external intervention. The system self-adjusts the drill tool position based on measured feed rail orientation and pre-stored compensation data, improving drilling accuracy while keeping the control algorithm relatively simple and autonomous.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves drilling accuracy by directly measuring and correcting vertical orientation errors and feed angle changes, reducing position errors due to boom and rail bending, and ensuring precise contact with the rock surface during drilling.
Implementation Method 1
a vertical tilt angle, v, of the feed rail with respect to a gravity vector
Implementation Method 2
receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating, based on the measurement information, movement of the inertial measurement unit
Data Source
Figure 1
Figure 2~3
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AI summary
Apparatuses, methods, computer programs and systems for enhancing drilling accuracy for a mobile underground drilling rig are disclosed. With the disclosed inertial measurement unit (IMU) (11), a vertical orientation error caused by a drilling boom (3) and/or a feed rail (5) bending may be directly measured and corrected, for example. A position error caused by the drilling boom 3 bending may be corrected or at least reduced by using the IMU 11 data in compensation data/models. Such combined/new compensation data does not depend on drilling direction, such as face drilling, ramp drilling, and cross-cut drilling. Furthermore, the IMU (11) may be used to measure a change in a feed angle caused by contact forces between the feed rail (5) and rock, thereby further improving overall mining accuracy.