CN109025815A - Control system and control method for drill jumbo - Google Patents
Control system and control method for drill jumbo Download PDFInfo
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- CN109025815A CN109025815A CN201811072310.9A CN201811072310A CN109025815A CN 109025815 A CN109025815 A CN 109025815A CN 201811072310 A CN201811072310 A CN 201811072310A CN 109025815 A CN109025815 A CN 109025815A
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- drill jumbo
- information
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- tunnel
- control
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000010276 construction Methods 0.000 claims abstract description 84
- 238000012544 monitoring process Methods 0.000 claims description 28
- 238000005553 drilling Methods 0.000 claims description 26
- 239000011435 rock Substances 0.000 claims description 24
- 210000000245 forearm Anatomy 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 13
- 238000012806 monitoring device Methods 0.000 claims description 6
- 230000008676 import Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 9
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/025—Rock drills, i.e. jumbo drills
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The present invention provides a kind of control system and control method for drill jumbo.The control system includes: information acquisition device, is configured as obtaining the positioning posture information of the construction operation duty parameter information and the drill jumbo of the drill jumbo in tunnel；Control device is configured as receiving the construction operation duty parameter information and the positioning posture information from information acquisition device, and generates control instruction according to the construction operation duty parameter information and the positioning posture information；And executive device, it is configured as receiving the control instruction from the control device, and drive the drill jumbo to execute corresponding movement according to the control instruction.
Description
Technical field
The present invention relates to technical field of tunnel construction more particularly to a kind of control systems and controlling party for drill jumbo
Method.
Background technique
Drill jumbo is also referred to as drilling jumbo, is that the rock drilling of the drill bursting construction used in tunnels and underground engineering is set
It is standby.It can move and support more rock drills while carry out drilling.Operating mechanism mainly by rock drill, forward beam, large arm,
Hanging basket arm, trolley platform composition.Drill jumbo becomes tunnel with its transition flexibility, the advantages that diversified, operating efficiency is high of constructing
The ideal equipment of road construction.But with the needs of constructing tunnel in recent years, some disadvantages of drill jumbo are also gradually shown
Come, for example, needing the guiding of artificial section picture point, tunnel piercing to require to measure before each working cycles, to operation
The problems such as skill requirement of personnel is high is more prominent, ultimately causes drill jumbo in construction operation, more personnel is needed to throw
Enter, operating efficiency reduces, and construction operation cost improves.
The content of background technology part is only the technology that inventor is known, not the existing skill of natural representative this field
Art.The content of background technology part is only the technology that inventor is known, not natural representative's state of the art.
Summary of the invention
For the prior art there are one or more of problem, the present invention provides a kind of control system for drill jumbo
A kind of system, comprising: control system for drill jumbo, comprising: information acquisition device is configured as obtaining the drill jumbo
Positioning posture information in tunnel of construction operation duty parameter information and the drill jumbo；Control device is configured
To receive the construction operation duty parameter information and the positioning posture information from information acquisition device, and applied according to described
The industry duty parameter information that works and the positioning posture information generate control instruction；And executive device, it is configured as from institute
It states control device and receives the control instruction, and drive the drill jumbo to execute corresponding movement according to the control instruction.
According to an aspect of the present invention, the construction operation duty parameter information include it is following at least one: into
To power, angle of revolution, swing angle, rotational speed, fltting speed, hydraulic system pressure, flow rate of hydraulic system.
According to an aspect of the present invention, the information acquisition device includes: total station, is configured as being fixed according to predetermined
Point determines positioning posture information of the drill jumbo in tunnel.
According to an aspect of the present invention, the total station is configured as surveying by reference to the coordinate of the predetermined fixed point
The coordinate of the reference point of the drill jumbo is measured, and determines the drill jumbo in tunnel according to the coordinate of the reference point
Positioning posture information.
According to an aspect of the present invention, the information acquisition device further include: angle monitor module is configured as monitoring
The rotational angle of the rock drilling arm of the drill jumbo in all directions；Length monitoring modular is configured as monitoring the drilling staging
The propulsion length of the rock drilling arm of vehicle, forward beam and/or rock drill；And pressure monitoring module, it is configured as monitoring the rock drilling
The operation pressure parameter information of trolley.
According to an aspect of the present invention, the control device is configured as being believed according to the construction operation duty parameter
Breath, the positioning posture information, the constructing tunnel drawing information of importing and the drill jumbo according to the determination of positioning posture information
With the spatial relationship information of construction tunnel, the coordinates of targets value of the drilling for construction operation is determined, and sat according to the target
Scale value generates the control instruction.
According to an aspect of the present invention, the control device includes: processor, is configured as filling from the acquisition of information
It sets and receives the positioning posture information, and institute is generated according to the construction operation duty parameter information, the positioning posture information
State control instruction；And controller, it is configured as receiving the construction operation duty parameter information from the information acquisition device
And the processor is transmitted it to, and the control instruction that the processor is generated is transmitted to the executive device.
According to an aspect of the present invention, the executive device includes: hydraulic pump, fluid pressure line, hydraulic valve bank, hydraulic oil
Cylinder, hydraulic motor, wherein the hydraulic valve bank is connect with the control device.
According to an aspect of the present invention, the operation that the drill jumbo executes includes: big arm swing, large arm lifting, big
Arm is flexible, forearm rotary, forearm pitching, forearm rotation, forward beam is swung, forward beam is fed.
The present invention also provides a kind of control methods for drill jumbo, comprising: the construction for obtaining the drill jumbo is made
The positioning posture information of industry duty parameter information and the drill jumbo in tunnel；According to the construction operation duty parameter
Information and the positioning posture information generate control instruction；And the drill jumbo is driven to execute according to the control instruction
Corresponding movement.
According to an aspect of the present invention, control method further include: real-time monitoring simultaneously feeds back applying for the drill jumbo
Work industry duty parameter, corrects the control instruction according to the construction operation duty parameter of feedback；And according to modified
The movement that control instruction drives the drill jumbo amendment performed.
According to an aspect of the present invention, the obtaining step includes: the construction operation operating condition for monitoring the drill jumbo
Parameter information, and positioning posture information of the drill jumbo in tunnel is determined according to predetermined fixed point.
According to an aspect of the present invention, the step of determining positioning posture information of the drill jumbo in tunnel packet
It includes: being sat by reference to the reference point coordinate of drill jumbo described in the predetermined fixed point coordinate measurement, and according to the reference point
Mark determines positioning posture information of the drill jumbo in tunnel.
According to an aspect of the present invention, control method further include: import constructing tunnel drawing information and according to fixed
The spatial relationship information of drill jumbo and construction tunnel that position posture information determines, wherein generating the movement packet of control instruction
It includes: according to the constructing tunnel drawing information of the construction operation duty parameter information and the positioning posture information, importing
And the spatial relationship information of identified drill jumbo and construction tunnel, determine the coordinates of targets of the drilling for construction operation
Value, and it is based on the coordinates of targets value, generate the control instruction.
According to an aspect of the present invention, the movement that the drill jumbo carries out includes: big arm swing, large arm lifting, big
Arm is flexible, forearm rotary, forearm pitching, forearm rotation, forward beam is swung, forward beam is fed.
Control system and control method according to the present invention for drill jumbo at least can be realized following Advantageous
One of effect: the artificial orientation measurement for drawing point link, tunnel piercing of completely left out each circulation in constructing tunnel operation, to behaviour
The skill requirement for making personnel is not high, it is possible to reduce and personnel put into when drill jumbo construction operation, improve constructing tunnel operating efficiency,
Manipulation labor intensity is reduced, resource input is reduced, brings bigger economic benefit and social benefit for constructing tunnel.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 shows the control system according to an embodiment of the invention for drill jumbo；
Fig. 2 shows the specific illustrative structures of control system according to an embodiment of the invention；
Fig. 3 shows a kind of control method for drill jumbo.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " go up ", " under ", " preceding ", " afterwards ", " left side ", " right side ", " heavily fortified point, and directly ", " level ", " top ", " bottom ", " is interior ", " outside ", "
Clockwise ", " counterclockwise " wait the orientation or positional relationship of instructions to be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second " are only
For descriptive purposes, it is not understood to indicate or imply relative importance or implicitly indicates the number of indicated technical characteristic
Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more spy
Sign.In the description of the present invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected: can
To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature its " upper " or it " under "
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first spy
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and it is " following " including fisrt feature right above second feature and oblique upper, or be merely representative of
First feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 shows a kind of control system 100 for drill jumbo according to an embodiment of the invention.Control system
100 include: information acquisition device 101, is configured as obtaining the construction operation duty parameter information of the drill jumbo and institute
State positioning posture information of the drill jumbo in tunnel；Control device 102 is configured as coupling simultaneously with information acquisition device 101
The construction operation duty parameter information and the positioning posture information are received from it, and is joined according to the construction operation operating condition
Number information and the positioning posture information generate control instruction；And executive device 103, it is configured as and the control device
102 couplings simultaneously receive the control instruction from it, and drive the drill jumbo to execute accordingly according to the control instruction
Movement.
It will be understood by those skilled in the art that the coupling in the present invention between above-mentioned modules, it can be by wired
Mode is coupled, and can also wirelessly be coupled, can also it is wired, wirelessly combine by way of carry out
Coupling.In addition, agreement used by communicating between modules, specification, can be existing agreement and specification, it can also basis
Actual operating condition and requirement are customized.These are within.
According to an embodiment of the invention, the construction operation duty parameter information include it is following at least one: feeding
Power, angle of revolution, swing angle, rotational speed, fltting speed, hydraulic system pressure, flow rate of hydraulic system.
Fig. 2 shows the specific illustrative structures of control system according to an embodiment of the invention.According to the present invention
A preferred embodiment, as shown in Fig. 2, information acquisition device 101 may include total station 1011, which can be with
It is configured as determining positioning posture information of the drill jumbo 200 in tunnel according to predetermined fixed point；And monitoring device
1012, it is configured as monitoring the construction operation duty parameter information of the drill jumbo 200.
According to the present invention, predetermined fixed point can be pre-set by those skilled in the art.Since construction tunnel is
Long and narrow building, two excavate general mutually not intervisibility between control point between holes, therefore also to lay intermediate control point, in advance
The control point being first arranged in tunnel is predetermined fixed point.Horizontal control survey mostly uses triangle or traverse survey, high program-controlled
System measurement generally uses the measurement of the level or trigonometric levelling.
Preferred embodiment in accordance with the present invention, total station 1011 can be configured as by reference to the predetermined fixed point
The coordinate of the reference point of drill jumbo 200 described in measurement of coordinates, and the drill jumbo is determined according to the coordinate of the reference point
The 200 positioning posture information in tunnel.It according to the present invention, such as can be by the way that predetermined fixed point be oriented or resection
Etc. modes, be arranged survey station, to establish coordinate system.After the completion of building a station on measurement rock drill fuselage scheduled multiple (such as three)
The coordinate of reference point.By the coordinate of multiple reference points, the positioning posture information of drill jumbo fuselage can be determined, such as partially
The information such as shifting, pitching.
Although the foregoing describe use total station to determine positioning posture information of the drill jumbo in tunnel, this hair
It is bright without being limited thereto.Also well known in the art other, which can be used, can measure the equipment of the reference point coordinate of drill jumbo to determine
Positioning posture information of the drill jumbo in tunnel.
Preferred embodiment in accordance with the present invention, executive device 103 may include: hydraulic pump, fluid pressure line, hydraulic valve bank,
Hydraulic cylinder, hydraulic motor, wherein the hydraulic valve bank is coupled with the control device 102, for example connect by cable.According to
The present invention, hydraulic cylinder for example, large arm telescopic oil cylinder, large arm oscillating oil cylinder, large arm elevating ram, forward beam pitching oil
Cylinder, forward beam oscillating oil cylinder, rotary oil cylinder, forward beam add oscillating oil cylinder, forward beam telescopic oil cylinder, rock drill propelling cylinder.
Preferred embodiment in accordance with the present invention, the movement that drill jumbo 200 executes includes: big arm swing, large arm lifting, big
Arm is flexible, forearm rotary, forearm pitching, forearm rotation, forward beam is swung, forward beam is fed.
Preferred embodiment in accordance with the present invention, as shown in Fig. 2, monitoring device 1012 may include angle monitor module
1012A is configured as monitoring the rotational angle of the rock drilling arm of the drill jumbo 200 in all directions；Length monitoring modular
1012B is configured as monitoring the propulsion length of the rock drilling arm of the drill jumbo 200, forward beam and/or rock drill；And/or pressure
Power monitoring modular 1012C, and be configured as monitoring the operation pressure parameter information of the drill jumbo 200.
According to an embodiment of the invention, angle monitor module 1012A, length monitoring modular 1012B, pressure monitoring module
1012C can be realized for example by angular transducer, linear transducer, pressure sensor respectively.Angular transducer, length sensing
The measurement operation of device, pressure sensor is it is known in the art that details are not described herein.
Angle monitor module 1012A, length monitoring modular 1012B, pressure monitoring module 1012C can be separately mounted to
In executive device 103 or on drill jumbo 200, to monitor the construction operation duty parameter information of drill jumbo 200.
For example, can on each joint of the rock drilling arm of drill jumbo 200 setting angle sensor, for acquiring each section
The rotational angle up and down of arm；Can respectively such as large arm telescopic oil cylinder of executive device 103, forward beam telescopic oil cylinder,
Installation length measurement sensor on rock drill propelling cylinder promotes equal length data for detecting large arm, forward beam, rock drill；
Furthermore, it is possible to install pressure sensor in the hydraulic valve bank of executive device 103, make for detecting the construction of drill jumbo 200
Pressure parameter information in industry duty parameter information.
According to one embodiment of present invention, control device 102 is configured as coupling with the information acquisition device 101,
And it according to the construction operation duty parameter information and positioning posture information received from information acquisition device 101, imports
Constructing tunnel drawing information and according to positioning posture information determine drill jumbo and construction tunnel spatial relationship information,
It determines the coordinates of targets value of the drilling for construction operation, and is based on the coordinates of targets value, generate the control instruction.
According to the present invention, for example, can be respectively relative to by the multiple reference points of determination the relative coordinate system of drill jumbo with
And its absolute coordinate system in construction tunnel, the conversion parameter matrix between two coordinate systems is obtained, and utilize conversion parameter
Matrix converts the coordinate in two coordinate systems, position of the drill jumbo in construction tunnel is obtained, to obtain rock drilling
Spatial location information between trolley and construction tunnel, such as face, and by constructing tunnel drawing information and construction tunnel
Road, such as real work face are mapped.
Preferred embodiment in accordance with the present invention, as shown in Fig. 2, control unit 102 for example can (such as can be with by processor
Realized by host computer) 1021 and controller 1022 realize together.Processor 1021 can be received by controller 1022 from prison
Survey angle sensor module 1012A, the length sensing module 1012B of device 101 and the drilling staging of pressure sensor block 1012C transmission
The construction operation duty parameter information of vehicle 200 is received from positioning posture of the drill jumbo 200 in tunnel described in total station 1011
Information, and according to construction operation duty parameter information, positioning posture information, the constructing tunnel design information of importing and according to
The spatial position of drill jumbo 200 and construction tunnel (for example, construction face of construction tunnel) that positioning posture information determines
Relationship determines the coordinates of targets value of the drilling for construction operation by section cloth hole G- Design and data processing, and being based on should
Coordinates of targets value generates control instruction.Controller 1022 transmits construction operation duty parameter information to processor 1021, and will place
The control instruction that reason device 1021 generates is sent to executive device 103, the control issued thereby executing device 103 according to controller 1022
Order-driven drill jumbo 200 processed executes corresponding movement, to manually draw point link, tunnel digging in completely left out each circulation
Into orientation measurement, substantially increase operating efficiency.
In embodiment according to the present invention, the processor 1021 of control device 102 can be according to the constructing tunnel figure of importing
Paper information determines excavation direction, angle and the job execution face region of drill jumbo, sets the spacing of wells, and determine section
Cloth hole G- Design.
After obtaining construction operation duty parameter information and positioning posture information from monitoring device 1012, control dress
Setting 102 processor 1021 can use matrixing and calculates position of the drill bit in three-dimensional system of coordinate as construction operation mesh
Scale value, and by its display in real time on the display unit for example as the host computer of processor 1021.
Processor 1021 can generate control instruction according to construction operation target value, and be referred to control by controller 1022
Order is transmitted to executive device 103 to control executive device 103 (such as hydraulic valve bank, hydraulic cylinder etc.) driving drill jumbo and execute
Corresponding movement is overlapped the drill bit coordinate of the rock drill of drill jumbo with desire borehole coordinate in section cloth hole pattern, to carry out
Drilling construction operation.
According to embodiments of the present invention, the host computer as processor 1021 can be joined with real-time display construction operation operating condition
Number information, constructing tunnel information, section cloth hole G- Design.
Information acquisition device 101 can for example be joined the construction operation operating condition of the drill jumbo 200 monitored by CAN bus
Number information passes to processor 1021 via controller 1022.
According to one embodiment of present invention, total station 1011 for example can be single by bluetooth or serial mode and control
Processor 1021 in member 102 couples, to carry out data transmission.
Although instantiating the coupling mode between information acquisition device and control device above, the present invention is not limited to
This, can also will be in all parts and control device in information acquisition device by other coupling modes well known in the art
Corresponding component is attached, as long as it can be realized corresponding data transmission.
As shown in figure 3, according to another embodiment of the invention, a kind of control method for drill jumbo is also provided,
This method comprises:
In step S201, the construction operation duty parameter information for obtaining the drill jumbo and the drill jumbo are in tunnel
Positioning posture information in road；
In step S202, control is generated according to the construction operation duty parameter information and the positioning posture information and is referred to
It enables；
In step S203, the drill jumbo is driven to execute corresponding movement according to the control instruction.
Above-mentioned steps are for example referred to information acquisition device, the control device, executive device of above combination Fig. 1-2 description
Operation processing, omit its specific descriptions herein.
According to one embodiment of present invention, for the control method of drill jumbo further include: real-time monitoring simultaneously feeds back institute
The construction operation duty parameter for stating drill jumbo corrects the control instruction according to the construction operation duty parameter of feedback；
And movement performed by the drill jumbo amendment is driven according to modified control instruction.
According to one embodiment of present invention, the obtaining step may include: the construction work for monitoring the drill jumbo
Industry duty parameter information, and positioning posture information of the drill jumbo in tunnel is determined according to predetermined fixed point.
According to one embodiment of present invention, determine that positioning posture information of the drill jumbo in tunnel includes: logical
The reference point coordinate of the drill jumbo with reference to described in the predetermined fixed point coordinate measurement is crossed, and is determined according to the reference point coordinate
Positioning posture information of the drill jumbo in tunnel.
According to one embodiment of present invention, for the control method of drill jumbo further include: import constructing tunnel drawing
The spatial relationship information of information and the drill jumbo and construction tunnel that are determined according to positioning posture information refers to wherein generating control
The step of enabling includes: according to the construction operation duty parameter information and the positioning posture received from the monitoring modular
The spatial relationship information of information, the constructing tunnel drawing information of importing and identified drill jumbo and construction tunnel is true
Surely the coordinates of targets value for the drilling of construction operation, and it is based on the coordinates of targets value, generate the control instruction.
According to one embodiment of present invention, the movement that the drill jumbo carries out include: big arm swing, large arm lifting,
Large arm is flexible, forearm rotary, forearm pitching, forearm rotation, forward beam is swung, forward beam is fed.
According to the present invention, when executive device driving drill jumbo executes corresponding movement, monitoring device can continue reality
When monitor drill jumbo construction operation duty parameter information, and be fed back to control device, control device can be according to rock drilling
The further Correction and Control instruction of trolley construction operation duty parameter information, and executive device is sent it to, so that executive device
Drill jumbo amendment is driven to execute movement according to modified control instruction, so as to more accurately control the dynamic of drill jumbo
Make.
Control system and control method according to the present invention for drill jumbo, it is completely left out in constructing tunnel operation
The artificial orientation measurement for drawing point link, tunnel piercing of each circulation is not high to the skill requirement of operator, it is possible to reduce rock drilling
Personnel put into when trolley construction operation, improve constructing tunnel operating efficiency, reduce manipulation labor intensity, reduce resource input, be
Constructing tunnel brings bigger economic benefit and social benefit.
The invention further relates to a kind of drill jumboes, including control system as described above.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (16)
1. a kind of control system for drill jumbo characterized by comprising
Information acquisition device is configured as obtaining the construction operation duty parameter information of the drill jumbo and the drilling staging
Positioning posture information of the vehicle in tunnel；
Control device is configured as receiving the construction operation duty parameter information and the positioning appearance from information acquisition device
State information, and control instruction is generated according to the construction operation duty parameter information and the positioning posture information；And
Executive device is configured as receiving the control instruction from the control device, and drives institute according to the control instruction
It states drill jumbo and executes corresponding movement.
2. control system as described in claim 1, which is characterized in that the construction operation duty parameter information includes below extremely
It is one of few: centripetal force, angle of revolution, swing angle, rotational speed, fltting speed, hydraulic system pressure, hydraulic system stream
Amount.
3. control system as claimed in claim 1 or 2, which is characterized in that the information acquisition device includes:
Total station is configured as determining positioning posture information of the drill jumbo in tunnel according to predetermined fixed point；And
Monitoring device is configured as monitoring the construction operation duty parameter information of the drill jumbo.
4. control system as claimed in claim 3, which is characterized in that the total station is configured as by reference to described predetermined
The coordinate of the reference point of drill jumbo described in the measurement of coordinates of fixed point, and the rock drilling is determined according to the coordinate of the reference point
Positioning posture information of the trolley in tunnel.
5. control system as described in claim 3 or 4, which is characterized in that the monitoring device includes:
Angle monitor module is configured as monitoring the rotational angle of the rock drilling arm of the drill jumbo in all directions；
Length monitoring modular, the propulsion for being configured as monitoring the rock drilling arm of the drill jumbo, forward beam and/or rock drill are long
Degree；And
Pressure monitoring module is configured as monitoring the operation pressure parameter information of the drill jumbo.
6. control system according to any one of claims 1 to 5, which is characterized in that the control device is configured as basis
The construction operation duty parameter information, the positioning posture information, the constructing tunnel drawing information of importing and according to positioning
The spatial relationship information of drill jumbo and construction tunnel that posture information determines determines that the target of the drilling for construction operation is sat
Scale value, and the control instruction is generated according to the coordinates of targets value.
7. such as control system of any of claims 1-6, which is characterized in that the control device includes:
Processor is configured as receiving the positioning posture information from the information acquisition device, and according to the construction operation
Duty parameter information, the positioning posture information generate the control instruction；And
Controller is configured as receiving the construction operation duty parameter information from the information acquisition device and transmit it to
The processor, and the control instruction that the processor is generated are transmitted to the executive device.
8. such as control system of any of claims 1-7, which is characterized in that the executive device include: hydraulic pump,
Fluid pressure line, hydraulic valve bank, hydraulic cylinder, hydraulic motor, wherein the hydraulic valve bank is connect with the control device.
9. such as control system of any of claims 1-8, which is characterized in that
The movement that the drill jumbo executes include: flexible big arm swing, large arm lifting, large arm, forearm rotary, forearm pitching,
Forearm rotation, forward beam are swung, forward beam is fed.
10. a kind of control method for drill jumbo, which comprises the following steps:
Obtain the positioning posture of the construction operation duty parameter information and the drill jumbo of the drill jumbo in tunnel
Information；
Control instruction is generated according to the construction operation duty parameter information and the positioning posture information；And
The drill jumbo is driven to execute corresponding movement according to the control instruction.
11. control method as claimed in claim 10, which is characterized in that further include:
Real-time monitoring and the construction operation duty parameter for feeding back the drill jumbo, and according to the construction operation work of feedback
Control instruction described in condition parameters revision；And
The movement for driving the drill jumbo amendment performed according to modified control instruction.
12. control method as described in claim 10 or 11, which is characterized in that the obtaining step includes: the monitoring chisel
The construction operation duty parameter information of rock bench vehicle, and positioning of the drill jumbo in tunnel is determined according to predetermined fixed point
Posture information.
13. control method as claimed in claim 12, which is characterized in that determine positioning appearance of the drill jumbo in tunnel
The step of state information includes: by reference to the reference point coordinate of drill jumbo described in the predetermined fixed point coordinate measurement, and root
Positioning posture information of the drill jumbo in tunnel is determined according to the reference point coordinate.
14. the control method as described in any one of claim 10-13, which is characterized in that further include: import constructing tunnel figure
Paper information, and the spatial relationship information according to positioning posture information determining drill jumbo and construction tunnel；
Wherein generating the movement of control instruction includes: according to the construction operation duty parameter information and the positioning posture
Information, the constructing tunnel drawing information of importing and the spatial relationship information of identified drill jumbo and construction tunnel,
It determines the coordinates of targets value of the drilling for construction operation, and is based on the coordinates of targets value, generate the control instruction.
15. the control method as described in any one of claim 10-14, which is characterized in that the drill jumbo carries out dynamic
Work includes: big arm swing, large arm lifting, large arm is flexible, forearm rotary, forearm pitching, forearm rotation, forward beam swing, promotes
Beam feeding.
16. a kind of drill jumbo, which is characterized in that the drill jumbo includes control as claimed in any one of claims 1-9 wherein
System processed.
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| CN201811072310.9A CN109025815A (en) | 2018-09-14 | 2018-09-14 | Control system and control method for drill jumbo |
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| CN201811072310.9A CN109025815A (en) | 2018-09-14 | 2018-09-14 | Control system and control method for drill jumbo |
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| CN112191354A (en) * | 2020-10-09 | 2021-01-08 | 矿冶科技集团有限公司 | Control method, device, system, control equipment and computer readable storage medium |
| CN112253082A (en) * | 2020-10-16 | 2021-01-22 | 北京宸控科技有限公司 | Drill jumbo remote control method |
| CN112392499A (en) * | 2020-11-13 | 2021-02-23 | 湖南创远智能发展有限责任公司 | Rock drilling robot electrical control system and rock drilling robot |
| CN112627799A (en) * | 2020-12-13 | 2021-04-09 | 江西鑫通机械制造有限公司 | Construction method for automatic drilling of uneven working surface |
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| CN114109246A (en) * | 2021-11-29 | 2022-03-01 | 江苏徐工工程机械研究院有限公司 | Geotechnical engineering machinery and working arm control method thereof |
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