CN117499861A - Side slope anchoring drilling machine construction drill bit positioning method based on sensor acquisition - Google Patents
Side slope anchoring drilling machine construction drill bit positioning method based on sensor acquisition Download PDFInfo
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- CN117499861A CN117499861A CN202311839976.3A CN202311839976A CN117499861A CN 117499861 A CN117499861 A CN 117499861A CN 202311839976 A CN202311839976 A CN 202311839976A CN 117499861 A CN117499861 A CN 117499861A
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- 238000005553 drilling Methods 0.000 title claims abstract description 339
- 238000004873 anchoring Methods 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000010276 construction Methods 0.000 title claims abstract description 32
- 238000009434 installation Methods 0.000 claims description 97
- 230000006698 induction Effects 0.000 claims description 32
- 230000003044 adaptive effect Effects 0.000 claims description 26
- 239000011435 rock Substances 0.000 claims description 25
- 239000000463 material Substances 0.000 claims description 16
- 230000010354 integration Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004886 process control Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 235000019738 Limestone Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003673 groundwater Substances 0.000 description 1
- 239000006028 limestone Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D17/00—Excavations; Bordering of excavations; Making embankments
- E02D17/20—Securing of slopes or inclines
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
- E02D5/74—Means for anchoring structural elements or bulkheads
- E02D5/76—Anchorings for bulkheads or sections thereof in as much as specially adapted therefor
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- 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
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
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- 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
- E21B7/04—Directional drilling
- E21B7/10—Correction of deflected boreholes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
- Y02A10/23—Dune restoration or creation; Cliff stabilisation
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Abstract
The invention belongs to the technical field of slope construction drill bit positioning, and particularly discloses a slope anchoring drilling machine construction drill bit positioning method based on sensor acquisition.
Description
Technical Field
The invention belongs to the technical field of slope construction drill bit positioning, and particularly relates to a slope anchoring drilling machine construction drill bit positioning method based on sensor acquisition.
Background
The drilling construction is a very common construction means in slope engineering, and particularly, the drilling can be used for slope support, consolidation grouting, groundwater level monitoring, deformation, displacement and the like, and measures are taken according to the drilling construction result to ensure the stability of the slope.
In the drilling construction, because the drilling position can provide hole position information, accurate hole position information is a key factor for ensuring that the construction specification and requirements are met, and basic data and directions can be provided for the smooth progress of the whole engineering, so that the method becomes a key step in the drilling construction.
Because the accuracy requirement of side slope engineering to drilling is high, in order to ensure the accuracy and the efficiency of drilling, generally all adopt the stock to carry out the drill bit location, but prior art has following defect when using the stock to carry out the drill bit location: 1. the installation position of the anchor rod needs to be accurately determined before drilling construction, the prior art adopts a GPS positioning system for determination, but the GPS positioning system belongs to a very common positioning mechanism, other positioning main bodies using GPS possibly exist in the construction environment of a side slope, the GPS positioning system is used for determining the installation position of the anchor rod under the condition, the anchor rod is easy to be interfered by other positioning main bodies, the positioning of the installation position of the anchor rod is inaccurate, moreover, GPS signals can be blocked by surrounding environments (such as tall buildings, mountains, trees and the like), and the positioning accuracy is also affected to a certain extent.
2. In view of the fact that the anchor rod plays a role in stabilizing a slope structure in drilling construction, the requirement on the anchoring stability of the anchor rod is higher, but monitoring on the anchoring stability is omitted in the prior art when drilling construction is performed, so that movement of the anchor rod cannot be recognized timely, on one hand, drilling accuracy can be affected, drilling errors are caused, and further the construction effect of the whole engineering is affected, on the other hand, landslide or collapse can be caused, operation can be affected, safety of operators can be threatened, on the other hand, the anchor rod is moved or vibrated frequently, abrasion can be accelerated, and the service life of the anchor rod is shortened.
Disclosure of Invention
Therefore, an object of the embodiment of the application is to provide a method for positioning a construction drill bit of a slope anchoring drilling machine based on sensor acquisition, which effectively solves the problems mentioned in the background art.
The aim of the invention can be achieved by the following technical scheme: a method for positioning a construction drill bit of a slope anchoring drilling machine based on sensor acquisition comprises the following steps: s1, anchor rod installation layout: and planning and laying out the installation of the anchor rod on the side slope before construction, and setting an anchoring induction device on the anchor rod during installation for detecting the anchoring indication of the installation position of the anchor rod.
S2, anchor rod installation information integration: installing a signal transmitter on the anchor rod, integrating the material specification and the installation parameters of the anchor rod with installation information to form installation integrated information, and setting the display time of the installation integrated information.
S3, anchor rod positioning and identifying: before drilling, a control terminal is used for controlling a signal transmitter on the anchor rod to transmit signals, and a signal receiver is used for receiving signals, so that the installation position of the anchor rod is positioned, and meanwhile, the installation integrated information of the anchor rod is displayed on the display end of the signal receiver.
S4, drilling path planning: and determining the drilling position of the drill bit based on the installation position of the anchor rod, and planning the initial drilling path of the drill bit according to the installation parameters in the installation integration information.
S5, acquisition and adjustment in the drilling process, namely setting a drilling acquisition terminal on the drill bit, and acquiring drilling indexes of the drill bit in real time in the drilling process and adjusting the drilling indexes.
S6, correcting drilling path deviation: and a positioning instrument is arranged on the drill bit and is used for positioning the drilling position of the drill bit in real time in the drilling process, so that the correction of the drilling path deviation is carried out.
S7, drilling process control: in the drilling process, the anchoring indication of the installation position of the anchor rod, which is acquired in real time by the anchoring induction equipment, is transmitted to the display end of the signal receiver by the signal transmitter, so that the anchoring indication at each induction moment is obtained, the anchoring stability of the anchor rod at each induction moment is analyzed, and the drilling process is controlled accordingly.
As a further innovation of the present invention, the anchoring indication includes an anchoring force and a vibration frequency, and the installation parameters include an installation depth and an installation angle.
As a further innovation of the present invention, the embodiment of setting the display timing of the installation integration information is as follows: and setting the effective signal intensity of the signal received by the signal receiver, and displaying and installing integrated information on a display end of the signal receiver when the signal intensity meets the effective signal intensity.
As a further innovation of the invention, the process of identifying the installation position of the anchor rod is as follows: and acquiring images of the slope surface, and extracting the slope contour from the acquired images, thereby determining the central position of the slope surface.
And placing the signal receiver at the central position of the side slope surface, and taking the placement position as the circle center and taking the set distance as the radius as a circle to obtain an information receiving circle.
Dividing the circumference of the signal receiving circle according to a preset radian to obtain a plurality of radian lines, and placing antennas on each radian line, wherein the placed antennas are respectively connected with the signal receiver.
And controlling a signal transmitter on the anchor rod to transmit signals by using the control terminal to obtain the signal intensity received by each antenna, and acquiring an antenna corresponding to the maximum signal intensity from the signal intensity as a target antenna.
And determining an arc line corresponding to the target antenna on the information receiving circle, wherein the arc line points to the direction marked as a signal source.
And moving the signal receiver along the direction of the signal source, extracting a display picture of the signal receiver corresponding to the display end in real time in the moving process, and taking the moving position of the signal receiver as the installation position of the anchor rod when the display picture displays the installation integrated information.
As a further innovation of the invention, the drilling index comprises drilling force and drilling speed, wherein the specific implementation process of the drilling index adjustment is as follows: installing a pressure sensor at the top of the drill bit, sensing the blocked pressure in real time in the drilling process, and calculating the adaptive drilling force of the drill bit by combining the sensed blocked pressure with the adaptive drilling force corresponding to the reference blocked pressure in the cloud control libraryThe expression is calculated asIn the followingRepresented as a sensed resistance pressure,denoted as reference to the blocked pressure,indicated as the adapted drilling force corresponding to the reference blocked pressure.
Obtaining drill bitsSpecification and model, thereby obtaining the limited drilling force of the drill bitAnd then the adaptive drilling force and the limiting drilling force of the drill bit are compared, and a comparison model is used for comparingThe required drilling force of the drill bit is obtained.
And matching the sensed blocked pressure with the hardness of the drilling object corresponding to each blocked pressure in the cloud control library, and further marking the hardness of the drilling object successfully matched as the hardness of the target drilling object.
And extracting the adaptive drilling speed corresponding to the target drilling object hardness from the cloud control library based on the target drilling object hardness.
And acquiring the cooperative relation between the drilling force and the drilling speed based on the specification and model of the drill bit, and further extracting the cooperative drilling speed corresponding to the required drilling force from the cooperative relation between the drilling force and the drilling speed according to the required drilling force of the drill bit.
Comparing the cooperative drilling speed corresponding to the required drilling force with the adaptive drilling speed corresponding to the target drilling material hardness, and utilizing the expressionAnd calculating the consistency between the two.
And comparing the consistency between the two with the preset standard reaching consistency, and if the consistency between the two is larger than or equal to the preset standard reaching consistency, taking the cooperative drilling speed corresponding to the required drilling force as the required drilling speed of the drill bit, otherwise taking the adaptive drilling speed corresponding to the target drilling object hardness as the required drilling speed of the drill bit.
And adjusting the drilling index according to the required drilling force and the required drilling speed of the drill bit.
As a further innovation of the present invention, the drilling path offset correction is implemented as follows: and S61, installing geological detection equipment on the drill bit, and detecting the rock structure in the drilling process by using the geological detection equipment, so that the rock type corresponding to the drilling position of the drill bit is identified.
And S62, matching the rock types corresponding to the drilling positions of the drill bit with the rock types which are stored in the cloud control library and are forbidden to drill, if the matching is successful, executing S63-S65, otherwise executing S63, S64 and S66.
S63, comparing the located drilling position with the initial drilling path of the drill bit, and identifying whether the drilling position falls on the initial drilling path.
And S64, if the drilling position does not fall on the initial drilling path, finding a standard drilling position from the initial drilling path based on the drilling position of the drill bit, and adjusting the drilling position of the drill bit to the standard drilling position.
S65, if the drilling path falls on the initial drilling path, the drilling path planning is conducted again from the drilling position where the drill bit is located.
And S66, if the drilling tool falls on the initial drilling path, continuing drilling according to the initial drilling path.
As a further innovation of the invention, the anchoring stability analysis process of the anchor rod at each sensing moment is as follows: and extracting material specification and installation parameters from the installation integrated information of the anchor rod, thereby determining the safety anchoring indication of the anchor rod.
Comparing the anchoring indication of the anchor rod at each sensing moment with the safety anchoring indication, simultaneously comparing the anchoring indication anchored at each sensing moment with the anchoring indication at the last sensing moment, and analyzing the results by an analysis algorithmObtaining the anchoring stability of the anchor rod at each induction momentIn analysis algorithmIndicated as the moment of sensing,and (2) andtaking a positive integer, wherein the positive integer is taken,、respectively denoted as the firstThe anchoring force and the vibration frequency at the moment of induction,、respectively expressed as a safe anchoring force and a safe vibration frequency of the anchor rod,expressed as a natural constant.
As a further innovation of the present invention, the drilling process control is implemented as follows: and comparing the anchoring stability of the anchor rod at each induction moment with the preset standard-reaching anchoring stability, and controlling the drill bit to stop drilling at the induction moment if the anchoring stability of the anchor rod at a certain induction moment is smaller than the preset standard-reaching anchoring stability.
As a further innovation of the invention, the method also uses a cloud control library in the implementation process, and is used for storing the adaptive drilling force corresponding to the reference blocked pressure, storing the hardness of the drilling object corresponding to each blocked pressure and the adaptive drilling speed corresponding to the hardness of various drilling objects, and storing the rock types of which the drilling is forbidden.
Compared with the prior art, the invention has the following beneficial effects: 1. according to the invention, the signal emitter is arranged on the anchor rod, the anchor rod is arranged according to the planning layout after the signal emitter is arranged, the signal emitter on the anchor rod is controlled by the control terminal to transmit signals before drilling, the signal receiver is used for receiving signals, and the targeted positioning of the anchor rod installation position is realized by means of the pairing relation of the signal emitter and the signal receiver, so that the positioning efficiency can be improved, the interference of other positioning main bodies can be avoided, and meanwhile, the signal emitter insensitive to the surrounding environment can be selected when the signal emitter is arranged, so that the obstruction of the surrounding environment in the signal receiving process is reduced to the maximum extent, and the positioning accuracy of the anchor rod installation position is further enhanced.
2. According to the invention, the installation information is integrated by the material specification and the installation parameters of the anchor rod, so that the installation integrated information of the anchor rod is displayed at the display end of the signal receiver when the installation position of the anchor rod is positioned, the visual knowledge of drilling constructors is facilitated, and great convenience is provided for drilling path planning.
3. According to the invention, the anchoring induction equipment is arranged on the anchor rod, and then the anchoring indication of the installation position of the anchor rod, which is acquired by the anchoring induction equipment in real time, is transmitted to the display end of the signal receiver by the signal transmitter in the drilling process, so that the stability of the anchor rod is analyzed, the drilling process is controlled according to the analysis result, the real-time monitoring of the stability of the anchor rod is realized, the instability of the anchor rod can be timely identified, the interruption of drilling can be timely controlled when the anchor rod is unstable, the occurrence rate of drilling errors is greatly reduced, a certain guarantee can be provided for the safety of operators, and the service life of the anchor rod is prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the steps for implementing the present invention.
Fig. 2 is a schematic diagram of an information receiving circle in the present invention.
Reference numerals: 1-signal receiving circle, 2-radian line.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention provides a method for positioning a construction drill bit of a slope anchoring drilling machine based on sensor acquisition, which comprises the following steps: s1, anchor rod layout installation: the method comprises the steps of planning and distributing the installation of the anchor rod on a side slope before construction, and arranging anchor induction equipment on the anchor rod during installation, wherein the anchor induction equipment is used for detecting anchor indication of the installation position of the anchor rod, and the anchor indication comprises anchor force and vibration frequency.
In an example of the above solution, the anchor sensing device comprises a stress gauge for detecting the anchor force and a vibration sensor for detecting the vibration frequency.
S2, anchor rod installation information: installing a signal transmitter on the anchor rod, and integrating the material specification and the installation parameters of the anchor rod into an installation information, wherein the material specification comprises a material, a diameter and a length, the installation parameters comprise an installation depth and an installation angle, the installation integrated information is formed, and specifically, the installation integrated information comprises the material specification and the installation parameters, and the display time of the installation integrated information is set.
Preferably, the signal transmitter needs to be selected before the signal transmitter is installed, and the signal transmitter with little interference from the surrounding environment can be selected during the selection.
In particular, an embodiment of setting the display timing of the installation integration information is as follows:
and setting the effective signal intensity of the signal received by the signal receiver, and displaying and installing integrated information on a display end of the signal receiver when the signal intensity meets the effective signal intensity.
According to the invention, the installation information is integrated by the material specification and the installation parameters of the anchor rod, so that the installation integrated information of the anchor rod is displayed at the display end of the signal receiver when the installation position of the anchor rod is positioned, the visual knowledge of drilling constructors is facilitated, and great convenience is provided for drilling path planning.
S3, anchor rod positioning and identifying: before drilling, a control terminal is used for controlling a signal transmitter on the anchor rod to transmit signals, and a signal receiver is used for receiving signals, so that the installation position of the anchor rod is positioned, and meanwhile, the installation integrated information of the anchor rod is displayed on the display end of the signal receiver.
With the above embodiment, the following procedure is followed for locating the installation position of the anchor rod: and acquiring images of the slope surface, and extracting the slope contour from the acquired images, thereby determining the central position of the slope surface.
The signal receiver is placed at the center of the side slope surface, and the placed position is used as the center of a circle, and the set distance is used as the radius to form a circle, so that an information receiving circle is obtained, and the information receiving circle is shown in fig. 2.
Dividing the circumference of the signal receiving circle according to a preset radian to obtain a plurality of radian lines, and placing antennas on each radian line, wherein the placed antennas are respectively connected with the signal receiver.
It should be understood that the purpose of positioning the anchor rod installation position by using the antenna is that the antenna can focus signals, so that the signal gain is improved, and the signal strength is convenient to monitor.
And controlling a signal transmitter on the anchor rod to transmit signals by using the control terminal to obtain the signal intensity received by each antenna, and acquiring an antenna corresponding to the maximum signal intensity from the signal intensity as a target antenna.
And determining an arc line corresponding to the target antenna on the information receiving circle, wherein the arc line points to the direction marked as a signal source.
And moving the signal receiver along the direction of the signal source, extracting a display picture of the signal receiver corresponding to the display end in real time in the moving process, and taking the moving position of the signal receiver as the installation position of the anchor rod when the display picture displays the installation integrated information.
According to the invention, the signal emitter is arranged on the anchor rod, the anchor rod is arranged according to the planning layout after the signal emitter is arranged, the signal emitter on the anchor rod is controlled by the control terminal to transmit signals before drilling, the signal receiver is used for receiving signals, and the targeted positioning of the anchor rod installation position is realized by means of the pairing relation of the signal emitter and the signal receiver, so that the positioning efficiency can be improved, the interference of other positioning main bodies can be avoided, and meanwhile, the signal emitter insensitive to the surrounding environment can be selected when the signal emitter is arranged, so that the obstruction of the surrounding environment in the signal receiving process is reduced to the maximum extent, and the positioning accuracy of the anchor rod installation position is further enhanced.
S4, drilling path planning: and determining the drilling position of the drill bit based on the installation position of the anchor rod, and planning the initial drilling path of the drill bit according to the installation parameters in the installation integration information.
S5, drilling process acquisition and adjustment, namely setting a drilling acquisition terminal on the drill bit, and acquiring drilling indexes of the drill bit in real time in the drilling process, wherein the drilling indexes comprise drilling force and drilling speed, and performing drilling index adjustment.
Illustratively, the drilling acquisition terminal includes a pressure sensor and a rate sensor.
In one possible implementation, the drilling index adjustment is performed as follows: installing a pressure sensor at the top of the drill bit, sensing the blocked pressure in real time in the drilling process, and calculating the adaptive drilling force of the drill bit by combining the sensed blocked pressure with the adaptive drilling force corresponding to the reference blocked pressure in the cloud control libraryThe expression is calculated asIn the followingRepresented as a sensed resistance pressure,denoted as reference to the blocked pressure,indicated as the adapted drilling force corresponding to the reference blocked pressure.
Obtaining specification and model of drill bit, thereby obtaining drilling force limitation of drill bit from use instruction of drill bitAnd then the adaptive drilling force and the limiting drilling force of the drill bit are compared, and a comparison model is used for comparingObtaining the required drilling force of the drill bit。
It will be appreciated that the resistance pressure of the drill bit during drilling is created by the rock resistance, and that generally a greater resistance pressure indicates a greater rock hardness and a greater drilling force. However, not the greater the drilling force, the better, the greater the drilling force, which may cause excessive bit loading, excessive wear, and in an intangible way increase the damage rate of the bit, and thus the drilling force of the bit needs to be limited, and the drilling requirement is met as much as possible while avoiding overload of the bit.
And matching the sensed blocked pressure with the hardness of the drilling object corresponding to each blocked pressure in the cloud control library, and further marking the hardness of the drilling object successfully matched as the hardness of the target drilling object.
It will be appreciated that the drilling object referred to above is rock.
And extracting the adaptive drilling speed corresponding to the target drilling object hardness from the cloud control library based on the target drilling object hardness.
It is to be added that for rock, generally harder rock requires a slower drilling rate, while softer rock may require a faster drilling rate. It follows that the drilling force suitability and the drilling speed suitability, which are determined by the hardness of the rock, are different.
And acquiring the cooperative relation between the drilling force and the drilling speed from the use specification of the drill bit based on the specification and model of the drill bit, and further extracting the cooperative drilling speed corresponding to the required drilling force from the cooperative relation between the drilling force and the drilling speed according to the required drilling force of the drill bit.
In particular, the cooperative relationship of the drilling force and the drilling rate is for a cooperative cooperation of the drilling force and the drilling rate.
Comparing the cooperative drilling speed corresponding to the required drilling force with the adaptive drilling speed corresponding to the target drilling material hardness, and utilizing the expressionAnd calculating the consistency between the two, wherein the smaller the difference between the cooperative drilling speed and the adaptive drilling speed is, the larger the consistency between the two is.
Comparing the consistency between the two with the preset standard reaching consistency, if the consistency between the two is larger than or equal to the preset standard reaching consistency, the fact that the cooperative drilling speed corresponding to the required drilling force and the adaptive drilling speed corresponding to the target drilling object hardness are almost not different is shown, the cooperative drilling speed corresponding to the required drilling force is taken as the required drilling speed of the drill bit at the moment, the drilling suitability can be met, good cooperative cooperation between the drilling force and the drilling speed can be kept, the drilling effect is better, otherwise, the difference between the cooperative drilling speed corresponding to the required drilling force and the adaptive drilling speed corresponding to the target drilling object hardness is larger, the fact that the cooperative relationship between the required drilling force and the drilling speed is kept is taken as secondary pursuit is shown, and the fact that the cooperative drilling speed corresponding to the target drilling object hardness is taken as the required drilling speed of the drill bit under the balance is more reasonable.
As a specific example, in the calculation formula of the consistency, the value range of the consistency isThe compliance may be configured to be 0.8.
The drilling index adjustment is carried out according to the required drilling force and the required drilling speed of the drill bit, and the specific adjustment mode is to compare the drilling force and the drilling speed acquired by the drilling acquisition terminal with the required drilling force and the required drilling speed of the drill bit, so that the drilling machine is controlled to adjust the drilling force and the drilling speed, and the drilling machine accords with the required drilling force and the required drilling speed.
S6, correcting drilling path deviation: the drill bit is provided with a positioning instrument which is used for positioning the drilling position of the drill bit in real time in the drilling process, so that the correction of the drilling path deviation is carried out, and the specific implementation process is as follows: and S61, installing geological detection equipment on the drill bit, and detecting the rock structure in the drilling process by using the geological detection equipment, so that the rock type corresponding to the drilling position of the drill bit is identified.
And S62, matching the rock types corresponding to the drilling positions of the drill bit with the rock types which are stored in the cloud control library and are forbidden to drill, if the matching is successful, executing S63-S65, otherwise executing S63, S64 and S66.
S63, comparing the located drilling position with the initial drilling path of the drill bit, and identifying whether the drilling position falls on the initial drilling path.
And S64, if the drilling position does not fall on the initial drilling path, finding a standard drilling position from the initial drilling path based on the drilling position of the drill bit, and adjusting the drilling position of the drill bit to the standard drilling position.
S65, if the drilling path falls on the initial drilling path, the drilling path planning is conducted again from the drilling position where the drill bit is located.
And S66, if the drilling tool falls on the initial drilling path, continuing drilling according to the initial drilling path.
S7, drilling process control: in the drilling process, the anchoring indication of the installation position of the anchor rod, which is acquired in real time by the anchoring induction equipment, is transmitted to the display end of the signal receiver by the signal transmitter, so that the anchoring indication at each induction moment is obtained, the anchoring stability of the anchor rod at each induction moment is analyzed, and the drilling process is controlled accordingly.
More optimally, the anchoring indication at each sensing moment is obtained by collecting the anchoring indication of the installation position of the anchor rod by using the anchoring sensing equipment according to the set time interval from the moment of drilling by using the drill bit.
Further optimally, the anchoring stability analysis process of the anchor rod at each sensing moment is as follows: and extracting material specification and installation parameters from the installation integrated information of the anchor rod, thereby determining the safety anchoring indication of the anchor rod.
In an alternative embodiment, the determination of the safety bolt indication of the bolt is carried out according to the material specification and the installation parameters of the bolt as follows: and (3) performing slope scanning on the installation position of the anchor rod by using a laser scanner, constructing a slope environment model of the installation position of the anchor rod, inputting the material specification and the installation parameters of the anchor rod into the model, and calculating through the model to obtain the safety anchoring indication of the anchor rod.
Comparing the anchoring indication of the anchor rod at each sensing moment with the safety anchoring indication, simultaneously comparing the anchoring indication anchored at each sensing moment with the anchoring indication at the last sensing moment, and analyzing the results by an analysis algorithmObtaining the anchoring stability of the anchor rod at each induction momentIn analysis algorithmIndicated as the moment of sensing,and (2) andtaking a positive integer, wherein the positive integer is taken,、respectively denoted as the firstThe anchoring force and the vibration frequency at the moment of induction,、respectively expressed as a safe anchoring force and a safe vibration frequency of the anchor rod,expressed as a natural constant.
Still further optimally, the drilling process control is implemented as follows: and comparing the anchoring stability of the anchor rod at each induction moment with the preset standard-reaching anchoring stability, and controlling the drill bit to stop drilling at the induction moment if the anchoring stability of the anchor rod at a certain induction moment is smaller than the preset standard-reaching anchoring stability.
In one embodiment the anchoring stability is in the range of valuesThe standard anchoring stability may be configured to be 0.7.
According to the invention, the anchoring induction equipment is arranged on the anchor rod, and then the anchoring indication of the installation position of the anchor rod, which is acquired by the anchoring induction equipment in real time, is transmitted to the display end of the signal receiver by the signal transmitter in the drilling process, so that the stability of the anchor rod is analyzed, the drilling process is controlled according to the analysis result, the real-time monitoring of the stability of the anchor rod is realized, the instability of the anchor rod can be timely identified, the interruption of drilling can be timely controlled when the anchor rod is unstable, the occurrence rate of drilling errors is greatly reduced, a certain guarantee can be provided for the safety of operators, and the service life of the anchor rod is prolonged.
The method is also used for a cloud control library in the implementation process, and is used for storing the adaptive drilling force corresponding to the reference blocked pressure, storing the hardness of the drilling object corresponding to each blocked pressure and the adaptive drilling speed corresponding to the hardness of various drilling objects, and storing the rock types of which the drilling is forbidden.
Exemplary types of rock that inhibit drilling include shale, limestone, sandstone, salt rock, and the like, which are generally low in tensile strength and impact resistance, susceptible to environmental and external forces, and are weak rocks.
The foregoing is merely illustrative and explanatory of the principles of this invention, as various modifications and additions may be made to the specific embodiments described, or similar arrangements may be substituted by those skilled in the art, without departing from the principles of this invention or beyond the scope of this invention as defined in the claims.
Claims (9)
1. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition is characterized by comprising the following steps of:
s1, anchor rod installation layout: planning and laying out the installation of the anchor rod on the slope before construction, and arranging anchoring induction equipment on the anchor rod during installation, wherein the anchoring induction equipment is used for detecting anchoring indication of the installation position of the anchor rod;
s2, anchor rod installation information integration: installing a signal transmitter on the anchor rod, integrating the material specification and the installation parameters of the anchor rod with installation information to form installation integrated information, and setting the display time of the installation integrated information;
s3, anchor rod positioning and identifying: before drilling, a control terminal is used for controlling a signal transmitter on the anchor rod to transmit signals, and a signal receiver is used for receiving signals, so that the installation position of the anchor rod is positioned, and meanwhile, the installation integration information of the anchor rod is displayed on the display end of the signal receiver;
s4, drilling path planning: determining the drilling position of the drill bit based on the installation position of the anchor rod, and planning the initial drilling path of the drill bit according to the installation parameters in the installation integration information;
s5, acquisition and adjustment in the drilling process, namely setting a drilling acquisition terminal on the drill bit, and acquiring drilling indexes of the drill bit in real time in the drilling process and adjusting the drilling indexes;
s6, correcting drilling path deviation: setting a positioning instrument on the drill bit for positioning the drilling position of the drill bit in real time in the drilling process, thereby correcting the deviation of the drilling path;
s7, drilling process control: in the drilling process, the anchoring indication of the installation position of the anchor rod, which is acquired in real time by the anchoring induction equipment, is transmitted to the display end of the signal receiver by the signal transmitter, so that the anchoring indication at each induction moment is obtained, the anchoring stability of the anchor rod at each induction moment is analyzed, and the drilling process is controlled accordingly.
2. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as claimed in claim 1, wherein the method comprises the following steps: the anchoring indication comprises an anchoring force and a vibration frequency, and the installation parameters comprise an installation depth and an installation angle.
3. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as claimed in claim 1, wherein the method comprises the following steps: the implementation mode for setting the display time of the installation integration information is as follows:
and setting the effective signal intensity of the signal received by the signal receiver, and displaying and installing integrated information on a display end of the signal receiver when the signal intensity meets the effective signal intensity.
4. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as set forth in claim 3, wherein the method comprises the following steps: the installation position of the positioning anchor rod is determined by the following steps:
image acquisition is carried out on the slope surface, and the slope contour is extracted from the acquired image, so that the central position of the slope surface is determined;
placing the signal receiver at the central position of the side slope surface, and taking the placement position as the circle center and the set distance as the radius as a circle to obtain an information receiving circle;
dividing the circumference of a signal receiving circle according to a preset radian to obtain a plurality of radian lines, and placing antennas on each radian line, wherein the placed antennas are respectively connected with a signal receiver;
the control terminal is used for controlling the signal transmitter on the anchor rod to transmit signals, so that the signal intensity received by each antenna is obtained, and the antenna corresponding to the maximum signal intensity is obtained from the signal intensity and is used as a target antenna;
determining a corresponding radian line of the target antenna on the information receiving circle, wherein the radian line points to the direction marked as a signal source;
and moving the signal receiver along the direction of the signal source, extracting a display picture of the signal receiver corresponding to the display end in real time in the moving process, and taking the moving position of the signal receiver as the installation position of the anchor rod when the display picture displays the installation integrated information.
5. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as claimed in claim 1, wherein the method comprises the following steps: the drilling index comprises drilling force and drilling speed, wherein the specific implementation process of the drilling index adjustment is as follows:
installing a pressure sensor at the top of the drill bit, sensing the blocked pressure in real time in the drilling process, and calculating the adaptive drilling force of the drill bit by combining the sensed blocked pressure with the adaptive drilling force corresponding to the reference blocked pressure in the cloud control libraryThe calculation expression is +.>In the formula->Expressed as sensed resistance pressure +.>Expressed as reference blocked pressure>An adapted drilling force corresponding to the reference blocked pressure;
obtaining specification and model of drill bit, thereby obtaining limited drilling force of drill bitAnd then the adaptive drilling force of the drill bit is compared with the drilling limiting force byContrast model->Obtaining the required drilling force of the drill bit;
matching the sensed blocked pressure with the hardness of the drilling object corresponding to each blocked pressure in the cloud control library, and further marking the hardness of the drilling object successfully matched as the hardness of the target drilling object;
extracting an adaptive drilling speed corresponding to the target drilling object hardness from a cloud control library based on the target drilling object hardness;
acquiring a cooperative relation between drilling force and drilling speed based on the specification and model of the drill bit, and further extracting the cooperative drilling speed corresponding to the required drilling force from the cooperative relation between the drilling force and the drilling speed according to the required drilling force of the drill bit;
comparing the cooperative drilling speed corresponding to the required drilling force with the adaptive drilling speed corresponding to the target drilling material hardness, and utilizing the expressionCalculating the consistency between the two;
comparing the consistency between the two with the preset standard consistency, if the consistency between the two is greater than or equal to the preset standard consistency, taking the cooperative drilling speed corresponding to the required drilling force as the required drilling speed of the drill bit, otherwise taking the adaptive drilling speed corresponding to the hardness of the target drilling object as the required drilling speed of the drill bit;
and adjusting the drilling index according to the required drilling force and the required drilling speed of the drill bit.
6. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as claimed in claim 1, wherein the method comprises the following steps: the implementation process of the drilling path offset correction is as follows:
s61, installing geological detection equipment on the drill bit, and detecting a rock structure in the drilling process by using the geological detection equipment, so that the rock type corresponding to the drilling position of the drill bit is identified;
s62, matching the rock types corresponding to the drilling positions of the drill bit with the rock types which are stored in the cloud control library and are forbidden to drill, if the matching is successful, executing S63-S65, otherwise executing S63, S64 and S66;
s63, comparing the positioned drilling position with an initial drilling path of the drill bit, and identifying whether the drilling position falls on the initial drilling path;
s64, if the drilling position does not fall on the initial drilling path, finding a standard drilling position from the initial drilling path based on the drilling position of the drill bit, and adjusting the drilling position of the drill bit to the standard drilling position;
s65, if the drilling path falls on the initial drilling path, the drilling path planning is conducted again from the drilling position of the drill bit;
and S66, if the drilling tool falls on the initial drilling path, continuing drilling according to the initial drilling path.
7. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as claimed in claim 2, wherein the method comprises the following steps: the anchoring stability analysis process of the anchor rod at each induction moment is as follows:
extracting material specification and installation parameters from the installation integrated information of the anchor rod, thereby determining a safety anchoring indication of the anchor rod;
comparing the anchoring indication of the anchor rod at each sensing moment with the safety anchoring indication, simultaneously comparing the anchoring indication anchored at each sensing moment with the anchoring indication at the last sensing moment, and analyzing the results by an analysis algorithmObtaining the anchoring stability of the anchor rod at each sensing moment>Analysis algorithm +.>Expressed as sensing moment +.>And->Taking a positive integer, wherein the positive integer is taken,、/>respectively denoted as->Anchoring force at sensing moment, vibration frequency, +.>、/>Safety anchoring force, safety vibration frequency, respectively expressed as anchor rod->Expressed as a natural constant.
8. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as claimed in claim 1, wherein the method comprises the following steps: the drilling process control is implemented as follows:
and comparing the anchoring stability of the anchor rod at each induction moment with the preset standard-reaching anchoring stability, and controlling the drill bit to stop drilling at the induction moment if the anchoring stability of the anchor rod at a certain induction moment is smaller than the preset standard-reaching anchoring stability.
9. The method for positioning the construction drill bit of the slope anchoring drilling machine based on sensor acquisition as claimed in claim 1, wherein the method comprises the following steps: the method is also used for a cloud control library in the implementation process, and is used for storing the adaptive drilling force corresponding to the reference blocked pressure, storing the hardness of the drilling object corresponding to each blocked pressure and the adaptive drilling speed corresponding to the hardness of various drilling objects, and storing the rock types of which the drilling is forbidden.
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