CN104975842B - Control method, device and system of rotary drilling rig - Google Patents
Control method, device and system of rotary drilling rig Download PDFInfo
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- CN104975842B CN104975842B CN201510393331.0A CN201510393331A CN104975842B CN 104975842 B CN104975842 B CN 104975842B CN 201510393331 A CN201510393331 A CN 201510393331A CN 104975842 B CN104975842 B CN 104975842B
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Abstract
The invention discloses a control method, a device and a system of a rotary drilling rig. Wherein, the method comprises the following steps: determining a reference position of the rotary drilling rig; acquiring a reference coordinate set of a reference position of the rotary drilling rig through a positioning device; acquiring an operation mode of the rotary drilling rig, wherein the operation mode at least comprises the following steps: excavating, dumping and centering; the real-time coordinate set and the reference coordinate set of the rotary drilling rig are substituted into the control model corresponding to the operation mode, and correction parameters used for correcting operation actions of the rotary drilling rig are generated, wherein the control model is used for calculating the correction parameters corresponding to the operation mode through the real-time coordinate set and the reference coordinate set, and the problems that in the prior art, the drilling bit position of the rotary drilling rig is determined only through angle calculation and an inclination angle sensor, so that the excavating quality is poor and the precision is low are solved. The accurate control of the rotary drilling rig is realized, and therefore the effect of improving the drilling precision of the rotary drilling rig is improved.
Description
Technical field
The present invention relates to Mechanical course field, in particular to a kind of control method of rotary drilling rig, device and is
System.
Background technology
At present, rotary drilling rig is a kind of construction machinery of pore-forming operation in suitable building foundation engineering, be primarily adapted for sand,
The soil layers such as cohesive soil, slity soil are constructed, and are obtained in a variety of foundation basic constructions such as bored concrete pile, diaphragm wall, strengthening of foundation extensively
Using.When churning driven is constructed it may first have to accurate positioning is carried out to drill bit, to ensure that drill bit perpendicular to horizontal plane, is bored
Hole operation.Simultaneously as the demand of casting, when rotary digging operation is carried out to a certain extent, it is necessary to which drill bit is integrally proposed
The drilling of part shaping, native operation is unloaded in operation near zone progress rotary digging drill bit.Then after completing to unload native operation, need
Again the drilling region before drill bit to be returned to, the pore-forming of strict alignment part shaping, half is placed again into by drill bit
In the hole of shaping, continue bore operation.
During existing rotary drilling rig is constructed, position fixing process is specifically as follows in automatic time of drill bit：
In rotary drilling rig operation process, revolution control section uses the man-machine control mode being combined.Work as rotary drilling rig
When being bored under master file, original work industry position is designated as original control position, the upper-part rotation platform return control bit later as discharging.
, it is necessary to which manual operation rotary handle, upper-part rotation angle are recorded relative to the real-time angular of control bit and shown in real time after discharging
Show on bridge operation display screen, operating personnel judge whether drilling bucket returns to original work industry by driver's cabin screen display angle
Hole position, by handle and range estimation drilling tool relative to the deviation of actual hole position, manually adjusted, to meet wanting for lower brill centering
Ask.
Rotary drilling rig is in practical work process, due to the currently used control mode of equipment although correlation can be completed
Pore-forming job requirements, but have that hole quality is undesirable (super side amount big), and pore-forming cost is higher, and for the energy of operating personnel
Power and the exigent problem of notice.Simultaneously as relying primarily on artificial and computer-aided is judged that subjectivity is larger,
The homogeneity of pore-forming can not accurately be ensured.
Also, due to the churning driven construction ground ground of job site be insufficient to it is firm, rotary drilling rig drilling process
In, often there is the problem of part surface subsidence, have a strong impact on the quality of rotary drilling rig drilling and pore-forming.It is existing to pass through revolution
Encoder carries out the technology in aiding in back or in automatic time, can not meet the pore-forming job requirements after surface subsidence.Existing brill
Bar spends guarantee vertically, is detected only with obliquity sensor, and precision is poor, can not be detected for less sedimentation angle.
Bit location for only determining rotary drilling rig by angle calculation and obliquity sensor in the prior art, it is caused
The problem of Mining Quality is poor, and precision is low, effective solution is not yet proposed at present.
The content of the invention
It is existing to solve it is a primary object of the present invention to provide a kind of control method of rotary drilling rig, apparatus and system
The bit location of rotary drilling rig is only determined in technology by angle calculation and obliquity sensor, caused Mining Quality is poor, precision
The problem of low.
To achieve these goals, a kind of one side according to embodiments of the present invention, there is provided control of rotary drilling rig
Method.This method includes：Determine the reference position of rotary drilling rig；By positioner, the reference position of rotary drilling rig is obtained
Reference coordinate set；The work pattern of rotary drilling rig is obtained, wherein, work pattern comprises at least：Digging operation, unload native operation and
Operation in returning；By the real-time coordinates set of rotary drilling rig Controlling model corresponding with work pattern with reference coordinate set substitution,
Generate the corrected parameter that the operation for correcting rotary drilling rig acts, wherein, Controlling model be used for by real-time coordinates set and
Reference coordinate set, corrected parameter corresponding with work pattern is calculated.
Further, when positioner includes five differential GPS terminals, first is installed on the mast top of rotary drilling rig
Differential GPS terminal, it is whole that the second differential GPS terminal, the 3rd differential GPS are installed respectively in four corners of upper-part rotation mechanism
End, the 4th differential GPS terminal and the 5th differential GPS terminal, wherein, by positioner, obtain the reference coordinate of reference position
Set, including：The coordinate value of the first differential GPS terminal is read, obtains the first coordinate of mast top end；It is poor that second is read respectively
Divide the coordinate value of GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal, obtain getting on the bus back
The second coordinate, the 3rd coordinate, 4-coordinate and the Five Axis of four corners of rotation mechanism；Sat according to the first coordinate, second
Mark, the 3rd coordinate, 4-coordinate and Five Axis, obtain the reference coordinate set of rotary drilling rig.
Further, by the real-time coordinates set of rotary drilling rig control corresponding with work pattern with reference coordinate set substitution
Simulation, the corrected parameter that the operation for correcting rotary drilling rig acts is generated, including：Pass through the first differential GPS terminal, second
Differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal gather rotary drilling rig in real time
Real-time coordinates set；The real-time coordinates set of collection is compared with reference coordinate set, obtains comparison result；According to than
To result, the coordinate difference of real-time coordinates set and reference coordinate set is calculated；According to coordinate difference, generation and operation mould
Corrected parameter corresponding to formula.
Further, the real-time coordinates set of rotary drilling rig and reference coordinate set substitution is corresponding with work pattern
Controlling model, after generating the corrected parameter that the operation for correcting rotary drilling rig acts, method also includes：Joined according to amendment
Number, generates the control instruction for controlling rotary drilling rig, wherein, the controller of rotary drilling rig controls rotary digging according to control instruction
Rig according to corrected parameter perform corresponding to operation act.
Further, the real-time coordinates set of rotary drilling rig and reference coordinate set substitution is corresponding with work pattern
Controlling model, after generating the corrected parameter that the operation for correcting rotary drilling rig acts, method also includes：Joined according to amendment
Number, generate prompt message.
To achieve these goals, a kind of another aspect according to embodiments of the present invention, there is provided control of rotary drilling rig
Device, the device include：Determining module, for determining the reference position of rotary drilling rig；First acquisition module, for passing through positioning
Device, obtain the reference coordinate set of the reference position of rotary drilling rig；Second acquisition module, for obtaining the operation of rotary drilling rig
Pattern, wherein, work pattern comprises at least：Digging operation, unload native operation and return middle operation；Processing module, for by churning driven
The real-time coordinates set of machine Controlling model corresponding with work pattern with reference coordinate set substitution, generate for correcting churning driven
The corrected parameter of the operation action of machine, wherein, Controlling model is used to pass through real-time coordinates set and reference coordinate set, calculates
Go out corrected parameter corresponding with work pattern.
Further, when positioner includes five differential GPS terminals, first is installed on the mast top of rotary drilling rig
Differential GPS terminal, it is whole that the second differential GPS terminal, the 3rd differential GPS are installed respectively in four corners of upper-part rotation mechanism
End, the 4th differential GPS terminal and the 5th differential GPS terminal, wherein, the first acquisition module includes：First sub- read module, is used for
The coordinate value of the first differential GPS terminal is read, obtains the first coordinate of mast top end；Second sub- read module, for respectively
Read the coordinate of the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal
Value, obtains the second coordinate, the 3rd coordinate, 4-coordinate and the Five Axis of four corners of upper-part rotation mechanism；Subprocessing
Module, for according to the first coordinate, the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, obtaining the benchmark of rotary drilling rig
Coordinate set.
Further, processing module includes：Sub- acquisition module, for passing through the first differential GPS terminal, the second differential GPS
Terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal gather the real-time seat of rotary drilling rig in real time
Mark set；Sub- comparing module, for the real-time coordinates set of collection to be compared with reference coordinate set, obtain comparing knot
Fruit；Sub- computing module, for the coordinate difference of real-time coordinates set and reference coordinate set according to comparison result, to be calculated；
Sub- generation module, for according to coordinate difference, generating corrected parameter corresponding with work pattern.
Further, device also includes：First generation module, for according to corrected parameter, generating for controlling churning driven
The control instruction of machine, wherein, the controller of rotary drilling rig is according to control instruction, and control rotary drilling rig is according to corrected parameter execution pair
The operation action answered.
Further, device also includes：Second generation module, for according to corrected parameter, generating prompt message.
To achieve these goals, a kind of another aspect according to embodiments of the present invention, there is provided control of rotary drilling rig
System, the system include：Positioner；Controller, establish and electrically connect with positioner, determine the reference position of rotary drilling rig；
By positioner, the reference coordinate set of reference position is obtained；Obtain the work pattern of rotary drilling rig；By the reality of rotary drilling rig
When coordinate set Controlling model corresponding with work pattern with reference coordinate set substitution, generate the work for correcting rotary drilling rig
The corrected parameter of industry action；Display, establish and electrically connect with controller.
Further, positioner includes：Differential GPS base station, outside rotary drilling rig；At least four differential GPSs
Terminal, communication connection is established with differential GPS base station and controller respectively, wherein, install one on the mast top of rotary drilling rig
Differential GPS terminal, in the differential GPS terminal of upper installation at least three of the upper-part rotation mechanism of rotary drilling rig.
Further, system also includes：Angling cylinder, establish and electrically connect with controller.
Further, system also includes：Amplitude oil cylinder, establish and electrically connect with controller；Support cylinder, established with controller
Electrical connection.
According to inventive embodiments, by the reference position for determining rotary drilling rig；By positioner, rotary drilling rig is obtained
The reference coordinate set of reference position；The work pattern of rotary drilling rig is obtained, wherein, work pattern comprises at least：Digging operation,
Operation in unloading native operation and returning；The real-time coordinates set of rotary drilling rig and reference coordinate set substitution is corresponding with work pattern
Controlling model, the corrected parameter that the operation for correcting rotary drilling rig acts is generated, wherein, Controlling model is used for by sitting in real time
Mark set and reference coordinate set, are calculated corrected parameter corresponding with work pattern, solve prior art and only pass through angle
The problem of degree calculates the bit location that rotary drilling rig is determined with obliquity sensor, and caused Mining Quality is poor, and precision is low.Realize
Accurate control to rotary drilling rig, so as to improve the effect of the excavation precision of rotary drilling rig.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation of the control system of according to embodiments of the present invention one rotary drilling rig；
Fig. 2 is the structural representation of the control system of according to embodiments of the present invention one optional rotary drilling rig；
Fig. 3 is the structural representation of the control system of according to embodiments of the present invention one optional rotary drilling rig；
Fig. 4 is the flow chart of the control method of according to embodiments of the present invention two rotary drilling rig；
Fig. 5 is the schematic top plan view of rotary drilling rig according to embodiments of the present invention；
Fig. 6 is the schematic top plan view of rotary drilling rig according to embodiments of the present invention；
Fig. 7 is the schematic top plan view of rotary drilling rig according to embodiments of the present invention；
Fig. 8 is the schematic top plan view of rotary drilling rig according to embodiments of the present invention；
Fig. 9 a are according to embodiments of the present invention two flow charts optionally with the method for the drill bit in positioning rotary drilling rig；
Fig. 9 b are according to embodiments of the present invention two flow charts optionally with the method for the drill bit in positioning rotary drilling rig；
Figure 10 is the structural representation of the control device of according to embodiments of the present invention three rotary drilling rig；
Figure 11 a are the structural representations of the control device of according to embodiments of the present invention three optional rotary drilling rigs；And
Figure 11 b are the structural representations of the control device of according to embodiments of the present invention three optional rotary drilling rigs.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments of the invention described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps clearly listed or unit, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
Embodiment 1
A kind of control system of rotary drilling rig is present embodiments provided, as shown in figure 1, the system can include：Positioning dress
Put 11, controller 13 and display 15.
Wherein, positioner 11；Controller 13, establish and electrically connect with positioner 11, determine the benchmark position of rotary drilling rig
Put；By positioner 11, the reference coordinate set of reference position is obtained, the work pattern of rotary drilling rig is obtained, by churning driven
The real-time coordinates set of machine Controlling model corresponding with work pattern with reference coordinate set substitution, generate for correcting churning driven
The corrected parameter of the operation action of machine；Display 15, establish and electrically connect with controller.
Specifically, by above-mentioned positioner 11, controller 13 and display 15, the churning driven obtained by positioner
Machine is compared in the reference coordinate set of reference position and the real-time coordinates set of the rotary drilling rig obtained, according to work pattern
It is determined that the corrected parameter to rotary drilling rig.Wherein, corrected parameter refers to difference of the real-time coordinates apart from reference coordinate.
Further, when excavating rig using operation in returning manually, system will be bored before showing automatically over the display
Head drilling when into hole site, while also will show drill bit drill bit when unloading native operation real time position.Driver is unloading native work
After industry is completed, before manually operated Operation of Rotary Pile Drill is arrived into hole site (reference position), at this moment display will be real-time
Track drill bit position, and with before into hole site (i.e. reference position) compared with.Over the display can in real time simultaneously
Both positions of display, to prompt the operation of operation during human pilot is carried out back.
Among practical application, the drill bit of rotary drilling rig is fixed in the upper-part rotation mechanism of rotary drilling rig, rotary drilling rig
Upper-part rotation mechanism be fixed on removable or fixed base.The horizontal level of the drill bit of rotary drilling rig is with upper-part rotation
The movement of mechanism and move.So the rotary shaft of upper-part rotation mechanism before digging operation, can be determined by positioner
The heart, so that it is determined that upper-part rotation mechanism rotate when drill bit movement locus.In digging operation, the controller of rotary drilling rig can be with
By reference coordinate set and the brill rotating shaft heart of upper-part rotation mechanism, drill bit is calculated when following upper-part rotation mechanism to rotate
The coordinate set of each point on drill bit motion track, and be further calculated drill bit being moved to required for reference position and revolve
The angle value or the path length value of required movement turned.In operation in returning, the controller of rotary drilling rig is according to getting on the bus back
Rotation mechanism needs the angle value rotated and upper-part rotation mechanism to need mobile path length value, generates corrected parameter.Generation
Corrected parameter directly can be showed on display in digital form.The virtual image displaying for prompting can also be converted into
In on display.
In summary, by the control method of the rotary drilling rig provided in above-described embodiment, solve in the prior art only
The bit location of rotary drilling rig is determined by angle calculation and obliquity sensor, the problem of caused Mining Quality is poor, and precision is low.
The purpose for ensureing construction quality, improving construction technology is reached.The accurate control to rotary drilling rig is realized, so as to improve rotary digging
The effect of the excavation precision of rig.
Optionally, as shown in Fig. 2 in the above embodiments of the present application, positioner 11 includes：The He of differential GPS base station 111
At least four differential GPS terminals 113.
Wherein, differential GPS base station 111, outside rotary drilling rig；At least four differential GPS terminals 113, respectively with
Differential GPS base station 111 and controller 13 establish communication connection, wherein, one differential GPS is installed on the mast top of rotary drilling rig
Terminal 113, in the differential GPS terminal 113 of upper installation at least three of the upper-part rotation mechanism of rotary drilling rig.
Specifically, differential GPS base station can obtain the relative position information between differential GPS terminal, and precision is high
(grade).Therefore, it is controlled using differential GPS terminal-pair rotary drilling rig, positioning precision is high, can ensure drilling shaping
Vertical degree and forming quality.
Wherein, differential GPS terminal, it is relative can to obtain differential GPS terminal with differential GPS base station communication by base station
Coordinate in differential GPS base station, i.e.,：Differential GPS terminal can obtain three formed using differential GPS base station as the origin of coordinates in real time
Three-dimensional coordinate in dimension coordinate system, determine the upper-part rotation mechanism of rotary drilling rig whether in horizontal by three-dimensional coordinate
State.Also, the angle of upper-part rotation mechanism and horizontal plane can also further be calculated.Because the drill bit of rotary drilling rig is consolidated
Due in upper-part rotation mechanism, so whether the differential GPS terminal installed by mast top, determine drill bit perpendicular to level
Face.
A differential GPS terminal is assembled on the mast top of rotary drilling rig, in the top dress of upper-part rotation mechanism, i.e. turntable
With at least three differential GPS terminals.
Optional embodiment, a differential GPS terminal can be assembled on the mast top of rotary drilling rig respectively at four
Corner installs four differential GPS terminals additional.Skill during drill bit proposed by the invention returns automatically is formed by five differential GPS terminals
The core component of art.
Further, when positioner includes five differential GPS terminals, first is installed on the mast top of rotary drilling rig
Differential GPS terminal, it is whole that the second differential GPS terminal, the 3rd differential GPS are installed respectively in four corners of upper-part rotation mechanism
End, the 4th differential GPS terminal and the 5th differential GPS terminal.When proceeding by digging operation, respectively from being installed on rotary drilling rig
Mast top the first differential GPS terminal coordinate, be installed on the second of four corners of rotary drilling rig upper-part rotation mechanism
Differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal obtain coordinate when rotary drilling rig starts digging operation
Value, form coordinate set.And the coordinate set is arranged to reference coordinate set.
Further, will be by the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th poor
The real-time coordinates set that point GPS terminal and the 5th differential GPS terminal collect is compared with reference coordinate, according to comparison result
Determine the coordinate difference of real-time coordinates set and reference coordinate set.For different work patterns, generated according to coordinate difference
Corrected parameter corresponding with work pattern.
Optionally, in the above embodiments of the present application, system also includes：Angling cylinder 17.Wherein, angling cylinder 17, with
Controller 13 establishes electrical connection.
Specifically, illustrated in returning exemplified by operation, when operation in excavating rig using automatic return, controller according to
Controller send control instruction, drive angling cylinder, rotary drilling rig automatic rotary is arrived before bore position, certainly, control
Device processed directly can also control angling cylinder to act.
Optionally, as shown in figure 3, in the above embodiments of the present application, system also includes：Amplitude oil cylinder 18 and support cylinder
19。
Wherein, amplitude oil cylinder 18 is established with controller 13 and electrically connected；Support cylinder 19, establish and electrically connect with controller.
Specifically, controller can be controlled by sending control signal to control amplitude oil cylinder 18 and support cylinder 19
System, certain controller can also directly control amplitude oil cylinder 18 and support cylinder 19.Wherein, said by taking operation in returning as an example
Bright, because rotary drilling rig is during digging operation drilling shaping is carried out, the mast and drilling rod of rotary drilling rig will not be adjusted in real time
Whole angle, so if not considering the sedimentation on ground, then the upper-part rotation mechanism and mast of rotary drilling rig will be regarded as rigid body,
Relative position therebetween will not be changed, and drilling rod is fixed on mast, will not also be changed.So work as rotary digging
For rig in construction, the sedimentation on the ground caused by digging operation will be directly reflected into the excavation angle for the drilling rod for being fixed on mast
On.Therefore, when digging operation is performed in rotary drilling rig pore forming process, controller needs the support of driving churning driven mast in time
Oil cylinder, control support cylinder action, the drill bit that churning driven is connected with drilling rod correct excavation angle value in time, and this angle value is
The angle value of surface subsidence, to ensure the vertical degree of mast, drilling rod and drill bit.Further, because the length value of mast is not
Become, and differential GPS terminal is assemblied in the top of mast, then and mast in adjustment angle, move by the differential GPS terminal on its top
Dynamic distance can calculate.Therefore when adjusting mast angle, it is only necessary to the coordinate of detection differential GPS terminal in real time, i.e.,
The angle of mast rotation can be calculated in real time according to the length of its coordinate and mast.So by detecting in real time and correcting mast
Angle of inclination, just can guarantee that mast and drill bit can be crept into vertically in the beginning of each digging operation and progress and vertically into
Hole, ensure the quality of operation pore-forming and vertical degree.
The control system of the rotary drilling rig provided in the embodiment above, the technology in automatic return, exists applied to churning driven
After work progress unloads native operation, drilling bit of rotary-digging drilling rig returns middle position fixing process.In churning driven normal drill operation, 5 difference
GPS terminal just records now respective coordinate (including horizontal coordinate and height coordinate) in real time, and using the coordinate as later every
Purpose coordinate when in secondary time.In native operation turning course is unloaded, differential GPS by and controller communication, record rotary digging automatically
The position coordinates in turning course is bored, the direction that can know that churning driven turns round is calculated by controller.After the completion of soil is unloaded, rotation
Digging rig personnel only needs to press one key, and sends instruction and positioned in automatic return, then system will be automatically according to counting before
Rotary digging drill bit and drilling rod, are turned back on the coordinates of targets recorded before by the churning driven gyratory directions of calculation automatically.Simultaneously as
Differential GPS terminal can record its relative height coordinate automatically, therefore it can determine that the ground of now rotary drilling rig construction
Whether ground has sedimentation or deformation.If any sedimentation, then can be calculated according to the coordinate of front and rear record caused by settlement of foundation
Rotary drilling rig angle of inclination, and the drilling rod and angle of drill bit of adjust automatically now, ensure when continuing bore operation, rotary drilling rig
Drill bit can continue to vertical drilling hole, ensure construction quality.
Also, the control system of the rotary drilling rig provided in the embodiment above can not only complicated ring at the construction field (site)
Under border, drilling bit of rotary-digging drilling rig accurately self-return can also be realized, and positioning precision is high, and locating speed is fast, anti-interference energy
Power is strong.In addition, the control system of the rotary drilling rig provided in the embodiment above can also be in rotary drilling rig construction ground part
In the case of sedimentation, moment adjustment angle of drill bit is calculated by algorithm, positioning is realized accurately and reliably, ensures positioning in automatic return
When drill bit and drilling rod it is vertical, greatly improve the quality of pore-forming, while substantially reduce the disturbing factor of environment.Said system relies on
Mathematical computations, it can be completed on the existing core controller of rotary drilling rig, in addition to differential GPS terminal and connection cables, without
Increase any other electric component.Finally, also there is Redundant Control in this algorithm, can also additionally increase part differential GPS terminal,
Ensure that time middle accurate positioning of rotary digging drill bit is reliable, ensure construction quality and processing quality.
The control system display of the rotary drilling rig provided in the embodiment above enters to drilling bit of rotary-digging drilling rig position
Row real-time display, automatic and accurate control is carried out to the self-return of rotary drilling rig using controller, achieves preferably control effect
Fruit.Meanwhile, it is capable to aid in human pilot to carry out the manual return operation of drill bit, there is preferable directive significance to human pilot.
And native operation process is unloaded in pore-forming operation using differential GPS terminal-pair drilling bit of rotary-digging drilling rig, realizes rotary drilling rig
Self-return operation, hole site and bit location can be accurately positioned into, bit location when ensureing drilling operation twice is accurate
Overlap.In addition, surface subsidence problem when the system has been additionally contemplates that churning driven airborne construction, and using differential GPS terminal compared with
Solve this problem well, solve occurred in conventional work progress and insurmountable surface subsidence caused by rotary digging
Rig hole quality is poor, and the drawbacks such as pore-forming aperture is larger, innovative solves this problem.
Differential GPS terminal in this programme can be replaced by plain edition GPS terminal, but due to the essence of plain edition GPS terminal
Spend precision and reliability poor, therefore that positioning can be largely effected on.
In this programme, surface subsidence influences for the angle of inclination of drill bit and vertical degree, and its inclined angle can also adopt
Measured with high precision dip sensor.But high precision dip sensor cost is high, and installation accuracy requirement
It is higher.Or other kinds of, the accurate measurement sensor of such as infrared ray sensor is used, but infrared sensor working environment
It is required that it is higher, it is poorly suitable for the severe occasion of the working environments such as construction site.
Secondary effects caused by the control system of the rotary drilling rig provided in the embodiment above are far longer than its other party
Case and system, there is larger lifting in digging operation technology and time middle operation technique to rotary drilling rig.
Embodiment 2
The embodiment of the present invention additionally provides a kind of control method of rotary drilling rig.
Fig. 4 is the flow chart of the control method of rotary drilling rig according to embodiments of the present invention.Rotary drilling rig includes：It is laid in
Multiple positioners in rotary drilling rig, positioner is established with the controller of rotary drilling rig and electrically connected, as shown in figure 4, the party
It is as follows that method includes step：
Step S11, determine the reference position of rotary drilling rig.
Specifically, by above-mentioned steps S11, when carrying out digging operation by rotary drilling rig, pass through positioner first
The initial position excavated to rotary drilling rig records as reference position.After rotary drilling rig being moved into specified location,
The coordinate of current location is recorded by positioner, and using the coordinate of current location as the reference position excavated afterwards.Also may be used
So that before rotary drilling rig is implemented to excavate, the coordinate value of the reference position to be excavated is marked by positioner.
Step S13, by positioner, obtain the reference coordinate set of the reference position of rotary drilling rig.
Specifically, by above-mentioned steps S13, after rotary drilling rig is moved to reference position, obtained by positioner
The current reference coordinate set of rotary drilling rig.Operation principle based on rotary drilling rig, when being excavated, it is thus necessary to determine that churning driven
The drill bit of machine is vertical all the time or is excavated with identical excavation angle, so needing at least provided with two to determine on rotary drilling rig
Position device, it is respectively intended to determine the excavation position of rotary drilling rig.Therefore the reference coordinate that reference position is made up of at least two coordinates
Set.
Step S15, the work pattern of rotary drilling rig is obtained, wherein, work pattern comprises at least：Digging operation, unload native work
Industry and time middle operation.
Specifically, rotary drilling rig is rear, it is necessary to pass through rotary drilling rig upper-part rotation mechanism for a period of time in progress digging operation
Rotation, the earthwork excavated is unloaded at other positions.So the work pattern for excavating rig comprises at least：Excavate and make
Industry, unload native operation and return middle operation.By above-mentioned steps S15, the work pattern that rotary drilling rig is currently carried out is obtained.
Step S17, by the real-time coordinates set of rotary drilling rig control corresponding with work pattern with reference coordinate set substitution
Simulation, the corrected parameter that the operation for correcting rotary drilling rig acts is generated, wherein, Controlling model is used to pass through real-time coordinates
Set and reference coordinate set, are calculated corrected parameter corresponding with work pattern.
Specifically, by step S17, real-time coordinates set of the rotary drilling rig in operation and reference coordinate set are substituted into
Controlling model corresponding with work pattern.According to Controlling model, the coordinates of targets set of rotary drilling rig is determined, and will be sat in real time
Mark set is compared with coordinates of targets set, and corrected parameter is calculated.
Among practical application, the coordinates of targets set of rotary drilling rig can change according to work pattern difference.
For example, when the work pattern of rotary drilling rig is digging operation, the operative goals of rotary drilling rig is on the basis of reference position
Preset distance is excavated vertically downward.Therefore, the vertical coordinate of the horizontal coordinate and desired depth in reference coordinate set can be taken
It is arranged to coordinates of targets set.When rotary drilling rig is carrying out unloading native operation, the operative goals of rotary drilling rig is specified to turn to
Native position of unloading carry out unloading soil, therefore, the coordinate set for unloading native position of execution, and the coordinate set that native position will be unloaded can be obtained
Conjunction is arranged to coordinates of targets set.When operation during rotary drilling rig is being carried out back, the operative goals of rotary drilling rig is to rotate back into elder generation
Continuation digging operation is carried out behind preceding reference position, therefore, reference coordinate set can be arranged to coordinates of targets set.
By above-mentioned steps S11 to step S17, sat by benchmark of the rotary drilling rig that positioner obtains in reference position
Mark set and the real-time coordinates set of the rotary drilling rig obtained are compared, and the amendment to rotary drilling rig is determined according to work pattern
Parameter.
Among practical application, the drill bit of rotary drilling rig is fixed in the upper-part rotation mechanism of rotary drilling rig, rotary drilling rig
Upper-part rotation mechanism be fixed on removable or fixed base.The horizontal level of the drill bit of rotary drilling rig is with upper-part rotation
The movement of mechanism and move.So the rotary shaft of upper-part rotation mechanism before digging operation, can be determined by positioner
The heart, so that it is determined that upper-part rotation mechanism rotate when drill bit movement locus.In digging operation, the controller of rotary drilling rig can be with
By reference coordinate set and the brill rotating shaft heart of upper-part rotation mechanism, drill bit is calculated when following upper-part rotation mechanism to rotate
The coordinate set of each point on drill bit motion track, and be further calculated drill bit being moved to required for reference position and revolve
The angle value or the path length value of required movement turned.In operation in returning, the controller of rotary drilling rig is according to getting on the bus back
Rotation mechanism needs the angle value rotated and upper-part rotation mechanism to need mobile path length value, generates corrected parameter.Generation
Corrected parameter directly can be showed on display in digital form.It can certainly be directly displayed by display by above-mentioned
The source location or the moving curve of upper-part rotation mechanism that corrected parameter is calculated.Further, can also be by aobvious
Show that device directly displays the virtual image for being used to prompt converted according to corrected parameter.
In summary, by the control method of the rotary drilling rig provided in above-described embodiment, solve in the prior art only
The bit location of rotary drilling rig is determined by angle calculation and obliquity sensor, the problem of caused Mining Quality is poor, and precision is low.
The purpose for ensureing construction quality, improving construction technology is reached.The accurate control to rotary drilling rig is realized, so as to improve rotary digging
The effect of the excavation precision of rig.
Optionally, in the above embodiments of the present application, when positioner comprises at least four differential GPS terminals, revolving
A differential GPS terminal is installed on the mast top for digging rig, whole in the differential GPS of upper installation at least three of upper-part rotation mechanism
End.
Specifically, according to the structure of rotary drilling rig, 3 differential GPS terminals are installed in upper-part rotation mechanism, on mast top
One differential GPS terminal of end installation.The coordinate read by the 3 differential GPS terminals installed in upper-part rotation mechanism,
A triangle projective planum is established in Controlling model.Whether the upper-part rotation mechanism for determining rotary drilling rig by triangle projective planum is in
Horizontality.Also, the angle of upper-part rotation mechanism and horizontal plane can also further be calculated.Due to rotary drilling rig
Drill bit is installed in upper-part rotation mechanism by mast, therefore, a differential GPS terminal being installed by mast top and is got on the bus
At least three differential GPS terminals installed on slew gear, form a Virtual space geometric figure.Controller passes through virtual
Space geometry figure can calculate current drill bit and the angle beta on ground in real time.Further, controller can be according to angle
β drives the support cylinder for controlling mast, and the angle of mast is adjusted in real time, to ensure that mast, drilling rod and drill bit erect
Directly in ground.
Optionally, in the above embodiments of the present application, when positioner includes five differential GPS terminals, in churning driven
The first differential GPS terminal is installed on the mast top of machine, and the second differential GPS is installed respectively in four corners of upper-part rotation mechanism
Terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal, wherein, step S13 is filled by positioning
Put, obtain the reference coordinate set of reference position, including：
Step S131, the coordinate value of the first differential GPS terminal is read, obtains the first coordinate of mast top end.
Step S133, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and are read respectively
The coordinate value of five differential GPS terminals, obtain the second coordinate, the 3rd coordinate, the 4th seat of four corners of upper-part rotation mechanism
Mark and Five Axis.
Step S135, according to the first coordinate, the second coordinate, the 3rd coordinate, 4-coordinate and Five Axis, obtain churning driven
The reference coordinate set of machine.
Specifically, by above-mentioned steps S131 to step S135, when proceeding by digging operation, respectively from being installed on rotation
The coordinate for the first differential GPS terminal for digging the mast top of rig, it is installed on four corners of rotary drilling rig upper-part rotation mechanism
The second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal obtained when rotary drilling rig starts digging operation
Coordinate value, form coordinate set.And the coordinate set is arranged to reference coordinate set.
In actual applications, differential GPS base station can obtain the relative position information between differential GPS terminal, Er Qiejing
Spend high (grade).Therefore, it is controlled using differential GPS terminal-pair rotary drilling rig, positioning precision is high, can ensure to drill
The vertical degree and forming quality of shaping.
Optionally, in the above embodiments of the present application, real-time coordinates set and reference coordinate of the step S17 by rotary drilling rig
Set substitutes into Controlling model corresponding with work pattern, generates the corrected parameter that the operation for correcting rotary drilling rig acts, bag
Include：
Step S171, pass through the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th difference
GPS terminal and the 5th differential GPS terminal gather the real-time coordinates set of rotary drilling rig in real time.
Step S173, the real-time coordinates set of collection is compared with reference coordinate set, obtains comparison result.
Step S175, according to comparison result, the coordinate difference of real-time coordinates set and reference coordinate set is calculated.
Step S177, according to coordinate difference, generate corrected parameter corresponding with work pattern.
Specifically, by above-mentioned steps S171 to step S177, the first differential GPS terminal, the second differential GPS will be passed through
The real-time coordinates set and base that terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal collect
Quasi coordinates is compared, and the coordinate difference of real-time coordinates set and reference coordinate set is determined according to comparison result.For difference
Work pattern, corresponding with work pattern corrected parameter is generated according to coordinate difference.
In actual applications, illustrated by taking operation in returning as an example, it is described in detail below to be bored using differential GPS terminal
Head is automatic return in detailed algorithm.
Fig. 5 is the schematic top plan view of rotary drilling rig, as shown in figure 5, dash area is the creeper undercarriage of rotary drilling rig,
Black circles part is differential GPS terminal.The differential GPS terminal of bit part is assemblied in the mast top for installing drill bit
End.Four differential GPS terminals in upper-part rotation mechanism are distributed on four angles of upper-part rotation mechanism.Rotary drilling rig is reached
Designated area in flattened good level ground, completed by differential GPS terminal installation after drill bit is aligned to bore region
Drill bit it is vertically oriented, and pass through differential GPS terminal, obtain reference coordinate set.Using reference coordinate set can take out as
Under mathematical modeling：
As shown in fig. 6, A points are the first differential GPS terminal installed at mast, it is turntable corner at B, C, D, E
Four differential GPS terminals of arrangement.Fig. 6 is the situation after rotary drilling rig is completed to obtain reference coordinate set in building site, now △
ABD and △ AEC and BCED are the reference coordinate collective data that rotary drilling rig is in reference position.
When rotary drilling rig does not settle on ground, and work pattern is in back middle operation, as shown in fig. 7, O points in Fig. 7
For the centre of gyration point of the upper-part rotation mechanism of rotary drilling rig.In Fig. 7 bold portion be according to rotary drilling rig in reference position,
The schematic diagram that the reference coordinate set got using differential GPS terminal is generated.Fig. 7 dotted portions are got on the bus back for rotary drilling rig
Rotation mechanism is turning round an angle, the schematic diagram that difference GPS terminal is positioned when drill bit reaches A ' places.Rotary drilling rig is dispatching from the factory
When, the center of upper-part rotation mechanism is fixed, therefore O points are fixed.So, when dispatching from the factory, the rotation of upper-part rotation mechanism
Turn the distance of each differential GPS terminal of centre distance, i.e. OB, OC, OD and OE is known.Due to upper-part rotation, mechanism is
Rigid body, shape invariance.Therefore the angle of A points revolution is consistent, i.e. ∠ BOB '=∠ AOA ' with the angle that B points turn round.
In △ BOB ', BO=BO ' and, it is known that BB ' can be calculated by being assemblied in the data before and after the differential GPS of B points.So,
∠ AOA'=∠ BOB'=arccos [(OB'2+OB2-BB'2)/(2×OB'×OB)].Meanwhile the direction of rotation can be by preceding
Coordinate position change twice is calculated afterwards.So, after rotary drilling rig is completed to unload native operation, as long as human pilot is sent
The order of " drill bit self-return " (operation in returning), enough by above-mentioned angle, now churning driven should for calculating automatically for rotary drilling rig
The direction of rotation.
When rotary drilling rig settles on ground, and work pattern is in back middle operation, because the impact of drill hammer is made
Industry, construction ground inevitably occur part and settled.As shown in figure 8, the sedimentation on ground frequently occurs in x-axis direction, i.e.,
The fore-and-aft direction (X-direction i.e. shown in Fig. 8) of churning driven.As shown in figure 8, when ground settles, churning driven can be caused
Machine integrally tilts down angle beta.B ' CED ' are by being installed on B ', C, E, D in the upper-part rotation mechanism of rotary drilling rig ' point
Differential GPS terminal.Because upper-part rotation mechanism is rigid platfor, it will not deform, therefore BCED are similarly constant firm
Property quadrangle.B ' CED ' are the upper-part rotation mechanism of rotary drilling rig in the horizontal plane, and A ' points are getting on the bus in rotary drilling rig
The position of drilling bit of rotary-digging drilling rig when slew gear is in reference position (horizontal level).Because surface subsidence, rotary drilling rig are overall
Tilted to side and (rotate counterclockwise) angle beta.Because churning driven in reference position have read phase by differential GPS terminal
Reference coordinate set for differential GPS base station, constitute three-dimensional coordinate, therefore in same three-dimensional system of coordinate, B ', C, E,
The three-dimensional coordinate of five points of D ' and A ' is known, then while B ' C, while CE, while ED ' and while B ' D ' length be that can calculate to obtain
Take.While DE, while CB and side BD be equally known, and BC=B ' C, ED=ED ', BD=B ' D '.Quadrangle diagonal DC=
D ' C, BE=B ' E are also known.In interspace analytic geometry, if it is desired to make line segment DT ' perpendicular to side D ' E in T ', can be with
D points are calculated to side D ' E distance according to the three-dimensional coordinate of D points, and i.e. line DT ' length.In right angle △ DET ', really
Determined hypotenuse DE (length c) and right-angle side DT ' (and length a), then after at right angle, △ DET ' are determined, by α=
α angle value is calculated in arccos (a/c), and then β angle value is calculated by β=90 °-α.
Optionally, in the above embodiments of the present application, as illustrated in fig. 9, in step S17 by the real-time coordinates of rotary drilling rig
Set Controlling model corresponding with work pattern with reference coordinate set substitution, generate the operation for correcting rotary drilling rig and act
Corrected parameter after, method also includes：
Step S19a, according to corrected parameter, the control instruction for controlling rotary drilling rig is generated, wherein, rotary drilling rig
Controller according to control instruction, control rotary drilling rig according to corrected parameter perform corresponding to operation act.
Specifically, by above-mentioned steps S19a, according to corrected parameter, generate for controlling excavation drill control device operation to move
The control instruction of work.
Among practical application, illustrated by taking operation in returning as an example, when operation in excavating rig using automatic return, control
Device processed according to the control instruction received, drive angling cylinder, rotary drilling rig automatic rotary is arrived before bore position.
Because rotary drilling rig is during digging operation drilling shaping is carried out, the mast and drilling rod of rotary drilling rig will not be real
When adjustment angle, so if not considering the sedimentation on ground, then the upper-part rotation mechanism and mast of rotary drilling rig will be regarded as just
Property body, relative position therebetween will not be changed, and drilling rod is fixed on mast, will not also be changed.So when
In construction, the sedimentation (such as the angle in Fig. 8 is β) on the ground caused by digging operation will be directly reflected into admittedly rotary drilling rig
It is scheduled in the excavation angle of the drilling rod of mast.Therefore, when digging operation is performed in rotary drilling rig pore forming process, controller needs
The support cylinder of driving churning driven mast in time, control support cylinder action are timely by the drill bit being connected with drilling rod of churning driven
Angle value is excavated in ground amendment, and this angle value is the angle value β of surface subsidence, to ensure the vertical degree of mast, drilling rod and drill bit.Enter
One step, because the length value of mast is constant, and differential GPS terminal is assemblied in the top of mast, then mast is adjusting
During angle, the distance of the differential GPS terminal movement on its top can calculate.Therefore when adjusting mast angle, it is only necessary to
The coordinate of detection differential GPS terminal in real time, you can calculate the angle of mast rotation in real time according to the length of its coordinate and mast.
So by detecting in real time and correct the angle of inclination of mast, just can guarantee that mast and drill bit in the beginning of each digging operation and
It can be crept into vertically during progress and vertical pore-forming, the quality of guarantee operation pore-forming and vertical degree.
Optionally, in the above embodiments of the present application, as shown in figure 9b, in step S17 by the real-time coordinates of rotary drilling rig
Set Controlling model corresponding with work pattern with reference coordinate set substitution, generate the operation for correcting rotary drilling rig and act
Corrected parameter after, method also includes：
Step S19b, according to corrected parameter, generate prompt message.
Among practical application, illustrated by taking operation in returning as an example, when excavating rig using operation in returning manually, be
When system creeps into drill bit before automatic display over the display into hole site, while also display drill bit is bored when unloading native operation
The real time position of head.Driver after unloading native operation and completing, before manually operated Operation of Rotary Pile Drill is arrived into hole site
(reference position), at this moment display is by the position of real-time tracking drill bit, and with being carried out before into hole site (i.e. reference position)
Compare.Over the display can both real-time display simultaneously position, to prompt human pilot to carry out back the operation of middle operation.
Embodiment 3
The embodiment of the present invention additionally provides a kind of control device of rotary drilling rig.Figure 10 is rotation according to embodiments of the present invention
Dig the structural representation of the control device of rig.Wherein, rotary drilling rig includes：The multiple positioning dress being laid in rotary drilling rig
Put, positioner is established with the controller of rotary drilling rig and electrically connected, and as shown in Figure 10, the device can include：Determining module 21,
First acquisition module 23, the second acquisition module 25, processing module 27.
Wherein it is determined that module 21, for determining the reference position of rotary drilling rig；First acquisition module 23, for by fixed
Position device, obtains the reference coordinate set of the reference position of rotary drilling rig；Second acquisition module 25, for obtaining rotary drilling rig
Work pattern, wherein, work pattern comprises at least：Digging operation, unload native operation and return middle operation；Processing module 27, for inciting somebody to action
The real-time coordinates set of rotary drilling rig Controlling model corresponding with work pattern with reference coordinate set substitution, generate for correcting
The corrected parameter of the operation action of rotary drilling rig, wherein, Controlling model is used to pass through real-time coordinates set and reference coordinate set,
Corrected parameter corresponding with work pattern is calculated.
Above-mentioned determining module 21, the first acquisition module 23, the second acquisition module 25, processing module 27 are obtained by positioner
The rotary drilling rig taken is compared in the reference coordinate set of reference position and the real-time coordinates set of the rotary drilling rig obtained, root
The corrected parameter to rotary drilling rig is determined according to work pattern.
Among practical application, the drill bit of rotary drilling rig is fixed in the upper-part rotation mechanism of rotary drilling rig, rotary drilling rig
Upper-part rotation mechanism be fixed on removable or fixed base.The horizontal level of the drill bit of rotary drilling rig is with upper-part rotation
The movement of mechanism and move.So the rotary shaft of upper-part rotation mechanism before digging operation, can be determined by positioner
The heart, so that it is determined that upper-part rotation mechanism rotate when drill bit movement locus.In digging operation, the controller of rotary drilling rig can be with
By reference coordinate set and the brill rotating shaft heart of upper-part rotation mechanism, drill bit is calculated when following upper-part rotation mechanism to rotate
The coordinate set of each point on drill bit motion track, and be further calculated drill bit being moved to required for reference position and revolve
The angle value or the path length value of required movement turned.In operation in returning, the controller of rotary drilling rig is according to getting on the bus back
Rotation mechanism needs the angle value rotated and upper-part rotation mechanism to need mobile path length value, generates corrected parameter.Generation
Corrected parameter directly can be showed on display in digital form.It can certainly be directly displayed by display by above-mentioned
The source location or the moving curve of upper-part rotation mechanism that corrected parameter is calculated.Further, can also be by aobvious
Show that device directly displays the virtual image for being used to prompt converted according to corrected parameter.
In summary, by the control method of the rotary drilling rig provided in above-described embodiment, solve in the prior art only
The bit location of rotary drilling rig is determined by angle calculation and obliquity sensor, the problem of caused Mining Quality is poor, and precision is low.
The purpose for ensureing construction quality, improving construction technology is reached.The accurate control to rotary drilling rig is realized, so as to improve rotary digging
The effect of the excavation precision of rig.
Optionally, in the above embodiments of the present application, when positioner includes five differential GPS terminals, in churning driven
The first differential GPS terminal is installed on the mast top of machine, and the second differential GPS is installed respectively in four corners of upper-part rotation mechanism
Terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal, wherein, the first acquisition module 23 wraps
Include：First sub- read module, the second sub- read module and subprocessing module.
Wherein, the first sub- read module, for reading the coordinate value of the first differential GPS terminal, mast top end is obtained
First coordinate；Second sub- read module, for reading the second differential GPS terminal, the 3rd differential GPS terminal, the 4th difference respectively
The coordinate value of GPS terminal and the 5th differential GPS terminal, obtain four corners of upper-part rotation mechanism the second coordinate, the 3rd
Coordinate, 4-coordinate and Five Axis；Subprocessing module, for being sat according to the first coordinate, the second coordinate, the 3rd coordinate, the 4th
Mark and Five Axis, obtain the reference coordinate set of rotary drilling rig.
Specifically, by the above-mentioned first sub- read module, the second sub- read module and subprocessing module, dug proceeding by
When digging operation, respectively the coordinate from the first differential GPS terminal on the mast top for being installed on rotary drilling rig, be installed on rotary drilling rig
The second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal of four corners of upper-part rotation mechanism obtain rotation
Coordinate value when rig starts digging operation is dug, forms coordinate set.And the coordinate set is arranged to reference coordinate set.
In actual applications, differential GPS base station can obtain the relative position information between differential GPS terminal, Er Qiejing
Spend high (grade).Therefore, it is controlled using differential GPS terminal-pair rotary drilling rig, positioning precision is high, can ensure to drill
The vertical degree and forming quality of shaping.
Optionally, in the above embodiments of the present application, processing module 27 includes：Sub- acquisition module, sub- comparing module, sub- meter
Calculate module and sub- generation module.
Wherein, sub- acquisition module, for whole by the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS
End, the 4th differential GPS terminal and the 5th differential GPS terminal gather the real-time coordinates set of rotary drilling rig in real time；Sub- comparing module,
For the real-time coordinates set of collection to be compared with reference coordinate set, comparison result is obtained；Sub- computing module, for root
According to comparison result, the coordinate difference of real-time coordinates set and reference coordinate set is calculated；Sub- generation module, for according to seat
Difference is marked, generates corrected parameter corresponding with work pattern.
Specifically, by above-mentioned sub- acquisition module, sub- comparing module, sub- computing module and sub- generation module, will be passed through
One differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS are whole
Hold the real-time coordinates set collected to be compared with reference coordinate, determine that real-time coordinates set is sat with benchmark according to comparison result
Mark the coordinate difference of set.For different work patterns, corrected parameter corresponding with work pattern is generated according to coordinate difference.
Optionally, in the above embodiments of the present application, as shown in fig. 11a, device also includes：First generation module 291.Its
In, the first generation module 291, for according to corrected parameter, generating the control instruction for controlling rotary drilling rig, wherein, rotary digging
The controller of rig according to control instruction, control rotary drilling rig according to corrected parameter perform corresponding to operation act.
Specifically, by above-mentioned first generation module 291, according to corrected parameter, generate and excavate drill control for controlling
The control instruction of device operation action.
Among practical application, illustrated by taking operation in returning as an example, when operation in excavating rig using automatic return, control
Device processed according to the control instruction received, drive angling cylinder, rotary drilling rig automatic rotary is arrived before bore position.
Because rotary drilling rig is during digging operation drilling shaping is carried out, the mast and drilling rod of rotary drilling rig will not be real
When adjustment angle, so if not considering the sedimentation on ground, then the upper-part rotation mechanism and mast of rotary drilling rig will be regarded as just
Property body, relative position therebetween will not be changed, and drilling rod is fixed on mast, will not also be changed.So when
In construction, the sedimentation (such as the angle in Fig. 8 is β) on the ground caused by digging operation will be directly reflected into admittedly rotary drilling rig
It is scheduled in the excavation angle of the drilling rod of mast.Therefore, when digging operation is performed in rotary drilling rig pore forming process, controller needs
The support cylinder of driving churning driven mast in time, control support cylinder action are timely by the drill bit being connected with drilling rod of churning driven
Angle value is excavated in ground amendment, and this angle value is the angle value β of surface subsidence, to ensure the vertical degree of mast, drilling rod and drill bit.Enter
One step, because the length value of mast is constant, and differential GPS terminal is assemblied in the top of mast, then mast is adjusting
During angle, the distance of the differential GPS terminal movement on its top can calculate.Therefore when adjusting mast angle, it is only necessary to
The coordinate of detection differential GPS terminal in real time, you can calculate the angle of mast rotation in real time according to the length of its coordinate and mast.
So by detecting in real time and correct the angle of inclination of mast, just can guarantee that mast and drill bit in the beginning of each digging operation and
It can be crept into vertically during progress and vertical pore-forming, the quality of guarantee operation pore-forming and vertical degree.
Optionally, in the above embodiments of the present application, as shown in figure 11b, device also includes：Second generation module 292.Its
In, the second generation module 292, for according to corrected parameter, generating prompt message.
Among practical application, illustrated by taking operation in returning as an example, when excavating rig using operation in returning manually, be
When system creeps into drill bit before automatic display over the display into hole site, while also display drill bit is bored when unloading native operation
The real time position of head.Driver after unloading native operation and completing, before manually operated Operation of Rotary Pile Drill is arrived into hole site
(reference position), at this moment display is by the position of real-time tracking drill bit, and with being carried out before into hole site (i.e. reference position)
Compare.Over the display can both real-time display simultaneously position, to prompt human pilot to carry out back the operation of middle operation.
It should be noted that for foregoing each method embodiment, in order to be briefly described, therefore it is all expressed as a series of
Combination of actions, but those skilled in the art should know, the present invention is not limited by described sequence of movement because
According to the present invention, some steps can use other orders or carry out simultaneously.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, and involved action and module are not necessarily of the invention
It is necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed device, can be by another way
Realize.For example, device embodiment described above is only schematical, such as the division of the unit, it is only one kind
Division of logic function, can there is an other dividing mode when actually realizing, such as multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.Another, shown or discussed is mutual
Coupling direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of device or unit,
Can be electrical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, mobile terminal, server or network equipment etc.) performs side described in each embodiment of the present invention
The all or part of step of method.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various to be stored
The medium of program code.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (14)
- A kind of 1. control method of rotary drilling rig, it is characterised in that including：The multiple positioning dress being laid in the rotary drilling rig Put, the positioner is established with the controller of the rotary drilling rig and electrically connected, and methods described includes：Determine the reference position of the rotary drilling rig；By the positioner, the reference coordinate set of the reference position of the rotary drilling rig is obtained；The work pattern of the rotary drilling rig is obtained, wherein, the work pattern comprises at least：Digging operation, unload native operation and Operation in returning；The real-time coordinates set of the rotary drilling rig is substituted into control corresponding with the work pattern with the reference coordinate set Simulation, the corrected parameter that the operation for correcting the rotary drilling rig acts is generated, wherein, the Controlling model is used to pass through Real-time coordinates set and the reference coordinate set, are calculated corrected parameter corresponding with the work pattern.
- 2. according to the method for claim 1, it is characterised in that when the positioner includes five differential GPS terminals, The first differential GPS terminal is installed on the mast top of the rotary drilling rig, pacified respectively in four corners of upper-part rotation mechanism The second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal are filled, wherein, pass through The positioner, the reference coordinate set of the reference position is obtained, including：The coordinate value of the first differential GPS terminal is read, obtains the first coordinate of the mast top end；The second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS are read respectively The coordinate value of terminal, obtain the second coordinate, the 3rd coordinate, 4-coordinate and of four corners of the upper-part rotation mechanism Five Axis；According to first coordinate, second coordinate, the 3rd coordinate, the 4-coordinate and the Five Axis, obtain To the reference coordinate set of the rotary drilling rig.
- 3. according to the method for claim 2, it is characterised in that by the real-time coordinates set of the rotary drilling rig and the base Quasi coordinates set substitutes into Controlling model corresponding with the work pattern, generates the operation for correcting the rotary drilling rig and acts Corrected parameter, including：Pass through the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the described 4th Differential GPS terminal and the 5th differential GPS terminal gather the real-time coordinates set of the rotary drilling rig in real time；The real-time coordinates set of collection is compared with the reference coordinate set, obtains comparison result；According to the comparison result, the coordinate difference of the real-time coordinates set and the reference coordinate set is calculated；According to the coordinate difference, the corrected parameter corresponding with the work pattern is generated.
- 4. according to the method for claim 3, it is characterised in that by the real-time coordinates set of the rotary drilling rig with it is described Reference coordinate set substitutes into Controlling model corresponding with the work pattern, generates the operation for correcting the rotary drilling rig and moves After the corrected parameter of work, methods described also includes：According to the corrected parameter, the control instruction for controlling the rotary drilling rig is generated, wherein, the control of the rotary drilling rig Device processed controls the rotary drilling rig to be acted according to the operation corresponding to corrected parameter execution according to the control instruction.
- 5. according to the method for claim 3, it is characterised in that by the real-time coordinates set of the rotary drilling rig with it is described Reference coordinate set substitutes into Controlling model corresponding with the work pattern, generates the operation for correcting the rotary drilling rig and moves After the corrected parameter of work, methods described also includes：According to the corrected parameter, prompt message is generated.
- 6. a kind of control system of rotary drilling rig, it is characterised in that the system includes：Positioner；Controller, establish and electrically connect with the positioner, determine the reference position of rotary drilling rig；By the positioner, Obtain the reference coordinate set of the reference position；The work pattern of the rotary drilling rig is obtained, wherein, the work pattern is extremely Include less：Digging operation, unload native operation and return middle operation；By the real-time coordinates set of the rotary drilling rig and the reference coordinate Set substitutes into Controlling model corresponding with the work pattern, generates the amendment that the operation for correcting the rotary drilling rig acts Parameter, wherein, the Controlling model is used to pass through real-time coordinates set and the reference coordinate set, is calculated and the work Corrected parameter corresponding to industry pattern；Display, establish and electrically connect with the controller.
- 7. system according to claim 6, it is characterised in that the positioner includes：Differential GPS base station, outside the rotary drilling rig；At least four differential GPS terminals, communication connection is established with the differential GPS base station and the controller respectively, wherein, The mast top of the rotary drilling rig installs a differential GPS terminal, in the upper-part rotation mechanism of the rotary drilling rig At least three differential GPS terminals of upper installation.
- 8. system according to claim 7, it is characterised in that the system also includes：Angling cylinder, establish and electrically connect with the controller.
- 9. system according to claim 8, it is characterised in that the system also includes：Amplitude oil cylinder, establish and electrically connect with the controller；Support cylinder, establish and electrically connect with the controller.
- A kind of 10. control device of rotary drilling rig, it is characterised in that including：The multiple positioning being laid in the rotary drilling rig Device, the positioner are established with the controller of the rotary drilling rig and electrically connected, and described device includes：Determining module, for determining the reference position of the rotary drilling rig；First acquisition module, for by the positioner, obtaining the reference coordinate collection of the reference position of the rotary drilling rig Close；Second acquisition module, for obtaining the work pattern of the rotary drilling rig, wherein, the work pattern comprises at least：Dig Pick operation, unload native operation and return middle operation；Processing module, for the real-time coordinates set of the rotary drilling rig and the reference coordinate set to be substituted into and the operation Controlling model corresponding to pattern, the corrected parameter that the operation for correcting the rotary drilling rig acts is generated, wherein, the control Model is used to pass through real-time coordinates set and the reference coordinate set, and amendment ginseng corresponding with the work pattern is calculated Number.
- 11. device according to claim 10, it is characterised in that when the positioner includes five differential GPS terminals When, the first differential GPS terminal is installed on the mast top of the rotary drilling rig, distinguished in four corners of upper-part rotation mechanism Second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal are installed, wherein, institute Stating the first acquisition module includes：First sub- read module, for reading the coordinate value of the first differential GPS terminal, obtain the of the mast top end One coordinate；Second sub- read module, for reading the second differential GPS terminal, the 3rd differential GPS terminal, the 4th difference respectively The coordinate value of GPS terminal and the 5th differential GPS terminal, obtain four corners of the upper-part rotation mechanism the second coordinate, 3rd coordinate, 4-coordinate and Five Axis；Subprocessing module, for according to first coordinate, second coordinate, the 3rd coordinate, the 4-coordinate and The Five Axis, obtain the reference coordinate set of the rotary drilling rig.
- 12. device according to claim 11, it is characterised in that the processing module includes：Sub- acquisition module, for passing through the first differential GPS terminal, the second differential GPS terminal, the 3rd difference GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal gather the real-time seat of the rotary drilling rig in real time Mark set；Sub- comparing module, for the real-time coordinates set of collection to be compared with the reference coordinate set, obtain comparing knot Fruit；Sub- computing module, for according to the comparison result, the real-time coordinates set and the reference coordinate collection to be calculated The coordinate difference of conjunction；Sub- generation module, for according to the coordinate difference, generating the corrected parameter corresponding with the work pattern.
- 13. device according to claim 12, it is characterised in that described device also includes：First generation module, for according to the corrected parameter, generating the control instruction for controlling the rotary drilling rig, its In, the controller of the rotary drilling rig controls the rotary drilling rig to be performed according to the corrected parameter according to the control instruction The corresponding operation action.
- 14. device according to claim 12, it is characterised in that described device also includes：Second generation module, for according to the corrected parameter, generating prompt message.
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| CN107558989B (en) * | 2017-10-19 | 2020-12-22 | 上海中联重科桩工机械有限公司 | Intelligent control device of rotary drilling rig, intelligent control method and system of rotary drilling rig |
| CN107558988B (en) * | 2017-10-19 | 2021-01-12 | 上海中联重科桩工机械有限公司 | Intelligent control device of rotary drilling rig, intelligent control method and system of rotary drilling rig |
| CN108487922A (en) * | 2018-02-11 | 2018-09-04 | 北京新能正源智能装备有限公司 | Positioning system for jumbolter |
| CN110541699B (en) * | 2019-07-08 | 2023-02-28 | 山东四维卓识信息技术有限公司 | Rotary excavating construction method and system for engineering and storage medium |
| CN111577239B (en) * | 2020-05-09 | 2023-12-29 | 新疆雪峰科技(集团)股份有限公司 | GPS/BD-based multi-source fusion mine drilling operation monitoring system and monitoring method |
| CN112253083B (en) * | 2020-10-23 | 2023-06-02 | 中煤科工集团重庆研究院有限公司 | Automatic positioning device and method for drilling |
| CN112377097B (en) * | 2020-11-11 | 2022-06-24 | 苏州星恒通导航技术有限公司 | Device with auxiliary drilling, fixed-point and lofting functions and fixed-point method thereof |
| CN115584960B (en) * | 2022-10-13 | 2024-01-30 | 徐州徐工基础工程机械有限公司 | Control method and system for fixed-point automatic operation of rotary drilling rig |
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