CN111536954A - Drilling position positioning system and positioning method of drilling machine - Google Patents
Drilling position positioning system and positioning method of drilling machine Download PDFInfo
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- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
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Abstract
The invention discloses a drilling machine drilling position positioning system and a drilling machine drilling position positioning method, wherein the system comprises a positioning laser unit, a centering laser unit, a first laser position detection unit, a second laser position detection unit, an inclination angle detection unit and a display unit; the positioning laser unit is used for determining the position of the hole opening point on the working surface and emitting a positioning laser beam to the rear end face of the large arm; the first laser position detection unit is arranged on the rear end face and used for detecting and positioning the position of a light spot of a laser beam on the rear end face; the centering laser unit is arranged on the large arm and used for emitting a centering laser beam to the opening point; the second laser position detection unit is arranged on the working surface and used for detecting the position of the light spot of the centering laser beam on the working surface; the inclination angle detection unit is arranged on the large arm and used for detecting the inclination angle value of the large arm; the display unit is respectively connected with each unit and used for displaying the positioning information. The invention has the advantages of simple structure, high positioning precision, high automation level, high positioning efficiency and the like.
Description
Technical Field
The invention mainly relates to the technical field of drilling machines, in particular to a drilling machine drilling position positioning system and a drilling machine drilling position positioning method.
Background
The deep hole drilling machine is mainly used for various anchoring and supporting operations, and the positioning precision and the positioning speed of the hole drilling position directly relate to the hole drilling quality and the hole drilling efficiency. In the process of determining the initial hole position of the deep hole drilling machine during drilling, the positioning errors mainly comprise horizontal and vertical translation errors and rotation errors. The hole opening position accuracy is mainly affected by the translation error, and the hole skewness is mainly affected by the rotation angle error, as shown in fig. 1.
In FIG. 1,. DELTA.yeTranslation error expressed as horizontal direction; Δ zeExpressed as a translation error in the vertical direction, Δ αeExpressed as the rotation angle error in the horizontal direction, Δ βeRotation angle error expressed as vertical direction; where O1 is the design aperture center, O2 is the actual aperture center, and O is the positioning laser position. The translational error mainly affects the hole opening position and the hole deflection precision, and the error caused by the translational error can be expressed as:
the rotation angle error mainly affects the hole deflection accuracy, and the error caused by the rotation angle error can be expressed as
D in formulae (1) and (2)eIndicating the hole deflection error and L the hole length. The analysis result shows that the positioning precision of the drilling position of the drilling machine is improved, and the hole drilling position error and the lifting hole deflection precision can be effectively reduced.
The current drilling machine hole opening position positioning mode is to ensure that the drilling machine hole opening position positioning mode is consistent with the axis of a light beam emitted by a positioning laser through adjusting the position and the posture of a central shaft of a drill rod. The position of the central axis of the drill rod is mainly determined by accurately pointing a centering laser to the position of a rock wall target point, which is arranged at the center of a drill rod fixture, and the posture positioning is mainly determined by measuring the horizontal angle of the large arm of the drill boom and positioning the light beam of the laser to align the central line of the rear end of the large arm of the drill boom. Whether the central shaft of the existing drill rod points to the target point and whether the positioning laser beam is aligned with the central line of the rear end of the large arm of the drilling machine is generally judged according to human eyes, so that a large error exists, the average position error is estimated preliminarily to be about dozens of millimeters, the angle error is not lower than 0.05 degrees, and the comprehensive positioning error is large. In addition, the positioning method requires that the drilling machine operator and the target sighting staff have good cooperativity, the requirement on the experience and skill of the staff is high, the positioning time is long, and the drilling efficiency is not favorably improved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a drilling machine drilling position positioning system and a drilling machine drilling position positioning method which are simple in structure, high in positioning accuracy, high in automation level and high in positioning efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a drilling position positioning system of a drilling machine comprises a positioning laser unit, a centering laser unit, a first laser position detection unit, a second laser position detection unit, an inclination angle detection unit and a display unit;
the positioning laser unit is used for determining the position of the hole opening point on the working surface and emitting a positioning laser beam to the rear end face of the large arm of the drilling machine;
the first laser position detection unit is arranged on the rear end face of a large arm of the drilling machine and used for detecting the position of a light spot of the positioning laser beam on the rear end face;
the centering laser unit is arranged on a large arm of the drilling machine and is used for emitting a centering laser beam to the hole opening point;
the second laser position detection unit is arranged on the working surface and used for detecting the position of the light spot of the centering laser beam on the working surface;
the inclination angle detection unit is arranged on a large arm of the drilling machine and is used for detecting an inclination angle value of the large arm;
the display unit is respectively connected with the first laser position detection unit, the second laser position detection unit and the inclination angle detection unit and is used for displaying positioning information, and the positioning information comprises the spot position of the positioning laser beam, the spot position of the centering laser beam and the inclination angle value of the upper arm.
As a further improvement of the above technical solution:
the centering laser unit comprises a centering laser, a sleeve, an end cover, a battery and an adjusting assembly; a shaft hole penetrating along the axis direction is formed in the sleeve; the centering laser is arranged at one end of the shaft hole; the battery is embedded into the end cover and used for providing power for the centering laser; the end cover is positioned at one end of the sleeve pipe, which is provided with the centering laser; the adjusting component is arranged at one end, close to the centering laser, of the sleeve and used for adjusting the coaxiality of the centering laser and the sleeve.
The adjusting assembly comprises a plurality of groups of adjusting screws, and the groups of adjusting screws are sequentially arranged along the axial direction of the sleeve; each group of adjusting screws comprises a plurality of adjusting screws which are distributed in the circumferential direction of the sleeve and extend into the shaft hole.
The calibration unit is used for calibrating the coaxiality between the sleeve and the centering laser.
The calibration unit comprises a beam expander and a calibration target, the beam expander is used for amplifying the centering laser beam emitted by the centering laser, and the calibration target is used for measuring the spot diameter of the amplified centering laser beam for calibration.
The positioning laser unit and the centering laser unit are both lasers; the first laser position detection unit and the second laser position detection unit are both two-dimensional plane laser position detectors; the inclination angle detection unit is an inclination angle sensor; the display unit is a display.
The invention also discloses a positioning method based on the drilling machine drilling position positioning system, which comprises the following steps:
1) positioning the position of the open hole point: the positioning laser unit emits positioning laser beams to the working surface to determine the position of the hole opening point A on the working surface;
2) acquiring the position of a spot of a positioning laser beam of a positioning laser unit on a working surface: installing a second laser position detection unit at the position of the hole opening point A, enabling the light spot of the positioning laser beam of the positioning laser unit to fall into the detection center position of the second laser position detection unit, and recording the position measurement value of the light spot of the positioning laser beam in the detection plane of the second laser position detection unit;
3) roughly aligning the centering laser unit with the position of the opening hole: a centering laser unit is arranged on the large arm of the drilling machine, the vertical, the left and the right positions and the swing angle of the large arm of the drilling machine are adjusted, and the fact that the light spot of the centering laser beam of the centering laser unit falls on the detection plane of the second laser position detection unit is ensured;
4) coarse alignment of the position of a large arm of the drilling machine: a first laser position detection unit is arranged at a central position B of the rear end surface of the large arm of the drilling machine; the top angle of a positioning laser beam of the positioning laser unit is adjusted downwards, and the vertical, horizontal and swing angles of the large arm of the drilling machine are adjusted at the same time, so that the light spot of the positioning laser beam of the positioning laser unit is ensured to fall into the detection plane of the first laser position detection unit, and the light spot of the centering laser beam of the centering laser unit falls into the detection plane of the second laser position detection unit;
5) the position of the large arm of the drilling machine is precisely aligned: according to the positioning information displayed on the display unit, finely adjusting the up-down, left-right and swing angles of the large arm of the drilling machine to enable all the positioning information to be within a preset threshold value, and completing the positioning of the drilling position of the drilling machine; the positioning information comprises the spot position of the positioning laser beam, the spot position of the centering laser beam and the inclination angle value of the large arm.
As a further improvement of the above technical solution:
in step 5), the determination process of the positioning information within the preset threshold is as follows:
the measured value of the inclination angle detection unit is smaller than a preset value;
the error between the spot position value of the centering laser beam and the position measurement value in the step 2) is smaller than a preset error value;
and the deviation value of the spot position of the positioning laser beam in the left and right directions is smaller than the preset deviation value.
The preset measurement is 0.02 °; the preset error value and the preset deviation value are both 2-8 mm.
The method also comprises a calibration method of the centering laser unit, which comprises the following steps: and adjusting the position of the centering laser beam emitted by the centering laser unit, so that the diameter of the spot of the centering laser beam falling into the scale target is in a preset range after the centering laser beam is amplified by the beam expander, and judging that the calibration is qualified.
Compared with the prior art, the invention has the advantages that:
according to the drilling machine drilling hole position positioning system and the positioning method, the first laser position detection unit is used for automatically detecting the light spot position of the positioning laser beam, the second laser position detection unit is used for automatically detecting the light spot position of the centering laser beam, the inclination angle detection unit is used for automatically detecting the inclination angle value of the boom, and the display unit is matched to display the positioning information in real time, so that the indication of target aiming personnel is not needed, the cooperativity requirement between the drilling machine boom control personnel and the target aiming personnel is reduced, the automation level of the whole positioning process is improved, the positioning efficiency is improved, the positioning time is greatly saved, the positioning accuracy of the drilling machine drilling hole position is improved, and the drilling construction period is shortened and the hole forming quality is improved integrally; in addition, the whole structure is simple, the required auxiliary materials are few, and the equipment and labor cost is low.
The positioning method based on the drilling machine drilling position positioning system has the advantages of the positioning system, and the whole operation process is simple, so that the positioning time is further saved, and the positioning efficiency is further improved.
According to the drilling position positioning system and the positioning method of the drilling machine, when the centering laser is adjusted, the integral translation and the angle adjustment of the centering laser can be realized through the tightness adjustment of each group of adjusting screws; the adjusting assembly is simple in overall structure, easy and convenient to operate and easy to realize, sufficient adjusting precision can be guaranteed, the installation reliability of the adjusted alignment laser can be guaranteed in a multi-group adjusting screw mode, and the influence of looseness on subsequent positioning is avoided.
According to the drilling position positioning method of the drilling machine, before positioning, the consistency of the optical axis of the centering laser and the axis of the sleeve is calibrated by the calibration method of the centering laser unit, so that the subsequent positioning precision is further improved.
Drawings
Fig. 1 is a schematic diagram illustrating a positioning error of a drilling hole in the prior art.
Fig. 2 is a diagram of an embodiment of the positioning system of the present invention in a specific application.
FIG. 3 is a cross-sectional view of a centered laser unit of an embodiment of the present invention.
FIG. 4 is a side view of an embodiment of an adjustment assembly of the present invention.
Fig. 5 is a schematic structural diagram of a calibration unit according to an embodiment of the present invention.
Fig. 6 is a schematic view of the positioning system of the present invention in step 1).
Fig. 7 is a schematic view of the positioning system of the present invention in step 2).
Fig. 8 is a schematic view of the positioning system of the present invention in step 3).
Fig. 9 is a schematic view of the positioning system of the present invention in step 4).
Fig. 10 is a schematic view of the positioning system of the present invention in step 5).
Fig. 11 is a flowchart of a positioning method according to an embodiment of the present invention.
The reference numbers in the figures denote: 1. positioning a laser unit; 2. a centering laser unit; 201. a centering laser; 202. a sleeve; 2021. a shaft hole; 203. an end cap; 204. a battery; 205. an adjustment assembly; 2051. adjusting the screw; 3. a first laser position detection unit; 4. a second laser position detection unit; 5. an inclination angle detection unit; 6. a display unit; 7. a calibration unit; 701. a beam expander; 702. a calibration target; 8. a large arm.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 2, the drilling machine drilling position positioning system of the present embodiment includes a positioning laser unit 1, a centering laser unit 2, a first laser position detection unit 3, a second laser position detection unit 4, an inclination angle detection unit 5 and a display unit 6;
the positioning laser unit 1 is used for determining the position of an opening point A on a working surface (a square frame where the point A is located in figure 2) and emitting a positioning laser beam to the rear end face of a large arm 8 of the drilling machine;
the first laser position detection unit 3 is arranged on the rear end face of a large arm 8 of the drilling machine and used for detecting and positioning the position of a light spot of a laser beam on the rear end face;
the centering laser unit 2 is arranged on a large arm 8 of the drilling machine and used for emitting a centering laser beam to the opening point;
the second laser position detection unit 4 is arranged on the working surface and used for detecting the position of the light spot of the centering laser beam on the working surface;
the inclination angle detection unit 5 is arranged on a large arm 8 of the drilling machine and is used for detecting the inclination angle value of the large arm 8 (such as the included angle between the front and back directions of the large arm 8 and the horizontal direction);
and the display unit 6 is respectively connected with the first laser position detection unit 3, the second laser position detection unit 4 and the inclination angle detection unit 5 and is used for displaying positioning information, and the positioning information comprises one or more of the spot position of the positioning laser beam, the spot position of the centering laser beam and the inclination angle value of the upper arm 8.
According to the drilling machine drilling hole position positioning system, the first laser position detection unit 3 is used for automatically detecting the light spot position of the positioning laser beam, the second laser position detection unit 4 is used for automatically detecting the light spot position of the centering laser beam, the inclination angle detection unit 5 is used for automatically detecting the inclination angle value of the large arm 8, and the display unit 6 is matched to display the positioning information in real time, so that the indication of a target aiming person is not needed, the cooperativity requirement between an operator and a target aiming person of the large arm 8 of the drilling machine is reduced, the automation level of the whole positioning process is improved, the positioning efficiency is improved, the positioning time is greatly saved, the positioning accuracy of the drilling machine drilling hole position is improved, and the drilling construction period is shortened and the hole forming quality is improved integrally; in addition, the whole structure is simple, the required auxiliary materials are few, and the equipment and labor cost is low.
In this embodiment, the centering laser unit 2 includes a centering laser 201, a sleeve 202, an end cap 203, a battery 204 (such as a lithium battery), and an adjusting assembly 205; a shaft hole 2021 penetrating along the axial direction is arranged in the sleeve 202; the centering laser 201 is installed at one end of the shaft hole 2021, wherein the other end of the shaft hole 2021 is a fine hole; a battery 204 is embedded in the end cover 203 for providing power for the center laser 201; the end cover 203 is located at one end of the sleeve 202 where the centering laser 201 is installed, and is fixed on the end face of the sleeve 202 through a fastener such as a screw; the adjusting assembly 205 is installed on the casing 202 near one end of the centering laser 201 for adjusting the coaxiality of the centering laser 201 and the casing 202. Specifically, the adjustment assembly 205 includes a plurality of sets of adjustment screws 2051, each set of adjustment screws 2051 being arranged in sequence along the axial direction of the sleeve 202; each set of adjusting screws 2051 includes a plurality of adjusting screws 2051 distributed in the circumferential direction of the sleeve 202 and extending into the shaft hole 2021, wherein the adjusting screws 2051 of the same set are located in the same plane, thereby ensuring convenience of adjustment. Specifically, the number of the adjusting screws 2051 in this embodiment is two, and the number of each group of adjusting screws 2051 is four, and the adjusting screws 2051 are uniformly distributed in the circumferential direction of the sleeve 202, so that when adjusting, the overall translation and angle adjustment of the heart laser 201 can be realized through the tightness adjustment of each group of adjusting screws 2051; the adjusting assembly 205 is simple in overall structure, easy and convenient to operate and easy to implement, and can ensure sufficient adjusting precision, and in addition, the installation reliability of the adjusted alignment laser 201 can be ensured by means of a plurality of groups of adjusting screws 2051, so that the influence of looseness of the alignment laser on subsequent positioning is avoided. Of course, in other embodiments, the adjusting screws 2051 may be in one group, three groups or more, and the adjusting screws 2051 of each group may also be three, five or more, wherein the adjusting screws 2051 may also be replaced by bolts or the like.
Wherein the function of the centering laser 201 is to calibrate the central axis of the drill rod (i.e. the large arm 8) of the drilling machine during the positioning of the drilling position of the drilling machine. The sleeve 202 of the centering laser unit 2 is arranged at the central hole of the drill rod fixture, and the axial lead of the sleeve 202 is the axial lead of the drill rod without considering the installation error between the sleeve 202 and the central hole of the fixture, so the coaxiality error between the optical axis of the centering laser 201 and the axial lead of the sleeve 202 needs to be kept in a minimum range. In order to ensure the coaxiality between the optical axis of the centering laser 201 and the axis of the sleeve 202, the coaxiality between the sleeve 202 and the centering laser 201 needs to be calibrated through the calibration unit 7. Specifically, as shown in fig. 5, the calibration unit 7 includes a beam expander 701 and a calibration target 702, the beam expander 701 is configured to amplify the centering laser beam emitted by the centering laser 201, and the calibration target 702 is configured to measure a spot diameter of the amplified centering laser beam for calibration.
In this embodiment, the positioning laser unit 1 and the centering laser unit 2 are both lasers; the first laser position detection unit 3 and the second laser position detection unit 4 are both two-dimensional plane laser position detectors; the first laser position detection unit 3 is arranged at the position of a central axis of the large arm 8 of the drilling machine far away from the operation end (namely the rear end face), and the detection central point of the first laser position detection unit is kept on the vertical axis of the rear end face of the large arm 8 as far as possible; the second laser position detection unit 4 is arranged at the center of the rock wall drilling hole, and the detection surface of the second laser position detection unit is kept vertical to the horizontal axis as much as possible; the measurement precision of the first laser position detection unit 3 and the second laser position detection unit 4 is better than 1mm, and the measurement range is larger than 25 mm; the inclination angle detection unit 5 is an inclination angle sensor, wherein the horizontal measurement axis of the inclination angle sensor is parallel to the horizontal axis of the large arm 8 of the drilling machine, the inclination angle sensor needs to be calibrated before use, and the measurement precision is better than 0.01 degree; the display unit 6 is a display (e.g., a handheld tablet) and is connected to each unit in a wireless manner.
As shown in FIG. 11, the invention also discloses a positioning method based on the drilling position positioning system of the drilling machine, which comprises the following steps:
1) positioning the position of the open hole point: the positioning laser unit 1 emits a positioning laser beam to the working surface to determine the position of the hole opening point a on the working surface, as shown in fig. 6;
2) acquiring the position of the spot of the positioning laser beam of the positioning laser unit 1 on the working surface: mounting a second laser position detection unit 4 (PSD 2 in each figure) at the position of the hole opening point a, making the spot of the positioning laser beam of the positioning laser unit 1 fall into the detection center position of the second laser position detection unit 4, and recording the position measurement value of the spot of the positioning laser beam in the detection plane of the second laser position detection unit 4, as shown in fig. 7;
3) roughly aligning the centering laser unit 2 with the position of the opening: the centering laser unit 2 is arranged on the drilling machine large arm 8, the vertical, horizontal and swing angles of the drilling machine large arm 8 are adjusted, and the fact that the light spot of the centering laser beam of the centering laser unit 2 falls on the detection plane of the second laser position detection unit 4 is ensured, as shown in fig. 8;
4) coarse alignment of the position of the large arm 8 of the drilling machine: a first laser position detection unit 3 (PSD 1 in the figures) is mounted at a central position B of the rear end surface of the drill boom 8; the vertex angle of the positioning laser beam of the positioning laser unit 1 is adjusted downwards, and the vertical, horizontal and swing angles of the large arm 8 of the drilling machine are adjusted at the same time, so that the light spot of the positioning laser beam of the positioning laser unit 1 is ensured to fall into the detection plane of the first laser position detection unit 3, and the light spot of the centering laser beam of the centering laser unit 2 falls into the detection plane of the second laser position detection unit 4, as shown in fig. 9;
5) the position of the large arm 8 of the drilling machine is precisely aligned: according to the positioning information displayed on the display unit 6, the up-down, left-right and swing angles of the large arm 8 of the drilling machine are finely adjusted, so that the positioning information is within a preset threshold value, and the drilling position positioning of the drilling machine is completed; the positioning information includes the spot position of the positioning laser beam, the spot position of the centering laser beam, and the tilt angle value of the boom 8, as shown in fig. 10.
In this embodiment, in step 5), the determination process of the positioning information within the preset threshold is as follows: the measured value of the inclination angle detection unit 5 is smaller than a preset value; the error between the spot position value of the centering laser beam and the position measurement value in the step 2) is smaller than a preset error value; and the deviation value of the spot position of the positioning laser beam in the left and right directions is smaller than the preset deviation value. Specifically, the preset value is 0.02 °, and the preset error value and the preset deviation value are both 5 mm. Of course, the preset value, the preset error value and the preset deviation value can be selected within a certain range according to the actual application scene.
The positioning method based on the drilling machine drilling position positioning system has the advantages of the positioning system, and the whole operation process is simple, so that the positioning time is further saved, and the positioning efficiency is further improved.
In this embodiment, the method further includes a calibration method for the centering laser unit 2, which is used to calibrate the consistency between the optical axis of the centering laser 201 and the axis of the sleeve 202, so as to ensure the accuracy of subsequent positioning. Particularly, the optical axis of the centering laser 201 is adjusted to ensure that the centering laser has better consistency with the axial direction of the sleeve 202. Specifically, as shown in fig. 5, the y and z directions of the optical axis of the heart laser 201 in the plane perpendicular to the x direction of the optical axis can be translated and angularly rotated by adjusting the tightness of two rows of adjusting screws 2051. When the light beam of the centering laser 201 completely passes through the shaft hole 2021 of the sleeve 202, the optical axis is roughly adjusted; and then amplifying the centering laser beam passing through the shaft hole 2021 by using a beam expander 701 and then enabling the centering laser beam to fall onto a scale target 702, and if the diameter of a light spot of the centering laser beam is within the range of 4-5 mm, determining that the calibration is qualified, wherein the initial diameter of the centering laser beam is 0.5mm, the beam expander 701 is a 10-time laser beam expander 701, and the scale target 702 is a millimeter scale target 702. Certainly, in order to reduce the calibration error, on one hand, in the calibration process, the alignment laser beam passes through the beam expander 701 along the horizontal direction and falls on the millimeter scale target 702 through the adjustment sleeve 202, the beam expander 701 and the scale target 702 on the same horizontal straight line, and at this time, the measurement surfaces of the beam expander 701 and the millimeter scale target 702 are perpendicular to the alignment laser beam direction; on the other hand, the calibration environment is indoor, no light or weak illumination intensity, and the environmental temperature is in the range of 20-25 ℃.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A drilling position positioning system of a drilling machine is characterized by comprising a positioning laser unit (1), a centering laser unit (2), a first laser position detection unit (3), a second laser position detection unit (4), an inclination angle detection unit (5) and a display unit (6);
the positioning laser unit (1) is used for determining the position of a hole opening point on a working surface and emitting a positioning laser beam to the rear end face of a large arm (8) of the drilling machine;
the first laser position detection unit (3) is arranged on the rear end face of a large arm (8) of the drilling machine and is used for detecting the position of a light spot of the positioning laser beam on the rear end face;
the centering laser unit (2) is arranged on a large arm (8) of the drilling machine and is used for emitting a centering laser beam to the opening point;
the second laser position detection unit (4) is arranged on the working surface and used for detecting the position of the light spot of the centering laser beam on the working surface;
the inclination angle detection unit (5) is arranged on a large arm (8) of the drilling machine and is used for detecting the inclination angle value of the large arm (8);
the display unit (6) is respectively connected with the first laser position detection unit (3), the second laser position detection unit (4) and the inclination angle detection unit (5) and is used for displaying positioning information, and the positioning information comprises a spot position of the positioning laser beam, a spot position of the centering laser beam and an inclination angle value of the large arm (8).
2. The rig drilling position locating system of claim 1, wherein the centering laser unit (2) comprises a centering laser (201), a sleeve (202), an end cap (203), a battery (204), and an adjustment assembly (205); a shaft hole (2021) penetrating along the axial direction is arranged in the sleeve (202); the centering laser (201) is arranged at one end of the shaft hole (2021); the battery (204) is embedded in the end cover (203) and is used for providing power for the centering laser (201); the end cover (203) is positioned at one end of the sleeve (202) where the centering laser (201) is installed; the adjusting assembly (205) is mounted at one end of the casing (202) close to the centering laser (201) and used for adjusting the coaxiality of the centering laser (201) and the casing (202).
3. The drill drilling position locating system of claim 2, wherein the adjustment assembly (205) comprises a plurality of sets of adjustment screws (2051), each set of adjustment screws (2051) being arranged in series along an axial direction of the sleeve (202); each group of adjusting screws (2051) comprises a plurality of adjusting screws (2051) which are distributed in the circumferential direction of the sleeve (202) and extend into the shaft hole (2021).
4. The drilling rig drilling position locating system of claim 3, further comprising a calibration unit (7) for calibrating the coaxiality between the casing (202) and the centering laser (201).
5. The drilling rig drilling position locating system of claim 4, characterized in that the calibration unit (7) comprises a beam expander (701) and a calibration target (702), the beam expander (701) is used for amplifying the centering laser beam emitted by the centering laser (201), and the calibration target (702) is used for measuring the spot diameter of the amplified centering laser beam for calibration.
6. The drilling machine drilling position positioning system according to any one of claims 1-5, characterized in that the positioning laser unit (1) and the centering laser unit (2) are both lasers; the first laser position detection unit (3) and the second laser position detection unit (4) are both two-dimensional plane laser position detectors; the inclination angle detection unit (5) is an inclination angle sensor; the display unit (6) is a display.
7. A positioning method based on the drilling machine drilling position positioning system of any one of claims 1-6, characterized by comprising the following steps:
1) positioning the position of the open hole point: the positioning laser unit (1) emits positioning laser beams to the working surface to determine the position of the hole opening point A on the working surface;
2) acquiring the position of a spot of a positioning laser beam of a positioning laser unit (1) on a working surface: a second laser position detection unit (4) is arranged at the position of the hole opening point A, so that the light spot of the positioning laser beam of the positioning laser unit (1) falls into the detection center position of the second laser position detection unit (4), and the position measurement value of the light spot of the positioning laser beam in the detection plane of the second laser position detection unit (4) is recorded;
3) roughly aligning the centering laser unit (2) with the position of the opening hole: a centering laser unit (2) is arranged on a drilling machine large arm (8), the vertical, horizontal and swing angles of the drilling machine large arm (8) are adjusted, and the fact that the light spot of a centering laser beam of the centering laser unit (2) falls on the detection plane of a second laser position detection unit (4) is ensured;
4) coarse alignment of the position of a large arm (8) of the drilling machine: a first laser position detection unit (3) is arranged at a central position B of the rear end surface of a large arm (8) of the drilling machine; the vertex angle of the positioning laser beam of the positioning laser unit (1) is adjusted downwards, and the vertical, horizontal and swing angles of the large arm (8) of the drilling machine are adjusted at the same time, so that the light spot of the positioning laser beam of the positioning laser unit (1) is ensured to fall into the detection plane of the first laser position detection unit (3), and the light spot of the centering laser beam of the centering laser unit (2) falls into the detection plane of the second laser position detection unit (4);
5) the position of the large arm (8) of the drilling machine is precisely aligned: according to the positioning information displayed on the display unit (6), the vertical, horizontal and swing angles of the large arm (8) of the drilling machine are finely adjusted, so that the positioning information is within a preset threshold value, and the drilling position positioning of the drilling machine is completed; the positioning information comprises the spot position of the positioning laser beam, the spot position of the centering laser beam and the inclination angle value of the large arm (8).
8. The method according to claim 7, wherein in step 5), the determination process of the positioning information within the preset threshold is as follows:
the measured value of the inclination angle detection unit (5) is smaller than a preset value;
the error between the spot position value of the centering laser beam and the position measurement value in the step 2) is smaller than a preset error value;
and the deviation value of the spot position of the positioning laser beam in the left and right directions is smaller than the preset deviation value.
9. The positioning method according to claim 8, characterized in that said preset measurement value is 0.02 °; the preset error value and the preset deviation value are both 2-8 mm.
10. The positioning method according to any one of claims 7 to 9, further comprising a calibration method for the centering laser unit (2), specifically: and adjusting the position of the centering laser beam emitted by the centering laser unit (2), so that the centering laser beam is amplified by the beam expander (701), and the spot diameter of the centering laser beam falling into the scale target (702) is in a preset range, and then the calibration is judged to be qualified.
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