CN112377097A - Device with auxiliary drilling, fixed-point and lofting functions and fixed-point method thereof - Google Patents

Device with auxiliary drilling, fixed-point and lofting functions and fixed-point method thereof Download PDF

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Publication number
CN112377097A
CN112377097A CN202011253504.6A CN202011253504A CN112377097A CN 112377097 A CN112377097 A CN 112377097A CN 202011253504 A CN202011253504 A CN 202011253504A CN 112377097 A CN112377097 A CN 112377097A
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point
rotary drilling
angle
drilling rig
coordinate
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CN112377097B (en
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种保中
韩友东
宋祥斌
胡华
马龙
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Suzhou Xinghengtong Navigation Technology Co ltd
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Suzhou Xinghengtong Navigation Technology Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

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  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
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  • General Physics & Mathematics (AREA)
  • Earth Drilling (AREA)

Abstract

The invention discloses a device with an auxiliary drilling, fixed-point lofting function and a fixed-point method thereof, and belongs to the technical field of rotary drilling rigs, wherein the rotary drilling rig comprises a rotary drilling rig body main body, the rotary drilling rig body main body comprises a vehicle-mounted chassis and a rotary drilling rig cab, the vehicle-mounted chassis is provided with a rotary drilling rig walking mechanism, the rotary drilling rig walking mechanism is arranged above the rotary drilling rig walking mechanism, the rotary drilling rig cab is arranged above the vehicle-mounted chassis, and a positioning antenna and a directional antenna are; the first angle sensor is arranged on the vehicle-mounted chassis and used for detecting a first pitch angle eta and a first roll angle v between the rotary drilling rig body main body and the horizontal ground. The equipment and the method provided by the invention can improve the intuition, accuracy and high efficiency of drilling operation, overcome the problems of difficult visual inspection in daytime or at night and the like, can enable a rotary drilling operator to quickly and accurately align the drill bit to the region to be drilled, and have the advantages of time saving, labor saving and high practical value.

Description

Device with auxiliary drilling, fixed-point and lofting functions and fixed-point method thereof
Technical Field
The invention relates to the technical field of rotary drilling, in particular to a device with an auxiliary drilling and fixed-point lofting function and a fixed-point method thereof.
Background
The rotary drill is a construction process suitable for hole forming operation in building foundation engineering, is widely applied to foundation construction engineering such as municipal construction, highway bridges, high-rise buildings and the like, and is suitable for hole forming operation of dry (short spiral) or wet (rotary bucket) and rock strata (core drill) by matching with different drilling tools.
The current rotary drilling rig needs to align the drill bit to the region where the hole to be excavated before excavating, needs to be matched by a plurality of people, is difficult to see in daytime or at night, and cannot place the drill bit in the region where the hole to be excavated quickly and accurately, so that the excavating efficiency is low, and the error rate is high.
Disclosure of Invention
The invention mainly aims to provide a device with an auxiliary drilling, fixed-point lofting function and a fixed-point method thereof, which improve the intuition, accuracy and high efficiency of drilling operation and can quickly and accurately align a drill bit to an area to be excavated.
The purpose of the invention can be achieved by adopting the following technical scheme:
device that possesses supplementary drilling fixed point laying-out function includes
The rotary drilling rig comprises a rotary drilling rig body, wherein the rotary drilling rig body comprises a vehicle-mounted chassis and a rotary drilling cab, the vehicle-mounted chassis is provided with a rotary drilling travelling mechanism, the rotary drilling travelling mechanism is arranged above the rotary drilling travelling mechanism, the rotary drilling cab is arranged above the vehicle-mounted chassis, and a positioning antenna and a directional antenna are arranged on the rotary drilling cab;
the first angle sensor is arranged on the vehicle-mounted chassis and used for detecting a first pitch angle eta and a first roll angle v between the rotary drilling rig body and the horizontal ground;
the moving arm is arranged on the vehicle-mounted chassis, a supporting rod is arranged on one side of the moving arm, a tripod is connected to the tops of the moving arm and the supporting rod, a mast is connected to the top of the tripod, a drill rod is arranged on one side of the mast, a drill bit is arranged at the bottom end of the drill rod, and a drill bit central point is arranged at the bottom of the drill bit;
and the second angle sensor is arranged on the moving arm and used for detecting a second pitch angle a between the moving arm and the horizontal ground.
Preferably, the first angle sensor is horizontally mounted on the vehicle-mounted chassis,
the second angle sensor is arranged on a moving arm parallel to the supporting rod, and the first angle sensor and the second angle sensor are both double-shaft dynamic inclination angle sensors, and the inclination angles of the first angle sensor and the second angle sensor are the same as the initial angle of the supporting rod.
Preferably, the positioning antenna and the directional antenna are both arranged at the top of the rotary drilling cab.
Preferably, the system further comprises a reference station for placing at a construction site and a rover station for receiving data of the reference station;
the system also comprises a client terminal for setting four parameters and importing lofting coordinate information.
A method for positioning a device with an auxiliary drilling, positioning and lofting function comprises the following steps
Step 1, respectively recording the pitch angle and the roll angle of a main body and a moving arm of the digging and drilling machine body through an angle sensor;
step 2, recording coordinates at key positions of the main body of the rotary drilling rig by using a surveying and mapping instrument, measuring the length L of the supporting rod, and measuring the linear distance H1 from one point of the key positions to the drill rod;
step 3, dotting on the mast by using a surveying instrument, and calculating a plane P according to the points on the mast;
step 4, enabling a straight line formed by the positioning antenna and the directional antenna to be parallel to the plane P, and calculating the distance between the formed straight line and the plane P;
step 5, establishing a three-dimensional rectangular coordinate system XYZ, and calculating an initial distance K from the positioning antenna to the center point of the drill bit by taking the measuring points of the surveying and mapping instrument in the step 2 as coordinates;
step 6, establishing a body motion model of the rotary drilling rig, measuring points on three points with known coordinates by using a surveying and mapping instrument, and calculating four parameters;
and 7, introducing the coordinates of the design point into modeling, and calculating the coordinate values of the main body of the rotary drilling rig and the design point in the same coordinate system by using the four parameters in the step 6, wherein the design point is a point of a region to be drilled.
Preferably, step 1 specifically comprises the following steps
Recording a first pitch angle eta and a first roll angle v of a main body of the rotary drilling rig and the horizontal ground through a first angle sensor, wherein the first pitch angle eta is an included angle between the front and the back of a vehicle-mounted chassis and the horizontal ground, and the roll angle v is an included angle between the left and the right of the vehicle-mounted chassis and the horizontal ground;
recording a second pitch angle a of the moving arm through a second angle sensor, wherein the angle a is also the pitch angle of the supporting rod;
the step 2 specifically comprises the following steps
Adjusting the mast to enable the drill rod to be vertical to the horizontal ground;
the surveying instrument is a total station, and coordinates are recorded at key positions of the body of the rotary drilling rig by using the total station, wherein the key positions are as follows:
recording a point A at the joint of the support rod and the tripod, recording a point B at the joint of the support rod and the vehicle-mounted chassis, recording a point C on the positioning antenna, recording a point D on the center point of the drill bit, recording a point E at the joint of the tripod and the mast, and recording a point F on the directional antenna;
measuring the length L of the supporting rod, and measuring the linear distance H1 from the point E to the center of the drill rod;
step 3 specifically comprises the following steps
Using a total station to punch n points on the right vertical surface of the mast, replacing the position of the total station, punching n points on the left vertical surface of the mast, and calculating a plane P according to 2n points on the mast;
step 4 specifically comprises the following steps
And (3) adjusting the position of the directional antenna to enable the height of the directional antenna to be equal to that of the positioning antenna, enabling a straight line formed by the positioning antenna and the directional antenna to be parallel to the plane P in the step (3), and calculating the distance H2 between the straight line formed by the positioning antenna and the plane P.
Preferably, step 5 specifically includes the following steps
Calculating the initial distance K from the positioning antenna to the center point of the drill bit, establishing a three-dimensional rectangular coordinate system XYZ by taking the center point of the drill bit as an original point, calculating a K value and a T value by using the coordinates of a measuring point of a total station,
k ═ Y (c) -Y (b) + L ═ cos (a- η) + Y (e) -Y (a) + H1, Y represents the Y axis,
T＝HPt is the distance from the point C to the point D on the X axis;
step 6 specifically comprises the following steps
Establishing a main body motion model of the rotary drilling rig, measuring points on three points with known coordinates by using a total station, and calculating four parameters;
step 7 specifically comprises the following steps
And (3) introducing the coordinate of the design point into modeling, projecting the real-time longitude and latitude coordinates of the positioning antenna into a plane coordinate, and calculating the coordinate values of the main body of the rotary drilling rig and the design point in the same coordinate system by using the four parameters.
Preferably, the calculation process in step 7 is specifically as follows
Calculating the coordinate of the central point of the drill bit according to the distance between the directional antenna and the central point of the drill bit and the course angle omega of the directional antenna, wherein the pitch angle theta and the roll angle sigma of the first angle sensor are respectively used for recording the pitch angle and the roll angle of the vehicle-mounted chassis in real time, the second angle sensor is used for recording the included angle between the supporting rod (5) and the horizontal plane, namely the pitch angle beta in real time, the calculation process is as follows,
the distance between directional antenna and the drill bit center point has the distance of two directions:
one direction distance K1 ═ K-L cos (a- η) + L cos (β - θ), and the other direction distance HP，
Distance and heading angular coordinate increment:
cosine of X-coordinate increment (distance) course angle
Sine of Y-coordinate increment (distance heading angle)
According to the formula: is provided with
XIncrease＝X+LDistance between two adjacent plates*cosω
YIncrease＝Y+LDistance between two adjacent plates*sinω
Firstly, calculating coordinate changes brought by heading angles omega, K1 and a vehicle body pitch angle theta:
X(D’)＝X(C)+K1*cosθ*cosω
Y(D’)＝Y(C)+K1*cosθ*sinω
recalculating heading angle sum HPThe resulting coordinate change:
X(D)＝X(D’)+HP*cosσ*cos(ω+π/2)
Y(D)＝Y(D’)+HP*cosσ*sin(ω+π/2)
summarizing the coordinates of the center point of the drill bit as follows:
X(D)＝X(C)+K1*cosθ*cosω+HP*cosσ*sin(ω)
Y(D)＝Y(C)+K1*cosθ*sinω+HP*cosσ*cos(ω)；
after the motion model of the main body of the rotary drilling rig is established, the rotary drilling rig moves to be close to a design point to be drilled, and the difference value of the design point is obtained according to the coordinate of the central point of the drill bit and the coordinate of the design point for reference of an operator of the rotary drilling rig.
Preferably, dotting on the positioning antenna and the directional antenna needs to be carried out, the positioning antenna and the directional antenna are required to be taken down and placed at the same height on coordinates of a prism measuring point of the total station, then the phase center distance of the antenna is subtracted to obtain the coordinates of the positioning antenna and the directional antenna, the included angle between the front part and the rear part of the vehicle-mounted chassis and the horizontal ground is the pitch angle of the vehicle-mounted chassis relative to an XOY plane of the horizontal ground, the included angle between the left side and the right side of the vehicle-mounted chassis and the horizontal ground is the included angle between a line perpendicular to a fore-aft line on the plane of the vehicle-mounted chassis and a projection of the line on the horizontal plane, the total station is used for dotting.
Preferably, three or more known coordinate points are taken, the client terminal is placed at the known points, four parameters are calculated through point correction, the correctness of the system is corrected, the client monitoring device receives lofting coordinate information of the client terminal, a reference station is erected at a known coordinate position with a relatively wide visual field near a construction project, the mobile station is installed in the cab, the reference station and the mobile station are started, and whether data connection among all components is correct or not is checked
The invention has the beneficial technical effects that:
the equipment and the method provided by the invention can improve the intuition, accuracy and high efficiency of drilling operation, overcome the problems of difficult visual inspection in daytime or at night and the like, can enable a rotary drilling operator to quickly and accurately align the drill bit to the region to be drilled, and have the advantages of time saving, labor saving and high practical value.
Drawings
Fig. 1 is a schematic structural diagram of a rotary drilling rig according to an embodiment of the invention;
FIG. 2 is a schematic front view of a main body of a rotary drilling rig according to an embodiment of the invention;
FIG. 3 is a schematic side view of a main body of a rotary drilling rig according to an embodiment of the invention;
fig. 4 is a schematic workflow diagram according to an embodiment of the present invention.
In the figure: 1-a rotary drilling rig body, 101-a rotary drilling rig walking mechanism, 102-a vehicle-mounted chassis, 2-a rotary drilling rig cab, 3-a positioning antenna, 4-a moving arm, 5-a supporting rod, 6-a tripod, 7-a mast, 8-a drill rod, 9-a drill bit, 10-a drill bit central point and 11-a directional antenna.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1-4, the device with the function of assisting drilling, positioning and lofting provided by the present embodiment includes
The rotary drilling rig comprises a rotary drilling rig body 1, wherein the rotary drilling rig body 1 comprises a vehicle-mounted chassis 102 and a rotary drilling rig cab 2, the rotary drilling rig travelling mechanism 101 is arranged above the rotary drilling rig travelling mechanism 101, the rotary drilling rig cab 2 is arranged above the vehicle-mounted chassis 102, a positioning antenna 3 and a directional antenna 11 are arranged on the rotary drilling rig cab 2, the positioning antenna 11 provides a position for a model, and the positioning and the orientation together provide a course for the model;
the first angle sensor is arranged on the vehicle-mounted chassis 102 and used for detecting a first pitch angle eta and a first roll angle v between the rotary drilling machine body 1 and the horizontal ground;
the moving arm 4 is arranged on the vehicle-mounted chassis 102, a support rod 5 is arranged on one side of the moving arm 4, a tripod 6 is connected to the tops of the moving arm 4 and the support rod 5, a mast 7 is connected to the top of the tripod 6, a drill stem 8 is arranged on one side of the mast 7, a drill bit 9 is arranged at the bottom end of the drill stem 8, and a drill bit central point 10 is arranged at the bottom of the drill bit 9;
and the second angle sensor is arranged on the moving arm 4 and used for detecting a second pitch angle a between the moving arm 4 and the horizontal ground.
The first angle sensor and the second angle sensor are both double-shaft dynamic inclination angle sensors, the double shafts of the double-shaft dynamic inclination angle sensors are orthogonal, the sensors need to be installed on a surface plane to be measured in parallel, and the sensitive axial directions of the sensors need to be kept parallel to the inclined axial direction of the surface to be measured; when the inclination angle sensor is installed, the sensitive axis of the inclination angle sensor is perpendicular to the direction of the rotating shaft of the measured object, X represents rolling, and Y represents pitching.
In the present embodiment, as shown in fig. 1, the first angle sensor is horizontally mounted on the vehicle mount chassis 102,
the second angle sensor is installed on the moving arm 4 parallel to the support rod 5 and the installation inclination angle is the same as the initial angle of the support rod 5.
In the present embodiment, as shown in fig. 1, the positioning antenna 3 and the directional antenna 11 are both disposed on the top of the rotary drilling cab 2.
In the present embodiment, as shown in fig. 1, a reference station for placing at a construction site and a rover for receiving data of the reference station are further included.
In this embodiment, as shown in fig. 1, a client terminal for setting four parameters and importing loft coordinate information is further included.
A method for positioning a device with an auxiliary drilling, positioning and lofting function comprises the following steps
Step 1, respectively recording a pitch angle and a roll angle of a drilling machine body main body 1 and a moving arm 4 through an angle sensor;
step 2, recording coordinates at key positions of the rotary drilling rig body main body 1 by using a surveying and mapping instrument, measuring the length L of the supporting rod 5, and measuring the linear distance H1 from one point of the key positions to the drill rod 8;
step 3, dotting on the mast 7 by using a surveying instrument, and calculating a plane P according to the point on the mast 7;
step 4, enabling a straight line formed by the positioning antenna 3 and the directional antenna 11 to be parallel to the plane P, and calculating the distance between the formed straight line and the plane P;
step 5, establishing a three-dimensional rectangular coordinate system XYZ, and calculating an initial distance K from the positioning antenna 3 to the drill bit central point 10 by taking the measuring points of the surveying and mapping instrument in the step 2 as coordinates;
step 6, establishing a motion model of the body 1 of the rotary drilling rig, measuring points on three points with known coordinates by using a surveying and mapping instrument, and calculating four parameters;
and 7, importing the coordinates of the design point into modeling, and calculating the coordinate values of the rotary drilling machine body 1 and the design point in the same coordinate system by using the four parameters in the step 6, wherein the design point is a point of the region to be drilled.
In this embodiment, the position of the center point of the drill bit changes along with the coordinates of the positioning antenna and is affected by the pitch angle θ and the roll angle σ of the vehicle body (vehicle-mounted chassis), the positioning antenna, the directional antenna and the course angle ω, the pitch angle θ and the roll angle σ of the first angle sensor are respectively used for recording the pitch angle and the roll angle of the vehicle body in real time, the second angle sensor is used for recording the included angle between the support rod 5 and the horizontal plane in real time, and the pitch angle β, the length L and the length L of the support rod 5 are measuredDistance between two adjacent platesThe meaning is not equivalent.
In this embodiment, step 1 specifically includes the following steps
Recording a first pitch angle eta and a first roll angle v of the rotary drilling rig body 1 and the horizontal ground through a first angle sensor, wherein the first pitch angle eta is an included angle between the front and back of the vehicle-mounted chassis 102 and the horizontal ground, and the roll angle v is an included angle between the left and right sides of the vehicle-mounted chassis 102 and the horizontal ground;
recording a second pitch angle a of the moving arm 4 through a second angle sensor, wherein the angle a is also the pitch angle of the support rod 5;
the step 2 specifically comprises the following steps
Adjusting the mast 7 so that the drill rod 8 is perpendicular to the horizontal ground;
surveying instrument is the total powerstation, uses the total powerstation to dig rig body main part 1 key department record coordinate soon, and key department is as follows:
recording a point A at the joint of the support rod 5 and the tripod 6, recording a point B at the joint of the support rod 5 and the vehicle-mounted chassis 102, recording a point C on the positioning antenna 3, recording a point D on the drill bit central point 10, recording a point E at the joint of the tripod 6 and the mast 7, and recording a point F on the directional antenna 11;
measuring the length L of the supporting rod 5, and measuring the linear distance H1 from the point E to the center of the drill rod 8;
step 3 specifically comprises the following steps
Using a total station to punch n points on the right vertical surface of the mast 7, replacing the position of the total station, punching n points on the left vertical surface of the mast 7, and calculating a plane P according to 2n points on the mast 7;
step 4 specifically comprises the following steps
The position of the directional antenna 11 is adjusted to be equal in height to the positioning antenna 3, the straight line formed by the positioning antenna 3 and the directional antenna 11 is made parallel to the plane P in step 3, and the distance H2 between the straight line and the plane P is calculated.
Step 5 specifically comprises the following steps
Calculating the initial distance K from the positioning antenna 3 to the drill bit central point 10, establishing a three-dimensional rectangular coordinate system XYZ by taking the drill bit central point 10 as an original point, calculating a K value and a T value by using the coordinates of a measuring point of a total station,
k ═ Y (c) -Y (b) + L ═ cos (a- η) + Y (e) -Y (a) + H1, Y represents the Y axis,
T＝HPt is the distance from the point C to the point D on the X axis;
step 6 specifically comprises the following steps
Establishing a motion model of a body 1 of the rotary drilling rig, measuring points on three points with known coordinates by using a total station, and calculating four parameters, wherein the three known points are provided by a design point and a project under a coordinate system and have no relation with the rotary drilling rig per se;
step 7 specifically comprises the following steps
And (3) introducing the coordinate of the design point into modeling, projecting the real-time longitude and latitude coordinate of the positioning antenna 3 into a plane coordinate, and calculating the coordinate value of the rotary drilling machine body 1 and the coordinate system of the design point by using the four parameters.
The calculation process in step 7 is specifically as follows
Calculating the coordinate of the drill bit central point 10 according to the distance between the directional antenna 11 and the drill bit central point 10 and the course angle omega of the directional antenna 11, wherein the course angle is calculated by the positioning and the directional antenna acting on the positioning equipment together, the pitch angle theta and the roll angle sigma of the first angle sensor are respectively used for recording the pitch angle and the roll angle of the vehicle-mounted chassis 102 in real time, the second angle sensor is used for recording the included angle between the supporting rod (5) and the horizontal plane, namely the pitch angle beta in real time, the calculation process is as follows,
the distance between directional antenna 11 and drill bit center point 10 has two directions:
one direction distance K1 ═ K-L cos (a- η) + L cos (β - θ), and the other direction distance HP，
Distance and heading angular coordinate increment:
cosine of X-coordinate increment (distance) course angle
Sine of Y-coordinate increment (distance heading angle)
According to the formula: is provided with
XIncrease＝X+LDistance between two adjacent plates*cosω
YIncrease＝Y+LDistance between two adjacent plates*sinω
Firstly, calculating coordinate changes brought by heading angles omega, K1 and a vehicle body pitch angle theta:
X(D’)＝X(C)+K1*cosθ*cosω
Y(D’)＝Y(C)+K1*cosθ*sinω
recalculating heading angle sum HPThe resulting coordinate change:
X(D)＝X(D’)+HP*cosσ*cos(ω+π/2)
Y(D)＝Y(D’)+HP*cosσ*sin(ω+π/2)
summarizing the coordinates of the center point 10 of the drill bit as:
X(D)＝X(C)+K1*cosθ*cosω+HP*cosσ*sin(ω)
Y(D)＝Y(C)+K1*cosθ*sinω+HP*cosσ*cos(ω)；
after the motion model of the body 1 of the rotary drilling rig is established, the rotary drilling rig moves close to a design point to be drilled, and the difference value of the design point is obtained according to the coordinate of the drill bit central point 10 and the coordinate of the design point for reference of an operator of the rotary drilling rig.
The total station is used for marking n points on the right vertical surface of the mast 7, the position of the total station is changed, and n points are also marked on the left vertical surface of the mast 7.
The method comprises the steps of taking three or more known coordinate points, placing a client terminal at the known points, carrying out point correction calculation on four parameters, correcting the correctness of the system, receiving lofting coordinate information of the client terminal by a client monitoring device, receiving the lofting coordinate information of the client terminal by the client monitoring device, erecting a reference station at a known coordinate position with a relatively wide visual field near a construction project, installing a mobile station in a cab, starting the reference station and the mobile station, and checking whether the data connection between all components is correct or not.
In conclusion, in the embodiment, the equipment and the method provided by the embodiment can improve the intuitiveness, accuracy and high efficiency of drilling operation, overcome the problems of difficulty in seeing through in daytime or at night and the like, can enable a rotary drilling operator to quickly and accurately align the drill bit to the region to be drilled, and are time-saving, labor-saving and high in practical value.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.

Claims (10)

1. The utility model provides a device that possesses supplementary drilling fixed point lofting function which characterized in that: comprises that
The rotary drilling rig comprises a rotary drilling rig body (1), wherein the rotary drilling rig body (1) comprises a rotary drilling rig walking mechanism (101), a vehicle-mounted chassis (102) arranged above the rotary drilling rig walking mechanism (101) and a rotary drilling cab (2) arranged above the vehicle-mounted chassis (102), and a positioning antenna (3) and a directional antenna (11) are arranged on the rotary drilling cab (2);
the first angle sensor is arranged on the vehicle-mounted chassis (102) and used for detecting a first pitch angle eta and a first roll angle v between the rotary drilling rig body (1) and the horizontal ground;
the vehicle-mounted chassis is characterized by comprising a moving arm (4) arranged on the vehicle-mounted chassis (102), a supporting rod (5) is arranged on one side of the moving arm (4), a tripod (6) is connected to the tops of the moving arm (4) and the supporting rod (5), a mast (7) is connected to the top of the tripod (6), a drill rod (8) is arranged on one side of the mast (7), a drill bit (9) is arranged at the bottom end of the drill rod (8), and a drill bit central point (10) is arranged at the bottom of the drill bit (9);
and the second angle sensor is arranged on the moving arm (4) and used for detecting a second pitch angle a between the moving arm (4) and the horizontal ground.
2. The device with the function of assisting the fixed point lofting of the drill hole according to claim 1, wherein:
the first angle sensor is horizontally mounted on the vehicle chassis (102),
the second angle sensor is arranged on a moving arm (4) which is parallel to the supporting rod (5) and the installation inclination angle is the same as the initial angle of the supporting rod (5),
the first angle sensor and the second angle sensor are both double-shaft dynamic tilt angle sensors.
3. The device with the function of assisting the fixed point lofting of the drill hole according to claim 1, wherein: the positioning antenna (3) and the directional antenna (11) are both arranged at the top of the rotary drilling cab (2).
4. The device with the function of assisting the fixed point lofting of the drill hole according to claim 1, wherein: the system also comprises a reference station for placing at a construction site and a rover station for receiving the reference station data;
the system also comprises a client terminal for setting four parameters and importing lofting coordinate information.
5. The method for positioning the device with the function of assisting the fixed-point lofting of the drill hole according to any one of claims 1 to 6, characterized in that: comprises the following steps
Step 1, respectively recording a pitch angle and a roll angle of a drilling machine body main body (1) and a moving arm (4) through an angle sensor;
step 2, recording coordinates at key positions of the main body (1) of the rotary drilling rig by using a surveying and mapping instrument, measuring the length L of the supporting rod (5), and measuring the linear distance H1 from one point of the key positions to the drill rod (8);
step 3, dotting on the mast (7) by using a surveying instrument, and calculating a plane P according to the points on the mast (7);
step 4, enabling a straight line formed by the positioning antenna (3) and the directional antenna (11) to be parallel to the plane P, and calculating the distance between the formed straight line and the plane P;
step 5, establishing a three-dimensional rectangular coordinate system XYZ, and calculating an initial distance K from the positioning antenna (3) to the drill bit central point (10) by taking the measuring points of the surveying and mapping instrument in the step 2 as coordinates;
step 6, establishing a motion model of the body (1) of the rotary drilling rig, measuring points on three points with known coordinates by using a surveying and mapping instrument, and calculating four parameters;
and 7, introducing the coordinates of the design point into modeling, and calculating the coordinate values of the main body (1) of the rotary drilling rig and the design point in the same coordinate system by using the four parameters in the step 6, wherein the design point is a point of a region to be drilled.
6. The method for positioning a device with an auxiliary drilling, positioning and lofting function according to claim 5, wherein:
step 1 specifically comprises the following steps
Recording a first pitch angle eta and a first roll angle v of a rotary drilling rig body main body (1) and the horizontal ground through a first angle sensor, wherein the first pitch angle eta is an included angle between the front and back of a vehicle-mounted chassis (102) and the horizontal ground, and the roll angle v is an included angle between the left and right sides of the vehicle-mounted chassis (102) and the horizontal ground;
recording a second pitch angle a of the moving arm (4) through a second angle sensor, wherein the angle a is also the pitch angle of the supporting rod (5);
the step 2 specifically comprises the following steps
Adjusting the mast (7) to enable the drill rod (8) to be vertical to the horizontal ground;
the surveying instrument is a total station, and the total station is used for recording coordinates at key positions of the rotary drilling rig body main body (1), wherein the key positions are as follows:
recording a point A at the joint of a support rod (5) and a tripod (6), recording a point B at the joint of the support rod (5) and a vehicle-mounted chassis (102), recording a point C on a positioning antenna (3), recording a point D on a drill bit central point (10), recording a point E at the joint of the tripod (6) and a mast (7), and recording a point F on a directional antenna (11);
measuring the length L of the supporting rod (5), and measuring the linear distance H1 from the point E to the center of the drill rod (8);
step 3 specifically comprises the following steps
Using a total station to punch n points on the right elevation of the mast (7), replacing the position of the total station, punching n points on the left elevation of the mast (7), and calculating a plane P according to 2n points on the mast (7);
step 4 specifically comprises the following steps
And (3) adjusting the position of the directional antenna (11) to enable the height of the directional antenna to be equal to that of the positioning antenna (3), enabling a straight line formed by the positioning antenna (3) and the directional antenna (11) to be parallel to the plane P in the step (3), and calculating the distance H2 between the straight line formed by the above components and the plane P.
7. The method of positioning a device with an auxiliary drilling, positioning and lofting function according to claim 6, wherein:
step 5 specifically comprises the following steps
Calculating an initial distance K from the positioning antenna (3) to a drill bit central point (10), establishing a three-dimensional rectangular coordinate system XYZ by taking the drill bit central point (10) as an original point, calculating a K value and a T value by measuring point coordinates of a total station,
k ═ Y (c) -Y (b) + L ═ cos (a- η) + Y (e) -Y (a) + H1, Y represents the Y axis,
T＝HPt is the distance from the point C to the point D on the X axis;
step 6 specifically comprises the following steps
Establishing a motion model of a body (1) of the rotary drilling rig, measuring points on three points with known coordinates by using a total station, and calculating four parameters;
step 7 specifically comprises the following steps
And (3) introducing the coordinate of the design point into modeling, projecting the real-time longitude and latitude coordinate of the positioning antenna (3) into a plane coordinate, and calculating the coordinate value of the rotary drilling rig body main body (1) and the coordinate value of the design point in the same coordinate system by using the four parameters.
8. The method for positioning a device with an auxiliary drilling, positioning and lofting function according to claim 7, wherein:
the calculation process in step 7 is specifically as follows
The coordinate of the drill bit central point (10) is calculated according to the distance between the directional antenna (11) and the drill bit central point (10) and the course angle omega of the directional antenna (11), the first angle sensor is used for recording the pitch angle theta and the roll angle sigma of the vehicle-mounted chassis (102) in real time, the second angle sensor is used for recording the included angle between the supporting rod (5) and the horizontal plane, namely the pitch angle beta in real time, the calculation process is as follows,
the distance between the directional antenna (11) and the drill bit center point (10) has two directions:
a directional distance K1 ═ K-L ═ cos (a- η) + L ═ cos (β - θ),
distance in the other directionIs separated as HP，
Distance and heading angular coordinate increment:
cosine of X-coordinate increment (distance) course angle
Sine of Y-coordinate increment (distance heading angle)
According to the formula: is provided with
XIncrease＝X+LDistance between two adjacent plates*cosω
YIncrease＝Y+LDistance between two adjacent plates*sinω
Firstly, calculating coordinate changes brought by heading angles omega, K1 and a vehicle body pitch angle theta:
X(D’)＝X(C)+K1*cosθ*cosω
Y(D’)＝Y(C)+K1*cosθ*sinω
recalculating heading angle sum HPThe resulting coordinate change:
X(D)＝X(D’)+HP*cosσ*cos(ω+π/2)
Y(D)＝Y(D’)+HP*cosσ*sin(ω+π/2)
summarizing the coordinates of the center point (10) of the drill bit as follows:
X(D)＝X(C)+K1*cosθ*cosω+HP*cosσ*sin(ω)
Y(D)＝Y(C)+K1*cosθ*sinω+HP*cosσ*cos(ω)；
after the motion model of the body (1) of the rotary drilling rig is established, the rotary drilling rig moves to a design point close to a hole to be drilled, and the difference value of the design point is obtained according to the coordinate of the drill bit center point (10) and the coordinate of the design point for reference of an operator of the rotary drilling rig.
9. The method for positioning a device with an auxiliary drilling, positioning and lofting function according to claim 8, wherein: the method comprises the steps that a positioning antenna (3) and a directional antenna (11) need to be taken down, the positioning antenna (3) and the directional antenna (11) need to be placed at the same height on a prism measuring point coordinate of a total station, the coordinates of the positioning antenna (3) and the directional antenna (11) need to be obtained by subtracting the antenna phase center distance, the included angle between the front and the back of a vehicle-mounted chassis (102) and the horizontal ground is the pitching angle of the vehicle-mounted chassis (102) relative to the XOY plane of the horizontal ground, the included angle between the left side and the right side of the vehicle-mounted chassis (102) and the horizontal ground is the included angle between the line perpendicular to a fore-aft line on the plane of the vehicle-mounted chassis (102) and the projection of the vehicle-mounted chassis on the horizontal plane, the total station is used for hitting n points on the right vertical surface of a mast (7).
10. The method for positioning a device with an auxiliary drilling, positioning and lofting function according to claim 9, wherein: the method comprises the steps of taking three or more known coordinate points, placing a client terminal at the known points, carrying out point correction calculation on four parameters, correcting the correctness of the system, receiving lofting coordinate information of the client terminal by a client monitoring device, erecting a reference station at a known coordinate position with a relatively wide visual field near a construction project, installing a mobile station in a cab, starting the reference station and the mobile station, and checking whether data connection among all components is correct or not.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101871222A (en) * 2010-06-21 2010-10-27 北京市三一重机有限公司 Method for controlling motion of mast oil cylinder of revolving drilling rig and system
CN102251767A (en) * 2011-06-17 2011-11-23 北京市三一重机有限公司 Full trajectory control system of masts of rotary drilling rig and control method thereof
CN103174381A (en) * 2013-02-22 2013-06-26 广西华南岩土工程有限公司 Rotary excavating drilling machine
CN104975842A (en) * 2015-07-07 2015-10-14 中联重科股份有限公司 Control method, device and system of rotary drilling rig
CN109594966A (en) * 2018-11-23 2019-04-09 上海中联重科桩工机械有限公司 Rotary drilling rig movable mast control system and control method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101871222A (en) * 2010-06-21 2010-10-27 北京市三一重机有限公司 Method for controlling motion of mast oil cylinder of revolving drilling rig and system
CN102251767A (en) * 2011-06-17 2011-11-23 北京市三一重机有限公司 Full trajectory control system of masts of rotary drilling rig and control method thereof
CN103174381A (en) * 2013-02-22 2013-06-26 广西华南岩土工程有限公司 Rotary excavating drilling machine
CN104975842A (en) * 2015-07-07 2015-10-14 中联重科股份有限公司 Control method, device and system of rotary drilling rig
CN109594966A (en) * 2018-11-23 2019-04-09 上海中联重科桩工机械有限公司 Rotary drilling rig movable mast control system and control method

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