CN112682025A - Control method, device and system for drilling and anchoring equipment - Google Patents
Control method, device and system for drilling and anchoring equipment Download PDFInfo
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- CN112682025A CN112682025A CN202010809591.2A CN202010809591A CN112682025A CN 112682025 A CN112682025 A CN 112682025A CN 202010809591 A CN202010809591 A CN 202010809591A CN 112682025 A CN112682025 A CN 112682025A
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Abstract
The application provides a method, a device and a system for controlling drilling and anchoring equipment, wherein the method comprises the following steps: acquiring current parameter information and preset initialization parameter information of the drilling and anchoring equipment to be controlled; determining an initialization instruction sequence according to the current parameter information and the initialization parameter information; initializing the drilling and anchoring equipment according to an initialization instruction sequence; acquiring a preset drilling and anchoring work flow, wherein the drilling and anchoring work flow comprises the following steps: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; the drilling and anchoring equipment is controlled according to the instruction sets corresponding to the steps in the drilling and anchoring working process in sequence so as to realize automatic work control of the drilling and anchoring equipment.
Description
Technical Field
The application relates to the technical field of automation control, in particular to a method, a device and a system for controlling drilling and anchoring equipment.
Background
With the rapid development of scientific technology, the intellectualization of coal mining has become an important development direction. In recent years, the automation and intelligentization steps of the fully mechanized mining face are continuously accelerated, and a serious challenge is provided for the production capacity and the propulsion speed of the fully mechanized mining face. At present, drilling and anchoring equipment used on a fully mechanized excavation face is generally manually controlled, for example, a button corresponding to an execution part of the drilling and anchoring equipment is arranged on a remote control device, and an instruction is input to the drilling and anchoring equipment through the manual button, so that the problems of high safety risk, high labor intensity, low drilling and anchoring efficiency, poor working environment and the like exist, the progress requirement of fully mechanized mining cannot be guaranteed, and the safety, high yield and high-efficiency mining of coal are directly influenced.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
Therefore, a first objective of the present application is to provide a method for controlling a drilling and anchoring device, which completes initialization of the drilling and anchoring device through an initialization instruction sequence corresponding to current parameters of the drilling and anchoring device and preset initialization parameter information, and controls the drilling and anchoring device according to a drilling and anchoring workflow and a corresponding instruction set, thereby implementing automatic control of the drilling and anchoring device, improving drilling and anchoring efficiency, reducing safety risk, and ensuring safe, high-yield and efficient coal mining.
A second object of the present application is to provide a drill anchor device control apparatus.
A third object of the present application is to propose a drill and anchor equipment control system.
To achieve the above object, an embodiment of a first aspect of the present application provides a control method for a drilling and anchoring device, including: acquiring current parameter information and preset initialization parameter information of the drilling and anchoring equipment to be controlled; determining an initialization instruction sequence according to the current parameter information and the initialization parameter information; initializing the drilling and anchoring equipment according to the initialization instruction sequence; acquiring a preset drilling and anchoring work flow, wherein the drilling and anchoring work flow comprises the following steps: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; and sequentially controlling the drilling and anchoring equipment according to the instruction sets corresponding to the steps in the drilling and anchoring workflow so as to realize automatic work control of the drilling and anchoring equipment.
According to the control method of the drilling and anchoring equipment, the current parameter information of the drilling and anchoring equipment to be controlled and the preset initialization parameter information are obtained; determining an initialization instruction sequence according to the current parameter information and the initialization parameter information; initializing the drilling and anchoring equipment according to the initialization instruction sequence; acquiring a preset drilling and anchoring work flow, wherein the drilling and anchoring work flow comprises the following steps: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; the method comprises the steps of sequentially controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in the drilling and anchoring working process so as to achieve automatic work control of the drilling and anchoring equipment.
To achieve the above object, a second aspect of the present application provides a control device for a drill-anchor device, including: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring current parameter information of the drilling and anchoring equipment to be controlled and preset initialization parameter information; the determining module is used for determining an initialization instruction sequence according to the current parameter information and the initialization parameter information; the initialization module is used for initializing the drilling and anchoring equipment according to the initialization instruction sequence; the obtaining module is further configured to obtain a preset drilling and anchoring workflow, where the drilling and anchoring workflow includes: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; and the control module is used for controlling the drilling and anchoring equipment according to the instruction sets corresponding to the steps in the drilling and anchoring working process in sequence so as to realize automatic work control of the drilling and anchoring equipment.
The control device of the drilling and anchoring equipment of the embodiment of the application obtains the current parameter information of the drilling and anchoring equipment to be controlled and the preset initialization parameter information; determining an initialization instruction sequence according to the current parameter information and the initialization parameter information; initializing the drilling and anchoring equipment according to the initialization instruction sequence; acquiring a preset drilling and anchoring work flow, wherein the drilling and anchoring work flow comprises the following steps: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; the method comprises the steps of sequentially controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in the drilling and anchoring working process so as to achieve automatic work control of the drilling and anchoring equipment.
To achieve the above object, a third aspect of the present application provides a control system for a drill-anchor device, including: the upper computer and the drilling and anchoring equipment; the drill anchor apparatus includes: the system comprises a plurality of execution components, a controller, a sensor group and an electromagnetic valve group; the sensor group and the electromagnetic valve group are connected with the controller; the sensor group includes: the sensors are in one-to-one correspondence with the execution components and used for detecting the pressure values of the corresponding execution components; the electromagnetic valve group comprises; a plurality of solenoid valves for controlling the plurality of actuators to change the parameter values of the plurality of actuators; the host computer with it connects to bore anchor equipment, include this application second aspect embodiment bore anchor equipment controlling means.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method of controlling a drill-anchor apparatus according to one embodiment of the present application;
FIG. 2 is a schematic view of a drill anchor equipment parameter equipment interface according to one embodiment of the present application;
FIG. 3 is a schematic illustration of an automatic drilling sub-flow of the drill anchor apparatus according to one embodiment of the present application;
FIG. 4 is a schematic view of an automatic pesticide spraying sub-process of the drilling and anchoring device according to an embodiment of the present application;
FIG. 5 is a schematic illustration of an automatic anchoring sub-process of the drilling and anchoring device according to an embodiment of the present application;
FIG. 6 is a schematic view of an automatic control operation monitoring interface of the drill-anchor apparatus according to one embodiment of the present application;
FIG. 7 is a schematic flow chart illustrating a method of controlling a drill-anchor apparatus according to another embodiment of the present application;
FIG. 8 is a schematic structural diagram of a control device for a drill-anchor apparatus according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a control system for a drill-anchor apparatus provided in accordance with an embodiment of the present application;
fig. 10 is a schematic structural diagram of a control system of a drill-anchor device according to another embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a control method, device and system of a drilling and anchoring device according to an embodiment of the application with reference to the drawings.
Fig. 1 is a schematic flow chart of a control method of a drill-anchor device according to an embodiment of the present application. The execution subject of the drill-anchor equipment control method in the embodiment of the present application is a drill-anchor equipment control device, which can be configured in a drill-anchor equipment control system, so that the drill-anchor equipment control system executes the drill-anchor equipment control method.
As shown in fig. 1, the control method of the drilling and anchoring equipment is implemented as follows:
In this embodiment, the parameter information of the drill and anchor equipment to be controlled may include current parameter information and preset initialization parameter information, where the drill and anchor equipment control device may obtain current parameter values of a plurality of execution components in the drill and anchor equipment through the sensor, the drill and anchor equipment control device may display the current parameter values of the plurality of execution components on an interface of the upper computer, as shown in fig. 2, so that a user may set the preset initialization parameter information of the drill and anchor equipment on the interface of the upper computer (e.g., a computer) according to the current parameter values of the plurality of execution components, and after the user sets the preset initialization parameter information of the drill and anchor equipment on the interface of the upper computer, the drill and anchor equipment control device may access the upper computer to obtain the initialization parameter information.
It should be noted that the current parameter information may include current parameter values of a plurality of execution units in the drill-anchor equipment; the initialization parameter information may include: and initializing parameter values of each execution part to be initialized in the drilling and anchoring equipment. Wherein, the execution component may include but is not limited to: the device comprises a drill box switching device, an anchor box switching device, a locking device, a clamp, a rod protection structure, a drill rod clamping device, a lower stabilizing device, a feeding device, a drill box and water valve, a pesticide spraying device, a cartridge cabin oil cylinder, a pesticide charging motor, a pesticide charging oil cylinder, a gas injection valve, a manipulator, a drill box switching device, an anchor box switching device, a locking device, an anchor rod cabin, a clamp, a feeding device, an anchor box, a cleaning valve, a drill rod clamping device and the like.
And 102, determining an initialization instruction sequence according to the current parameter information and the initialization parameter information.
As an example, at least one execution component to be adjusted in the drill anchor equipment is determined according to the current parameter information and the initialization parameter information, wherein the execution component to be adjusted is an execution component to be initialized, and the corresponding current parameter value is inconsistent with the initialization parameter value; and determining an initialization instruction sequence according to the current parameter value and the initialization parameter value of at least one execution component to be adjusted.
That is, the current parameter information and the corresponding initialization parameter information may be compared, and according to the comparison result, at least one execution component to be adjusted may be determined, for example, the current parameter information is inconsistent with the corresponding initialization parameter information, and the execution component corresponding to the current parameter information may be determined to be the execution component to be adjusted, and then, according to the current parameter value and the initialization parameter value of the at least one execution component to be adjusted, the initialization instruction sequence may be determined. The initialization instruction sequence can include a plurality of instructions arranged in sequence, the instructions correspond to the execution components in the drilling and anchoring equipment one to one, and the initialization instruction sequence can be used for initializing the current parameters of the execution components to be adjusted to the initialization parameter values.
As another example, current parameter information and initialization parameter information are displayed; and receiving an initialization instruction sequence input by a user according to the current parameter information and the initialization parameter information.
That is to say, the control device of the drill and anchor equipment can display the current parameter information and the initialization parameter information through the upper computer, a user can input an initialization instruction sequence through the related remote control equipment according to the current parameter information and the initialization parameter information, the remote control equipment can send the initialization instruction sequence input by the user to the control device of the drill and anchor equipment, and the control device of the drill and anchor equipment can acquire the initialization instruction sequence input by the user according to the current parameter information and the initialization parameter information.
And 103, initializing the drilling and anchoring equipment according to the initialization instruction sequence.
In order to realize the initialization of the drilling and anchoring equipment, optionally, a first instruction in an initialization instruction sequence is obtained; sending the first instruction to the drilling and anchoring equipment to initialize the drilling and anchoring equipment, and acquiring an initialization result of a first execution component corresponding to the first instruction in the drilling and anchoring equipment; and when the initialization result is that the initialization of the first execution unit is successful, acquiring a second instruction in the initialization instruction sequence until the initialization is completed. For details, see the description of the following embodiments.
In an embodiment of the present application, a drilling and anchoring workflow of the drilling and anchoring device may be preset, wherein the drilling and anchoring workflow may include: automatic drilling sub-flow, automatic spraying sub-flow, automatic anchoring sub-flow and the like. In addition, the anchor drilling workflow further comprises: and each step which is arranged in sequence and corresponds to the execution part in the drilling and anchoring workflow, and an instruction set corresponding to each step. Wherein, the execution components involved in the steps of the automatic drilling sub-flow may include: the method comprises the following steps of drilling box switching, anchor box switching, locking, clamping, rod protecting structure, drill rod clamping, downward stabilizing, feeding, drilling box and water valve; the execution components involved in each step of the automatic pesticide spraying sub-process may include: the pesticide spraying device, the cartridge bin oil cylinder, the pesticide charging motor, the pesticide charging oil cylinder and the air injection valve; the execution components involved in the various steps of the automated anchoring sub-process may include: the device comprises a mechanical arm, a drill box switching device, an anchor box switching device, a locking device, an anchor rod bin, a clamp, a feeding device, an anchor box, a cleaning valve and a drill rod clamping device.
For example, as shown in fig. 3, for example, the automatic drilling sub-process may include 12 steps and a corresponding instruction set (e.g., extend, retract, close, etc.) for each step. It should be noted that the code in fig. 3 may represent a feeding encoder for measuring the feeding height of the drill box or the anchor box.
For another example, as shown in fig. 4, taking the automatic spraying sub-process as an example, the automatic spraying sub-process includes 8 steps, and an instruction set (e.g., extend, retract, stop, etc.) corresponding to each step.
As another example, as shown in fig. 5, taking the auto-anchor sub-process as an example, the auto-anchor sub-process may include 16 steps and a corresponding instruction set (e.g., extend, retract, open, close, etc.) for each step.
And 105, controlling the drilling and anchoring equipment according to the instruction sets corresponding to the steps in the drilling and anchoring working process in sequence so as to realize automatic working control of the drilling and anchoring equipment.
Optionally, for each step in the drilling and anchoring workflow, acquiring an instruction set corresponding to the step; sending each instruction in the instruction set corresponding to the step to the drilling and anchoring equipment, and acquiring an execution result corresponding to the step; and when the execution result is that the step is successfully executed, and when the next step of the steps exists in the drilling anchor workflow, acquiring an instruction set corresponding to the next step, and repeatedly executing the steps.
That is, for each step in the drill-anchor workflow, the drill-anchor equipment control device may obtain an instruction set corresponding to the step, send each instruction in the instruction set to the drill-anchor equipment, the drill-anchor equipment executes the instruction, send an instruction execution result to the drill-anchor equipment control device, and when the execution result is that the step is successfully executed, and when there is a step next to the step in the drill-anchor workflow, obtain an instruction set corresponding to the next step, and repeatedly execute the steps. And when the execution result is that the step is failed to be executed, determining that the automatic work control of the drilling and anchoring equipment is failed.
In order to facilitate a user to monitor the automatic work control state of the drilling and anchoring equipment in time, as shown in fig. 6, the drilling and anchoring equipment control device can display the number of remaining anchors in the drilling and anchoring work flow, the number of cartridges, the time of one drilling and anchoring work flow, the execution results of each step in the drilling and anchoring work flow, and the like, and when the execution results are step execution failures and it is determined that the automatic work control of the drilling and anchoring equipment fails, the drilling and anchoring equipment control device can display the automatic work control failures of the drilling and anchoring equipment.
In conclusion, the initialization of the drilling and anchoring equipment is completed through the current parameters of the drilling and anchoring equipment and the initialization instruction sequence corresponding to the preset initialization parameter information, and then the drilling and anchoring equipment is controlled according to the drilling and anchoring working process and the corresponding instruction set, so that the automatic control of the drilling and anchoring equipment is realized, the drilling and anchoring efficiency is improved, the safety risk is reduced, and the safe, high-yield and high-efficiency mining of coal is ensured.
In order to initialize the drilling and anchoring device, as shown in fig. 7, fig. 7 is a flowchart illustrating a control method of the drilling and anchoring device according to another embodiment of the present application. In FIG. 7, the first instruction in the initialization instruction sequence is obtained; sending the first instruction to the drilling and anchoring equipment to initialize the drilling and anchoring equipment, and acquiring an initialization result of a first execution component corresponding to the first instruction in the drilling and anchoring equipment; and when the initialization result is that the initialization of the first execution unit is successful, acquiring a second instruction in the initialization instruction sequence until the initialization is completed. The step 103 of the embodiment shown in fig. 1 may further include the following steps:
In the embodiment of the application, instruction extraction can be performed on the initialization instruction sequence, so that the first instruction in the initialization instruction sequence can be acquired.
In an embodiment of the present application, a drill anchor apparatus may include: the system comprises a plurality of execution components, a controller, a sensor group and an electromagnetic valve group; the sensor group and the electromagnetic valve group are connected with the controller; the sensor group may include: the sensors are in one-to-one correspondence with the execution components and used for detecting the pressure values of the corresponding execution components; the solenoid valve group can comprise; and a plurality of electromagnetic valves for controlling a plurality of execution units and changing parameter values of the plurality of execution units.
As an example, the initialization result of the first execution unit corresponding to the first instruction in the drill and anchor equipment may be generated in such a way that the controller in the drill and anchor equipment controls the solenoid valve corresponding to the first execution unit according to the first instruction; acquiring a pressure value of a sensor corresponding to a first execution component; and generating an initialization result according to the pressure value of the sensor corresponding to the first execution component and the pressure threshold value corresponding to the first execution component.
That is to say, the control device of the drill and anchor equipment can send a first instruction in the obtained instruction sequence to the controller in the drill and anchor equipment, the controller in the drill and anchor equipment controls the electromagnetic valve corresponding to the first execution component according to the first instruction, the electromagnetic valve can control the first execution component and change the parameter value of the first execution component, the plurality of sensors correspond to the plurality of execution components one to one, and the pressure value corresponding to the first execution component can be detected; the control device of the drilling and anchoring equipment can acquire the pressure value of the sensor corresponding to the first execution component; then, generating an initialization result according to the pressure value of the sensor corresponding to the first execution component and the pressure threshold value corresponding to the first execution component, for example, when the pressure value of the sensor corresponding to the first execution component is smaller than the pressure threshold value corresponding to the first execution component, the initialization result of the first execution component fails, and the automatic work control of the drill-anchor equipment fails; for another example, when the pressure value of the sensor corresponding to the first execution component is greater than or equal to the pressure threshold value corresponding to the first execution component, the initialization result of the first execution component is successful.
And 703, acquiring a second instruction in the initialization instruction sequence until the initialization is completed when the initialization result is that the initialization of the first execution unit is successful.
Further, when the initialization result is that the initialization of the first execution unit is successful, the second instruction in the initialization instruction sequence is obtained, and similarly, the initialization result of the second execution unit corresponding to the second instruction in the drill anchor device is obtained in the above step 702, and the above steps are repeatedly executed until the initialization is completed.
In conclusion, the first instruction in the initialization instruction sequence is obtained; sending the first instruction to the drilling and anchoring equipment to initialize the drilling and anchoring equipment, and acquiring an initialization result of a first execution component corresponding to the first instruction in the drilling and anchoring equipment; and when the initialization result is that the initialization of the first execution part is successful, acquiring a second instruction in the initialization instruction sequence until the initialization is completed, thereby realizing the initialization of the drilling and anchoring equipment.
According to the control method of the drilling and anchoring equipment, the current parameter information of the drilling and anchoring equipment to be controlled and the preset initialization parameter information are obtained; determining an initialization instruction sequence according to the current parameter information and the initialization parameter information; initializing the drilling and anchoring equipment according to an initialization instruction sequence; acquiring a preset drilling and anchoring work flow, wherein the drilling and anchoring work flow comprises the following steps: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; the method comprises the steps of sequentially controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in a drilling and anchoring working process so as to achieve automatic work control of the drilling and anchoring equipment.
Corresponding to the control methods of the drilling and anchoring equipment provided in the above embodiments, an embodiment of the present application further provides a control device of the drilling and anchoring equipment, and since the control device of the drilling and anchoring equipment provided in the embodiment of the present application corresponds to the control methods of the drilling and anchoring equipment provided in the above embodiments, the embodiments of the control method of the drilling and anchoring equipment described above are also applicable to the control device of the drilling and anchoring equipment provided in the embodiment, and will not be described in detail in the embodiment. Fig. 8 is a schematic structural diagram of a control device of the drilling and anchoring equipment according to one embodiment of the application. As shown in fig. 8, the drill-anchor device control apparatus 800 includes: an obtaining module 810, a determining module 820, an initializing module 830, and a control module 840.
The obtaining module 810 is configured to obtain current parameter information of the drill-anchor equipment to be controlled and preset initialization parameter information; a determining module 820, configured to determine an initialization instruction sequence according to the current parameter information and the initialization parameter information; an initialization module 830, configured to initialize the drilling and anchoring device according to an initialization instruction sequence; the obtaining module 810 is further configured to obtain a preset drilling and anchoring workflow, where the drilling and anchoring workflow includes: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; and the control module 840 is used for controlling the drilling and anchoring equipment according to the instruction sets corresponding to the steps in the drilling and anchoring workflow in sequence so as to realize automatic work control of the drilling and anchoring equipment.
As a possible implementation manner of the embodiment of the present application, the current parameter information includes: current parameter values of a plurality of execution components in the drilling and anchoring equipment; the initialization parameter information includes: initializing parameter values of each execution component to be initialized in the drilling and anchoring equipment; the determining module 820 is specifically configured to determine at least one to-be-adjusted executing component in the drill anchor equipment according to the current parameter information and the initialization parameter information, where the to-be-adjusted executing component is an executing component to be initialized, where a corresponding current parameter value is inconsistent with an initialization parameter value; and determining an initialization instruction sequence according to the current parameter value and the initialization parameter value of at least one execution component to be adjusted.
As a possible implementation manner of the embodiment of the present application, the determining module 820 is specifically configured to display the current parameter information and the initialization parameter information; and receiving an initialization instruction sequence input by a user according to the current parameter information and the initialization parameter information.
As a possible implementation manner of the embodiment of the present application, the initializing instruction sequence includes: the plurality of instructions are arranged in sequence and correspond to the plurality of execution units in the drilling and anchoring equipment one to one; the initialization module 830 is specifically configured to obtain a first instruction in an initialization instruction sequence; sending the first instruction to the drilling and anchoring equipment to initialize the drilling and anchoring equipment, and acquiring an initialization result of a first execution component corresponding to the first instruction in the drilling and anchoring equipment; and when the initialization result is that the initialization of the first execution unit is successful, acquiring a second instruction in the initialization instruction sequence until the initialization is completed.
As a possible implementation manner of the embodiment of the present application, the anchor drilling apparatus includes: the system comprises a plurality of execution components, a controller, a sensor group and an electromagnetic valve group; the sensor group and the electromagnetic valve group are connected with the controller; the sensor group includes: the sensors are in one-to-one correspondence with the execution components and used for detecting the pressure values of the corresponding execution components; the electromagnetic valve group comprises; a plurality of solenoid valves for controlling the plurality of actuators to change the parameter values of the plurality of actuators; the initialization module 830 is specifically configured to control, by a controller in the drill-anchor equipment, a solenoid valve corresponding to a first execution component according to a first instruction; acquiring a pressure value of a sensor corresponding to a first execution component; and generating an initialization result according to the pressure value of the sensor corresponding to the first execution component and the pressure threshold value corresponding to the first execution component.
As a possible implementation manner of the embodiment of the present application, the control module 840 is specifically configured to, for each step in the drill anchor workflow, obtain an instruction set corresponding to the step; sending each instruction in the instruction set corresponding to the step to the drilling and anchoring equipment, and acquiring an execution result corresponding to the step; and when the execution result is that the steps are successfully executed, and when the next step of the steps exists in the drilling anchor workflow, acquiring an instruction set corresponding to the next step, and repeatedly executing the steps.
As a possible implementation manner of the embodiment of the present application, the anchor drilling workflow includes: an automatic drilling sub-flow, an automatic spraying sub-flow and an automatic anchoring sub-flow; the execution components involved in the various steps of the automated drilling sub-flow include: the method comprises the following steps of drilling box switching, anchor box switching, locking, clamping, rod protecting structure, drill rod clamping, downward stabilizing, feeding, drilling box and water valve; the execution components involved in each step of the automatic pesticide spraying subprocess comprise: the pesticide spraying device, the cartridge bin oil cylinder, the pesticide charging motor, the pesticide charging oil cylinder and the air injection valve; the execution components involved in the various steps of the automated anchoring sub-process include: the device comprises a mechanical arm, a drill box switching device, an anchor box switching device, a locking device, an anchor rod bin, a clamp, a feeding device, an anchor box, a cleaning valve and a drill rod clamping device.
The control device of the drilling and anchoring equipment of the embodiment of the application obtains the current parameter information of the drilling and anchoring equipment to be controlled and the preset initialization parameter information; determining an initialization instruction sequence according to the current parameter information and the initialization parameter information; initializing the drilling and anchoring equipment according to an initialization instruction sequence; acquiring a preset drilling and anchoring work flow, wherein the drilling and anchoring work flow comprises the following steps: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step; the method comprises the steps of sequentially controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in a drilling and anchoring working process so as to achieve automatic work control of the drilling and anchoring equipment.
In order to implement the foregoing embodiments, the present application further provides a control system for a drilling and anchoring device, and fig. 9 is a schematic structural diagram of the control system for a drilling and anchoring device provided in the embodiments of the present application. The drill anchor equipment control system comprises: host computer 910 and drill anchor equipment 920.
Wherein the drill anchor apparatus 920 comprises: a plurality of actuators 921, a controller 922, a sensor group 923, and a solenoid valve group 924; the sensor group 923 and the solenoid valve group 924 are connected to the controller 922.
The sensor group 923 includes: and the sensors are in one-to-one correspondence with the execution components and used for detecting the pressure of the corresponding execution components. The solenoid valve set 924 includes; a plurality of solenoid valves for controlling the plurality of actuators to change the parameter values of the plurality of actuators; the upper computer 910 is connected with the drilling and anchoring device 920, and comprises the drilling and anchoring device control device of the above embodiment.
As a possible implementation manner of the embodiment of the present application, as shown in fig. 10, on the basis of fig. 9, the drill-anchor device control system further includes: and a remote control device 930 connected to the drill-anchor device 920 and the upper computer 910.
The remote control device 930 is configured to receive an initialization instruction sequence input by a user according to the current parameter information and the initialization parameter information, and send the initialization instruction sequence to the upper computer, or send instructions in the initialization instruction sequence to the drill-anchor device in sequence.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Although embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method of controlling a drill-anchor apparatus, comprising:
acquiring current parameter information and preset initialization parameter information of the drilling and anchoring equipment to be controlled;
determining an initialization instruction sequence according to the current parameter information and the initialization parameter information;
initializing the drilling and anchoring equipment according to the initialization instruction sequence;
acquiring a preset drilling and anchoring work flow, wherein the drilling and anchoring work flow comprises the following steps: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step;
and sequentially controlling the drilling and anchoring equipment according to the instruction sets corresponding to the steps in the drilling and anchoring workflow so as to realize automatic work control of the drilling and anchoring equipment.
2. The method of claim 1, wherein the current parameter information comprises: current parameter values of a plurality of execution components in the drilling and anchoring device;
the initialization parameter information includes: initializing parameter values of each execution component to be initialized in the drilling and anchoring equipment;
determining an initialization instruction sequence according to the current parameter information and the initialization parameter information, including:
determining at least one execution component to be adjusted in the drill anchor equipment according to the current parameter information and the initialization parameter information, wherein the execution component to be adjusted is an execution component to be initialized, and the corresponding current parameter value is inconsistent with the initialization parameter value;
and determining an initialization instruction sequence according to the current parameter value and the initialization parameter value of the at least one execution component to be adjusted.
3. The method of claim 1, wherein determining an initialization instruction sequence according to the current parameter information and the initialization parameter information comprises:
displaying the current parameter information and the initialization parameter information;
and receiving an initialization instruction sequence input by a user according to the current parameter information and the initialization parameter information.
4. The method of claim 1, wherein the initialization instruction sequence comprises: the plurality of instructions are arranged in sequence and correspond to the plurality of execution units in the drilling and anchoring equipment one to one;
initializing the drilling and anchoring equipment according to the initialization instruction sequence, wherein the initializing comprises the following steps:
acquiring a first instruction in the initialization instruction sequence;
sending the first instruction to the drilling and anchoring equipment to initialize the drilling and anchoring equipment, and acquiring an initialization result of a first execution component corresponding to the first instruction in the drilling and anchoring equipment;
and when the initialization result is that the initialization of the first execution unit is successful, acquiring a second instruction in the initialization instruction sequence until the initialization is completed.
5. The method of claim 4, wherein the drill anchor apparatus comprises: the system comprises a plurality of execution components, a controller, a sensor group and an electromagnetic valve group; the sensor group and the electromagnetic valve group are connected with the controller;
the sensor group includes: the sensors are in one-to-one correspondence with the execution components and used for detecting the pressure values of the corresponding execution components;
the electromagnetic valve group comprises; a plurality of solenoid valves for controlling the plurality of actuators to change the parameter values of the plurality of actuators;
the initialization result of the first execution unit corresponding to the first instruction in the drill anchor device is generated in a manner,
a controller in the drilling and anchoring equipment controls the electromagnetic valve corresponding to the first execution component according to the first instruction;
acquiring a pressure value of a sensor corresponding to the first execution component;
and generating the initialization result according to the pressure value of the sensor corresponding to the first execution component and the pressure threshold value corresponding to the first execution component.
6. The method according to claim 1, wherein the controlling the drilling and anchoring equipment according to the instruction sets corresponding to the respective steps in the drilling and anchoring workflow in sequence to realize automatic work control of the drilling and anchoring equipment comprises:
aiming at each step in the drilling and anchoring workflow, acquiring an instruction set corresponding to the step;
sending each instruction in the instruction set corresponding to the step to the drilling and anchoring equipment, and acquiring an execution result corresponding to the step;
and when the execution result is that the step is successfully executed, and when the next step of the step exists in the drill anchor workflow, acquiring an instruction set corresponding to the next step, and repeatedly executing the steps.
7. The method according to claim 1 or 6,
the drilling and anchoring workflow comprises the following steps: an automatic drilling sub-flow, an automatic spraying sub-flow and an automatic anchoring sub-flow;
the execution components involved in the various steps of the automated drilling sub-flow include: the method comprises the following steps of drilling box switching, anchor box switching, locking, clamping, rod protecting structure, drill rod clamping, downward stabilizing, feeding, drilling box and water valve;
the execution components involved in each step of the automatic pesticide spraying sub-process comprise: the pesticide spraying device, the cartridge bin oil cylinder, the pesticide charging motor, the pesticide charging oil cylinder and the air injection valve;
the execution components involved in the steps of the automatic anchoring sub-process include: the device comprises a mechanical arm, a drill box switching device, an anchor box switching device, a locking device, an anchor rod bin, a clamp, a feeding device, an anchor box, a cleaning valve and a drill rod clamping device.
8. A drill-anchor apparatus control device, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring current parameter information of the drilling and anchoring equipment to be controlled and preset initialization parameter information;
the determining module is used for determining an initialization instruction sequence according to the current parameter information and the initialization parameter information;
the initialization module is used for initializing the drilling and anchoring equipment according to the initialization instruction sequence;
the obtaining module is further configured to obtain a preset drilling and anchoring workflow, where the drilling and anchoring workflow includes: the method comprises the following steps of sequentially arranging all steps and an instruction set corresponding to each step;
and the control module is used for controlling the drilling and anchoring equipment according to the instruction sets corresponding to the steps in the drilling and anchoring working process in sequence so as to realize automatic work control of the drilling and anchoring equipment.
9. A drill-anchor apparatus control system, comprising: the upper computer and the drilling and anchoring equipment;
the drill anchor apparatus includes: the system comprises a plurality of execution components, a controller, a sensor group and an electromagnetic valve group; the sensor group and the electromagnetic valve group are connected with the controller;
the sensor group includes: the sensors are in one-to-one correspondence with the execution components and used for detecting the pressure values of the corresponding execution components;
the electromagnetic valve group comprises; a plurality of solenoid valves for controlling the plurality of actuators to change the parameter values of the plurality of actuators;
the upper computer is connected with the drilling and anchoring equipment and comprises a drilling and anchoring equipment control device according to claim 8.
10. The system of claim 9, further comprising: the remote control equipment is connected with the drilling and anchoring equipment and the upper computer;
and the remote control equipment is used for receiving an initialization instruction sequence input by a user according to the current parameter information and the initialization parameter information, and sending the initialization instruction sequence to the upper computer, or sending instructions in the initialization instruction sequence to the drilling and anchoring equipment in sequence.
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