CN112682025B - Drilling and anchoring equipment control method, device and system - Google Patents
Drilling and anchoring equipment control method, device and system Download PDFInfo
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- CN112682025B CN112682025B CN202010809591.2A CN202010809591A CN112682025B CN 112682025 B CN112682025 B CN 112682025B CN 202010809591 A CN202010809591 A CN 202010809591A CN 112682025 B CN112682025 B CN 112682025B
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Abstract
The application provides a drilling and anchoring equipment control method, device and system, wherein the method comprises the following steps: acquiring current parameter information of drilling and anchoring equipment to be controlled and 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; obtaining a preset drilling and anchoring workflow, wherein the drilling and anchoring workflow comprises the following steps: each step arranged in sequence and an instruction set corresponding to each step; the method realizes the automatic control of the drilling and anchoring equipment, improves the drilling and anchoring efficiency, reduces the safety risk and ensures the safety, high yield and high-efficiency exploitation of coal.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a control method, a device and a system for drilling and anchoring equipment.
Background
Along with the rapid development of science and technology, the intelligence of coal exploitation has become an important development direction. In recent years, the automation and intelligent steps of the fully mechanized mining face are continuously accelerated, and the production capacity and the propelling speed of the fully mechanized mining face are provided with serious challenges. At present, the drilling and anchoring equipment used for the fully-mechanized coal mining face is usually manually controlled, for example, a key corresponding to an execution part of the drilling and anchoring equipment is arranged on a remote control device, and an input instruction is given to the drilling and anchoring equipment by the manual key, so that the problems of high safety risk, high labor intensity, low drilling and anchoring efficiency, poor working environment and the like exist, the requirement on the fully-mechanized coal mining progress cannot be guaranteed, and the safety, the high yield and the high-efficiency coal mining are directly influenced.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the technical problems described above.
Therefore, a first object of the present application is to provide a method for controlling a drilling and anchoring device, which completes the initialization of the drilling and anchoring device by an initialization command sequence corresponding to the current parameter of the drilling and anchoring device and the preset initialization parameter information, and controls the drilling and anchoring device according to the drilling and anchoring workflow and the corresponding command set, thereby realizing the automatic control of the drilling and anchoring device, improving the drilling and anchoring efficiency, reducing the safety risk, and ensuring the safety, high yield and high efficiency exploitation of coal.
A second object of the present application is to propose a drilling and anchoring device control device.
A third object of the present application is to provide a drill and anchor apparatus control system.
To achieve the above object, an embodiment of a first aspect of the present application provides a method for controlling a drilling and anchoring device, including: acquiring current parameter information of drilling and anchoring equipment to be controlled and 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; obtaining a preset drilling and anchoring workflow, wherein the drilling and anchoring workflow comprises: each step arranged in sequence and an instruction set corresponding to each step; and sequentially controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in the drilling and anchoring workflow, so as to realize automatic work control of the drilling and anchoring equipment.
According to the drilling and anchoring equipment control method, 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; obtaining a preset drilling and anchoring workflow, wherein the drilling and anchoring workflow comprises: each step arranged in sequence and an instruction set corresponding to each step; according to the method, the initialization instruction sequence corresponding to the current parameter of the drilling and anchoring equipment and the preset initialization parameter information is adopted to complete the initialization of the drilling and anchoring equipment, the drilling and anchoring equipment is controlled according to the drilling and anchoring workflow and the corresponding instruction set, and the automatic control of the drilling and anchoring equipment is realized, so that the drilling and anchoring efficiency is improved, the safety risk is reduced, and the safety, high yield and high efficiency exploitation of coal are ensured.
To achieve the above object, an embodiment of a second aspect of the present application provides a drill-anchor apparatus control device, including: 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: each step arranged in sequence and an instruction set corresponding to each step; and the control module is used for controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in the drilling and anchoring workflow in sequence so as to realize automatic working control of the drilling and anchoring equipment.
According to the drilling and anchoring equipment control device, 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; obtaining a preset drilling and anchoring workflow, wherein the drilling and anchoring workflow comprises: each step arranged in sequence and an instruction set corresponding to each step; according to the method, the initialization instruction sequence corresponding to the current parameter of the drilling and anchoring equipment and the preset initialization parameter information is adopted to complete the initialization of the drilling and anchoring equipment, the drilling and anchoring equipment is controlled according to the drilling and anchoring workflow and the corresponding instruction set, and the automatic control of the drilling and anchoring equipment is realized, so that the drilling and anchoring efficiency is improved, the safety risk is reduced, and the safety, high yield and high efficiency exploitation of coal are ensured.
To achieve the above object, an embodiment of a third aspect of the present application provides a drilling and anchoring device control system, including: the upper computer and the drilling and anchoring equipment; the drill and anchor apparatus includes: the electromagnetic valve 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 plurality of sensors are in one-to-one correspondence with the plurality of execution components and detect pressure values of the corresponding execution components; the electromagnetic valve group includes: a plurality of electromagnetic valves for controlling the plurality of execution units to change parameter values of the plurality of execution units; the upper computer is connected with the drilling and anchoring equipment and comprises the drilling and anchoring equipment control device.
Additional aspects and advantages of the 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 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, in which:
FIG. 1 is a flow chart of a method of controlling a drilling and anchoring apparatus according to one embodiment of the present application;
FIG. 2 is a schematic illustration of a drilling and anchoring equipment parameter equipment interface according to one embodiment of the present application;
FIG. 3 is a schematic illustration of an automatic drilling sub-process of the drilling and anchoring apparatus according to one embodiment of the present application;
FIG. 4 is a schematic illustration of an automatic spraying sub-process of the drilling and anchoring apparatus according to one embodiment of the present application;
FIG. 5 is a schematic illustration of an automatic anchoring sub-process of the drilling and anchoring apparatus according to one embodiment of the present application;
FIG. 6 is a schematic diagram of an automatic control operation monitoring interface for a drilling and anchoring apparatus according to one embodiment of the present application;
FIG. 7 is a flow chart of a method for controlling a drilling and anchoring apparatus according to another embodiment of the present application;
FIG. 8 is a schematic structural view of a drilling and anchoring equipment control device according to one embodiment of the present application;
FIG. 9 is a schematic structural diagram of a control system for drilling and anchoring equipment according to one embodiment of the present application;
fig. 10 is a schematic structural diagram of a control system for drilling and anchoring equipment according to another embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a drilling and anchoring equipment control method, device and system according to the embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for controlling an anchor drilling device according to an embodiment of the present application. It should be noted that, the execution main body of the drilling and anchoring equipment control method in the embodiment of the present application is a drilling and anchoring equipment control device, and the drilling and anchoring equipment control device may be configured in a drilling and anchoring equipment control system, so that the drilling and anchoring equipment control system executes the drilling and anchoring equipment control method.
As shown in fig. 1, the specific implementation process of the drilling and anchoring equipment control method is as follows:
In this embodiment of the present application, the parameter information of the anchor drilling device to be controlled may include current parameter information and preset initialization parameter information, where the anchor drilling device control apparatus may obtain current parameter values of a plurality of execution components in the anchor drilling device through a sensor, and the anchor drilling device control apparatus may display the current parameter values of the plurality of execution components on an upper computer interface, as shown in fig. 2, so that a user may set the preset initialization parameter information of the anchor drilling device on the upper computer (e.g. a computer) interface according to the current parameter values of the plurality of execution components, and after the user completes the setting of the preset initialization parameter information of the anchor drilling device on the upper computer interface, the anchor drilling device control apparatus may obtain the initialization parameter information by accessing the upper computer.
The current parameter information may include current parameter values of a plurality of execution components in the drilling and anchoring device; the initialization parameter information may include: initialization parameter values of each execution component to be initialized in the drill-anchor device. Wherein the execution component may include, but is not limited to: drilling box switching, anchor box switching, locking, clamping, protecting rod structure, drill rod clamping, lower stabilization, feeding, drilling box and water valve, medicine spraying device, medicine roll bin oil cylinder, medicine charging motor, medicine charging oil cylinder, air spraying valve, mechanical arm, drilling box switching, anchor box switching, locking, anchor rod bin, clamping, feeding, anchor box, cleaning valve, drill rod clamping and the like.
As an example, determining at least one to-be-adjusted executing component in the drilling and anchoring equipment according to the current parameter information and the initialization parameter information, wherein the to-be-adjusted executing component is an executing component to be initialized, the corresponding current parameter value of which 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 comparison may be performed according to the current parameter information and the corresponding initialization parameter information, and according to the comparison result, it may be determined that at least one execution unit to be adjusted, for example, the current parameter information is inconsistent with the corresponding initialization parameter information, it may be determined that the execution unit corresponding to the current parameter information is the execution unit to be adjusted, and then, according to the current parameter value and the initialization parameter value of at least one execution unit to be adjusted, the initialization instruction sequence may be determined. The initialization instruction sequence can comprise a plurality of instructions which are arranged in sequence, the plurality of instructions are in one-to-one correspondence with a plurality of execution components in the drilling and anchoring equipment, and the initialization instruction sequence can be used for initializing the current parameters of the execution components to be adjusted to initialization parameter values.
As another example, current parameter information and initialization parameter information are displayed; and receiving an initialization instruction sequence input by the user according to the current parameter information and the initialization parameter information.
That is, the drilling and anchoring device control apparatus may display the current parameter information and the initialization parameter information through the upper computer, and the user may input an initialization command sequence through the related remote control apparatus according to the current parameter information and the initialization parameter information, and the remote control apparatus may transmit the initialization command sequence input by the user to the drilling and anchoring device control apparatus, and the drilling and anchoring device control apparatus may obtain the initialization command 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 initialize the drilling and anchoring equipment, optionally, acquiring a first instruction in an initialization instruction sequence; transmitting 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 first execution component is successfully initialized, acquiring a second instruction in the initialization instruction sequence until the initialization is completed. See the description of the embodiments that follow for details.
In an embodiment of the present application, a drill-anchor workflow of the drill-anchor apparatus may be preset, where the drill-anchor workflow may include: an automatic drilling sub-process, an automatic spraying sub-process, an automatic anchoring sub-process, and the like. In addition, the drill-anchor workflow further comprises: each step of the drill-anchor workflow, which is corresponding to the execution components and is arranged in sequence, and the instruction set corresponding to each step. Wherein the execution components involved in each step of the automatic drilling sub-process may include: drilling box switching, anchor box switching, locking, clamping, rod protecting structure, drill rod clamping, lower stabilization, feeding, drilling box and water valve; the execution components involved in each step of the automatic spraying sub-process may include: the device comprises a medicine spraying device, a medicine roll bin oil cylinder, a medicine loading motor, a medicine loading oil cylinder and an air spraying valve; the execution components involved in the various steps of the auto-anchor sub-process may include: the device comprises a manipulator, 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, taking an automatic drilling sub-process as an example, the automatic drilling sub-process may include 12 steps, and an instruction set (e.g., extend, retract, close, etc.) corresponding to each step. It should be noted that the code in fig. 3 may represent a feed encoder for measuring the height of the drill box or anchor box feed.
As another example, as shown in fig. 4, taking an automatic medicine spraying sub-process as an example, the automatic medicine spraying sub-process includes 8 steps, and an instruction set (e.g., stretch, shrink, stop, etc.) corresponding to each step.
As another example, as shown in fig. 5, the auto-anchor sub-process may include 16 steps, and an instruction set (e.g., extend, retract, open, close, etc.) corresponding to each step.
And 105, controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in the drilling and anchoring workflow 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; transmitting 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, acquiring an instruction set corresponding to the next step when the next step exists in the drilling and anchoring workflow, and repeatedly executing the steps.
That is, for each step in the drill-anchor workflow, the drill-anchor device control apparatus may acquire an instruction set corresponding to the step, and send each instruction in the instruction set to the drill-anchor device, the drill-anchor device executes the instruction, and sends an instruction execution result to the drill-anchor device control apparatus, where the execution result is that the step is executed successfully, and when there is a next step in the drill-anchor workflow, an instruction set corresponding to the next step may be acquired, and the above steps are repeatedly executed. When the execution result is that the step fails to be executed, the automatic working control of the drilling and anchoring equipment can be determined to be failed.
In order to facilitate the user to monitor the automatic work control state of the drilling and anchoring device in time, as shown in fig. 6, the drilling and anchoring device control device may display the number of remaining anchors, the number of cartridges, the time of one drilling and anchoring workflow, the execution results of each step in the drilling and anchoring workflow, etc., and when the execution results are that the step execution fails, it is determined that the automatic work control of the drilling and anchoring device fails, the drilling and anchoring device control device may display the automatic work control failure of the drilling and anchoring device.
In conclusion, the initialization of the drilling and anchoring equipment is completed through an initialization instruction sequence corresponding to the current parameters of the drilling and anchoring equipment and the preset initialization parameter information, and then the drilling and anchoring equipment is controlled according to the drilling and anchoring workflow 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 safety, high yield and high-efficiency exploitation of coal are ensured.
In order to initialize the drilling and anchoring device, as shown in fig. 7, fig. 7 is a schematic flow chart of 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 sequence of initialization instructions is obtained by fetching the first instruction; transmitting 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 first execution component is successfully initialized, acquiring a second instruction in the initialization instruction sequence until the initialization is completed. 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 electromagnetic valve 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 plurality of sensors are in one-to-one correspondence with the plurality of execution components, and detect the pressure value of the corresponding execution components; the solenoid valve block may include: and the electromagnetic valves are used for controlling the execution components and changing parameter values of the execution components.
As an example, the initialization result of the first execution component corresponding to the first instruction in the drilling and anchoring device may be generated by a controller in the drilling and anchoring device controlling an 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 part; 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, the drilling and anchoring device control device may send a first instruction in the obtained instruction sequence to the controller in the drilling and anchoring device, where the controller in the drilling and anchoring device controls the electromagnetic valve corresponding to the first execution component according to the first instruction, and since the electromagnetic valve may control the first execution component, alter the parameter value of the first execution component, the plurality of sensors are in one-to-one correspondence with the plurality of execution components, and may detect the pressure value of the corresponding first execution component; so that the control device of the drilling and anchoring equipment can acquire the pressure value of the sensor corresponding to the first execution part; 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 working control of the drilling and anchoring equipment fails; for another example, when the pressure value of the sensor corresponding to the first executing component is greater than or equal to the pressure threshold value corresponding to the first executing component, the initialization result of the first executing component is successful.
In step 703, when the initialization result is that the first execution unit is initialized successfully, a second instruction in the initialization instruction sequence is acquired until the initialization is completed.
Further, when the initialization result is that the first execution unit is successfully initialized, a second instruction in the initialization instruction sequence is obtained, and similarly, the initialization result of a second execution unit corresponding to the second instruction in the drilling and anchoring device is obtained by adopting the step 702, and the steps are repeatedly executed until the initialization is completed.
To sum up, by obtaining the first instruction in the initialization instruction sequence; transmitting 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 first execution component is successfully initialized, 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 drilling and anchoring equipment control method, 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; obtaining a preset drilling and anchoring workflow, wherein the drilling and anchoring workflow comprises the following steps: each step arranged in sequence and an instruction set corresponding to each step; according to the method, the initialization instruction sequence corresponding to the current parameters of the drilling and anchoring equipment and the preset initialization parameter information is adopted to complete the initialization of the drilling and anchoring equipment, the drilling and anchoring equipment is controlled according to the drilling and anchoring workflow and the corresponding instruction set, and the automatic control of the drilling and anchoring equipment is realized, so that the drilling and anchoring efficiency is improved, the safety risk is reduced, and the safety, high yield and high efficiency exploitation of coal are ensured.
Corresponding to the drilling and anchoring equipment control methods provided in the foregoing several embodiments, an embodiment of the present application further provides a drilling and anchoring equipment control device, and since the drilling and anchoring equipment control device provided in the embodiment of the present application corresponds to the drilling and anchoring equipment control method provided in the foregoing several embodiments, implementation manners of the foregoing drilling and anchoring equipment control method are also applicable to the drilling and anchoring equipment control device provided in the embodiment, and will not be described in detail in the present embodiment. Fig. 8 is a schematic structural view of a control device for drilling and anchoring equipment according to an embodiment of the present application. As shown in fig. 8, the drill and anchor apparatus control device 800 includes: the system comprises an acquisition module 810, a determination module 820, an initialization module 830 and a control module 840.
The acquiring module 810 is configured to acquire current parameter information of the drilling and anchoring device 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 command sequence; the obtaining module 810 is further configured to obtain a preset drilling and anchoring workflow, where the drilling and anchoring workflow includes: each step arranged in sequence and an instruction set corresponding to each step; the control module 840 is configured to control the drilling and anchoring device according to the instruction sets corresponding to the steps in the drilling and anchoring workflow in sequence, so as to realize automatic working control of the drilling and anchoring device.
As one 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 all execution components to be initialized in the drilling and anchoring equipment; the determining module 820 is specifically configured to determine, according to the current parameter information and the initialization parameter information, at least one to-be-adjusted executing component in the drilling and anchoring device, where the to-be-adjusted executing component is an executing component to be initialized, where 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.
As one 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 one possible implementation manner of the embodiment of the present application, the initialization instruction sequence includes: the instructions are arranged in sequence and correspond to the execution components in the drilling and anchoring equipment one by one; the initialization module 830 is specifically configured to obtain a first instruction in an initialization instruction sequence; transmitting 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 first execution component is successfully initialized, acquiring a second instruction in the initialization instruction sequence until the initialization is completed.
As one possible implementation manner of the embodiments of the present application, the drill-anchor apparatus includes: the electromagnetic valve 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 plurality of sensors are in one-to-one correspondence with the plurality of execution components, and detect the pressure value of the corresponding execution components; the solenoid valve group includes: a plurality of electromagnetic valves for controlling the plurality of execution units to change parameter values of the plurality of execution units; the initialization module 830 is specifically configured to control, by using a controller in the drilling and anchoring device, an 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 part; 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 one possible implementation manner of the embodiment of the present application, the control module 840 is specifically configured to, for each step in the drilling and anchoring workflow, obtain an instruction set corresponding to the step; transmitting 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, acquiring an instruction set corresponding to the next step when the next step exists in the drilling and anchoring workflow, and repeating the steps.
As one possible implementation of an embodiment of the present application, a drill-anchor workflow includes: an automatic drilling sub-process, an automatic spraying sub-process and an automatic anchoring sub-process; the execution components involved in each step of the automatic drilling sub-process include: drilling box switching, anchor box switching, locking, clamping, rod protecting structure, drill rod clamping, lower stabilization, feeding, drilling box and water valve; the execution components involved in each step of the automatic spraying sub-process include: the device comprises a medicine spraying device, a medicine roll bin oil cylinder, a medicine loading motor, a medicine loading oil cylinder and an air spraying valve; the execution components involved in the various steps of the automatic anchoring sub-process include: the device comprises a manipulator, 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.
According to the drilling and anchoring equipment control device, 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; obtaining a preset drilling and anchoring workflow, wherein the drilling and anchoring workflow comprises the following steps: each step arranged in sequence and an instruction set corresponding to each step; according to the method, the initialization instruction sequence corresponding to the current parameters of the drilling and anchoring equipment and the preset initialization parameter information is adopted to complete the initialization of the drilling and anchoring equipment, the drilling and anchoring equipment is controlled according to the drilling and anchoring workflow and the corresponding instruction set, and the automatic control of the drilling and anchoring equipment is realized, so that the drilling and anchoring efficiency is improved, the safety risk is reduced, and the safety, high yield and high efficiency exploitation of coal are ensured.
In order to achieve the above embodiments, the present application further provides a drilling and anchoring device control system, and fig. 9 is a schematic structural diagram of the drilling and anchoring device control system provided in the embodiments of the present application. The drill and anchor equipment control system comprises: the host computer 910 and the drill and anchor device 920.
Wherein, bore anchor device 920 includes: a plurality of execution units 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: the plurality of sensors are in one-to-one correspondence with the plurality of executing components, and detect the pressure of the corresponding executing components. Solenoid valve block 924 includes: a plurality of electromagnetic valves for controlling the plurality of execution units to change parameter values of the plurality of execution units; the upper computer 910 is connected to the drill and anchor device 920, and includes the drill and anchor device control device described in the foregoing embodiments.
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: a remote control device 930 connected to the drill anchor device 920 and the host computer 910.
The remote control device 930 is configured to receive an initialization command sequence input by a user according to current parameter information and initialization parameter information, and send the initialization command sequence to the upper computer, or sequentially send instructions in the initialization command sequence to the drilling and anchoring device.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those 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 specific logical functions or steps of the process, and additional 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 embodiments of the present application.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (3)
1. A method of controlling a drilling and anchoring apparatus, comprising:
acquiring current parameter information of drilling and anchoring equipment to be controlled and 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;
obtaining a preset drilling and anchoring workflow, wherein the drilling and anchoring workflow comprises: each step arranged in sequence and an instruction set corresponding to each step;
sequentially controlling the drilling and anchoring equipment according to instruction sets corresponding to all steps in the drilling and anchoring workflow to realize automatic work control of the drilling and anchoring equipment,
wherein the current parameter information includes: the current parameter values of a plurality of execution components in the drilling and anchoring equipment are displayed by an upper computer interface;
the initialization parameter information includes: initializing parameter values of all execution components to be initialized in the drilling and anchoring equipment, wherein the initializing parameter information is preset initializing parameter information of the drilling and anchoring equipment, which is set by a user on an upper computer interface according to the current parameter values of the execution components;
the determining an initialization instruction sequence according to the current parameter information and the initialization parameter information comprises the following steps:
determining at least one execution component to be adjusted in the drilling and anchoring 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 and the initialization parameter value of the execution component to be adjusted are inconsistent;
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;
the initialization instruction sequence includes: the instructions are arranged in sequence and correspond to the execution components in the drilling and anchoring equipment one by one;
the determining an initialization instruction sequence according to the current parameter information and the initialization parameter information comprises the following steps:
displaying the current parameter information and the initialization parameter information;
receiving an initialization instruction sequence input by a user according to the current parameter information and the initialization parameter information;
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;
transmitting 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;
when the initialization result is that the first execution unit is successfully initialized, acquiring a second instruction in the initialization instruction sequence until the initialization is completed;
the drill and anchor apparatus includes: the electromagnetic valve 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 plurality of sensors are in one-to-one correspondence with the plurality of execution components and detect pressure values of the corresponding execution components;
the electromagnetic valve group includes: a plurality of electromagnetic valves for controlling the plurality of execution units to change parameter values of the plurality of execution units;
the initialization result of the first execution component corresponding to the first instruction in the drilling and anchoring equipment is generated by the following steps:
the controller in the drilling and anchoring equipment controls the electromagnetic valve corresponding to the first executing component according to the first instruction;
acquiring a pressure value of a sensor corresponding to the first execution part;
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;
the drilling and anchoring workflow comprises the following steps: an automatic drilling sub-process, an automatic spraying sub-process and an automatic anchoring sub-process;
the drilling and anchoring workflow further comprises: each step of the sequential arrangement of the execution components in the drilling and anchoring workflow, and the instruction set corresponding to each step;
the execution components involved in each step of the automatic drilling sub-process include: drilling box switching, anchor box switching, locking, clamping, rod protecting structure, drill rod clamping, lower stabilization, feeding, drilling box and water valve;
the execution components involved in each step of the automatic medicine spraying sub-process comprise: the device comprises a medicine spraying device, a medicine roll bin oil cylinder, a medicine loading motor, a medicine loading oil cylinder and an air spraying valve;
the execution components involved in each step of the automatic anchoring sub-process include: the device comprises a manipulator, 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 of the drilling and anchoring equipment is sequentially performed according to instruction sets corresponding to all steps in the drilling and anchoring workflow, so as to realize automatic work control of the drilling and anchoring equipment, and the method comprises the following steps:
aiming at each step in the drilling and anchoring workflow, acquiring an instruction set corresponding to the step;
transmitting 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;
when the execution result is that the step is successfully executed, acquiring an instruction set corresponding to the next step when the next step of the step exists in the drilling and anchoring workflow; repeating the above steps;
the method further comprises the steps of:
displaying the number of residual anchor rods, the number of cartridges, the time of one drilling and anchoring work flow and the execution results of all steps in the drilling and anchoring work flow on an upper computer interface, and displaying the automatic work control fault of the drilling and anchoring equipment on the upper computer interface when the execution results are that the step execution fails and the automatic work control of the drilling and anchoring equipment is determined to be faulty.
2. A drill and anchor apparatus control device, comprising:
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: each step arranged in sequence and an instruction set corresponding to each step;
a control module 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 the automatic work control of the drilling and anchoring equipment,
wherein the current parameter information includes: the current parameter values of a plurality of execution components in the drilling and anchoring equipment are displayed by an upper computer interface;
the initialization parameter information includes: initializing parameter values of all execution components to be initialized in the drilling and anchoring equipment, wherein the initializing parameter information is preset initializing parameter information of the drilling and anchoring equipment set by a user on the upper computer interface according to the current parameter values of the execution components;
the determining module is specifically configured to:
determining at least one execution component to be adjusted in the drilling and anchoring 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 and the initialization parameter value of the execution component to be adjusted are inconsistent;
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;
the initialization instruction sequence includes: the instructions are arranged in sequence and correspond to the execution components in the drilling and anchoring equipment one by one;
the determining module is further configured to:
displaying the current parameter information and the initialization parameter information;
receiving an initialization instruction sequence input by a user according to the current parameter information and the initialization parameter information;
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;
transmitting 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;
when the initialization result is that the first execution unit is successfully initialized, acquiring a second instruction in the initialization instruction sequence until the initialization is completed;
the drill and anchor apparatus includes: the electromagnetic valve 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 plurality of sensors are in one-to-one correspondence with the plurality of execution components and detect pressure values of the corresponding execution components;
the electromagnetic valve group includes: a plurality of electromagnetic valves for controlling the plurality of execution units to change parameter values of the plurality of execution units;
the initialization result of the first execution component corresponding to the first instruction in the drilling and anchoring equipment is generated by the following steps:
the controller in the drilling and anchoring equipment controls the electromagnetic valve corresponding to the first executing component according to the first instruction;
acquiring a pressure value of a sensor corresponding to the first execution part;
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;
the drilling and anchoring workflow comprises the following steps: an automatic drilling sub-process, an automatic spraying sub-process and an automatic anchoring sub-process;
the drilling and anchoring workflow further comprises: each step of the sequential arrangement of the execution components in the drilling and anchoring workflow, and the instruction set corresponding to each step;
the execution components involved in each step of the automatic drilling sub-process include: drilling box switching, anchor box switching, locking, clamping, rod protecting structure, drill rod clamping, lower stabilization, feeding, drilling box and water valve;
the execution components involved in each step of the automatic medicine spraying sub-process comprise: the device comprises a medicine spraying device, a medicine roll bin oil cylinder, a medicine loading motor, a medicine loading oil cylinder and an air spraying valve;
the execution components involved in each step of the automatic anchoring sub-process include: the device comprises a manipulator, 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 module is specifically configured to:
aiming at each step in the drilling and anchoring workflow, acquiring an instruction set corresponding to the step;
transmitting 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;
when the execution result is that the step is successfully executed, acquiring an instruction set corresponding to the next step when the next step of the step exists in the drilling and anchoring workflow; repeating the above steps;
the device also comprises a display module, which is specifically used for:
displaying the number of residual anchor rods, the number of cartridges, the time of one drilling and anchoring work flow and the execution results of all steps in the drilling and anchoring work flow on the upper computer interface, and displaying the automatic work control fault of the drilling and anchoring equipment on the upper computer interface when the execution results are that the step execution fails and the automatic work control of the drilling and anchoring equipment is determined to be faulty.
3. A drill and anchor apparatus control system, comprising: the upper computer and the drilling and anchoring equipment;
the drill and anchor apparatus includes: the electromagnetic valve 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 plurality of sensors are in one-to-one correspondence with the plurality of execution components and detect pressure values of the corresponding execution components;
the electromagnetic valve group includes: a plurality of electromagnetic valves for controlling the plurality of execution units to change parameter values of the plurality of execution units;
the upper computer is connected with the drilling and anchoring equipment and comprises the drilling and anchoring equipment control device according to claim 2;
the system further comprises: the remote control equipment is connected with the drilling and anchoring equipment and the upper computer;
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 sequentially sending instructions in the initialization instruction sequence to the drilling and anchoring equipment.
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