CN113062697B - Drill rod loading and unloading control method and device and drill rod loading and unloading equipment - Google Patents
Drill rod loading and unloading control method and device and drill rod loading and unloading equipment Download PDFInfo
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- CN113062697B CN113062697B CN202110477621.9A CN202110477621A CN113062697B CN 113062697 B CN113062697 B CN 113062697B CN 202110477621 A CN202110477621 A CN 202110477621A CN 113062697 B CN113062697 B CN 113062697B
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- MQXQVCLAUDMCEF-CWLIKTDRSA-N amoxicillin trihydrate Chemical compound O.O.O.C1([C@@H](N)C(=O)N[C@H]2[C@H]3SC([C@@H](N3C2=O)C(O)=O)(C)C)=CC=C(O)C=C1 MQXQVCLAUDMCEF-CWLIKTDRSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/165—Control or monitoring arrangements therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a drill rod loading and unloading control method and device and drill rod loading and unloading equipment, wherein the method comprises the following steps: acquiring the current position, the current pose and an environment image of drill rod loading and unloading equipment; determining a target position of a target drill rod and a target pose of the drill rod loading and unloading equipment for grabbing at a preset grabbing point on the target drill rod based on the environment image; determining a planning path for the drill rod loading and unloading equipment to move from the current position to the target position based on the environment image, the current pose and the target pose; determining a pose control node and a corresponding pose conversion instruction thereof on a moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route; and controlling the drill rod loading and unloading equipment to move to a target position to grab a target drill rod for rod loading or unloading based on the moving route, the pose control node and the corresponding pose conversion instruction. The automatic assembly and disassembly device has the advantages that the automation of the whole process of grabbing the drill rod from the drill rod to the assembly or disassembly is realized, manual operation is not needed, the labor cost is reduced, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a drill rod loading and unloading control method and device and drill rod loading and unloading equipment.
Background
The non-excavation horizontal directional drilling machine plays a very important role in engineering construction. However, when the drilling machine is operated, after one drill rod of the drilling machine is drilled, a drilling machine hand is usually required to carry out the tripping and the loading of the drill rod in a manual operation mode, and the whole process of loading and unloading the drill rod comprises the following steps: snatch the drilling rod, transport the drilling rod, go up and unload the drilling rod, current automatic assembly and disassembly equipment only can realize going up and unloading the automation of drilling rod, and still need two at least people to snatch the drilling rod and transport the drilling rod to cooperate the completion, the human cost is high, and work efficiency is low, and whole degree of automation is lower.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a drill rod loading and unloading control method and device and drill rod loading and unloading equipment, which are used for solving the problems that in the prior art, the drill rod loading and unloading operation of a drilling machine is required to be dependent on manual operation, and the cost is high and the working efficiency is low.
According to a first aspect, an embodiment of the present invention provides a drill rod handling control method, applied to a drill rod handling apparatus, the method including:
acquiring a current position, a current pose and an environment image of the drill rod loading and unloading equipment;
determining a target position of a target drill rod and a target pose of the drill rod loading and unloading equipment for grabbing at a preset grabbing point on the target drill rod based on the environment image;
determining a planned path of the drill rod handling equipment moving from the current position to the target position based on the environment image, the current pose and the target pose, wherein the planned path comprises a moving route of the drill rod handling equipment and a moving pose of the drill rod handling equipment on the moving route;
determining a pose control node and a pose conversion instruction corresponding to the pose control node on the moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route;
and controlling the drill rod loading and unloading equipment to move to the target position to grab the target drill rod for loading or unloading based on the moving route, the pose control node and the corresponding pose conversion instruction.
Optionally, the determining a planned path of the drill pipe handling device moving from the current position to the target position based on the environmental image, the current pose, and the target pose includes:
determining obstacle information from the current position to the target position based on the environment image;
determining each candidate planning path of the drill rod loading and unloading equipment moving from the current position to the target position based on the obstacle information and the preset control requirement of the drill rod loading and unloading equipment;
respectively calculating the total duration of each candidate planning path executed by the drill rod loading and unloading equipment;
and determining a planned path based on the sequencing result of the total duration from small to large.
Optionally, the candidate planned paths include candidate moving routes and moving poses of the drill pipe handling equipment on the candidate moving routes, and the calculating the total duration of each candidate planned path executed by the drill pipe handling equipment includes:
acquiring the route length of the current candidate moving route and the preset moving speed of the drill rod loading and unloading equipment;
determining the moving duration of the drill rod loading and unloading equipment for executing the current candidate moving route based on the route length and the preset moving speed;
calculating the pose adjustment time length of the drill rod loading and unloading equipment for executing the current candidate moving route based on the current pose, the target pose and the moving pose on the current candidate moving route;
and determining the total duration of the drill pipe loading and unloading equipment executing the current candidate planning path based on the moving duration and the pose adjustment duration.
Optionally, the determining, based on the change condition of the movement pose of the drill pipe loading and unloading device on the movement route, a pose control node and a pose transformation instruction corresponding to the pose control node on the movement route includes:
judging whether the transformation direction of the current movement pose is consistent with the transformation direction of the last movement pose along the direction of the movement route;
when the transformation direction of the current movement pose is inconsistent with the transformation direction of the last movement pose, determining the position on the movement route corresponding to the current movement pose as a pose control node;
and generating a pose transformation instruction corresponding to the pose control node based on the transformation direction of the current moving pose.
Optionally, the controlling the drill rod handling device to move to the target position to grab the target drill rod for loading or unloading based on the moving route, the pose control node and the corresponding pose transformation instruction includes:
controlling the drill rod loading and unloading equipment to move according to the moving route based on a preset moving speed;
when the drill rod loading and unloading equipment reaches the pose control node, controlling the drill rod loading and unloading equipment to pause moving;
controlling the drill rod loading and unloading equipment to change the pose based on the pose changing instruction, and continuously controlling the drill rod loading and unloading equipment to move according to the moving route after the pose changing is completed until the drill rod loading and unloading equipment reaches the target position in the target pose;
and controlling the drill rod loading and unloading equipment to grab the target drill rod to load or unload the drill rod based on a preset loading and unloading instruction.
Optionally, the determining, based on the environmental image, a target position of a target drill rod and a target pose of the drill rod handling device for grabbing at a preset grabbing point on the target drill rod includes:
performing image recognition on the environment image, and determining the position of the target drill rod in the environment image;
determining the target position based on the position of the target drill rod in the environment image and a preset conversion relation between an image coordinate system where the environment image is located and a world coordinate system;
and determining the space position of a preset grabbing point on the target drill rod based on the target position, and determining the target gesture of the drill rod loading and unloading equipment grabbing at the preset grabbing point based on the space position.
According to a second aspect, an embodiment of the present invention provides a drill rod handling control apparatus for use with a drill rod handling device, the apparatus comprising:
the acquisition module is used for acquiring the current position, the current pose and the environment image of the drill rod loading and unloading equipment;
the first processing module is used for determining a target position of a target drill rod and a target pose of the drill rod loading and unloading equipment for grabbing at a preset grabbing point on the target drill rod based on the environment image;
the second processing module is used for determining a planning path for the drill rod handling equipment to move from the current position to the target position based on the environment image, the current pose and the target pose, wherein the planning path comprises a moving route of the drill rod handling equipment and the moving pose of the drill rod handling equipment on the moving route;
the third processing module is used for determining a pose control node and a corresponding pose conversion instruction thereof on the moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route;
and the fourth processing module is used for controlling the drill rod loading and unloading equipment to move to the target position to grab the target drill rod for loading or unloading the rod based on the moving route, the pose control node and the corresponding pose conversion instruction.
According to a third aspect, an embodiment of the present invention provides a drill pipe handling apparatus comprising: an image acquisition device and a controller, wherein,
the image acquisition device is used for acquiring an environment image and sending the environment image to the controller;
the controller includes: the system comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, thereby executing the method in the first aspect or any optional implementation manner of the first aspect.
Optionally, the image acquisition device is a depth camera.
According to a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect, or any one of the alternative embodiments of the first aspect.
The technical scheme of the invention has the following advantages:
the drill rod loading and unloading control method and device provided by the embodiment of the invention are applied to the drill rod loading and unloading equipment, and the current position, the current pose and the environment image of the drill rod loading and unloading equipment are obtained; determining a target position of a target drill rod and a target pose of the drill rod loading and unloading equipment for grabbing at a preset grabbing point on the target drill rod based on the environment image; determining a planning path of the drill rod loading and unloading equipment moving from the current position to the target position based on the environment image, the current pose and the target pose, wherein the planning path comprises a moving route of the drill rod loading and unloading equipment and a moving pose of the drill rod loading and unloading equipment on the moving route; determining a pose control node and a corresponding pose conversion instruction thereof on a moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route; and controlling the drill rod loading and unloading equipment to move to a target position to grab a target drill rod for rod loading or unloading based on the moving route, the pose control node and the corresponding pose conversion instruction. The position of the target drill rod and the target pose required to be kept when the drill rod handling equipment grabs the target drill rod are determined by utilizing the environment image, then the moving path of the drill rod handling equipment is planned to obtain the planned path from the current position to the target position, and the pose control node is arranged on the moving path to adjust the pose of the drill rod handling equipment, so that the drill rod handling equipment automatically moves from the current position to the target drill rod position and automatically completes the operation of grabbing the drill rod to load or unload the drill rod, manual operation is not needed, and the labor cost is reduced, and meanwhile, the working efficiency is improved.
The drill rod loading and unloading equipment provided by the embodiment of the invention comprises the image acquisition device and the controller, wherein the image acquisition device is used for acquiring the environment image and sending the environment image to the controller, and then the controller executes the drill rod loading and unloading control method provided by the other embodiment of the invention, so that the drill rod loading and unloading equipment automatically moves from the current position to the target drill rod position and automatically finishes the operation of grabbing the drill rod to load or unload the drill rod by using the environment image acquired by the image acquisition device, manual operation is not needed, and the labor cost is reduced and the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a drill pipe handling apparatus according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of drill rod handling control according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the operation of the drill pipe handling apparatus according to the embodiment of the present invention;
FIG. 4 is a schematic view of a control device for handling drill rods according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a controller in a drill pipe handling apparatus according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The technical features of the different embodiments of the invention described below may be combined with one another as long as they do not conflict with one another.
The non-excavation horizontal directional drilling machine plays a very important role in engineering construction. However, when the drilling machine is operated, after one drill rod of the drilling machine is drilled, a drilling machine hand is usually required to carry out the tripping and the loading of the drill rod in a manual operation mode, and the whole process of loading and unloading the drill rod comprises the following steps: snatch the drilling rod, transport the drilling rod, go up and unload the drilling rod, current automatic assembly and disassembly equipment only can realize going up and unloading the automation of drilling rod, and still need two at least people to snatch the drilling rod and transport the drilling rod to cooperate the completion, the human cost is high, and work efficiency is low, and whole degree of automation is lower.
Based on the above-mentioned problems, an embodiment of the present invention provides a method for controlling loading and unloading of a drill pipe, which is applied to a controller in a drill pipe loading and unloading device, as shown in fig. 1, and the drill pipe loading and unloading device includes: the device comprises a grabbing rod device 1, a movable base 2, an image acquisition device 3 and a controller 4, wherein the grabbing rod device 1 is arranged on the movable base, the image acquisition device is arranged on the grabbing rod device 1 and transmits signals to the controller through a video line, the depth camera can be specifically adopted as the image acquisition device 3 to obtain more image characteristics, and the automatic control of the drill rod loading and unloading equipment is realized by utilizing acquired image information subsequently. The rod grabbing device 1 is composed of a manipulator 11 for grabbing a drill rod, a boom 12 connected with the manipulator, and the like, and the specific structure can refer to the related mechanical design in the prior art, and the description is omitted herein. It should be noted that, the embodiment of the present invention is only described by taking the drill rod handling device as shown in fig. 1 as an example, and in practical application, the drill rod handling device may also adopt other mechanical structures, as long as the functions of moving and gripping the drill rod can be achieved, and the present invention is not limited thereto.
Through the cooperation of the components, the drill rod loading and unloading equipment provided by the embodiment of the invention realizes that the drill rod loading and unloading equipment automatically moves from the current position to the target drill rod position and automatically finishes the operation of grabbing the drill rod to load or unload the drill rod by installing the image acquisition device on the drill rod loading and unloading equipment and utilizing the acquired environmental image, does not need manual operation, and improves the working efficiency while reducing the labor cost.
As shown in fig. 2, the method for controlling the loading and unloading of the drill pipe provided by the embodiment of the invention specifically includes the following steps:
step S101: and acquiring the current position, the current pose and the environment image of the drill rod loading and unloading equipment.
The environment image can be acquired by a depth camera arranged on the drill rod loading and unloading equipment, can be a shot single picture or can be a video of the surrounding environment acquired by the depth camera, is a plurality of environment pictures obtained by framing in the video, and comprises not only image information of a target drill rod but also images of environment barriers between the drill rod loading and unloading equipment and the target drill rod. Specifically, the current position and the current pose of the drill rod loading and unloading device can be obtained through a positioning and pose parameter system integrated by the drill rod loading and unloading device, and also can be obtained through analyzing the related image information acquired by the depth camera, and the invention is not limited by the invention.
Step S102: and determining the target position of the target drill rod based on the environmental image and the target pose of the drill rod loading and unloading equipment for grabbing at a preset grabbing point on the target drill rod.
Specifically, after receiving the environmental image sent by the image acquisition device, the controller can process the environmental image by using the existing image processing method, and the specific process is as follows: performing image recognition on the environment image, and determining the position of the target drill rod in the environment image; determining a target position based on a preset conversion relation between an image coordinate system where the target drill rod is located in the environment image and a world coordinate system; and determining the space position of a preset grabbing point on the target drill rod based on the target position, and determining the target gesture of the drill rod loading and unloading equipment grabbing at the preset grabbing point based on the space position.
Illustratively, the above step S102 may be implemented as follows: the outline characteristics and characteristic points of the target object are extracted, the outline characteristics and characteristic points are compared with calibration parameters of a sample database, and the target drill rod is identified, wherein information such as outline parameters of different drill rods is stored in the sample database, and because drill rods of different types or different specifications can be stored together, image identification can be assisted by utilizing the drill rod information stored in the sample database, so that the target drill rod needing loading and unloading can be accurately identified conveniently. After the target drill rod is identified, the image is cut, grey-changed, binarized, hough-changed and the like by utilizing the environmental images around the target drill rod and the drill rod loading and unloading equipment, the drill rod and the drill rod loading and unloading equipment are changed into a world coordinate system from an image coordinate system, the relative spatial positions of the target drill rod and the manipulator are analyzed, the spatial positions of the grabbing points are judged, and then the target pose of the drill rod loading and unloading equipment for completing drill rod grabbing is determined.
Step S103: and determining a planning path for the drill rod handling equipment to move from the current position to the target position based on the environment image, the current pose and the target pose, wherein the planning path comprises a moving route of the drill rod handling equipment and a moving pose of the drill rod handling equipment on the moving route.
Specifically, because the drill pipe handling equipment is affected by environmental obstacles and target postures during the moving process, pose adjustment needs to be performed, for example: in order to smoothly pass through the obstacle, the direction of the boom of the drill rod handling device, the height of the manipulator, and the like need to be adjusted, and therefore, the pose of the drill rod handling device in the process of moving on the whole moving route needs to be dynamically adjusted according to the condition of the route.
Step S104: and determining a pose control node and a corresponding pose conversion instruction on the moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route.
Specifically, in the embodiment of the invention, in order to ensure the stability of the drill rod loading and unloading equipment, the drill rod loading and unloading equipment needs to be controlled to stop moving when the pose is adjusted, and then the drill rod loading and unloading equipment continues to move after the pose is adjusted. Therefore, in order to avoid frequent pose adjustment of the drill rod loading and unloading equipment and improve the pose adjustment efficiency, pose control nodes are arranged on a moving route, and the pose control nodes are used for carrying out pose adjustment on the drill rod loading and unloading equipment by utilizing corresponding pose transformation instructions.
Step S105: and controlling the drill rod loading and unloading equipment to move to a target position to grab a target drill rod for rod loading or unloading based on the moving route, the pose control node and the corresponding pose conversion instruction.
Specifically, after the drill rod loading and unloading equipment is controlled to move the moving target position to grab the target drill rod according to the planned path, the target drill rod can be automatically installed or automatically disassembled according to the rod loading requirement or the rod unloading requirement. Specifically, the process of automatically loading or unloading the drill rod after grabbing the drill rod can be realized by referring to a control scheme for automatically loading or unloading the drill rod in the prior art, and details are not repeated here.
By executing the steps, the drill rod loading and unloading control method provided by the embodiment of the invention determines the position of the target drill rod and the target pose required to be kept when the drill rod loading and unloading equipment grabs the target drill rod by utilizing the environment image, then plans the moving path of the drill rod loading and unloading equipment to obtain the planning path from the current position to the target position, and adjusts the pose of the drill rod loading and unloading equipment by setting the pose control node on the moving path, thereby realizing that the drill rod loading and unloading equipment automatically moves from the current position to the target drill rod position and automatically completes the operation of loading or unloading the drill rod by grabbing the drill rod, avoiding manual operation, reducing the labor cost and improving the working efficiency.
Specifically, in one embodiment, the step S103 specifically includes the following steps:
step S201: obstacle information between the current position and the target position is determined based on the environment image.
For example, the characteristic information such as the height, width, shape, etc. of the obstacle included between the current position and the target position may be determined by analyzing the environmental image by using an existing image analysis method.
Step S202: and determining each candidate planning path of the drill rod loading and unloading equipment moving from the current position to the target position based on the barrier information and the preset control requirement of the drill rod loading and unloading equipment.
Specifically, the preset control requirement is an attitude control requirement of the drill rod handling equipment in the moving process, such as: the boom and the manipulator cannot touch the obstacle or keep a preset safety distance from the obstacle, and the specific preset control requirements can be set according to the actual working conditions and the structural characteristics of the drill rod loading and unloading equipment, and the invention is not limited to the specific preset control requirements.
Step S203: and respectively calculating the total time length of the drill rod loading and unloading equipment executing each candidate planning path.
Specifically, the specific implementation process of the step S203 is as follows: acquiring the route length of a current candidate moving route and the preset moving speed of drill rod loading and unloading equipment; determining the moving duration of the drill rod loading and unloading equipment for executing the current candidate moving route based on the route length and the preset moving speed; calculating the pose adjustment time length of the drill rod loading and unloading equipment for executing the current candidate moving route based on the current pose, the target pose and the moving pose on the current candidate moving route; and determining the total duration of the drill rod loading and unloading equipment executing the current candidate planning path based on the movement duration and the pose adjustment duration.
The preset moving speed is a moving speed set value of the drill rod loading and unloading equipment, and can be flexibly set according to the working condition and the working requirement, and the invention is not limited to the setting. Because the pose of the drill rod loading and unloading equipment at different positions on the moving route may be different, the pose needs to be continuously adjusted, and the distance threshold value can be specifically preset as follows: 1cm, 3cm and the like, or a preset time threshold value such as 1s, 3s and the like is used for determining each track point on a moving route, the pose adjustment time between two adjacent track points is determined according to the pose difference of the two adjacent track points, and then the sum of the pose adjustment time of all track points is calculated to be the pose adjustment time.
Step S204: and determining a planned path based on the sequencing result from small to large of the total duration.
Specifically, the candidate planning path with the minimum total time consumption is taken as the final planning path in all the candidate planning paths, so that the time for the drill rod loading and unloading equipment to move to the position of the target drill rod is shortened, and the working efficiency of the whole drill rod loading and unloading process is improved.
Specifically, in another embodiment, in step S103, the shortest path of the drill pipe handling device running to the target position, that is, the path with minimum total consumption, may also be planned by adopting the a-law algorithm. The following describes the path planning process for the drill pipe handling equipment implemented by the A-gram algorithm.
Firstly, confirming the consumption time required for completing the pose adjustment action executed by each node on the path, and defining an evaluation function f (n) =g (n) +h (n).
Where g (n) represents a time consumption value from an initial node to a current node, and h (n) represents a time consumption value from the current node to a target node g, the flow is as follows:
1. adding starting node pose S to an Open table
2 the following is repeated:
find the node Bestnode with the lowest f-value in the Open table and put it in the Close table
For each of the 4 nodes adjacent to node Bestnode, if it is not in the OpenTable, nor in the Close Table, it is added to the OpenTable. And using Bestnode as the father node of this node, recording f and g values.
If it is already in the Open or Close table, check if the new path is better with the g value as a reference.
The above process is then repeated, and finally the target node is added to the Close list.
All nodes in the close list form a planned path and save the path, and then move from the target node, along the parent node of each node, to the starting point.
4. And selecting a point with less pose change on the planned path as a control node, stopping moving when the point reaches the control node, outputting a corresponding control instruction, and controlling the drill rod loading and unloading equipment to continuously execute the planned path after the corresponding pose change is completed until the target position is reached to grasp the drill rod.
Specifically, in an embodiment, the step S104 specifically includes the following steps:
step S301: and judging whether the transformation direction of the current movement pose is consistent with the transformation direction of the last movement pose along the direction of the movement route.
The positions of the drill rod handling equipment, which are required to be kept at different positions on a moving route, are different, for example, the positions of the drill rod handling equipment, which are adjusted, comprise lifting, descending, facing and the like of a suspension arm, the changing direction of the current moving position of the suspension arm is assumed to be the lifting changing of the suspension arm, the changing direction of the last moving position is also the lifting changing, the changing direction of the drill rod handling equipment is considered to be consistent in the two-time position adjustment, and when the changing direction of the last moving position is changed from the left side to the right side, the changing direction of the drill rod handling equipment is considered to be inconsistent in the two-time position adjustment.
Step S302: and when the transformation direction of the current movement pose is inconsistent with the transformation direction of the last movement pose, determining the position on the movement route corresponding to the current movement pose as a pose control node.
Specifically, if a certain position pose of the drill rod loading and unloading equipment on a moving route changes, the situation that the pose adjustment needs to be carried out at the position is described, further, in order to avoid frequently issuing a pose adjustment instruction to adjust the pose, the pose adjustment is carried out only at the position with larger pose change by arranging a pose control node on the moving route, so that the pose requirement before reaching the next pose control node is met, the pose adjustment efficiency is improved, the overall moving time of the drill rod loading and unloading equipment is further saved, and the drill rod loading and unloading efficiency is improved.
Step S303: and generating a pose transformation instruction corresponding to the pose control node based on the transformation direction of the current moving pose.
The changing direction of the current moving pose is the pose which needs to be adjusted at the corresponding current position of the drill rod loading and unloading equipment on the moving route, and the drill rod loading and unloading equipment completes the pose adjustment through the corresponding pose changing instruction.
Specifically, in one embodiment, the step S105 specifically includes the following steps:
step S401: and controlling the drill rod loading and unloading equipment to move according to the moving route based on the preset moving speed.
The preset moving speed is a moving speed preset by the drill rod loading and unloading equipment, and in practical application, in order to ensure the stable and automatic operation of the drill rod loading and unloading equipment, the preset moving speed can be flexibly set according to the actual working condition, and the invention is not limited to the above.
Step S402: and when the drill rod loading and unloading equipment reaches the pose control node, controlling the drill rod loading and unloading equipment to stop moving.
Specifically, in order to further ensure the stability of the operation of the drill rod handling device, when the drill rod handling device reaches the pose control node, the drill rod handling device is controlled not to perform pose adjustment when moving and not to move when adjusting the pose, so that when the drill rod handling device reaches the pose control node, the drill rod handling device is controlled to suspend moving so as to ensure the stability of the whole drill rod handling process.
Step S403: and controlling the drill rod loading and unloading equipment to carry out pose transformation based on the pose transformation instruction, and continuously controlling the drill rod loading and unloading equipment to move according to the moving route after the pose transformation is completed until the drill rod loading and unloading equipment reaches a target position in a target pose.
The position and posture of each position and posture control node arranged on the moving route of the drill rod loading and unloading equipment are adjusted, and the drill rod loading and unloading equipment continuously moves to the target position along the moving route after the position and posture are adjusted, so that the position and posture requirements of the drill rod loading and unloading equipment on the moving route are met, the problem that the position and posture of the drill rod loading and unloading equipment are frequently adjusted in the moving process, the movement is frequently stopped, and time is consumed in starting is solved, and the working efficiency of the drill rod loading and unloading equipment is further improved. In practical application, as shown in fig. 3, in the moving process of the drill rod loading and unloading equipment, the spatial position of the drill rod loading and unloading equipment can be judged by utilizing the image information acquired by the image acquisition equipment in real time, and path adjustment is performed by adopting the path planning mode with the same process until the target position is finally reached for grabbing, installing or unloading the drill rod.
Step S404: and controlling the drill rod loading and unloading equipment to grab the target drill rod to load or unload the drill rod based on a preset loading and unloading instruction.
Specifically, the preset loading and unloading instruction includes: the drill rod installing instruction and the drill rod unloading instruction can be specifically set according to actual operation requirements, and after the drill rod assembling and disassembling equipment reaches a target position according to a planned path, the automatic installation, acquisition and disassembly of the drill rod can be realized by referring to the automatic installation or unloading method of the drill rod in the prior art, and the invention is not limited to the method.
The following describes the operation control flow of the drill rod handling apparatus, taking the installation of drill rods as an example.
1, initializing the pose of the drill rod loading and unloading equipment.
2, the controller plans the planning path of the drill rod loading and unloading equipment.
And 3, controlling the pose control node of the drill rod loading and unloading equipment on the moving route to complete the actions of chassis rotation, lifting of the suspension arm, extension of the suspension arm, adding and holding of the mechanical hand and the like, and placing the drill rod on the bracket.
4, switching the rotating device of the manipulator into a free state, and rotating the power head and screwing the drill rod
5, loosening the mechanical arm, and advancing the power head device to push the drill rod to enter the clamp holder to be screwed with the last drill rod so as to finish the installation of the drill rod; the lever release action is reversed.
By executing the steps, the drill rod loading and unloading control method provided by the embodiment of the invention determines the position of the target drill rod and the target pose required to be kept when the drill rod loading and unloading equipment grabs the target drill rod by utilizing the environment image, then plans the moving path of the drill rod loading and unloading equipment to obtain the planning path from the current position to the target position, and adjusts the pose of the drill rod loading and unloading equipment by setting the pose control node on the moving path, thereby realizing that the drill rod loading and unloading equipment automatically moves from the current position to the target drill rod position and automatically completes the operation of loading or unloading the drill rod by grabbing the drill rod, avoiding manual operation, reducing the labor cost and improving the working efficiency.
The embodiment of the invention also provides a drill rod loading and unloading control device which is applied to drill rod loading and unloading equipment, as shown in fig. 4, and specifically comprises:
the acquisition module 101 is used for acquiring the current position, the current pose and the environment image of the drill rod loading and unloading equipment. For details, refer to the related description of step S101 in the above method embodiment, and no further description is given here.
The first processing module 102 is configured to determine, based on the environmental image, a target position of the target drill rod and a target pose of the drill rod handling device for grabbing at a preset grabbing point on the target drill rod. For details, refer to the related description of step S102 in the above method embodiment, and no further description is given here.
And the second processing module 103 is used for determining a planning path for the drill rod handling equipment to move from the current position to the target position based on the environment image, the current pose and the target pose, wherein the planning path comprises a moving route of the drill rod handling equipment and the moving pose of the drill rod handling equipment on the moving route. For details, see the description of step S103 in the above method embodiment, and the details are not repeated here.
And the third processing module 104 is used for determining a pose control node and a corresponding pose conversion instruction thereof on the moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route. For details, refer to the related description of step S104 in the above method embodiment, and no further description is given here.
And the fourth processing module 105 is used for controlling the drill rod loading and unloading equipment to move to the target position to grab the target drill rod for loading or unloading based on the moving route, the pose control node and the corresponding pose conversion instruction. For details, see the description of step S105 in the above method embodiment, and the details are not repeated here.
The embodiment of the invention provides a drill rod loading and unloading control device, which is used for executing the drill rod loading and unloading control method provided by the embodiment, the implementation mode and the principle are the same, and details are referred to the related description of the embodiment of the method and are not repeated.
Through the cooperation of the components, the drill rod loading and unloading control device provided by the embodiment of the invention determines the position of the target drill rod and the target pose required to be kept when the drill rod loading and unloading equipment grabs the target drill rod by utilizing the environment image, then plans the moving path of the drill rod loading and unloading equipment to obtain the planning path from the current position to the target position, and adjusts the pose of the drill rod loading and unloading equipment by setting the pose control node on the moving path, thereby realizing that the drill rod loading and unloading equipment automatically moves from the current position to the target drill rod position and automatically completes the operation of grabbing the drill rod to load or unload the drill rod, avoiding manual operation, reducing the labor cost and improving the working efficiency.
The embodiment of the invention also provides a drill rod loading and unloading device, and particularly can refer to the drill rod loading and unloading device shown in fig. 1, as shown in fig. 5, a controller in the drill rod loading and unloading device comprises: such as processor 901 and memory 902, wherein processor 901 and memory 902 may be connected via a bus or otherwise, as exemplified in fig. 5 by a bus connection.
The processor 901 may be a central processing unit (Central Processing Unit, CPU). The processor 901 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory 902 is used as a non-transitory computer readable storage medium for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the methods in the method embodiments described above. The processor 901 executes various functional applications of the processor and data processing, i.e., implements the methods in the above-described method embodiments, by running non-transitory software programs, instructions, and modules stored in the memory 902.
The memory 902 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created by the processor 901, and the like. In addition, the memory 902 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 902 optionally includes memory remotely located relative to processor 901, which may be connected to processor 901 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 902 that, when executed by the processor 901, perform the methods of the method embodiments described above.
The specific details of the controller may be correspondingly understood by referring to the corresponding related descriptions and effects in the above embodiments, and are not repeated here.
It will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer program for instructing relevant hardware, and the implemented program may be stored in a computer readable storage medium, and the program may include the steps of the embodiments of the above-described methods when executed. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (9)
1. A drill rod handling control method applied to drill rod handling equipment, the method comprising:
acquiring a current position, a current pose and an environment image of the drill rod loading and unloading equipment;
determining a target position of a target drill rod and a target pose of the drill rod loading and unloading equipment for grabbing at a preset grabbing point on the target drill rod based on the environment image;
determining a planned path of the drill rod handling equipment moving from the current position to the target position based on the environment image, the current pose and the target pose, wherein the planned path comprises a moving route of the drill rod handling equipment and a moving pose of the drill rod handling equipment on the moving route;
determining a pose control node and a pose conversion instruction corresponding to the pose control node on the moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route;
controlling the drill rod loading and unloading equipment to move to the target position to grab the target drill rod for loading or unloading based on the moving route, the pose control node and the corresponding pose conversion instruction;
the determining a pose control node and a pose transformation instruction corresponding to the pose control node on the moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route comprises the following steps:
judging whether the transformation direction of the current movement pose is consistent with the transformation direction of the last movement pose along the direction of the movement route, wherein the transformation direction of the current movement pose is the pose which needs to be adjusted at the corresponding current position of the drill rod loading and unloading equipment on the movement route;
when the transformation direction of the current movement pose is inconsistent with the transformation direction of the last movement pose, determining the position on the movement route corresponding to the current movement pose as a pose control node;
and generating a pose transformation instruction corresponding to the pose control node based on the transformation direction of the current moving pose.
2. The method of claim 1, wherein the determining a planned path for the drill pipe handler to move from the current location to the target location based on the environmental image, the current pose, and the target pose comprises:
determining obstacle information from the current position to the target position based on the environment image;
determining each candidate planning path of the drill rod loading and unloading equipment moving from the current position to the target position based on the obstacle information and the preset control requirement of the drill rod loading and unloading equipment;
respectively calculating the total duration of each candidate planning path executed by the drill rod loading and unloading equipment;
and determining a planned path based on the sequencing result of the total duration from small to large.
3. The method of claim 2, wherein the candidate planned paths include candidate travel routes and travel poses of the pipe handler on the candidate travel routes, the calculating a total length of time for the pipe handler to execute each candidate planned path comprising:
acquiring the route length of the current candidate moving route and the preset moving speed of the drill rod loading and unloading equipment;
determining the moving duration of the drill rod loading and unloading equipment for executing the current candidate moving route based on the route length and the preset moving speed;
calculating the pose adjustment time length of the drill rod loading and unloading equipment for executing the current candidate moving route based on the current pose, the target pose and the moving pose on the current candidate moving route;
and determining the total duration of the drill pipe loading and unloading equipment for executing the current candidate planning path based on the moving duration and the pose adjustment duration.
4. The method of claim 1, wherein controlling the drill pipe handling apparatus to move to the target position to grasp the target drill pipe for pipe loading or unloading based on the travel route, the pose control node, and corresponding pose conversion instructions thereof, comprises:
controlling the drill rod loading and unloading equipment to move according to the moving route based on a preset moving speed;
when the drill rod loading and unloading equipment reaches the pose control node, controlling the drill rod loading and unloading equipment to pause moving;
controlling the drill rod loading and unloading equipment to change the pose based on the pose changing instruction, and continuously controlling the drill rod loading and unloading equipment to move according to the moving route after the pose changing is completed until the drill rod loading and unloading equipment reaches the target position in the target pose;
and controlling the drill rod loading and unloading equipment to grab the target drill rod to load or unload the drill rod based on a preset loading and unloading instruction.
5. The method of claim 1, wherein determining, based on the environmental image, a target position of a target drill pipe and a target pose of the drill pipe handling apparatus for gripping at a preset gripping point on the target drill pipe comprises:
performing image recognition on the environment image, and determining the position of the target drill rod in the environment image;
determining the target position based on the position of the target drill rod in the environment image and a preset conversion relation between an image coordinate system where the environment image is located and a world coordinate system;
and determining the space position of a preset grabbing point on the target drill rod based on the target position, and determining the target gesture of the drill rod loading and unloading equipment grabbing at the preset grabbing point based on the space position.
6. A drill rod handling control device for use with a drill rod handling apparatus, the device comprising:
the acquisition module is used for acquiring the current position, the current pose and the environment image of the drill rod loading and unloading equipment;
the first processing module is used for determining a target position of a target drill rod and a target pose of the drill rod loading and unloading equipment for grabbing at a preset grabbing point on the target drill rod based on the environment image;
the second processing module is used for determining a planning path for the drill rod handling equipment to move from the current position to the target position based on the environment image, the current pose and the target pose, wherein the planning path comprises a moving route of the drill rod handling equipment and the moving pose of the drill rod handling equipment on the moving route;
the third processing module is used for determining a pose control node and a pose transformation instruction corresponding to the pose control node on the moving route based on the change condition of the moving pose of the drill rod loading and unloading equipment on the moving route, and is specifically used for judging whether the transformation direction of the current moving pose is consistent with the transformation direction of the last moving pose along the moving route direction, wherein the transformation direction of the current moving pose is the pose which needs to be adjusted by the corresponding current position of the drill rod loading and unloading equipment on the moving route; when the transformation direction of the current movement pose is inconsistent with the transformation direction of the last movement pose, determining the position on the movement route corresponding to the current movement pose as a pose control node; generating a pose transformation instruction corresponding to the pose control node based on the transformation direction of the current moving pose;
and the fourth processing module is used for controlling the drill rod loading and unloading equipment to move to the target position to grab the target drill rod for loading or unloading the rod based on the moving route, the pose control node and the corresponding pose conversion instruction.
7. A drill pipe handling apparatus, comprising: an image acquisition device and a controller, wherein,
the image acquisition device is used for acquiring an environment image and sending the environment image to the controller;
the controller includes: a memory and a processor in communication with each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of any of claims 1-5.
8. The drill pipe handling apparatus of claim 7 wherein the image capture device is a depth camera.
9. A computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-5.
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| CN202110477621.9A CN113062697B (en) | 2021-04-29 | 2021-04-29 | Drill rod loading and unloading control method and device and drill rod loading and unloading equipment |
| PCT/CN2022/072676 WO2022227726A1 (en) | 2021-04-29 | 2022-01-19 | Drill rod mounting and dismounting control method and device, and drill rod mounting and dismounting apparatus |
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| CN113062697B (en) * | 2021-04-29 | 2023-10-31 | 北京三一智造科技有限公司 | Drill rod loading and unloading control method and device and drill rod loading and unloading equipment |
| CN115611009B (en) * | 2022-12-01 | 2023-03-21 | 中煤科工西安研究院(集团)有限公司 | Coal mine underground stacking type rod box and drill rod separation system and method |
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