CN113445907B - Drilling method of drill jumbo, drilling quality evaluation method and system and drill jumbo - Google Patents
Drilling method of drill jumbo, drilling quality evaluation method and system and drill jumbo Download PDFInfo
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- CN113445907B CN113445907B CN202110719006.4A CN202110719006A CN113445907B CN 113445907 B CN113445907 B CN 113445907B CN 202110719006 A CN202110719006 A CN 202110719006A CN 113445907 B CN113445907 B CN 113445907B
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- 238000005553 drilling Methods 0.000 title claims abstract description 250
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000013441 quality evaluation Methods 0.000 title claims abstract description 18
- 238000010586 diagram Methods 0.000 claims abstract description 185
- 238000005422 blasting Methods 0.000 claims abstract description 166
- 238000004088 simulation Methods 0.000 claims abstract description 65
- 239000011435 rock Substances 0.000 claims description 65
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 238000013461 design Methods 0.000 claims description 16
- 239000004744 fabric Substances 0.000 claims description 7
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 6
- 238000010009 beating Methods 0.000 claims 1
- 238000003780 insertion Methods 0.000 description 9
- 230000037431 insertion Effects 0.000 description 9
- 238000010276 construction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/027—Drills for drilling shallow holes, e.g. for taking soil samples or for drilling postholes
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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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
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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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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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
- E21B47/00—Survey of boreholes or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- Fluid Mechanics (AREA)
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Abstract
The invention discloses a drilling method of a drill jumbo, a drilling quality evaluation method and system and the drill jumbo in the technical field of the drill jumbo, wherein the drilling quality evaluation method of the drill jumbo comprises the following steps: acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; when the drilling and blasting operation is carried out on the drilling and blasting trolley according to the obtained hole distribution diagram, attitude data of each drilling arm of the drilling and blasting trolley is obtained, and an actual drilling and blasting hole distribution diagram is further obtained; after blasting, scanning the tunnel profile to obtain an actual tunnel profile map; and performing out-of-break analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram to obtain an analysis result for evaluating the drilling quality and the blasting quality of the drill jumbo. The drilling quality of the drill jumbo and the profile quality after blasting can be effectively improved.
Description
Technical Field
The invention belongs to the technical field of drill jumbo, and particularly relates to a drill jumbo drilling method, a drill hole quality evaluation method and system and a drill jumbo.
Background
The rock drilling jumbo is important mechanical equipment for mechanical construction of a tunnel drilling and blasting method, profile forming quality is one of important control indexes of tunnel blasting, circulation time is increased due to excessive and insufficient drilling of a rock body, even large-scale reworking is realized, proper drilling and blasting hole distribution diagram design and drilling operation are crucial to improving blasting effect, when the rock drilling jumbo works, actual drilling operation of the rock drilling jumbo is unlikely to be consistent with a preset hole distribution diagram, the drilling quality of key drilling and blasting holes is often not satisfactory, and the blasted tunnel profile always has excessive and insufficient drilling defects, so that the detection and control of the drilling quality are very important, but no detection method and system related to the drilling quality exists at present.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a drilling method of a drill jumbo, a drilling quality evaluation method and system and the drill jumbo, which can effectively improve the drilling quality of the drill jumbo and the profile quality after blasting.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, a drill hole quality evaluation method for a drill jumbo is provided, which comprises the following steps: acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; when the drilling and blasting operation is carried out on the drilling and blasting trolley according to the obtained hole distribution diagram, attitude data of each drilling arm of the drilling and blasting trolley is obtained, and an actual drilling and blasting hole distribution diagram is further obtained; after blasting, scanning the tunnel contour to obtain an actual tunnel contour map; and performing out-of-break analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram to obtain an analysis result for evaluating the drilling quality and the blasting quality of the drill jumbo.
Further, a method for obtaining a cloth hole pattern comprises the following steps: making a preliminary hole distribution diagram based on design requirements; carrying out blasting simulation based on the preliminary hole distribution diagram, and outputting a preliminary tunnel outline simulation diagram; performing overbreak and underrun analysis based on a preliminary tunnel contour simulation diagram; and adjusting the preliminary hole distribution diagram based on the result of the overbreak analysis until the preset design requirement is met, and acquiring a final hole distribution diagram and a tunnel outline simulation diagram after the simulated blasting according to the hole distribution diagram.
Further, acquire the gesture data of each rock drilling arm of drill jumbo, and then acquire actual drilling and blasting hole distribution diagram, include: the attitude data of each rock drilling arm is obtained through a vehicle body positioning sensor arranged on a walking chassis and sensors which are arranged on the rock drilling arms of the rock drilling trolley and used for measuring the angles and the displacements of the rock drilling arms, and then the positions, the angles and the drilling depths of the rock drilling arms for drilling and blasting holes are calculated out, so that an actual drilling and blasting hole distribution diagram is formed.
In a second aspect, there is provided a drill jumbo drill hole quality evaluation system comprising: the first module is used for acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; the second module is used for acquiring attitude data of each rock drilling arm of the drill jumbo when the drill jumbo performs drilling and blasting operation according to the acquired hole distribution diagram so as to acquire an actual drilling and blasting hole distribution diagram; the third module is used for scanning the tunnel contour after blasting to obtain an actual tunnel contour map; and the fourth module is used for carrying out overbreak analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram, and obtaining an analysis result for evaluating the drilling quality and the blasting quality of the rock drilling jumbo.
In a third aspect, there is provided a drill jumbo drilling method comprising: acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; when the drilling and blasting operation is carried out on the drilling and blasting trolley according to the obtained hole distribution diagram, attitude data of each drilling arm of the drilling and blasting trolley is obtained, and an actual drilling and blasting hole distribution diagram is further obtained; after blasting, scanning the tunnel profile to obtain an actual tunnel profile map; performing overbreak and underexcavation analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel outline simulation diagram and the actual tunnel outline diagram to obtain an analysis result; determining key drilling and blasting holes and non-key drilling and blasting holes based on the analysis result; and in the next drilling and blasting cycle, controlling the actual position of the key drilling and blasting hole and the position of the key drilling and blasting hole set in the hole distribution diagram within a set error range.
Further, a method for obtaining a cloth hole pattern comprises the following steps: formulating a preliminary hole distribution diagram based on design requirements; carrying out blasting simulation based on the preliminary hole distribution diagram, and outputting a preliminary tunnel outline simulation diagram; performing overbreak and underrun analysis based on a preliminary tunnel contour simulation diagram; and adjusting the preliminary hole distribution diagram based on the result of the overbreak analysis until the preset design requirement is met, and acquiring a final hole distribution diagram and a tunnel outline simulation diagram after the simulated blasting according to the hole distribution diagram.
Further, acquire the gesture data of each rock drilling arm of drill jumbo, and then acquire actual drilling and blasting hole distribution diagram, include: the attitude data of each rock drilling arm is obtained through a vehicle body positioning sensor arranged on a walking chassis and sensors which are arranged on the rock drilling arms of the rock drilling trolley and used for measuring the angles and the displacements of the rock drilling arms, and then the positions, the angles and the drilling depths of the rock drilling arms for drilling and blasting holes are calculated out, so that an actual drilling and blasting hole distribution diagram is formed.
In a fourth aspect, there is provided a drill jumbo provided with the drill hole quality evaluation system of the second aspect.
Further, the device comprises a wing type arm support arranged on the walking chassis and a rock drilling arm arranged on the wing type arm support.
Furthermore, a vehicle body positioning sensor is arranged on the walking chassis; a wing type arm support angle sensor is arranged on the wing type arm support; the rock drilling arm is provided with a telescopic arm frame pitching angle sensor, a telescopic arm frame swinging angle sensor, a telescopic arm frame telescopic displacement sensor, a rotating base rotating angle sensor, a propelling beam base pitching angle sensor, a propelling beam base swinging angle sensor, a propelling beam propelling displacement sensor and a drill rod drilling displacement sensor.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the method, the actual drilling and blasting hole distribution map is obtained by obtaining the attitude data of each drilling arm of the drill jumbo; after blasting, scanning the tunnel contour to obtain an actual tunnel contour map; the method comprises the following steps of carrying out overbreak analysis based on a hole distribution diagram, an actual drilling and blasting distribution diagram, a tunnel profile simulation diagram and an actual tunnel profile diagram, and effectively improving the drilling quality of the drill jumbo and the profile quality after blasting;
(2) according to the method, the actual drilling and blasting hole position, the insertion angle and the drilling depth are obtained and compared with the drilling and blasting hole position, the insertion angle and the drilling depth designed by a hole distribution diagram, and the key drilling and blasting holes and the non-key drilling and blasting holes are divided according to the comparison of the overbreak result, so that the drilling quality of the key drilling and blasting holes is controlled in the next drilling and blasting cycle by the drill jumbo, the drilling quality and the contour quality after blasting are improved, and the construction efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of a main body of a rock drilling jumbo according to an embodiment of the present invention;
figure 2 is a schematic view of the main structure of the rock drilling arm of figure 1;
fig. 3 is a schematic main flow chart of a drill hole quality evaluation method for a drill jumbo according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a key borehole and borehole analysis system in an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
a drill hole quality evaluation method for a drill jumbo comprises the following steps: acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; when the drilling and blasting operation is carried out on the drilling and blasting trolley according to the obtained hole distribution diagram, attitude data of each drilling arm of the drilling and blasting trolley is obtained, and an actual drilling and blasting hole distribution diagram is further obtained; after blasting, scanning the tunnel profile to obtain an actual tunnel profile map; and performing out-of-break analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram to obtain an analysis result for evaluating the drilling quality and the blasting quality of the drill jumbo.
As shown in fig. 1 to 3, the drill jumbo comprises a walking chassis 1, a cab 2, a wing type arm support 3, a support leg 4, a drill arm 5 and a platform arm 6 which are arranged on the walking chassis 1, wherein a car body positioning sensor 7 is arranged on the walking chassis 1; the rock drilling arm 5 comprises a rock drilling arm base 51, a telescopic arm support 52, a rotary base 53, a propelling beam base 54, a propelling beam 55 and a drill rod 56 which are mechanically connected in sequence; the wing type arm support 3 is provided with two wing type arm support angle sensors 31; the telescopic boom 52 is provided with a telescopic boom pitch angle sensor 521, a telescopic boom swing angle sensor 522 and a telescopic boom telescopic displacement sensor 523; a rotating base rotating angle sensor 531 is installed on the rotating base 53; a propulsion beam base pitch angle sensor 541 and a propulsion beam base swing angle sensor 542 are mounted on the propulsion beam base 54; a propulsion beam propulsion displacement sensor 551 is arranged on the propulsion beam 55; a drill rod drilling displacement sensor 561 is mounted on the drill rod 56.
Firstly, acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; the method for acquiring the cloth hole pattern comprises the following steps: making a preliminary hole distribution diagram based on design requirements; performing blasting simulation based on the preliminary hole distribution diagram, and outputting a preliminary tunnel outline simulation diagram; performing overbreak and underbreak analysis based on a preliminary tunnel contour simulation diagram; and adjusting the preliminary hole distribution diagram based on the result of the overbreak analysis until the preset design requirement is met, and acquiring a final hole distribution diagram and a tunnel outline simulation diagram after the simulated blasting according to the hole distribution diagram.
Firstly, designing a hole distribution diagram of tunnel blasting drilling and blasting, designing the drilling and blasting hole distribution diagram designed according to hole distribution diagram design software, carrying out blasting simulation by applying blasting simulation software, outputting a blasted tunnel profile, carrying out overbreak and underbreak analysis, and modifying the hole distribution diagram until the simulated blasted tunnel profile meets the requirements according to the current hole distribution diagram when the preset technical requirements are met according to the overbreak and underbreak analysis results.
Secondly, acquiring attitude data of each drilling arm of the drill jumbo when the drill jumbo carries out drilling and blasting operation according to the acquired hole distribution diagram, and further acquiring an actual drill and blasting hole distribution diagram; the attitude data of each rock drilling arm is obtained through a vehicle body positioning sensor arranged on the walking chassis and a sensor which is arranged on each rock drilling arm of the rock drilling trolley and is used for measuring the angle and the displacement of the rock drilling arm, and then the position, the angle and the drilling depth of the rock drilling arm for drilling the drilling hole are calculated out, so that an actual drilling hole distribution map is formed.
And drilling by the drill jumbo manipulator according to a designed hole distribution diagram, wherein the hole distribution diagram is provided with detailed drilling and blasting positions, insertion angles and drilling depths. And the operation arm adjusts the rock drilling arm of the rock drilling jumbo to perform drilling operation in a proper posture. The rock drilling jumbo is shown in figure 1, a rock drilling arm is provided with a series of sensors shown in figure 2, a jumbo body is firstly positioned in the working process, and the pose state of the rock drilling arm is resolved and recorded in real time according to data collected by the sensors on the rock drilling arm.
And thirdly, after the explosive charging blasting, scanning the tunnel contour by using a 3D scanning technology to obtain an actual tunnel contour map.
And fourthly, performing overbreak and undermining analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram to obtain an analysis result for evaluating the drilling quality and blasting quality of the drill jumbo.
In the embodiment, the actual drilling and blasting hole distribution map is obtained by obtaining the attitude data of each drilling arm of the drill jumbo; after blasting, scanning the tunnel profile to obtain an actual tunnel profile map; based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram, the overbreak analysis is carried out, and the drilling quality of the drill jumbo and the profile quality after blasting can be effectively improved.
Example two:
based on the first embodiment of the method for evaluating drill hole quality of the drill jumbo, the embodiment provides a drill hole quality evaluation system of the drill jumbo, which comprises: the first module is used for acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; the second module is used for acquiring attitude data of each rock drilling arm of the drill jumbo when the drill jumbo performs drilling and blasting operation according to the acquired hole distribution diagram so as to acquire an actual drilling and blasting hole distribution diagram; the third module is used for scanning the tunnel contour after blasting to obtain an actual tunnel contour map; and the fourth module is used for carrying out overbreak analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram, and obtaining an analysis result for evaluating the drilling quality and the blasting quality of the rock drilling jumbo.
Example three:
based on the drill hole quality evaluation method of the drill jumbo in the first embodiment and the drill hole quality evaluation system of the drill jumbo in the second embodiment, the present embodiment provides a drill hole method of the drill jumbo, including: acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; when the drilling and blasting operation is carried out on the drilling and blasting trolley according to the obtained hole distribution diagram, attitude data of each drilling arm of the drilling and blasting trolley is obtained, and an actual drilling and blasting hole distribution diagram is further obtained; after blasting, scanning the tunnel contour to obtain an actual tunnel contour map; performing overbreak and underexcavation analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel outline simulation diagram and the actual tunnel outline diagram to obtain an analysis result; determining key drilling and blasting holes and non-key drilling and blasting holes based on the analysis result; and in the next drilling and blasting cycle, controlling the actual position of the key drilling and blasting hole and the position of the key drilling and blasting hole set in the hole distribution diagram within a set error range.
Firstly, acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; the method for acquiring the cloth hole pattern comprises the following steps: making a preliminary hole distribution diagram based on design requirements; performing blasting simulation based on the preliminary hole distribution diagram, and outputting a preliminary tunnel outline simulation diagram; performing overbreak and underbreak analysis based on a preliminary tunnel contour simulation diagram; and adjusting the preliminary hole distribution diagram based on the result of the overbreak analysis until the preset design requirement is met, and acquiring a final hole distribution diagram and a tunnel outline simulation diagram after the simulated blasting according to the hole distribution diagram.
Firstly, designing a hole distribution diagram of tunnel blasting drilling and blasting holes, designing the drilling and blasting hole distribution diagram according to hole distribution diagram design software, carrying out blasting simulation by using blasting simulation software, outputting a blasted tunnel profile, carrying out overbreak analysis, and according to the overbreak analysis result, reaching the preset technical requirement, carrying out actual drilling operation according to the current hole distribution diagram, otherwise, modifying the hole distribution diagram until the simulated blasted tunnel profile meets the requirement.
Secondly, acquiring attitude data of each rock drilling arm of the drill jumbo when the drill jumbo performs drilling and blasting operation according to the acquired hole distribution diagram, and further acquiring an actual drilling and blasting hole distribution diagram; the attitude data of each rock drilling arm is obtained through a vehicle body positioning sensor arranged on a walking chassis and sensors which are arranged on the rock drilling arms of the rock drilling trolley and used for measuring the angles and the displacements of the rock drilling arms, and then the positions, the angles and the drilling depths of the rock drilling arms for drilling and blasting holes are calculated out, so that an actual drilling and blasting hole distribution diagram is formed.
And drilling by the drill jumbo manipulator according to a designed hole distribution diagram, wherein the hole distribution diagram is provided with detailed drilling and blasting positions, insertion angles and drilling depths. And the operation arm adjusts the rock drilling arm of the rock drilling jumbo to perform drilling operation in a proper posture. As shown in figure 1, the rock drilling jumbo is provided with a series of sensors shown in figure 2, a jumbo body is firstly positioned in the working process, and the pose state of the rock drilling arm is resolved and recorded in real time according to data collected by the sensors on the rock drilling arm.
And thirdly, after the explosive charging blasting, scanning the tunnel contour by using a 3D scanning technology to obtain an actual tunnel contour map.
Fourthly, performing out-of-break analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel outline simulation diagram and the actual tunnel outline diagram to obtain an analysis result; determining key drilling and blasting holes and non-key drilling and blasting holes based on the analysis result; and in the next drilling and blasting cycle, controlling the actual position of the key drilling and blasting hole and the position of the key drilling and blasting hole set in the hole distribution diagram within a set error range.
After blasting, use 3D scanning technique to scan the tunnel profile, reach the tunnel profile after the actual blasting, compare the tunnel profile simulation picture that the emulation blasting obtained with the tunnel profile simulation picture of reality, according to the comparison of both super undermining results, the design of evaluation brill hole and the influence of drilling quality to the actual blasting, and divide the influence degree, to surpass undermining the great brill hole that influences as the key brill hole that influences, to surpass undermining the less brill hole that influences as non-key brill hole that influences, as shown in figure 4. In the next drilling and blasting cycle, the drilling quality of key drilling and blasting holes is controlled mainly, so that the drilling quality meets the design requirement of a hole distribution diagram to the maximum extent, and the contour of the blasted tunnel meets the design requirement. The system can acquire the sensor data of the rock drilling arm in the working process of the drill jumbo, and the posture of the rock drilling arm is obtained through resolving, so that the actual position, the insertion angle and the drilling depth of a drilled and exploded hole are obtained. And comparing the actual drilling and blasting position, the insertion angle and the drilling depth with the drilling and blasting position, the insertion angle and the drilling depth designed by a hole distribution diagram, and dividing key drilling and blasting holes and non-key drilling and blasting holes according to the comparison of the overbreak result, so that the drilling quality of the key drilling and blasting holes is controlled in the lower circulation working process of the drill jumbo.
According to the embodiment, the actual drilling and blasting hole position, the insertion angle and the drilling depth are compared with the drilling and blasting hole position, the insertion angle and the drilling depth designed by the hole distribution diagram, and the key drilling and blasting holes and the non-key drilling and blasting holes are divided according to the comparison of the overbreak result, so that the drilling quality of the key drilling and blasting holes is controlled by the drill jumbo in the next drilling and blasting circulation, the drilling quality and the contour quality after blasting are improved, and the construction efficiency is improved.
Example four:
based on the first to third embodiments, the present embodiment provides a drill jumbo, and the drill jumbo is provided with the drill hole quality evaluation system of the drill jumbo of the second embodiment. The drill jumbo comprises a wing type arm support arranged on the walking chassis and a drill arm arranged on the wing type arm support. A vehicle body positioning sensor is arranged on the walking chassis; a wing type arm support angle sensor is arranged on the wing type arm support; and the rock drilling arm is provided with a telescopic arm frame pitching angle sensor, a telescopic arm frame swinging angle sensor, a telescopic arm frame telescopic displacement sensor, a rotating base rotating angle sensor, a pushing beam base pitching angle sensor, a pushing beam base swinging angle sensor, a pushing beam pushing displacement sensor and a drill rod drilling displacement sensor.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A drilling quality evaluation method for a drill jumbo is characterized by comprising the following steps:
acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram, wherein the step of acquiring the hole distribution diagram comprises the following steps:
making a preliminary hole distribution diagram based on design requirements;
carrying out blasting simulation based on the preliminary hole distribution diagram, and outputting a preliminary tunnel outline simulation diagram;
performing overbreak and underrun analysis based on a preliminary tunnel contour simulation diagram;
adjusting the preliminary hole distribution diagram based on the result of the overbreak analysis until the preset design requirement is met, and acquiring a final hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram;
when the operation is established to the cloth hole picture of acquireing at the drill jumbo drilling and blasting hole, acquire the attitude data of each drilling arm of drill jumbo, and then acquire actual drilling and blasting hole distribution diagram, include:
acquiring attitude data of each rock drilling arm through a vehicle body positioning sensor arranged on a walking chassis and sensors which are arranged on the rock drilling arms of the rock drilling jumbo and used for measuring angles and displacements of the rock drilling arms, and further calculating positions, angles and drilling depths of drilled and exploded holes drilled by the rock drilling arms to form an actual drilling and exploding hole distribution map;
after blasting, scanning the tunnel profile to obtain an actual tunnel profile map;
performing out-of-break analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram to obtain an analysis result for evaluating the drilling quality and blasting quality of the drill jumbo;
the obtaining of the analysis result comprises: and determining a key drilling and blasting hole and a non-key drilling and blasting hole, and controlling the actual position of the key drilling and blasting hole and the position set in the hole distribution diagram in the next drilling and blasting cycle within a set error range.
2. A drill hole quality evaluation system of a drill jumbo is characterized by comprising:
the first module is used for acquiring a hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram; the method for acquiring the cloth hole pattern comprises the following steps:
making a preliminary hole distribution diagram based on design requirements;
performing blasting simulation based on the preliminary hole distribution diagram, and outputting a preliminary tunnel outline simulation diagram;
performing overbreak and underrun analysis based on a preliminary tunnel contour simulation diagram;
adjusting the preliminary hole distribution diagram based on the result of the overbreak analysis until the preset design requirement is met, and obtaining a final hole distribution diagram and a tunnel outline simulation diagram after simulation blasting according to the hole distribution diagram;
the second module, when the drilling jumbo was bored according to the cloth hole picture that acquires and is established the operation of beating of exploding the hole, acquire the gesture data of each drill arm of drilling jumbo, and then acquire actual brill and explode hole distribution diagram, include:
acquiring attitude data of each rock drilling arm through a vehicle body positioning sensor arranged on a walking chassis and sensors which are arranged on the rock drilling arms of the rock drilling jumbo and used for measuring angles and displacements of the rock drilling arms, and further calculating positions, angles and drilling depths of drilled and exploded holes drilled by the rock drilling arms to form an actual drilling and exploding hole distribution map;
the third module is used for scanning the tunnel contour after blasting to obtain an actual tunnel contour map;
the fourth module is used for carrying out overbreak and underexcavation analysis based on the hole distribution diagram, the actual drilling and blasting hole distribution diagram, the tunnel profile simulation diagram and the actual tunnel profile diagram to obtain an analysis result for evaluating the drilling quality and the blasting quality of the drill jumbo;
the obtaining of the analysis result comprises: and determining a key drilling and blasting hole and a non-key drilling and blasting hole, and controlling the actual position of the key drilling and blasting hole and the position set in the hole distribution diagram in a set error range in the next drilling and blasting cycle.
3. A rock-drilling rig, characterized in that the rock-drilling rig is provided with a rock-drilling rig drilling quality evaluation system according to claim 2.
4. A rock drilling rig as claimed in claim 3, including a wing arm support mounted on the travelling chassis and a rock drilling arm mounted on the wing arm support.
5. A rock drilling rig as claimed in claim 4, wherein the travelling chassis is provided with a body positioning sensor; a wing type arm support angle sensor is arranged on the wing type arm support; and the rock drilling arm is provided with a telescopic arm frame pitching angle sensor, a telescopic arm frame swinging angle sensor, a telescopic arm frame telescopic displacement sensor, a rotating base rotating angle sensor, a pushing beam base pitching angle sensor, a pushing beam base swinging angle sensor, a pushing beam pushing displacement sensor and a drill rod drilling displacement sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719006.4A CN113445907B (en) | 2021-06-28 | 2021-06-28 | Drilling method of drill jumbo, drilling quality evaluation method and system and drill jumbo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719006.4A CN113445907B (en) | 2021-06-28 | 2021-06-28 | Drilling method of drill jumbo, drilling quality evaluation method and system and drill jumbo |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113445907A CN113445907A (en) | 2021-09-28 |
| CN113445907B true CN113445907B (en) | 2022-07-19 |
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| CN114352300B (en) * | 2021-12-07 | 2024-02-02 | 江苏徐工工程机械研究院有限公司 | Digital drilling and blasting excavation system and excavation method |
| CN114352290B (en) * | 2022-01-06 | 2023-09-12 | 徐工汉云技术股份有限公司 | Tunnel construction guiding method, platform, system and operation method |
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