CN116065952A - Low-hole-site blasthole drilling rock drill and drilling positioning method thereof - Google Patents
Low-hole-site blasthole drilling rock drill and drilling positioning method thereof Download PDFInfo
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- 238000005553 drilling Methods 0.000 title claims abstract description 229
- 239000011435 rock Substances 0.000 title claims abstract description 213
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000006073 displacement reaction Methods 0.000 claims description 67
- 238000012937 correction Methods 0.000 claims description 28
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- 238000005520 cutting process Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 17
- 238000005422 blasting Methods 0.000 description 13
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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
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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
- E21B47/09—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
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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
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
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Abstract
The invention relates to a low-hole-site blasthole drilling rock drill and a drilling positioning method.A plurality of wheels are arranged below a frame, brackets are hinged on two sides of one end of the frame, and one end of a sling is fixed at the top end of each bracket; the frame is also provided with a steering wheel and a drilling positioning operation terminal, a counterweight is fixedly arranged at one end of the frame body, which is provided with the steering wheel, a lifting groove is formed in the counterweight, a connecting device is sleeved on the counterweight, the connecting device is in clamping fit with the lifting groove, and the air leg of the rock drill is fixed in the connecting device; the other end of the sling is bound on the end part of the air leg of the rock drill; the rock drill is provided with a plurality of sensors which are connected with a drilling positioning operation terminal. The invention can directly drill the low-hole-site blast hole at the lower part of the face and the bottom of the face.
Description
Technical Field
The invention relates to the technical field of tunnel rock drill construction, in particular to a low-hole-site blast hole drilling rock drill and a drilling positioning method.
Background
When the tunnel construction is carried out, the drilling and blasting method has the obvious advantages of economy, high efficiency and strong adaptability, and is used as a main technical means during the tunnel construction. In general, a construction space in a tunnel is narrow, and when a drilling and blasting method is used for construction, a large-sized rock drill trolley cannot be easily unfolded due to various limiting factors such as oversized size, difficult operation, high use cost and the like, so that a small-sized rock drill with light weight, simple and convenient operation and high degree of freedom is widely used. When the rock drill is used for drilling the face, the drill rod of the rock drill can be in direct contact with the rock body so as to feed back a large amount of rock information, the quality condition of surrounding rock can be fed back by processing the information, the rock drill can be used for verifying whether the rock body investigation is accurate or not and preventing engineering geological disasters, but the information is not well utilized when the tunnel construction is actually carried out. It is therefore particularly important how to make efficient use of this rock information.
In addition, during the drilling of the blast holes, the parameters of the blast holes in the same area on the tunnel face are completely the same, however, in the actual drilling process, due to the randomness and experience of manually using the rock drill, namely, the use of the rock drill in the drilling process of the blast holes is completely dependent on the habit and experience of workers, the depth, the inclination angle, the direction, the trajectory and the landing point of the blast holes which are finally formed cannot be precisely controlled, so that the blast holes which have the same parameters in a certain area on the face are differentiated, namely, the trajectories, the depths, the inclinations and the directions of the blast holes are different, and the landing points of the blast holes are not in the same plane, so that the utilization rate of explosive energy is reduced, the utilization rate of the blast holes is reduced, obvious over-excavation phenomenon and the blasting cycle are influenced. It becomes critical how the borehole is positioned.
In tunnel construction, explosive charges are required to be arranged in the peripheral holes to fry out the whole outline of the tunnel, and the explosive charges are arranged in the cut holes to cut the tunnel. The peripheral holes are arranged around the tunnel outline, the cut holes are arranged below the middle of the face, however, when the rock drill drills the peripheral holes and the cut holes with lower hole positions, the conventional method is often adopted for drilling due to the limitations of the structure and the using method of the rock drill. The traditional method comprises the following steps: space with a certain depth is dug downwards in front of the face or space required by construction operation is dug downwards through vertical punching, a working platform is provided for drilling of blast holes in low holes, then the blast holes are drilled, backfilling and reinforcing are carried out after the completion of the drilling, and circulation is achieved. Although the conventional method solves the problems, the integrity and stability of surrounding rock are damaged to a certain extent, and sedimentation is easy to occur in later construction, so that a low-hole-position blasthole drilling rock drill is urgently needed to solve the problems.
Disclosure of Invention
The invention aims to: the invention provides a low-hole-site blasthole drilling rock drill and a drilling positioning method, and aims to solve the problem that (1) the low-hole-site blastholes at the lower part of a face and the bottom of the face cannot be drilled directly due to the limitation of the use mode of the rock drill, in particular to the peripheral holes around the outline of the bottom of the face. (2) The manual control of the rock drill can not determine whether the drilling track and parameters accord with the blasting design or not, and can not determine that the bottoms of all the blast holes are on the same section. (3) The information fed back by the rock drill can not be well utilized in the drilling process, and the surrounding rock grade and the surrounding rock hardness degree can not be judged.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a low hole site blasthole drilling rock drill, the rock drill comprises a rock drill and a drilling auxiliary device which is adapted to the rock drill, the drilling auxiliary device comprises wheels, a frame, a counterweight, a connecting device, a bracket, a sling and a steering wheel;
the frame is of a frame structure, a plurality of wheels are arranged below the frame, brackets are hinged to two sides of one end of the frame, and one end of a sling is fixed to the top end of each bracket; the frame is also provided with a steering wheel and a drilling positioning operation terminal, a counterweight is fixedly arranged at one end of the frame body, which is provided with the steering wheel, a lifting groove is formed in the counterweight, a connecting device is sleeved on the counterweight, the connecting device is in clamping fit with the lifting groove, and the air leg of the rock drill is fixed in the connecting device; the other end of the sling is bound on the end part of the air leg of the rock drill; the rock drill is provided with a plurality of sensors which are connected with a drilling positioning operation terminal.
Further, the plurality of sensors include an acceleration sensor, a revolution speed sensor, a laser displacement sensor, a timer, a vibration sensor, an azimuth displacement sensor, an ultrasonic displacement sensor, a pull wire displacement sensor, a pressure sensor, an inclination sensor, and an angular displacement sensor;
the main body of the rock drill is provided with an acceleration sensor, a revolution speed sensor, a laser displacement sensor, a timer, a vibration sensor, an azimuth displacement sensor, an ultrasonic displacement sensor and a stay wire displacement sensor; the end part of the drill rod of the rock drill is provided with a pressure sensor and an inclination sensor; an angular displacement sensor is arranged on a rotating shaft between the rock drill main machine and the air leg.
Further, the drilling positioning operation terminal is composed of eight parts, namely a data receiving module, a data storage module, a communication circuit, a display module, an anti-vibration component, a power supply and a shell, wherein the shell is of a box structure with one side being open, the data receiving module, the data storage module, the operation module, the anti-vibration component filled in the shell and the power supply are arranged in the shell, the power supply connects the data receiving module, the data storage module, the operation module and the display module in series through the communication circuit to form a closed working circuit, meanwhile, the data receiving module, the data storage module and the operation module are connected through a data transmission line, the operation module is connected with the display module through the data transmission line, the display module is arranged at an opening, and the anti-vibration component fills the inner space of the shell.
A drilling positioning method of a low-hole-site blasthole drilling rock drill,
step one: mounting a sensor on the rock drill; and testing the sensor;
step two: the rock drill formally starts to work, and the sensor acquires the drilling speed, the impact pressure, the drill bit rotating speed, the drill bit acceleration, the drilling displacement, the oblique angle, the inclination angle, the azimuth angle and the vibration frequency of the rock drill and transmits the drilling speed, the impact pressure, the drill bit rotating speed, the drill bit acceleration, the drilling displacement, the oblique angle, the inclination angle, the azimuth angle and the vibration frequency to the data receiving module;
thirdly, processing data acquired by a sensor by an operation module in the drilling positioning operation terminal, and performing drilling positioning calculation and lithology analysis while drilling to obtain lithology analysis results and data correction values;
step four: and outputting a correction scheme and a lithology analysis result to a display module according to the lithology analysis result and the data correction value, and carrying out drilling positioning correction.
Further, in the second step,
the drilling speed V reflects the drilling speed of the rock drill when the rock drill performs drilling and punching work, and is measured by a laser displacement sensor and a timer;
the impact pressure P is the impact performance of the rock drill when performing impact movement, and is measured by a pressure sensor;
the rotating speed w of the drill bit is the rotating speed of the drill bit for rotating and cutting the rock, and is measured by a rotating speed sensor;
The oblique angle delta is the included angle between the drill bit and the face when the rock drill drills, the drilling direction is reflected, and the oblique angle delta is measured by an oblique angle sensor; the drilling displacement S is the length of the drill bit entering the drill hole when the drill hole is drilled by the rock drill, and is measured by a laser displacement sensor;
the inclination angle alpha is the included angle between the rock drill and the air leg and is measured by an angular displacement sensor;
the azimuth angle theta is an angle deviated from the initial position after the rock drill is started and is measured by an azimuth displacement sensor; the vibration frequency n is the vibration frequency of unit time generated by drilling in the drilling process of the rock drill, and is measured by a vibration sensor;
the bit acceleration a is the acceleration of the drill bit when rotating to cut rock, and is measured by an acceleration sensor. Further, in the third step, the step of drilling positioning calculation is as follows:
s1, preprocessing data;
s2, calculating theoretical coordinates and blasthole bottom space coordinates through a theoretical space coordinate model;
s3, obtaining actual drilling coordinates through a coordinate calculation model;
and S4, obtaining corrected numerical values according to the azimuth correction model and the inclination correction model at the same moment. Further, the correction model of azimuth angle and inclination angle is:
wherein: θ is the calculated direction angle correction value; alpha is the calculated inclination correction value; x, y and z are respectively the predicted drill rod after a certain fixed effective working time in theoretical coordinate calculation Theoretical spatial coordinate values of the rod end; x is x i ,y i ,z i In the actual coordinate calculation, the actual space coordinate value of the drill rod end after a certain fixed effective working time is actually passed.
The azimuth angle θ and the inclination angle α are correction amounts of the respective angle directions, and the rock drill is required to be adjusted clockwise if the calculation result is positive, and is required to be adjusted counterclockwise if the calculation result is negative.
Further, the theoretical space coordinate model in S2 is as follows:
wherein: x is x 0 ,y 0 ,z 0 Initial coordinates for a known borehole; Δx, Δy, Δz are coordinate increments;
accumulating for increment;
the coordinate increment is:
Δx＝d s cosθ＝d l sinαcosθ
Δy＝d s sinθ＝d l sinαsinθ
Δz＝d l cosα
wherein: d, d l D is the distance between two adjacent infinitesimal points h D is the vertical projection of the distance between two adjacent infinitesimal points in a coordinate system s Is a horizontal projection.
Further, the space coordinate N of the bottom of the blast hole in S2 i (x i ,y i ,z i ) The method comprises the following steps:
((S+L)sinαcosθ,(S+L)sinαsinθ,(S+L)cosα)
wherein: alpha is the inclination angle of drilling of the input blast hole; θ is the azimuth of the input borehole drilling; s is the length of a drill rod for inputting the drilling of a blast hole; l is the drilling length of the input blasthole drilling.
Further, in S3, the coordinate model of each point in the actual borehole is as follows:
wherein: x is x i ,y i ,h i -three-dimensional coordinates i=0, 1, 2 … n for each infinitesimal point; 0 is the initial number of the drilling hole which is manually input before drilling is started, and 1 to n are the number of the infinitesimal points; s is(s) i The length from the measuring point to the reference origin is the length; z i Is an inclination angle; m is m i The azimuth angle is calculated for the measuring point; d, d m For the declination, the magnetic meridian declination ordinate western takes negative values and the east takes positive values, and the region 1 where the drilling is located: and (5) searching in the 50000 topographic map.
Compared with the prior art, the invention has reasonable structural arrangement and strong functionality, and has the following advantages:
the invention provides a low-hole-site blasthole drilling rock drill which can directly drill low-hole-site blastholes at the lower part of a face and the bottom of the face.
The drilling positioning technology provided by the invention can position the space position of the bottom of the drilling hole in real time in the drilling process of the rock drill, and determine the drilling track, so that the bottoms of the blastholes with the same drilling parameters in a certain area on the face are all on the same section, the accuracy of blasthole drilling in tunnel blasting is improved, the phenomenon of over-undermining can be effectively reduced, the blasthole utilization rate is increased, the next blasting cycle is facilitated, the blasting precision is improved, and the blasting effect is better improved.
The invention provides lithology analysis while drilling, wherein the drill rod is directly contacted with the rock mass in the drilling process of the rock drilling machine, a great amount of rock information can be fed back, the surrounding rock grade and the degree of hardness of the surrounding rock can be judged by using the fed back information, whether the rock information surveyed before construction is accurate or not is corrected, and the blasting scheme is timely adjusted.
Drawings
FIG. 1 is a low hole site blasthole drilling rock drill of the present invention;
fig. 2 shows the sensor mounting position on a rock drill according to the invention;
FIG. 3 is a borehole positioning operation terminal;
FIG. 4 is a flow chart of a method for locating a drill hole of a rock drill according to the present invention;
FIG. 5 is a flow chart of processing spatial coordinate data in the drilling positioning method of the rock drill of the present invention;
FIG. 6 is a theoretical space coordinate transformation schematic;
fig. 7 is a schematic diagram of actual space coordinate calculation.
Reference numerals:
1. the drilling and drilling device comprises wheels, 2, a frame, 3, a counterweight, 4, a lifting groove, 5, a connecting device, 6, a bracket, 7, a sling, 8, a steering wheel, 9, a drill rod, 10, a noise reduction cover, 11, a steering handle, 12, a long screw, 13, an air leg, 14, an oil injector interface, 15, a pressure sensor, 16, an inclination angle sensor, 17, an acceleration sensor, 18, a rotation speed sensor, 19, a laser displacement sensor, 20, a timer, 21, a vibration sensor, 22, an angular displacement sensor, 23, an azimuth angle sensor, 24, an ultrasonic displacement sensor, 25, a stay wire displacement sensor, 26, a rock drill, 27, a data receiving module, 28, a data storage module, 29, an operation module, 30, a communication circuit, 31, a display module, 32, an anti-vibration assembly, 33, a power supply, 34, a shell, 35, a drilling and positioning operation terminal, 36 and a low hole site blast hole drilling rock drill.
Detailed Description
The present invention will be described in further detail with reference to specific examples in order to make the objects and technical solutions of the present invention more apparent. It should be understood that the specific examples described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a low-hole-site blasthole drilling rock drill, which comprises two parts, namely: a rock drill 26 and a drilling aid adapted to the rock drill 26. As shown in fig. 1, the drilling assistance device comprises a wheel 1, a frame 2, a counterweight 3, a coupling device 5, a bracket 6, a sling 7 and a steering wheel 8.
The frame 2 is the framework structure, is provided with 4 wheels 1 below the frame 2, is provided with support 6 on the both sides of the one end of frame 2, and support 6 comprises connecting rod and triangle-shaped hinge piece two parts in this embodiment, welds on frame 2 through triangle-shaped hinge piece, and the connecting rod articulates with triangle-shaped hinge piece through the metal spindle, and the metal spindle inboard has the screw knob, and it can carry out the position fixing to precess it, and precession can continue to rotate, makes the connecting rod can freely rotate in triangle-shaped hinge piece to according to rock drill 26 position height adjustment angle. The top end of the bracket is also hinged with a triangular hinge plate, and the vertex position of the hinge plate is provided with a through hole with the diameter of 5mm so as to fix the sling 7. The steering wheel 8 is arranged on the frame 2, the drilling positioning operation terminal 35 is arranged on the vertical rod of the steering wheel 8, the counterweight 3 is arranged at one end of the frame body of the frame 2, the counterweight 3 is welded on the frame 2 and slightly higher than the bottom of the wheel 1, the lifting groove 4 is arranged on the counterweight 3, the connecting device 5 is sleeved on the counterweight 3, the connecting device 5 is clamped and matched with the lifting groove 4, the lifting groove 4 slides and operates, the screw knob on the connecting device 5 can be screwed up for position fixing by rotating, and the connecting device 5 can be continuously moved by unscrewing. The coupling device 5 is provided with fixing holes in which the air legs 13 of the rock drill 26 are inserted. The top of the bracket 6 (the end far away from the frame 2) is connected with a sling 7 passing through the through hole, the sling 7 is a zipper, and one end is bound on the end part of the air leg 13 of the rock drill 26 and used for supporting the rock drill 26, so that the main machine of the rock drill 26 can not fall down and incline
The wheel 1 is a hard rubber tire wheel, the ground is filled with uneven rocks with edges and engineering scraps in front of a face surface of a tunnel to be blasted, and the hard tire can effectively run stably in the area and has long service life. The hard tire tread of the wheel 1 is sufficiently dense to provide sufficient friction to stabilize the overall operation. The alignment wheels in the four wheels are connected through transmission rods to realize synchronous rotation, the front wheels are driven, the rear wheels are responsible for rotation, and the rotation mode is controlled through a steering wheel in the middle position of the frame.
The frame 2 is an integral supporting structure of the whole drilling auxiliary device, and has the characteristics of balance, stability, anti-overturning, vibration resistance and the like, so that three ten-centimeter thick steel plates are welded to form a whole, and a certain counterweight is properly added for the integral structure besides meeting the characteristics, so that the structure is more stable.
The counterweight 3 is a main component for providing counterweight to the whole structure, when the drilling auxiliary device is combined with the rock drill 26, the counterweight can cause the whole front weight and the rear weight to be light if the counterweight is not balanced with the counterweight because the dead weight of the rock drill 26 is large and the counterweight is suspended in the drilling auxiliary device, and the overturning can occur at any time in the working process, so that the drilling failure or large error occurs. It is therefore necessary to provide a counterweight 3 behind the drilling aid that balances the weight of the rock drill 26, stabilizing the overall structure during drilling, facilitating construction.
The lifting groove 4 is a part of the counterweight 3, specifically, symmetrical rectangular slide rail grooves are cut on two sides of a rectangular steel block, and is mainly used for adjusting the height of the coupling device 5. Through the adjustment of the height, the coupling device 5 can be moved randomly in a certain height range through the lifting groove 4, when the drilling position of the low hole position blast hole which is required to be aligned by the drill rod of the rock drill 26 is found, the screw knob on the coupling device 5 can be rotated to screw the coupling device to fix the position, and the coupling device 5 can be moved continuously after unscrewing. In order to ensure that the subsequent connecting device can freely and flexibly move on the lifting groove 4, lubricating grease needs to be smeared to reduce friction.
The connecting device 5 is a connecting device for connecting the air leg 13 of the rock drill 26, and the sleeved counterweight 3 is embedded with the lifting groove 4. The air leg 13 with one end inserted into the rock drill 26 connects the rock drill 26 and the drilling auxiliary device into a whole, and the other end is sleeved on the counterweight 3 and embedded with the lifting groove 4, so that the rock drill 26 can move flexibly in the vertical direction indirectly. The joints of the connecting device 5, the air legs 13 and the lifting groove 4 are coated with lubricating grease so as to reduce friction, facilitate the insertion of the air legs 13 of the rock drill 26 and flexibly move on the lifting groove 4.
The support 6 is a balance adjusting device, the support 6 is of a two-fold-like rod structure, one free end of the support 6 is hinged with the frame 2, and a through hole is formed above the other free end and is connected with the sling 7. The arrangement of the two-fold-like rod structure can flexibly adjust the height of the bracket 6, and after the weight is fixed at the other end of the sling 7, the bracket 6 and the sling 7 can form an obtuse triangle through adjusting, so that the structure can more easily meet the force balance and the bending moment balance after being stressed.
The steering wheel 8 is a steering control device and is connected with the rear wheels, and constructors change the running direction of the rear wheels by rotating the steering wheel 8 so as to control the drilling auxiliary device to change the running direction. In addition, the steering wheel 8 can also be used for applying force by constructors. The drilling positioning operation terminal 35 which is arranged at the lower part of the steering wheel and used for executing the drilling positioning method can be stuck below the steering wheel 8, so that the construction personnel can conveniently use the drilling positioning operation terminal during construction.
The drill 26 is assembled with the drilling assistance device as a unit to form a low hole site blasthole drill 36. By adjusting the height of the coupling means 5 above the lifting groove 4 and turning the steering wheel 8, the drill rod of the rock drill 26 can be directed at the target blasthole point on the face at the desired set angle. After the height is determined, the height of the rock drill 26 is fixed by tightening a knob on the coupling device 5. When the fixing is finished, the drilling work can be started.
The rock drill 26 body is a YT-28 type gas leg rock drill, is a novel high-efficiency rock drill, is mainly applied to tunneling and drilling of blastholes, and the gas leg 13 of the rock drill 26 is selected to be a FT160BD type short gas leg, so that the rock drill is convenient to work on a bench, the oil injector is selected to be an FY200B type oil injector, the oil level is convenient to observe, and the oil quantity is adjusted so as to ensure good lubrication. The rock drill 26 comprises a drill rod 9, a silencing cover 10, an operating handle 11, a long screw rod 12, an air leg 13 and an oil injector interface 14, wherein the drill rod 9 is connected to the front end of the long screw rod 12, the silencing cover 10 is arranged above the long screw rod 12, the long screw rod 12 and the silencing cover 10 form a machine body, and the air leg 13 and the oil injector interface 14 are arranged below the long screw rod 12.
The rock drill 26 is provided with a sensor fixing device and various functional sensors, including: a pressure sensor 15, an inclination sensor 16, an acceleration sensor 17, a revolution speed sensor 18, a laser displacement sensor 19, a timer 20, a vibration sensor 21, an angular displacement sensor 22, an azimuth sensor 23, an ultrasonic displacement sensor 24, and a wire displacement sensor 25. As shown in fig. 2, each function sensor mounting position is: the pressure sensor 15 and the inclination sensor 16 are arranged at the end part of the drill rod 9, and the acceleration sensor 17, the revolution speed sensor 18, the laser displacement sensor 19, the timer 20, the vibration sensor 21, the azimuth displacement sensor 23, the ultrasonic displacement sensor 24 and the stay wire displacement sensor 25 are arranged on the main body of the rock drill 26; the angular displacement sensor 22 is mounted on the spindle between the main machine of the rock drill 26 and the air leg 13. By installing various functional sensors on the whole device, the monitoring can be performed in real time when the rock drill 26 drills, the data acquisition is carried out, and the data are transmitted to the data receiving module 27 of the drilling positioning operation terminal 35 for drilling positioning.
The drilling positioning operation terminal 35 is: the device is responsible for receiving and processing data sent by various functional sensors and carrying out data input, data processing, image display and result display, as shown in fig. 3, the device is specifically composed of a data receiving module 27, a data storage module 28, an operation module 29, a communication circuit 30, a display module 31, an internal filled vibration-proof component 32, a power supply 33 and a shell 34, wherein the shell 34 is of a box structure with one side open, the data receiving module 27, the data storage module 28, the operation module 29, the internal filled vibration-proof component 32 and the power supply 33 are arranged in the shell 34 of the drilling positioning operation terminal 35, and the power supply 33 connects the data receiving module 27, the data storage module 28, the operation module 29 and the display module 31 in series through the communication circuit 30 to form a closed working circuit. Meanwhile, the data receiving module 27, the data storage module 28 and the operation module 29 are connected through a data transmission line, so that data received by the data receiving module 27 can be transmitted to the data storage module 28 and the operation module 29 through the data transmission line. The operation module 29 is connected with the display module 31 through a data transmission line, and data and analysis results obtained by the operation module 29 are transmitted to the display module 31 to be displayed. The display module 31 is disposed at the opening, and the anti-vibration member 32 fills the inner space of the housing 34.
The data receiving module 27 is a signal receiver having a wireless signal receiving function. The data receiving module 27 adopts an integrated design of power supply 33, takes the acquisition card and the embedded motherboard as cores, the router is connected through a network interface, a signal receiving unit is installed in the router and can receive wireless signals, the operation module 29 can receive and operate the data transmitted by the data receiving module 27, the acquisition device can realize multichannel synchronous acquisition work, the highest sampling rate is 20K/CH, the resolution is 16Bit, the channel isolation is 85dB, the grounding mode is single-end grounding (SE), the mobile phone card is inserted into the data acquisition device and used for providing a local area network, and the network type of the acquisition device is set to be 4G connection. The data can be collected and transmitted on line, and the collector can realize multichannel synchronous collection work, namely, wireless signals sent by different sensors are received simultaneously. The signal receiving unit on the data receiving module 27 can perform signal interaction with each function sensor installed on the machine body, and receives data wirelessly transmitted by the sensors.
The data storage module 28 is a 4GB memory card having receiving, storing, and outputting functions. And the rock information obtained by analysis and processing of the operation module 29 is received and stored, and the mobile terminal data can be read through a card reader.
The operation module 29 is a minimum operation system with an MKL15Z12VLH4 single chip microcomputer as a core, and is responsible for analyzing and processing data transmitted by the data receiving module 27 to obtain needed rock information and real-time drilling hole bottom coordinates, and has strong data processing capability and high operation speed.
The communication circuit 30 is all electric circuits which are electrically connected between each module and the power supply through wires and can normally work, and the normal working state of the whole working circuit is 5V and 2A.
The display module 31 is a touch electronic liquid crystal display screen, is exposed outside the casing, and is responsible for manually inputting initial data and displaying the result obtained by the operation module 29 on the screen in the form of images or characters directly for the constructor of the rock drill 26 to view and operate according to the display result.
The housing 34 and the display module 31 form an integral metal shell, the device needs to be fixed on the steering wheel 8 of the drilling auxiliary device, and the integral structure can generate stronger vibration due to the drilling process when the rock drill 26 works, so the metal housing needs to be made of stronger materials with better vibration resistance.
The vibration-proof assembly 32 is a sponge cushion layer that is filled in the drilling position operation terminal 35 to reduce vibration generated by drilling when the rock drill 26 is in operation, and prevents various modules in the drilling position operation terminal 35 from being damaged and a communication circuit from being short-circuited or broken due to the influence of the vibration.
The power supply 33 is a battery for supplying power to the whole drilling positioning operation terminal 35, and the rated voltage of the power supply is 5V.
Referring to fig. 4, the drilling positioning method includes the steps of:
step one: mounting sensors on the components of the rock drill 26; and testing the sensor;
a sensor fixture is mounted on each component of the rock drill 26 and a drill positioning operation terminal 35 is mounted on the drilling aid. The sensor fixing device is a steel fixing support, at least two groups of sensor fixing grooves are arranged, the sensors are prevented from falling off in the working process, and the diameter of the sensor fixing device on the drill rod 9 is the same as that of the drill rod.
Each function sensor is respectively: a pressure sensor 15, an inclination sensor 16, an acceleration sensor 17, a revolution speed sensor 18, a laser displacement sensor 19, a timer 20, a vibration sensor 21, an angular displacement sensor 22, an azimuth sensor 23, an ultrasonic displacement sensor 24, and a wire displacement sensor 25.
Further, except for the pressure sensor 15, the sensor is wrapped by a plastic foam cushion firstly, then the rigid plastic hose is used for reinforcement and protection, the wiring is fixed by a wire binding belt, the situation that the butt joint wire is pulled during operation of the rock drill 26 is avoided, the wiring is not suitable to be overlong, the signal attenuation caused by overlong transmission wire is avoided, the signal transmission quality is influenced, the sensor is wrapped by the plastic foam cushion, and the sensor hardware is prevented from being damaged during operation of the rock drill 26.
The ultrasonic displacement sensor 24, the laser displacement sensor 19 and the stay wire displacement sensor 25 can be used for monitoring the drilling footage of the rock drill 26 and reflecting the rock breaking depth in unit time; the displacement sensor using 3 different principles is a sensor which can perform normal data acquisition work in noise, humidity, dust and high-intensity vibration rock drilling environments through field test screening in order to test the environment fitness. In the embodiment, the model of the ultrasonic displacement sensor 24 is M18U1000-A-IU-55-L5, the model of the laser displacement sensor 19 is HG-C1030, and the model of the stay wire displacement sensor 25 is MPS-M-2000MM-MA.
When the sensor is installed, the rock drill 26 is started, the rock drill 26 is made to idle, and whether the sensor works normally or not is tested.
Step two: the rock drill 26 formally starts to work, and the sensors acquire the drilling speed, impact pressure, bit rotating speed, bit acceleration, drilling displacement, oblique angle, inclination angle, azimuth angle and vibration frequency of the rock drill 26 and transmit the drilling speed, the impact pressure, the bit rotating speed, the bit acceleration, the drilling displacement, the oblique angle, the inclination angle and the vibration frequency to the data receiving module 27;
after the rock drill 26 formally works, various functional sensors start to work, data are collected and transmitted to a data receiving module 27 in the drilling positioning operation terminal 35, and the data receiving module 27 is a memory card with data receiving, storing and conveying functions. The sensor transmits data to the data receiving module 27 at a rate of n times per second.
The collected data are as follows:
the drilling speed V (m/min) reflects the drilling speed of the rock drill 26 when performing the drilling operation. The present numerical value is measured by a laser displacement sensor 19 and a timer 20 mounted on the body of the rock drill 26.
The percussion pressure P (bar) is the impact performance of the rock drill 26 when performing the percussion movement, which is measured by means of a pressure sensor 15 mounted at the drill bit of the shank 9 of the rock drill 26.
The bit rotational speed w (rad/s) is the rotational speed of the bit for rotary cutting of rock, and this numerical data is measured by means of a rotational speed sensor 18 mounted on the body of the rock drill 26.
The angle delta (°) is the angle between the drill bit and the face when the rock drill 26 drills, and represents the direction of drilling, and the value of the angle is measured by the angle sensor 16.
The drilling displacement S (cm) is the length of the drill bit into the borehole when the rock drill 26 is drilling, and the value of the drilling displacement S (cm) is measured by the laser displacement sensor 19.
The inclination angle α (°) is the angle α (°) between the rock drill 26 and the gas leg 13, and this data is measured by the angular displacement sensor 22.
The azimuth angle θ (°) is the angle of departure from the initial position after the start of the rock drill 26, and this item of data is measured by the 23 azimuth displacement sensor.
The vibration frequency n (times/min) is the number of vibrations per unit time occurring during drilling by the rock drill 26, and this item of data is measured by the vibration sensor 21.
Acceleration of bit a (m/s) 2 ) For acceleration of the drill 26 during rotary cutting of rock by the drill bit, the present value is measured by the acceleration sensor 17.
And thirdly, processing data acquired by the sensor by an operation module 29 in the drilling positioning operation terminal 35, and performing drilling positioning calculation and lithology while drilling analysis.
Lithology while drilling analysis is: when the rock drill 26 works, the rock drill 26 directly contacts the rock mass, various functional sensors can be arranged on the rock drill 26, related data can be collected and compared with data in a pre-constructed database through the operation module 29, surrounding rock grade and hardness degree are output, and whether rock information surveyed before construction is accurate or not can be corrected by utilizing the information, so that blast hole parameters, explosive consumption and the like can be timely adjusted.
The method comprises the following steps: the data of rock with different surrounding rock grades, namely impact pressure P (bar), drilling speed V (m/min), drill bit rotating speed w (rad/S), drilling displacement S (cm) and the like are collected in advance to construct a database, each functional sensor collects the data and transmits the data to an operation module 29 in a drilling positioning operation terminal 35, the operation module 29 processes the data and compares and classifies the data with the data in the database to obtain the surrounding rock grade and hardness degree of the rock, and the surrounding rock grade and hardness degree are output to a display module 31.
The database is as follows: and integrating various data measured by each surrounding rock grade rock mass when the rock drill 26 drills, including five data of drill bit rotating speed, drilling speed, drill bit acceleration, impact pressure and vibration frequency during drilling.
Database establishment process: demand analysis, concept structural design, data acquisition and data integration.
The demand analysis is to provide a database establishment purpose, wherein the database establishment purpose is to collect a plurality of data indexes, classify rock indexes of different surrounding rock grades, and obtain the index ranges of each item of rock under different surrounding rock grades.
The conceptual structural design comprises the following steps: the conceptual structural design is the key of the whole database design, and by integrating, generalizing and abstracting the user requirements, a conceptual model independent of a specific DBMS is formed.
The data acquisition is to collect various rock indexes, drilling is carried out on surrounding rocks with different known surrounding rock grades and hardness degrees by using a rock drill 26, and the data indexes obtained during drilling are collected: drilling rate, bit rotation speed, bit acceleration, impact pressure, vibration frequency and hardness degree of surrounding rock.
The data integration is that the collected data are classified according to surrounding rock grades, namely, the drilling rate range, the drill bit rotating speed range, the drill bit acceleration range, the impact pressure range, the vibration frequency range and the surrounding rock hardness range of each rock are woven under different surrounding rock grades.
Degree of hardness of surrounding rock: the hardness of surrounding rock is artificially classified into five grades of softness, softer, medium and harder.
And judging the grade of surrounding rock and the degree of hardness, namely analyzing and processing the transmitted data of each sensor through an operation module according to the formal work of the rock drill 26 to obtain various parameters and comparing the parameters with the data in a database, and obtaining the grade and the degree of hardness of the constructed surrounding rock.
The drilling positioning calculation implementation process comprises the following steps: the theoretical space trajectory and the actual space trajectory of the drill hole can be calculated by collecting the detected data through the sensor arranged on the rock drill 26, and the same point positions in the theoretical space trajectory and the actual space trajectory are compared to obtain theoretical errors and actual errors, and the theoretical errors and the actual errors can be corrected according to the errors. Specifically, after the end of the drill rod 9 of the rock drill 26 is aligned with the borehole to be drilled, the rock drill 26 is started up but not operated. The operation module 29 establishes a global space rectangular coordinate system by taking the end part of the drill rod 9 at the side close to the gas leg 13 as an origin, the display module 31 inputs initial drilling coordinates, drilling inclination angle, drill rod length, drilling azimuth angle and drilling speed on the drilling positioning operation terminal 35, the operation module 29 calculates theoretical track space coordinates according to the input initial conditions, draws theoretical drilling tracks in the space rectangular coordinate system according to the space coordinates, and predicts the time required for drilling to different coordinate points. After the rock drill 26 formally works, the drill rod 9 starts to drill, the sensors start to work, data are transmitted n times per second, the data receiving module 27 transmits the data to the operation module 29 at the same speed for data processing, the actual space coordinates of the drill rod end are calculated in real time based on the global space rectangular coordinate system, the actual drilling track is drawn in the global space rectangular coordinate system, the time required for drilling to different positions is recorded, the actual coordinates are compared with the theoretical coordinates, and a correction scheme is provided. And meanwhile, the data transmitted by the data storage module 28 are compared with the data in the database, the surrounding rock grade and the surrounding rock hardness degree under the data are judged, and the data are stored in the database for enriching the database, so that the accuracy is improved.
Fig. 5 is a flowchart of a borehole positioning calculation, which includes the steps of:
s1, data preprocessing.
When the drill rod end of the rock drill is aligned with a blast hole to be drilled, the rock drill 26 and the drilling positioning operation terminal 35 are started, the operation module 29 establishes a global space rectangular coordinate system by taking the end part of the drill rod 9 on one side close to the gas leg 13 as an origin, and the display module 31 on the drilling positioning operation terminal 35 inputs initial drilling coordinates, drilling inclination angles, drill rod lengths, drilling azimuth angles and drilling speeds. If the error input occurs, the manual correction can be performed, and the error information is reset to zero and input again.
S2, calculating theoretical coordinates
Assuming that the drill rod of the rock drill 26 drills under ideal conditions, calculating theoretical space coordinates through a theoretical space coordinate model to obtain space coordinates of a drilling axis of a theoretical drilling track, space coordinates of a drilling uplink track and a drilling downlink track and space coordinates of a drilling hole bottom, and drawing the theoretical drilling track in a global space rectangular coordinate system according to the space coordinates and simultaneously predicting time required for drilling to different coordinate points.
The theoretical drilling track is the drilling track of the blasthole which is obtained without considering the error of the inclination angle and the direction of the rock drill caused by manual operation in the drilling process, namely, assuming that the rock drill drills according to the blasthole parameters set in the blasting design completely, and is not changed due to any external factors in the process. In the global space rectangular coordinate system, the coordinates of the theoretical drilling track in the space coordinate system are theoretical space coordinates.
The theoretical spatial coordinate model of the borehole trajectory as shown in fig. 6 is as follows:
taking the central axis coordinate as an example, the operation module 29 establishes a global space rectangular coordinate system by taking the end part of the drill rod 9 at the side close to the gas leg 13 as an origin, and regards the central axis of the blast hole as a set of countless points, and the whole central axis is formed by the countless points. Inputting known initial borehole coordinates N 0 (x 0 ,y 0 ,z 0 ) Optionally selecting a point N on the central axis i (x i ,y i ,z i ) And a infinitesimal point N along the drilling direction of the blast hole near the point i+1 (x i+1 ,y i+1 ,z i+1 ) The inclination angle alpha, the azimuth angle theta and the drill rod length S of the drill hole are input, the drill length L is drilled, and the specific algorithm is as follows.
Let N be 0 、N 1 The distance between the two points is d l Then N 0 N 1 Perpendicular projection d in a coordinate system h The method comprises the following steps:
d h ＝d l cosα
horizontal projection d s The method comprises the following steps:
d s ＝d l sinα
the coordinate increment is:
Δx＝d s cosθ＝d l sinαcosθ
Δy＝d s sinθ＝d l sinαsinθ
Δz＝d l cosα
thus, any point in the coordinate system calculates the coordinates as:
wherein: x is x 0 ,y 0 ,z 0 -knowing the initial coordinates Δx, Δy, Δz of the borehole-the coordinate increment;
/>
incremental accumulation.
Space coordinate N of bottom of blast hole i (x i ,y i ,z i ) The method comprises the following steps:
((S+L)sinαcosθ,(S+L)sinαsinθ,(S+L)cosα)
after the theoretical space coordinate is calculated, each point is corresponding to the global space rectangular coordinate system to form a theoretical drilling track.
S3, calculating a model of coordinates of each point in the actual drilling hole;
in real tunnel borehole drilling construction, the drilling track is a complex space curve in practice due to human factors in the actual drilling process and the influence of rock stratum tendency, rock hardness, drilling direction, inclination angle, drill bit bearing pressure and other physical mechanical factors in the drilling process, so that the drilling path can be regarded as a set of countless discrete points in the actual space coordinate drawing, and the number of times of data monitored in unit time of a sensor is considered to be fixed, thereby Converting the curve to be straight within the range allowed by the precision, replacing the curve by a straight line, and measuring the azimuth angle m at each discrete point i Inclination z i Approximately as the azimuth and inclination of each half length of the point to upper and lower adjacent point spacing (azimuth and inclination at different depths of the borehole are also graded). This converts the complex space curve into a space polyline (or wire). The data measured by the sensors installed on the rock drill 26 at each time are calculated and analyzed by the operation module 29, and the depth of the drilled blast holes is combined to obtain the space coordinates of each point, and finally the space coordinates are integrated into an actual drilling track diagram in the global space rectangular coordinate system.
As shown in the actual space coordinate transformation principle model diagram of FIG. 7, the coordinate model of each point in the actual borehole is as follows
Wherein: x is x i ,y i ,h i -station three-dimensional coordinates (i=0, 1, 2 … n.0 are the initial number of the borehole entered manually before starting drilling, 1 to n are station numbers); s is(s) i The length from the measuring point to the reference origin (the origin of the global space rectangular coordinate system is established); z i Is an inclination angle; m is m i The azimuth angle is calculated for the measuring point; d, d m For the declination, the magnetic meridian declination ordinate western takes negative values and the east takes positive values, and the region 1 where the drilling is located: and (5) searching in the 50000 topographic map.
After the actual space coordinate is calculated, each point is corresponding to the global space rectangular coordinate system to form an actual drilling track.
And S4, correcting the data, wherein the difference value of the theoretical space coordinate and the actual space coordinate in the same directions at the same moment is the numerical value required to be corrected.
When drilling is started, under the condition that drilling parameters of drill holes such as drilling speed, drilling direction, drilling inclination angle and the like are the same, the space coordinates of points reached by the drill rod end after the rock drill starts to effectively work for a period of time are the same as the theoretical space coordinates of theoretical points reached by the drill rod end after the same effective working time is predicted, namely, the theoretical space coordinate positions reached by the rock drill and the actual space coordinate positions are coincident after the actual and theoretical working time is the same, if the theoretical space coordinates and the actual space coordinate positions are different, the difference value of angles of the theoretical space coordinates and the actual space coordinates in all directions at the same moment is the numerical value required to be corrected.
After the same effective time, the theoretical space coordinate and the actual space coordinate are N (x, y, z) and N respectively i (x i ,y i ,z i ) The correction values of azimuth and inclination are:
that is, θ (azimuth angle) and α (inclination angle) are correction amounts in the respective angle directions, and the rock drill 26 is required to be adjusted clockwise if the calculation result is positive, and the rock drill 26 is required to be adjusted counterclockwise if the calculation result is negative.
Step four: and (3) outputting a correction scheme and lithology analysis results to the display module 31 according to the lithology analysis results and the data correction values obtained in the S3 and the S4, and performing drilling positioning correction.
The angle correction result, the theoretical and actual drilling track and the lithology analysis result obtained by the operation module 29 are output to the display module 31, and constructors can correct whether rock information surveyed before construction is accurate according to screen content so as to stop construction and adjust blast hole parameters and explosive consumption or adjust drilling parameters at any time, so that the final hole bottoms of blast holes with the same drilling parameters in a certain area on a face are all on the same section, the drilling accuracy of the blast holes is improved, the over-undermining phenomenon is effectively reduced, the blast hole utilization rate is increased, the next blasting cycle is facilitated, the blasting precision is improved, and the blasting effect is better improved.
And finally saving the data, and saving the processed data to a database for subsequent drilling operation.
Claims (10)
1. A low hole site big gun hole bores rock drill, its characterized in that: the rock drill comprises a rock drill (26) and a drilling auxiliary device which is adapted to the rock drill (26), wherein the drilling auxiliary device comprises wheels (1), a frame (2), a counterweight (3), a connecting device (5), a bracket (6), a sling (7) and a steering wheel (8);
The frame (2) is of a frame structure, a plurality of wheels (1) are arranged below the frame (2), brackets (6) are arranged on two sides of one end of the frame (2), and one end of a sling (7) is fixed at the top end of each bracket (6); the frame (2) is also provided with a steering wheel (8) and a drilling positioning operation terminal (35), a counterweight (3) is fixedly arranged at one end of the frame body of the frame (2), which is provided with the steering wheel (8), a lifting groove (4) is formed in the counterweight (3), a connecting device (5) is sleeved on the counterweight (3), the connecting device (5) is matched with the lifting groove (4) in a clamping way, and an air leg (13) of a rock drill (26) is fixed in the connecting device (5); the other end of the sling (7) is bound on the end part of the air leg (13) of the rock drill (26); a plurality of sensors are mounted on the rock drill (26) and are connected with a drilling positioning operation terminal (35).
2. A low hole site blasthole drilling rock drill as claimed in claim 1, wherein: the plurality of sensors comprise an acceleration sensor (17), a revolution speed sensor (18), a laser displacement sensor (19), a timer (20), a vibration sensor (21), an azimuth displacement sensor (23), an ultrasonic displacement sensor (24), a stay wire displacement sensor (25), a pressure sensor (15), an inclination angle sensor (16) and an angular displacement sensor (22);
An acceleration sensor (17), a revolution speed sensor (18), a laser displacement sensor (19), a timer (20), a vibration sensor (21), an azimuth displacement sensor (23), an ultrasonic displacement sensor (24) and a stay wire displacement sensor (25) are arranged on the main body of the rock drill (26); the end part of a drill rod (9) of the rock drill (26) is provided with a pressure sensor (15) and an inclination sensor (16); an angular displacement sensor (22) is arranged on a rotating shaft between the main machine of the rock drill (26) and the air leg (13).
3. A low hole site blasthole drilling rock drill as claimed in claim 1, wherein: the drilling positioning operation terminal (35) is composed of a data receiving module (27), a data storage module (28), an operation module (29), a communication circuit (30), a display module (31), an anti-vibration component (32), a power supply (33) and a shell (34), wherein the shell (34) is of a box structure with one side open, the data receiving module (27), the data storage module (28), the operation module (29), the internally filled anti-vibration component (32) and the power supply (33) are arranged in the shell (34), the power supply (33) connects the data receiving module (27), the data storage module (28), the operation module (29) and the display module (31) in series through the communication circuit (30) to form a closed working circuit, and meanwhile the data receiving module (27), the data storage module (28) and the operation module (29) are connected through a data transmission line, the operation module (29) is connected with the display module (31) through the data transmission line, the display module (31) is arranged at an opening, and the anti-vibration component (32) fills the inner space of the shell (34).
4. A method of positioning a drill hole of a low hole site blasthole drilling rock drill as claimed in claim 1, wherein:
step one: mounting a sensor on a rock drill (26); and testing the sensor;
step two: the rock drill (26) formally starts to work, and the sensor acquires the drilling speed, the impact pressure, the bit rotating speed, the bit acceleration, the drilling displacement, the oblique angle, the inclination angle, the azimuth angle and the vibration frequency of the rock drill (26) and transmits the drilling speed, the impact pressure, the bit rotating speed, the bit acceleration, the drilling displacement, the oblique angle, the inclination angle, the azimuth angle and the vibration frequency to the data receiving module (27);
thirdly, processing data acquired by a sensor by an operation module (29) in a drilling positioning operation terminal (35), and carrying out drilling positioning calculation and lithology analysis while drilling to obtain lithology analysis results and data correction values;
step four: and outputting a correction scheme and a lithology analysis result to a display module (31) according to the lithology analysis result and the data correction value, and carrying out drilling positioning correction.
5. The drilling positioning method of the low-hole-site blasthole drilling rock drill, as claimed in claim 4, wherein the method comprises the following steps: in the second step, the second step is to carry out the process,
the drilling speed V reflects the drilling speed of the rock drill (26) when the drilling and perforating work is carried out, and is measured by a laser displacement sensor (19) and a timer (20);
The impact pressure P is the impact performance of the rock drill (26) when performing impact movement, and is measured by the pressure sensor (15);
the rotation speed w of the drill bit is the rotation speed of the drill bit for rotationally cutting the rock, and is measured by a rotation speed sensor (18);
the oblique angle delta is the included angle between the drill bit and the face when the rock drill (26) drills, the drilling direction is reflected, and the oblique angle delta is measured by the oblique angle sensor (16);
the drilling displacement S is the length of the drill bit entering the drill hole when the rock drill (26) drills the drill hole, and is measured by the laser displacement sensor (19);
the inclination angle alpha is the included angle between the rock drill (26) and the air leg (13) and is measured by the angular displacement sensor (22); the azimuth angle theta is an angle deviated from the initial position after the rock drill (26) is started, and is measured by an azimuth displacement sensor (23);
the vibration frequency n is the vibration frequency of a unit time generated by drilling in the drilling process of the rock drill (26), and is measured by a vibration sensor (21);
the bit acceleration a is the acceleration of the rock drill (26) when the bit rotates to cut the rock, and is measured by an acceleration sensor (17).
6. The drilling positioning method of the low-hole-site blasthole drilling rock drill, as set forth in claim 5, wherein: in the third step, the drilling positioning calculation step is as follows:
s1, preprocessing data;
S2, calculating theoretical coordinates and blasthole bottom space coordinates through a theoretical space coordinate model;
s3, obtaining actual drilling coordinates through a coordinate calculation model;
and S4, obtaining corrected numerical values according to the azimuth correction model and the inclination correction model at the same moment.
7. The drilling positioning method of the low-hole-site blasthole drilling rock drill as claimed in claim 6, wherein the method comprises the following steps: the correction model of azimuth angle and inclination angle is:
wherein: θ is the calculated direction angle correction value; alpha is the calculated inclination correction value; x, y and z are respectively the predicted theoretical space coordinate values of the drill rod end after a certain fixed effective working time in theoretical coordinate calculation; x is x i ,y i ,z i In the actual coordinate calculation, the actual space coordinate value of the drill rod end after a certain fixed effective working time is actually calculated;
the azimuth angle θ and the inclination angle α are correction amounts in the respective angle directions, and the rock drill (26) is adjusted clockwise if the calculation result is positive, and the rock drill (26) is adjusted counterclockwise if the calculation result is negative.
8. The drilling positioning method of the low-hole-site blasthole drilling rock drill as claimed in claim 6, wherein the method comprises the following steps: the theoretical space coordinate model in S2 is as follows:
Wherein: x is x 0 ,y 0 ,z 0 Initial coordinates for a known borehole; Δx, Δy, Δz are coordinate increments;
accumulating for increment; />
The coordinate increment is:
Δx＝d s cosθ＝d l sinαcosθ
Δy＝d s sinθ＝d l sinαsinθ
Δz＝d l cosα
wherein: d, d l D is the distance between two adjacent infinitesimal points h D is the vertical projection of the distance between two adjacent infinitesimal points in a coordinate system s Is a horizontal projection.
9. The drilling positioning method of the low-hole-site blasthole drilling rock drill as claimed in claim 6, wherein the method comprises the following steps: s2, space coordinates N of bottom of blast hole i (x i ,y i ,z i ) The method comprises the following steps:
((S+L)sinαcosθ,(S+L)sinαsinθ,(S+L)cosα)
wherein: alpha is the inclination angle of drilling of the input blast hole; θ is the azimuth of the input borehole drilling; s is the length of a drill rod for inputting the drilling of a blast hole; l is the drilling length of the input blasthole drilling.
10. The drilling positioning method of the low-hole-site blasthole drilling rock drill as claimed in claim 6, wherein the method comprises the following steps: the coordinate model of each point in the actual borehole in S3 is as follows:
wherein: x is x i ,y i ,h i -three-dimensional coordinates i=0, 1, 2 … n for each infinitesimal point; 0 is the initial number of the drilling hole which is manually input before drilling is started, and 1 to n are the number of the infinitesimal points; s is(s) i The length from the measuring point to the reference origin is the length; z i Is an inclination angle; m is m i The azimuth angle is calculated for the measuring point; d, d m For the declination, the magnetic meridian declination ordinate western takes negative values and the east takes positive values, and the region 1 where the drilling is located: and (5) searching in the 50000 topographic map.
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