CN116226964A - Rock drilling method and device - Google Patents
Rock drilling method and device Download PDFInfo
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- CN116226964A CN116226964A CN202211683711.4A CN202211683711A CN116226964A CN 116226964 A CN116226964 A CN 116226964A CN 202211683711 A CN202211683711 A CN 202211683711A CN 116226964 A CN116226964 A CN 116226964A
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- 238000005553 drilling Methods 0.000 title claims abstract description 218
- 239000011435 rock Substances 0.000 title claims abstract description 59
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- 238000010276 construction Methods 0.000 claims abstract description 43
- 238000010586 diagram Methods 0.000 claims abstract description 25
- 238000009826 distribution Methods 0.000 claims abstract description 22
- 238000004088 simulation Methods 0.000 claims description 42
- 238000012360 testing method Methods 0.000 claims description 27
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- 238000003860 storage Methods 0.000 claims description 7
- 238000009412 basement excavation Methods 0.000 abstract description 8
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- 238000005422 blasting Methods 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a rock drilling method and a device, and relates to the technical field of tunnel construction, wherein the method comprises the following steps: constructing a three-dimensional twin model of a tunnel to be built and a drill jumbo in a virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment; according to the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment, controlling the real drilling trolley to travel to the front of a tunnel face; inquiring to obtain recommended drill boom hole alignment data according to the real rock drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance; modifying and verifying the recommended drilling boom pair hole data in the three-dimensional twin model to obtain a remote control instruction, wherein the remote control instruction is used for a drilling boom pair Kong Dazuan of a real drilling jumbo; and sending the remote control instruction to the real drilling trolley. The invention can reduce the labor cost of drilling rock and improve the tunnel excavation quality.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a rock drilling method and device.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
The rock drilling and drilling are key procedures in the tunnel construction of a drilling and blasting method, on one hand, the drilling process has higher requirements on the manual operation level and the construction experience, the final forming quality of the tunnel is difficult to ensure, and the consistency of the section is poor; on the other hand, in the rock drilling construction process, severe environments such as noise, falling rocks, water drops and the like are frequently faced, and the physical and mental health of an operating hand can be affected to a certain extent.
In recent years, along with development of science and technology and mixing among disciplines, a full-computer rock drilling trolley appears, a pre-leading hole distribution diagram is adopted to determine the current hole to be drilled, a computer auxiliary control drill boom reaches the current hole to be drilled, so that although the experience requirements on operators are reduced to a certain extent, the operators are required to have higher scientific culture foundation due to the addition of a series of early preparation work and a plurality of informatization means, the number of operators participating in site construction is not reduced, the operators still need to be controlled in tunnel construction sites with rich experience, and still face severe working conditions near the tunnel face, and the labor cost is still high.
Disclosure of Invention
The embodiment of the invention provides a rock drilling method, which is used for reducing the labor cost of rock drilling, improving the working environment of the rock drilling and improving the operation comfort of a rock drilling trolley and the tunnel excavation quality, and comprises the following steps:
constructing a three-dimensional twin model of a tunnel to be built and a drill jumbo in a virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment;
according to the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment, controlling the real drilling trolley to travel to the front of a tunnel face;
inquiring to obtain recommended drill boom hole alignment data according to the real rock drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance;
performing simulation test of a drill boom pair Kong Dazuan on the tunnel to be built by using recommended drill boom pair hole data in the three-dimensional twin model, and modifying and verifying the recommended drill boom pair hole data according to the simulation test result to obtain a remote control instruction, wherein the remote control instruction is used for a drill boom pair Kong Dazuan of a real drill jumbo;
and sending the remote control instruction to the real drilling trolley.
The embodiment of the invention also provides a rock drilling device, which is used for reducing the labor cost of rock drilling, improving the working environment of the rock drilling and improving the operation comfort of a rock drilling trolley and the tunnel excavation quality, and comprises the following steps:
the three-dimensional twin model construction module is used for constructing a three-dimensional twin model of the tunnel to be constructed and the drill jumbo in the virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment;
the real drilling trolley control module is used for controlling the real drilling trolley to travel to the front of the tunnel face according to the pose state of the three-dimensional twin model of the tunnel to be built and the drilling trolley in the virtual environment;
the drill boom hole alignment data recommending module is used for inquiring and obtaining recommended drill boom hole alignment data according to the real state of the bit position of the drilling platform and a hole distribution diagram which is imported into a virtual environment in advance;
the simulation test module is used for performing simulation test of a drill boom pair Kong Dazuan on the tunnel to be built by using recommended drill boom pair hole data in the three-dimensional twin model, and modifying and verifying the recommended drill boom pair hole data according to simulation test results to obtain a remote control instruction, wherein the remote control instruction is used for a drill boom pair Kong Dazuan of a real rock drill trolley;
and the instruction sending module is used for sending the remote control instruction to the real drilling trolley.
The embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the rock drilling method.
The embodiment of the invention also provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the rock drilling method described above.
Embodiments of the invention also provide a computer program product comprising a computer program which, when executed by a processor, implements the rock drilling method described above.
In the embodiment of the invention, a three-dimensional twin model of a tunnel to be built and a drill jumbo is built in a virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment; according to the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment, controlling the real drilling trolley to travel to the front of a tunnel face; inquiring to obtain recommended drill boom hole alignment data according to the real rock drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance; performing simulation test of a drill boom pair Kong Dazuan on the tunnel to be built by using recommended drill boom pair hole data in the three-dimensional twin model, and modifying and verifying the recommended drill boom pair hole data according to the simulation test result to obtain a remote control instruction, wherein the remote control instruction is used for a drill boom pair Kong Dazuan of a real drill jumbo; and sending the remote control instruction to the real drilling trolley. On one hand, through remote control drilling, the working environment is good, the operation comfort of a drilling trolley is obviously improved, on the other hand, through realizing the mapping from the real construction environment to simulation data in the virtual environment, a real and reliable simulation system is provided for the construction of drilling, the omnibearing and visual simulation effect of drilling construction is increased, the drilling is more intelligent, the construction efficiency of drilling is improved, and the simulation test of the drilling arms Kong Dazuan is carried out on a tunnel to be built by using the recommended drilling arms in a three-dimensional twin model, so that the final drilling effect accords with expectations, the section consistency is better, the tunnel excavation quality is improved, the dependence on abundant experience of operators is reduced, and the labor cost of drilling is reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a flow chart of a method of drilling rock according to an embodiment of the invention;
fig. 2 shows an embodiment of a method of drilling rock according to an embodiment of the invention;
fig. 3 shows an embodiment of a method of drilling rock according to an embodiment of the invention;
fig. 4 is a schematic view of a rock drilling rig according to an embodiment of the invention;
fig. 5 is a schematic diagram of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. The exemplary embodiments of the present invention and their descriptions herein are for the purpose of explaining the present invention, but are not to be construed as limiting the invention.
First, technical terms related to the present invention will be explained.
Digital twinning: the data such as a physical model, sensor update, operation history and the like are fully utilized, and simulation processes of multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities are integrated, so that mapping is completed in a virtual space, and the full life cycle process of corresponding entity equipment is reflected. Digital twinning is a beyond-the-reality concept that can be seen as a digital mapping system of one or more important, mutually dependent equipment systems.
The applicant finds that the current rock drilling technology adds a plurality of informationized means, but still has higher requirements on experience and culture basis of operators, the operators still face severe working condition environments near the face, the labor cost is higher, and the tunnel excavation quality is still to be improved. Based on this, the applicant proposes a rock drilling method.
Fig. 1 is a schematic flow chart of a rock drilling method according to an embodiment of the invention, as shown in fig. 1, the method comprising:
102, controlling a real drilling trolley to advance to the front of a tunnel face according to the pose state of a three-dimensional twin model of a tunnel to be built and the drilling trolley in a virtual environment;
104, performing a simulation test of a drill boom pair Kong Dazuan on a tunnel to be built by using recommended drill boom pair hole data in a three-dimensional twin model, and modifying and verifying the recommended drill boom pair hole data according to a simulation test result to obtain a remote control instruction, wherein the remote control instruction is used for a drill boom pair Kong Dazuan of a real drill jumbo;
and 105, transmitting a remote control instruction to the real drilling trolley.
As can be seen from the flow shown in fig. 1, the embodiment of the invention has the advantages that on one hand, through remote control of drilling, the working environment is good, the operation comfort of the drilling trolley is obviously improved, on the other hand, through realizing the mapping from the real construction environment to the simulation data in the virtual environment, a real and reliable simulation system is provided for the construction of the drilling, the omnibearing and visual simulation effect of the drilling construction is increased, the drilling is more intelligent, the construction efficiency of the drilling is improved, and the simulation test of the drilling arm to Kong Dazuan is carried out on the tunnel to be constructed by using the recommended drilling arm to the hole data in the three-dimensional twin model, so that the final drilling effect is more in line with expectations, the section consistency is better, the tunnel excavation quality is improved, the dependence on the rich experience of operators is reduced, and the labor cost of drilling is reduced.
The following is a description of embodiments of the present invention.
First, a simulation system is built.
In the concrete implementation, a three-dimensional twin model of the tunnel to be built and the drilling trolley is built in the virtual environment, and the pose state of the three-dimensional twin model of the tunnel to be built and the drilling trolley in the virtual environment is kept consistent with the real construction environment. During implementation, a simulated three-dimensional twin model is built according to pose states of a real tunnel to be built and a real drilling trolley, for example, modeling software such as Unity, 3dmax and maya is used for building the three-dimensional twin model of the tunnel to be built and the drilling trolley, meanwhile, a series of simulation functions such as a control function of the three-dimensional twin model of the drilling trolley, receiving key motion parameters of the real drilling trolley, driving the three-dimensional twin model of the drilling trolley to synchronously move with the real drilling trolley, simulating drilling of the tunnel to be built and the like can be additionally arranged in a virtual environment, so that the construction state in the virtual environment is consistent with the real construction environment, and mapping from the real environment to the twin model is completed.
In one embodiment, in order to enable the pose state of the three-dimensional twin model of the drilling jumbo in the virtual environment to timely and accurately reflect the state of the real drilling jumbo, the real construction environment is effectively supervised, and the pose state of the three-dimensional twin model of the tunnel to be built and the drilling jumbo in the virtual environment is consistent with the real construction environment in the following manner: receiving the latest real drilling platform pose state in real time, and synchronously updating the pose state of the three-dimensional twin model; the latest real drilling platform posture state is obtained from an inertial navigation device arranged on the real drilling platform.
When the method is implemented, an inertial navigation device and a point scanning positioning device are arranged on a real drilling platform truck in a construction environment site, the inertial navigation device updates the real drilling platform truck posture state in real time, a control computer of a simulation system of a three-dimensional twin model of a tunnel to be built and the drilling platform truck is arranged in a remote cab, and the control computer receives the latest real drilling platform truck posture state in real time and synchronously updates the latest real drilling platform truck posture state to the posture state of the three-dimensional twin model. In addition, the point scanning positioning device scans targets arranged on the tunnel to be built, and the latest state of the tunnel to be built in the virtual environment can be updated through the point scanning positioning device. The real state of the parking position of the drilling platform and the latest state of the tunnel to be built can be transmitted through a 5G message.
And (5) building a simulation system, and drilling rock by using the simulation system.
In the rock drilling construction process, firstly, according to the pose state of a three-dimensional twin model of a tunnel to be built and a rock drilling trolley in a virtual environment, the real rock drilling trolley is controlled to advance to the front of a tunnel face, at the moment, a plurality of display devices or windows can be additionally arranged in a remote cab, the condition of the virtual environment and the condition of the real rock drilling trolley and the condition of the real construction environment can be dynamically displayed on the plurality of display device windows in real time, and the real rock drilling trolley can be controlled to advance to the front of the tunnel face according to the pose state of the three-dimensional twin model of the tunnel to be built and the rock drilling trolley in the virtual environment which is dynamically displayed on the display device in real time. In the running process of the real drilling trolley, the pose state of the three-dimensional twin model of the drilling trolley in the virtual environment is synchronously updated through the inertial navigation device, and the pose state of the three-dimensional twin model are kept consistent.
After the real drilling jumbo and the three-dimensional twin model in the virtual environment thereof are stopped in front of the face, inquiring and obtaining recommended drill boom hole alignment data according to the real drilling jumbo pose state and a hole distribution diagram which is imported into the virtual environment in advance. For example, in the virtual environment, according to the real rock drilling platform pose state and the hole distribution diagram which is imported into the virtual environment in advance, a plurality of groups of recommended drill boom hole-to-hole data for the current rock drilling platform pose state and the hole distribution diagram are obtained through comparative analysis or statistical analysis.
Then, in the three-dimensional twin model, using each group of recommended drilling arms to carry out simulation test of drilling arm pairs Kong Dazuan on the tunnel to be built, carrying out drilling verification and modification on the drilling data of each group of recommended drilling arms according to simulation test results, and finally obtaining a group of remote control instructions for controlling the real drilling trolley drilling arm pairs Kong Dazuan; the drill boom opposite hole data can comprise parameters such as drill boom angle, drill boom elongation and the like, and the parameters such as drill boom angle, drill boom elongation and the like can be modified and verified in a simulation test.
And finally, sending a remote control instruction to the real drilling trolley to realize a drill boom pair Kong Dazuan of the real drilling trolley.
Fig. 2 is a schematic diagram of a method for drilling holes in rock according to an embodiment of the present invention, as shown in fig. 2, in order to improve the quality of drilling holes in rock and improve the quality of tunnel excavation, according to the real state of the parking position of the drilling table and a hole distribution map that is imported into a virtual environment in advance, the method for inquiring and obtaining recommended boom-to-hole data may include:
In implementation, the recommended boom-to-hole data may be obtained by querying the boom-to-hole data at the time of the history accumulated pair Kong Dazuan, for example, the boom-to-hole data with the best blasting effect at the time of querying the history pair Kong Dazuan or the boom-to-hole data with the smallest error compared with the predicted hole-to-hole data is used as the recommended boom-to-hole data.
In one embodiment, in order to reduce the requirements on the experience and cultural basis of operators, reduce the labor cost and improve the working efficiency, the simulation test process of the drill boom pair Kong Dazuan on the tunnel to be built by using the recommended drill boom pair hole data in the three-dimensional twin model is dynamically displayed on a display device, and the drilling effect of the rock drilling is displayed in different colors and coverage areas.
Fig. 3 is a specific embodiment of a method for drilling rock according to an embodiment of the present invention, as shown in fig. 3, the present embodiment discloses a data twin remote control system and a drilling rig, the system includes: the system comprises a drilling trolley, a data twin module, a remote display terminal, a control module, a 5G communication device, a trolley positioning module and a memory module;
the data twinning module mainly comprises a three-dimensional twinning model of a tunnel to be built and a multi-arm drill jumbo which are built in a virtual environment, and can receive key motion parameters of a drill boom of the real jumbo, drive the twinning model to synchronously act, and complete mapping from a real machine to the twinning model;
a remote display terminal dynamically displaying a real-time state of the model in the data twinning module;
the control module is provided with a control panel and is used for controlling series of operations such as simulation test of the control data twin module and the like of the real drilling trolley;
the 5G communication device has the characteristics of high speed, low time delay, large connection and the like, and realizes the remote interconnection communication between each module in the system and the real drilling trolley;
the trolley positioning module comprises an inertial navigation device and a spot scanning positioning device which are arranged on the real drilling trolley;
a memory module for storing boom-to-hole data of the three-dimensional twin model at the time of history of real drill jumbo pairs Kong Dazuan in each pose state;
wherein the trolley positioning module is arranged on a real drilling trolley, and other modules are arranged in a remote cab.
In the implementation of the embodiment, the operator sits in the remote cab, and the operator does not need to be arranged on the real drill jumbo. The operator looks at the current state of the model in the data twinning module on the remote display terminal and controls the drill jumbo travel, spot sweep positioning and drill boom pairs Kong Dazuan. The remote control point scanning positioning device of the manipulator scans target points arranged on the tunnel, the trolley positioning module transmits the trolley pose information to the data twinning module through the 5G communication device, and the pose state of the rock drilling trolley twinning model in the data twinning module is ensured to be consistent with the real construction environment. In the process of controlling the travelling of the drilling trolley by the operating hand, the inertial navigation device in the trolley positioning module updates the trolley pose information in real time and transmits the information to the data twinning module through the 5G communication device. After the trolley is stopped in front of the face, the memory module inquires a group of drill boom hole alignment data closest to the current trolley position and recommends the drill boom hole alignment data to an operator. And the operator checks the recommended drilling boom hole alignment data in the data twinning module, modifies and verifies partial data of the recommended drilling boom hole alignment data in the data twinning module through the control module, and generates a remote control instruction after all hole positions of the face are confirmed or modified, and sends the remote control instruction to the real drilling jumbo to realize automatic drilling boom alignment Kong Dazuan.
The embodiment of the invention also provides a rock drilling device, which is described in the following embodiment. Since the principle of the device for solving the problem is similar to that of the rock drilling method, the implementation of the device can be referred to as the implementation of the rock drilling method, and the repetition is omitted.
Fig. 4 is a schematic view of a rock drilling rig according to an embodiment of the invention, as shown in fig. 4, the rig comprising:
the three-dimensional twin model construction module 401 is configured to construct a three-dimensional twin model of a tunnel to be constructed and a drill jumbo in a virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment;
the real drilling jumbo control module 402 is used for controlling the real drilling jumbo to travel to the front of the face according to the pose state of the three-dimensional twin model of the tunnel to be built and the drilling jumbo in the virtual environment;
the drill boom hole alignment data recommending module 403 is configured to query and obtain recommended drill boom hole alignment data according to a real drill rig position state and a hole distribution map that is imported into a virtual environment in advance;
the simulation test module 404 is configured to perform a simulation test of a boom pair Kong Dazuan on a tunnel to be built by using recommended boom pair hole data in the three-dimensional twin model, and modify and verify the recommended boom pair hole data according to a simulation test result to obtain a remote control instruction, where the remote control instruction is used for a boom pair Kong Dazuan of a real rock drill trolley;
the instruction sending module 405 is configured to send a remote control instruction to the real drilling rig.
In one embodiment, the three-dimensional twin model building module 401 is specifically configured to: the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in a virtual environment is kept consistent with the real construction environment in the following manner:
receiving the latest real drilling platform pose state in real time, and synchronously updating the pose state of the three-dimensional twin model; the latest real drilling platform posture state is obtained from an inertial navigation device arranged on the real drilling platform.
In one embodiment, the real drill jumbo control module 402 is specifically configured to:
and controlling the real drilling trolley to travel to the front of the face according to the pose state of the three-dimensional twin model of the tunnel to be built and the drilling trolley in the virtual environment dynamically displayed on the display device in real time.
In one embodiment, the boom-to-hole data recommendation module 403 is specifically configured to:
in a virtual environment, accumulating drill-arm hole-alignment data of a three-dimensional twin model with minimum drill-arm hole-alignment data error when a real drill-bit trolley pair Kong Dazuan in each pose state is recorded for each pre-introduced hole-distribution graph;
according to the real drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance, the drilling-arm hole-alignment data of the three-dimensional twin model with the minimum drilling-arm hole-alignment data error when the real drilling platform in each pose state is aligned with Kong Dazuan is obtained through inquiry, and the drilling-arm hole-alignment data with the minimum error corresponding to the real drilling platform pose state is obtained and used as recommended drilling-arm hole-alignment data.
In one embodiment, the boom-to-hole data includes a boom angle, and/or a boom extension.
Fig. 5 is a schematic diagram of a computer device according to an embodiment of the present invention, and as shown in fig. 5, a computer device 500 is further provided according to an embodiment of the present invention, including a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501, where the processor 501 implements the rock drilling method described above when executing the computer program 503.
The embodiment of the invention also provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the rock drilling method described above.
Embodiments of the invention also provide a computer program product comprising a computer program which, when executed by a processor, implements the rock drilling method described above.
In the embodiment of the invention, a three-dimensional twin model of a tunnel to be built and a drill jumbo is built in a virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment; according to the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment, controlling the real drilling trolley to travel to the front of a tunnel face; inquiring to obtain recommended drill boom hole alignment data according to the real rock drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance; performing simulation test of a drill boom pair Kong Dazuan on the tunnel to be built by using recommended drill boom pair hole data in the three-dimensional twin model, and modifying and verifying the recommended drill boom pair hole data according to the simulation test result to obtain a remote control instruction, wherein the remote control instruction is used for a drill boom pair Kong Dazuan of a real drill jumbo; and sending the remote control instruction to the real drilling trolley. On one hand, through remote control drilling, the working environment is good, the operation comfort of a drilling trolley is obviously improved, on the other hand, through realizing the mapping from the real construction environment to simulation data in the virtual environment, a real and reliable simulation system is provided for the construction of drilling, the omnibearing and visual simulation effect of drilling construction is increased, the drilling is more intelligent, the construction efficiency of drilling is improved, and the simulation test of the drilling arms Kong Dazuan is carried out on a tunnel to be built by using the recommended drilling arms in a three-dimensional twin model, so that the final drilling effect accords with expectations, the section consistency is better, the tunnel excavation quality is improved, the dependence on abundant experience of operators is reduced, and the labor cost of drilling is reduced.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (13)
1. A method of rock drilling, comprising:
constructing a three-dimensional twin model of a tunnel to be built and a drill jumbo in a virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment;
according to the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment, controlling the real drilling trolley to travel to the front of a tunnel face;
inquiring to obtain recommended drill boom hole alignment data according to the real rock drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance;
performing simulation test of a drill boom pair Kong Dazuan on the tunnel to be built by using recommended drill boom pair hole data in the three-dimensional twin model, and modifying and verifying the recommended drill boom pair hole data according to the simulation test result to obtain a remote control instruction, wherein the remote control instruction is used for a drill boom pair Kong Dazuan of a real drill jumbo;
and sending the remote control instruction to the real drilling trolley.
2. The method according to claim 1, wherein the pose state of the three-dimensional twin model of the tunnel and the drill jumbo to be built in the virtual environment is kept consistent with the real construction environment as follows:
receiving the latest real drilling platform pose state in real time, and synchronously updating the pose state of the three-dimensional twin model; the latest real drilling platform posture state is obtained from an inertial navigation device arranged on the real drilling platform.
3. The method of claim 2, wherein controlling the real drilling carriage to travel to the front of the face according to the pose state of the three-dimensional twin model of the tunnel and the drilling carriage to be built in the virtual environment, comprises:
and controlling the real drilling trolley to travel to the front of the face according to the pose state of the three-dimensional twin model of the tunnel to be built and the drilling trolley in the virtual environment dynamically displayed on the display device in real time.
4. The method of claim 1, wherein querying the recommended boom-to-hole data based on the real drilling rig pose status and the hole layout map pre-imported into the virtual environment comprises:
in a virtual environment, accumulating drill-arm hole-alignment data of a three-dimensional twin model with minimum drill-arm hole-alignment data error when a real drill-bit trolley pair Kong Dazuan in each pose state is recorded for each pre-introduced hole-distribution graph;
according to the real drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance, the drilling-arm hole-alignment data of the three-dimensional twin model with the minimum drilling-arm hole-alignment data error when the real drilling platform in each pose state is aligned with Kong Dazuan is obtained through inquiry, and the drilling-arm hole-alignment data with the minimum error corresponding to the real drilling platform pose state is obtained and used as recommended drilling-arm hole-alignment data.
5. The method of any one of claims 1 to 4, wherein the boom-to-hole data comprises boom angle, and/or boom extension.
6. A rock drilling rig, comprising:
the three-dimensional twin model construction module is used for constructing a three-dimensional twin model of the tunnel to be constructed and the drill jumbo in the virtual environment; the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in the virtual environment is kept consistent with the real construction environment;
the real drilling trolley control module is used for controlling the real drilling trolley to travel to the front of the tunnel face according to the pose state of the three-dimensional twin model of the tunnel to be built and the drilling trolley in the virtual environment;
the drill boom hole alignment data recommending module is used for inquiring and obtaining recommended drill boom hole alignment data according to the real state of the bit position of the drilling platform and a hole distribution diagram which is imported into a virtual environment in advance;
the simulation test module is used for performing simulation test of a drill boom pair Kong Dazuan on the tunnel to be built by using recommended drill boom pair hole data in the three-dimensional twin model, and modifying and verifying the recommended drill boom pair hole data according to simulation test results to obtain a remote control instruction, wherein the remote control instruction is used for a drill boom pair Kong Dazuan of a real rock drill trolley;
and the instruction sending module is used for sending the remote control instruction to the real drilling trolley.
7. The apparatus of claim 6, wherein the three-dimensional twinning model building module is specifically configured to: the pose state of a three-dimensional twin model of a tunnel to be built and a drilling trolley in a virtual environment is kept consistent with the real construction environment in the following manner:
receiving the latest real drilling platform pose state in real time, and synchronously updating the pose state of the three-dimensional twin model; the latest real drilling platform posture state is obtained from an inertial navigation device arranged on the real drilling platform.
8. The apparatus of claim 7, wherein the real drill jumbo control module is specifically configured to:
and controlling the real drilling trolley to travel to the front of the face according to the pose state of the three-dimensional twin model of the tunnel to be built and the drilling trolley in the virtual environment dynamically displayed on the display device in real time.
9. The apparatus of claim 6, wherein the boom-to-hole data recommendation module is specifically configured to:
in a virtual environment, accumulating drill-arm hole-alignment data of a three-dimensional twin model with minimum drill-arm hole-alignment data error when a real drill-bit trolley pair Kong Dazuan in each pose state is recorded for each pre-introduced hole-distribution graph;
according to the real drilling platform pose state and a hole distribution diagram which is imported into a virtual environment in advance, the drilling-arm hole-alignment data of the three-dimensional twin model with the minimum drilling-arm hole-alignment data error when the real drilling platform in each pose state is aligned with Kong Dazuan is obtained through inquiry, and the drilling-arm hole-alignment data with the minimum error corresponding to the real drilling platform pose state is obtained and used as recommended drilling-arm hole-alignment data.
10. The apparatus of any one of claims 6 to 9, wherein the boom-to-hole data comprises boom angle, and/or boom extension.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 1 to 5 when executing the computer program.
12. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method of any of claims 1 to 5.
13. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the method of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211683711.4A CN116226964A (en) | 2022-12-27 | 2022-12-27 | Rock drilling method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211683711.4A CN116226964A (en) | 2022-12-27 | 2022-12-27 | Rock drilling method and device |
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| Publication Number | Publication Date |
|---|---|
| CN116226964A true CN116226964A (en) | 2023-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211683711.4A Pending CN116226964A (en) | 2022-12-27 | 2022-12-27 | Rock drilling method and device |
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| Country | Link |
|---|---|
| CN (1) | CN116226964A (en) |
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2022
- 2022-12-27 CN CN202211683711.4A patent/CN116226964A/en active Pending
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