阅读说明：本技术 基于全电脑凿岩台车工作空间的周边孔位姿参数确定方法 (Peripheral hole position and posture parameter determination method based on full-computer-controlled drill jumbo working space ) 是由 龚敏 吴昊骏 杨仁树 胡广风 吴晓东 刘翔宇 曹贞洋 王思杰 陈小磊 李宏锜 王 于 2020-01-07 设计创作，主要内容包括：本发明涉及巷、隧道智能掘进机械自动设计爆破技术领域,提供了一种基于全电脑凿岩台车工作空间的周边孔位姿参数确定方法,基于D-H法建立钻臂运动模型,通过蒙特卡洛法在各关节范围内随机取值,计算钻头可达位置；对钻头施加判别条件,计算以各种不同姿态钻孔时的最大可钻范围；建立周边孔外插角和该范围横向宽度的函数关系,在钻孔前选择最佳周边孔外插角；确定最佳孔口距及周边孔孔口坐标,结合周边孔轨迹切线确定各周边孔的外插角的水平和竖直分量,完成周边孔设计。该方法适用于电脑凿岩台车在矿山小断面岩巷进行掘进施工时,在自动钻孔定位之前,由车载计算机结合实时工况自动完成周边孔部分的爆破设计,避免偶然因素影响,提高工作效率。(The invention relates to the technical field of automatic design blasting of intelligent tunneling machinery for roadways and tunnels, and provides a method for determining position and posture parameters of peripheral holes based on a working space of a fully-computerized drill jumbo, wherein a drill boom movement model is established based on a D-H method, values are randomly taken in the range of each joint through a Monte Carlo method, and the reachable position of a drill bit is calculated; applying a discrimination condition to the drill bit, and calculating the maximum drillable range when drilling in various different postures; establishing a functional relation between peripheral hole external insertion angles and the transverse width of the range, and selecting the optimal peripheral hole external insertion angle before drilling; and determining the optimal orifice distance and the orifice coordinates of the peripheral holes, and determining the horizontal and vertical components of the external insertion angle of each peripheral hole by combining the track tangent lines of the peripheral holes to complete the design of the peripheral holes. The method is suitable for automatically completing blasting design of peripheral hole parts by combining real-time working conditions through an on-board computer before automatic drilling and positioning when the computer rock drilling jumbo is used for tunneling construction in a small-section rock roadway of a mine, so that accidental factor influence is avoided, and the working efficiency is improved.)

1. A method for determining peripheral hole pose parameters based on a full-computer-controlled jumbo working space is characterized by comprising the following steps of:

s1, establishing a drill boom kinematic model based on a D-H method, randomly taking values in each joint range of the drill boom through a Monte Carlo method, and calculating the position where the drill bit can reach;

s2, setting a judgment condition for the coordinate system of the tail end of the drill boom, and calculating the maximum drillable range of the tail end of the drill boom when drilling at various different postures;

s3, establishing a functional relation between the peripheral hole external insertion angle and the maximum transverse distance of the drill bit under the peripheral hole external insertion angle; according to the functional relation, the maximum transverse distance of the given drill bit is used for solving the corresponding peripheral hole external insertion angle;

and S4, determining the optimal orifice distance and the orifice coordinates of the peripheral holes, and further determining the horizontal component and the vertical component of the interpolation angle of each peripheral hole by combining the track tangent lines of the peripheral holes to finish the automatic design of the peripheral holes.

2. The fully computerized drill jumbo workspace-based perimeter hole pose parameter determination method of claim 1, wherein in step S1, the method of calculating the drill reachable positions is:

s1.1, simplifying a drill boom rigid body into a connecting rod, simplifying a rotating shaft and a moving shaft into joints, drawing a simplified model diagram of the drill boom, and determining the reference position, the relative angle and the variation range of each joint quantity of each joint; establishing a coordinate system according to a D-H method, and deducing a drilling boom base coordinate system { O } step by step through a transformation relation between adjacent coordinate systems₀And the coordinate system of the end of the boom { O }_PowderA pose matrix transformed between; drill arm end bit at base coordinate { O₀The coordinates below are (p)_x,p_y,p_z)，p_xFor the direction of advance of the borehole, p_yIs transverse, p_zIs in the vertical direction;

s1.2, randomly selecting the variable value of each joint by adopting a Monte Carlo method to obtain pose matrixes of the drill boom under different postures, and determining the external insertion angle theta of blast holes drilled by the drill boom under different postures according to the pose matrixes_a。

3. The fully computerized drill jumbo working space-based perimeter hole pose parameter determination method of claim 2, wherein in step S2, the specific steps of calculating the maximum drillable range are:

s2.1, the judging conditions are as follows: theta_a-θ₀<|Δ₁|，θ₀0,1,2, … … is θ taking an integer value_a，Δ₁Is an angle deviation tolerance value; all the postures of the drill boom screened by the discrimination condition form a condition satisfying theta_a∈(θ₀-|Δ₁|,θ₀+|Δ₁I) a workspace;

s2.2 drilling boom end point (p)_x,p_y,p_z) Form a set of points S₀Set of points S₀Satisfies the following conditions:

S₀＝{(p_x,p_y,p_z)|θ_a-θ₀≤|Δ₁|,p_x-p₀≤|Δ₂|}；

wherein p is₀For optimum distance, Delta, of drilling jumbo to working section during operation₂Is a distance deviation tolerance value; theta₀Obtaining different point sets S when taking different values₀。

4. The fully computerized jumbo working space-based perimeter hole pose parameter determination method according to claim 3, wherein the specific steps of S3 are as follows:

s3.1 construction of value pairs (θ)₀，p_ymax) Wherein p is_ymaxIs the current theta₀Corresponding point set S under value₀Coordinates p of the end points of all the drill booms_yEach theta of₀All correspond to one p_ymax；

S3.2 fitting all value pairs (. theta.)₀，p_ymax) Regression analysis of theta_aAnd p_ymaxSuch that the maximum lateral distance p of a given drill bit_ymaxThe corresponding external insertion angle theta of the blast hole can be obtained_a。

5. The fully computerized drill jumbo working space-based perimeter hole pose parameter determination method according to claim 3 or 4, wherein the specific steps of S4 are as follows:

s4.1, determining basic drilling and blasting parameters including a cyclic drilling footage D, an orifice coordinate and an orifice-to-side profile distance L₁Distance of opening L₂Hole bottom coordinates, hole bottom to border profile distance L₃Bottom of hole distance L₄Comprehensively determining D according to rock quality, working time and drilling tool parameters, and determining L according to blasting experience and rock quality factors₁、L₃And L₂Value range (L)_2min,L_2max)；

S4.2 determining peripheral hole external insertion angle theta_{a Final}: determining the maximum transverse distance p of the drill bit according to the positioning result of the trolley_{ymax practice}Using theta_aAnd p_ymaxIs obtained from the corresponding functional relationship of p_{ymax practice}Corresponding to theta_aL(ii) a Will theta_aLWith an extrapolated angle recommendation theta obtained from blasting experience_a0Comparing, taking the larger value of the two as the final peripheral hole external inserting angle theta_{a Final}＝max(θ_aL，θ_a0)；

S4.3 determining a peripheral hole trajectory function, wherein the peripheral hole trajectory is an inward deviation L of the roadway profile line₁Obtaining;

s4.4 determining peripheral hole opening coordinates by using the Monte Carlo method at L₂Value range (L)_2min,L_2max) Inner randomly selected orifice distance L₂Performing multiple calculations, sequentially calculating the coordinates of the orifices of the peripheral holes according to the sequence from bottom to top in a single calculation, and selecting the distance L between the orifices of the two peripheral holes at the highest position and the closest selected orifice distance₂As a final result;

s4.5, decomposition of peripheral hole external insertion angles: making tangent T of peripheral hole track through each blast hole orifice, and defining included angle between tangent T and horizontal line as theta_T(ii) a Will theta_aIs divided into a horizontal included angle α and a vertical included angle β, α and β are only connected with theta_T、θ_{a Final}It is related.

6. The fully computerized method for determining pose parameters of perimeter holes based on working space of a jumbo as recited in claim 5, wherein in step S4.2, deviation of the center line of the jumbo from the roadway is determined according to the positioning result of the car bodyHorizontal distance E of midline₂And then the half width h of the roadway is combined₂Half the distance between the two sides of the drill boom and L the distance between the orifice and the outline of the side₁Determining the maximum lateral distance p of the drill bit required at this time_{ymax practice}：

L＝|E₂|+h₂-L₁

p_{ymax practice}＝L-。

7. The fully computerized drill jumbo working space-based perimeter hole pose parameter determination method of claim 5, wherein in step S4.2, said interpolation angle recommendation value θ_a0The calculation formula of (2) is as follows:

8. a computer program implementing a fully computerized jumbo working space based perimeter hole pose parameter determination method according to any of claims 1-7.

9. An information data processing terminal implementing the fully computerized jumbo working space based perimeter hole pose parameter determination method according to any of claims 1-7.

10. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of fully computerized jumbo work space based perimeter hole pose parameter determination according to any of claims 1-7.

Technical Field

The invention relates to the technical field of automatic design blasting of intelligent tunneling machinery for roadways and tunnels, in particular to a method for determining position and posture parameters of peripheral holes based on a working space of a fully-computerized rock drilling jumbo.

Background

The full-computerized drill jumbo is controlled by a computer program, is widely used in foreign tunnel construction, and is occasionally applied in China. Different from large-section roads and railway tunnels, the mine small-section rock roadway has strict requirements on waterproof and explosion-proof safety, the complex underground operation environment limits the research and development work of the mine small-section rock roadway in the field, and related test products are not ideal in underground application. Therefore, the development of intelligent tunneling machinery suitable for the small-section rock roadway of the mine and related technologies has great significance for the automation and intelligent construction of the mine.

The contour forming quality is one of important control indexes of roadway blasting. Excessive damage to the rock mass can increase costs and prolong cycle time. Foreign documents show that: the drilling operation and proper blasting design are critical to enhance blasting effectiveness and to evaluate the quality of the profile and the effect of the peripheral holes drilled on the profile line is most important to reduce excessive damage, which must be drilled at the designed and marked locations, especially at the peripheral hole portions, or which would otherwise cause excessive or underdamage. Although the tunnel drilling jumbo is used for implementing automatic drilling positioning, peripheral holes can be formed with high precision, excessive excavation caused by drilling deviation is reduced, the most advanced drilling jumbo at abroad can be constructed only according to a blasting design scheme in which a computer control program is loaded in advance at present, all blast holes cannot be formed at one time due to the influence of accidental factors during drilling, construction is stopped, and the single-cycle working time is prolonged. And when the drill jumbo works, the difference between the actual working condition and the ideal working condition is often large, and the peripheral hole positioning accuracy often cannot reach satisfactory degree along with the change of the underground environment. If the peripheral hole outside inserting angle designed in advance is small due to the large section profile and the stopping position of the drill jumbo is not ideal, the working space of the drill jumbo cannot cover all blast holes, and particularly the peripheral holes are greatly influenced. Considering that China still generally adopts manual operation, the implementation of blasting design depends on the skill of workers, so that the blasting control capacity is insufficient, the smooth blasting effect is poor, and on the premise of large-scale expansion of construction, the development of a domestic computer rock drilling trolley with strong adaptability is urgent.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a method for determining the pose parameters of peripheral holes based on the working space of a fully-computerized drill jumbo, is suitable for automatically completing blasting design of the peripheral hole parts by combining a vehicle-mounted computer with real-time working conditions before automatic drilling and positioning when the computerized drill jumbo is used for tunneling construction in a small-section rock roadway of a mine, avoids accidental factor influence and improves the working efficiency.

In order to understand the working capacity of the machine in a complex environment, firstly, the working space of the drill boom needs to be defined: and establishing a drill boom kinematic model based on a D-H method, and randomly taking values in each joint range by a Monte Carlo method to calculate the position which can be reached by the drill bit. For the blasting design of the drilling and blasting method, in order to reach all target task points, a part of the working space close to the working face needs to be taken for research, namely, for all positions which the drill bit can reach, points far away from the working face need to be eliminated. And after obtaining the residual point positions, applying a judgment condition to the coordinate system of the tail end of the drill boom, and calculating the maximum drillable range of the tail end of the drill boom when drilling at various different postures. This range is constrained by joint limitations and design parameter limitations.

And secondly, establishing a functional relation between peripheral hole external insertion angles and transverse widths of corresponding working spaces (maximum drillable ranges), and inputting a motion control program to enable the drill jumbo to select a proper peripheral hole external insertion angle in real time through calculation before drilling. And then determining the optimal orifice distance and the orifice coordinates of the peripheral holes, determining the horizontal and vertical components of the external insertion angles of all the peripheral holes by combining the track tangents of the peripheral holes, completing the automatic design of the peripheral holes and ensuring that the full-section drilling task is completed at one time.

The technology is used as a part of automatic design of a blast hole in a drilling and blasting method, and can realize accurate and efficient blasting effect by combining superior mechanical performance of a computer drill jumbo.

The invention adopts the following technical scheme:

a method for determining peripheral hole pose parameters based on a full-computer-controlled jumbo working space comprises the following steps:

s1, establishing a drill boom kinematic model based on a D-H method, randomly taking values in each joint range of the drill boom through a Monte Carlo method, and calculating the position where the drill bit can reach;

s2, setting a judgment condition for the coordinate system of the tail end of the drill boom, and calculating the maximum drillable range of the tail end of the drill boom when drilling at various different postures;

s3, establishing a functional relation between the peripheral hole external insertion angle and the maximum transverse distance of the drill bit under the peripheral hole external insertion angle; according to the functional relation, the maximum transverse distance of the given drill bit is used for solving the corresponding peripheral hole external insertion angle;

and S4, determining the optimal orifice distance and the orifice coordinates of the peripheral holes, and further determining the horizontal component and the vertical component of the interpolation angle of each peripheral hole by combining the track tangent lines of the peripheral holes to finish the automatic design of the peripheral holes.

Further, in step S1, the method for calculating the reachable position of the drill bit includes:

s1.1, simplifying a drill boom rigid body into a connecting rod, simplifying a rotating shaft and a moving shaft into joints, drawing a simplified model diagram of the drill boom, and determining the reference position, the relative angle and the variation range of each joint quantity of each joint; establishing a coordinate system according to a D-H method, and deducing a drilling boom base coordinate system { O } step by step through a transformation relation between adjacent coordinate systems₀And the coordinate system of the end of the boom { O }_PowderA pose matrix transformed between; drill arm end bit at base coordinate { O₀The coordinates below are (p)_x,p_y,p_z)，p_xFor the direction of advance of the borehole, p_yIs transverse, p_zIs in the vertical direction;

s1.2, randomly selecting the variable value of each joint by adopting a Monte Carlo method to obtain pose matrixes of the drill boom under different postures, and determining the external insertion angle theta of blast holes drilled by the drill boom under different postures according to the pose matrixes_a。

Further, in step S2, the specific step of calculating the maximum drillable range is:

s2.1, the judging conditions are as follows: theta_a-θ₀<|Δ₁|，θ₀0,1,2, … … is θ taking an integer value_a，Δ₁Is an allowable value of angular deviation and is set to a certain minimum positive angle; all the postures of the drill boom screened by the discrimination condition form a condition satisfying theta_a∈ (θ₀-|Δ₁|,θ₀+|Δ₁I) a workspace;

s2.2 drilling boom end point (p)_x,p_y,p_z) Form a set of points S₀Set of points S₀Satisfies the following conditions:

S₀＝{(p_x,p_y,p_z)|θ_a-θ₀≤|Δ₁|,p_x-p₀≤|Δ₂|}；

wherein p is₀For optimum distance, Delta, of drilling jumbo to working section during operation₂Is a distance deviation tolerance value; theta₀Obtaining different point sets S when taking different values₀。

Further, the specific steps of S3 are as follows:

s3.1 construction of value pairs (θ)₀，p_ymax) Wherein p is_ymaxIs the current theta₀Corresponding point set S under value₀Coordinates p of the end points of all the drill booms_yEach theta of₀All correspond to one p_ymax；

S3.2 fitting all value pairs (. theta.)₀，p_ymax) Regression analysis of theta_aAnd p_ymaxSuch that the maximum lateral distance p of a given drill bit_ymaxThe corresponding external insertion angle theta of the blast hole can be obtained_a。

Further, the specific steps of S4 are as follows:

s4.1, determining basic drilling and blasting parameters including a cyclic drilling footage D, an orifice coordinate and an orifice-to-side profile distance L₁Distance of opening L₂Hole bottom coordinates, hole bottom to border profile distance L₃Bottom of hole distance L₄Comprehensively determining D according to rock quality, working time and drilling tool parameters, and determining L according to blasting experience and rock quality factors₁、L₃And L₂Value range (L)_2min,L_2max)；

S4.2 determining peripheral hole external insertion angle theta_{a Final}: determining the maximum transverse distance p of the drill bit according to the positioning result of the trolley_{ymax practice}Using theta_aAnd p_ymaxIs obtained from the corresponding functional relationship of p_{ymax practice}Corresponding to theta_aL(ii) a Will theta_aLWith an extrapolated angle recommendation theta obtained from blasting experience_a0Comparing, taking the larger value of the two as the final peripheral hole external inserting angle theta_{a Final}＝max(θ_aL，θ_a0)；

S4.3 determining a peripheral hole trajectory function, wherein the peripheral hole trajectory is an inward deviation L of the roadway profile line₁Obtaining;

s4.4 confirmationDetermining the coordinates of the peripheral hole opening by Monte Carlo method at L₂Value range (L)_2min,L_2max) Inner randomly selected orifice distance L₂Performing multiple calculations, sequentially calculating the coordinates of the orifices of the peripheral holes according to the sequence from bottom to top in a single calculation, and selecting the distance L between the orifices of the two peripheral holes at the highest position and the closest selected orifice distance₂As a final result;

s4.5, decomposition of peripheral hole external insertion angles: making tangent T of peripheral hole track through each blast hole orifice, and defining included angle between tangent T and horizontal line as theta_T(ii) a Will theta_aIs divided into a horizontal included angle α and a vertical included angle β, α and β are only connected with theta_T、θ_{a Final}It is related.

Further, in step S4.2, determining the horizontal distance E of the center line of the drill jumbo deviating from the center line of the roadway according to the positioning result of the vehicle body₂And then the half width h of the roadway is combined₂Half the distance between the two sides of the drill boom and L the distance between the orifice and the outline of the side₁Determining the maximum lateral distance p of the drill bit required at this time_{ymax practice}：

L＝|E₂|+h₂-L₁

p_{ymax practice}＝L-。

Further, in step S4.2, the proposed value of the interpolation angle θ_a0The calculation formula of (2) is as follows:

the invention also provides a computer program for realizing the method for determining the peripheral hole pose parameters based on the working space of the fully-computerized drill jumbo.

An information data processing terminal for realizing the method for determining the peripheral hole position and posture parameters based on the working space of the fully-computerized drill jumbo.

A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the above-described method of peripheral hole pose parameter determination based on a fully computerized jumbo working space.

The invention has the beneficial effects that: and establishing a drill boom kinematic model based on a D-H method, and randomly taking values in the range of each joint of the drill boom by a Monte Carlo method to calculate the position which can be reached by the drill bit. And applying a judgment condition to the coordinate system of the tail end of the drill boom, and calculating the maximum drillable range of the tail end of the drill boom when drilling in various different postures. And establishing a functional relation between the peripheral hole external insertion angle and the transverse width in the range, so that the drill jumbo can select a proper peripheral hole external insertion angle in real time through calculation before drilling. And determining the optimal orifice distance and the orifice coordinates of the peripheral holes, and determining the horizontal and vertical components of the external insertion angles of the peripheral holes by combining the track tangents of the peripheral holes to complete the automatic design of the peripheral holes. The method is suitable for automatically completing blasting design of peripheral hole parts by combining real-time working conditions through an on-board computer before automatic drilling and positioning when the computer rock drilling jumbo is used for tunneling construction in a small-section rock roadway of a mine, so that accidental factor influence is avoided, and the working efficiency is improved.

Drawings

Fig. 1 shows a schematic structure of a two-arm rock drilling jumbo in the embodiment.

FIG. 2 is a schematic diagram showing the reference positions of the drill boom in the embodiment.

Figure 3 shows a schematic diagram of the coordinate system of the drill boom linkage in an embodiment.

FIG. 4 is a schematic diagram showing basic parameters of the perimeter holes.

FIG. 5 is a schematic diagram showing the relationship between the peripheral holes and the positioning result of the vehicle body.

FIG. 6 is a schematic diagram illustrating the calculation of coordinates of three centers of a circle in the embodiment.

Fig. 7 is a schematic diagram illustrating calculation of the coordinates of the orifice in the embodiment.

Fig. 8 is a schematic diagram illustrating the decomposition of the extrapolation angle.

FIG. 9 is a schematic diagram of extrapolation angles and working space profiles in an embodiment.

FIG. 10 shows an example of the extrapolation angle θ_aAnd p_ymaxThe corresponding functional relationship of (2) is shown schematically.

Detailed Description

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that technical features or combinations of technical features described in the following embodiments should not be considered as being isolated, and they may be combined with each other to achieve better technical effects. In the drawings of the embodiments described below, the same reference numerals appearing in the respective drawings denote the same features or components, and may be applied to different embodiments.

Without loss of generality, in the following embodiments, a two-arm drill jumbo is taken as an example, but not limited to; the roadway is exemplified by a three-arch roadway, but is not limited to a three-arch roadway. Variations of the invention using the teachings of the present invention that are within the purview of those skilled in the art are intended to be included within the scope of the present application.

The embodiment of the invention discloses a method for determining peripheral hole pose parameters based on a working space of a fully-computerized drill jumbo, which comprises the following steps of:

1) basic dimensional information of a two-arm rock drilling rig (see figure 1) is obtained. The mechanism design and size (section size, length) of different double-arm rock drilling jumbo are different, but can be generally simplified into connecting rods and movable joints. Simplifying all rigid bodies of the drill boom into connecting rods, simplifying rotating shafts and moving shafts into movable joints, drawing a simplified model diagram of the drill boom, and determining the reference position (shown in figure 2) and the relative angle of each joint and the variation range of each joint quantity.

2) Building drill boom kinematics model

①, establishing coordinate systems at all joints of the drill boom according to a D-H method, and determining the relative transformation relation of all the coordinate systems:

because the left and right double-arm mechanisms are symmetrical, a fixed connection coordinate system { O } can be established at the end part of each connecting rod of each drill boom according to the same principle by the same method_iAs in fig. 3. The parameters of the corresponding connecting rod determined according to the dimensions of the drill boom are shown in table 1 and table 2, with dimensional variables in mm and angular variables in degrees. Table 1, d in table 2_i、θ_iIn two columns theta₁-θ₅And d₆Is a joint variable whose value is determined in real time by a sensor. The data in the parenthesis is the value of the variable when each axis of fig. 2 is at the reference position.

TABLE 1 simplified mechanism link parameter table (left arm)

Connecting rod i	αi-1	ai-1	di	θi	Value range
						1	0	0	0	θ1(0)	(-14，47)
2	-90	180	0	θ2(90)	(35，106)
						3	90	53	2598	θ3(180)	(40，290)
4	90	0	0	θ4(90)	(75，180)
						5	90	136	529	θ5(90)	(45，125)
6	90	0	d6(1739)	0	(1739，3039)

TABLE 2 simplified mechanism link parameter table (Right arm)

Connecting rod i	αi-1	ai-1	di	θi	Value range
						1	0	0	0	θ1(0)	(-47，14)
2	-90	180	0	θ2(90)	(35，106)
						3	90	53	2598	θ3(180)	(70，320)
4	90	0	0	θ4(90)	(75，180)
						5	90	136	529	θ5(90)	(55，135)
6	90	0	d6(1739)	0	(1739，3039)

Determining the relative relation between the coordinate systems of two adjacent connecting rods according to a D-H method, wherein the coordinate system is { O }_iCan be regarded as a coordinate system O_i-1Four transformations (two rotations Rot and two translations Trans) in a certain order. Let a coordinate system { O_iAnd { O }_i-1The transformation matrix A of_iA compound of the general formula:

according to the size and the angle information of the left arm, the transformation matrixes on the left side can be determined in sequence as follows:

angle in the formula theta_iThe sine and cosine are simplified as follows: s_i、c_i。

From a coordinate system { O_iAnd { O }_i-1The transformation matrix A of_iAnd a coordinate system { O }_i+1And { O }_iThe transformation matrix A of_i+1Determining the coordinate system { O }_i-1And { O }_i+1The transformation matrix ofFinally establishing a coordinate system of the end of the drill boom { O }₆And a base coordinate system of the drill boom { O }₀The transformation matrix between

Because the drill boom is fixed in size and the rotation angle and displacement of each joint can be detected by the sensor, the matrixIs measurable and uniquely determined at any time and under any state. Setting:

3) workspace computation based on discrimination criteria

① the MAT L AB program is written, and the Monte Carlo method is adopted to randomly select the variable value theta of each joint₁～θ₅And d and₆substituting the constant values into the matrix for operation to obtain the pose matrix under different posturesWhen the drilling trolley is stopped at the ideal position just before the working face and the centre line of the trolley is in the same plane with the centre line of the working face, { O₆Z of₆Axis and { O₀X of }₀The included angle of the axes is equal to the external insertion angle theta of the blast hole drilled under the attitude_aCan be composed of a matrixColumn vector (a) of_x,a_y,a_z) And calculating to obtain:

② setting a discrimination condition theta_a-θ₀<|Δ₁|(θ₀0,1,2, … … is θ taking an integer value_a，Δ₁A certain minimum positive angle is generally set as an angular deviation tolerance). All the postures obtained by screening form a posture satisfying the condition theta_a∈(θ₀-|Δ₁|,θ₀+|Δ₁|) workspace. In the working space, the coordinates (p) of the end point of the drill boom_x,p_y,p_z) Form a set of points S₀。

S₀＝{(p_x,p_y,p_z)|θ_a-θ₀≤|Δ₁|,p_x-p₀≤|Δ₂|}

Set of points S₀All points in the graph satisfy the constraint of being sufficiently close to the working surface, i.e. p_x∈(p₀-|Δ₂|,p₀+|Δ₂|)(p₀For optimum distance of the drilling carriage to the cross-section during operation, at a predetermined constant, from the carriage p₀The section of the distance is an ideal section; delta₂The distance deviation tolerance value reflects the approaching degree of the end point of the drill boom and the ideal section, and is generally set as a ratio p₀A positive number one order of magnitude smaller).

③ construction of value pairs (. theta.)₀，p_ymax) Wherein p is_ymaxIs the current theta₀Corresponding point set S under value₀Coordinates p of the end points of all the drill booms_yEach theta of₀All correspond to one p_ymax；

p_ymax＝{p_ymax|(p_x,p_y,p_z)∈S₀}；

Fitting all value pairs (θ)₀，p_ymax) Finding out theta_aAnd p_ymaxThe corresponding functional relationship of (1). The function is inverted so that for a given coverage of the working space (maximum lateral distance p of the drill bit)_ymax) The allowable outside insertion angle theta of the hole can be obtained_a。

p_ymax＝f(θ_a)θ_a＝f^-1(p_ymax)。

4) Determination of peripheral hole pose parameters

① peripheral hole design by drilling and blasting method needs consideration of circulation footage D, hole coordinate, distance between hole and side contour L₁Distance of opening L₂Hole bottom coordinates, hole bottom to border profile distance L₃Bottom of hole distance L₄Before calculation, D is determined comprehensively based on rock quality, working time, drilling tool parameters and other factors, and L is determined based on blasting experience, rock quality and other factors₁、L₃And L₂According to L₁、L₃D, calculating to obtain a suggested value theta of peripheral hole external insertion angle_a0Whether the positioning is adopted or not is finally judged, and the result of vehicle body positioning needs to be inspected;

take a three-arch roadway as an example (see fig. 4). O in FIG. 4_f1,O_f2,O_f3,O_b1,O_b2,O_b3Are the circle centers of the three-center arch of the orifice working surface and the hole bottom working surface respectively. The distance between the front and the rear working faces along the tunneling direction is a cyclic footage D, and D is equal to | O_f1O_b1|＝|O_f2O_b2|＝|O_f3O_b3|。B_f1,B_f2,B_f3,B_f4Respectively, the peripheral hole orifices on the orifice working surface, and the distance between the peripheral hole orifices and the side outline is L₁Are all equal, the orifice distance L₂＝|B_f1B_f2|＝|B_f3B_f4|。B_b1,B_b2,B_b3,B_b4Respectively, the distance from the peripheral hole bottom to the side contour is L₃Equal, hole bottom distance L₄＝|B_b1B_b2|＝|B_b3B_b4|。B′_f1,B′_f2,B′_f3, B′_f4Respectively, four peripheral hole orifices projected points in the working surface of the hole bottom, and has a value of | B_f1B′_f1|＝|B_f2B′_f2|＝|B_f3B′_f3| ＝|B_f4B′_f4|＝D；|B′_f1B′_f2|＝|B′_f3B′_f4|＝L₂。∠B_b1B_f1B′_f1,∠B_b3B_f3B′_f3Is an outer inserting angle of a peripheral hole and has ∠ B_b1B_f1B′_f1＝∠B_b3B_f3B′_f3。

② it is still exemplified by a three-arch tunnel with a vertical wall of the tunnel being high h₁Arch height f, half width h of tunnel₂. In particular, for circular arch tunnels, f is h₂. The trolley is stopped in front of the working face and does not move after being stabilized. Determining the horizontal distance E of the central line of the trolley deviating from the central line of the roadway according to the positioning result of the trolley body (as shown in figure 5)₂。{O_CThe origin O_CDistance to ground E₁This parameter generally does not constitute an impact on the perimeter hole design and is therefore not considered.

Then for the trolley in this condition all the blasthole orifices should be in the workspace covering half width L.

L＝|E₂|+h₂-L₁

In this case p_{ymax practice}L-half of the distance between the arms on both sides, according to p_{ymax practice}Calculating the determined theta_aIs defined as theta_aL. Extrapolating the angle of the hole to the peripheral hole by the suggested value theta_a0Comparing to determine final value theta of external plug angle of blast hole_{a Final}。

③ calculating the locus of the peripheral hole openings, the locus is divided into five sections, from left to right, a straight line section (L ine1) parallel to the left straight wall is formed, and the right straight line section is divided into five sections, and O is used as the center_f2A small arc segment (Curve 1) with O as the center_f1A large circular arc segment (Curve 2) with the center of a circle as O_f3A small arc section (Curve 3) which is the circle center is parallel to a straight line section (L ine 2) of the right straight wall, and the distance between the track and the outline of the edge is L constantly₁。

To obtain the trajectory function, first, three centers O of the three-center arch are calculated_f1,O_f2,O_f3Coordinates of (A), (B)As in fig. 6). In FIG. 6 r₁-L₁Is a small arc radius, theta_f1Is a small arc central angle, r₂-L₁Is a large arc radius, theta_f2Is a large circular arc central angle.

The peripheral hole trajectory equation is:

④ determining the hole coordinates of the holes, arranging a circle of holes along the track, with equal distance between holes and symmetrical along the center line of the roadway (as shown in fig. 7). because the hole coordinates of the left hole are positive, only the left side is calculated, and the hole coordinates of the right hole are determined by mirror image, distance between holes L₂The value range of the explosive is determined in advance according to factors such as blasting experience, rock quality and the like, and L is set₂∈(L_2min,L_2max) L is randomly selected in the value range by adopting the Monte Carlo method₂Calculating the coordinates of the peripheral holes in turn according to the principle of bottom to top in a single calculation, wherein the distance between the two peripheral holes at the highest position is closest to L₂One set of (1) is the final result.

The single calculation steps are as follows:

the number of shots N1 on the straight line segment (line1) was calculated, noting that the Floor function is a Floor function.

Thus the lowest located peripheral hole B in the straight line segment (line1)₁The coordinate is (h)₂-L₁,L₁+L₂) (ii) a Peripheral hole B_uThe coordinate is (h)₂-L₁,L₁+u·L₂) Wherein u is the blast hole number, 1<u<N1; highest position peripheral hole B_N1The coordinate is (h)₂-L₁,L₁+N1·L₂)。

Calculating the lowest peripheral hole B on the curve 1 segment (curve 1)_N1+1The coordinate is (x)_N1+1,y_N1+1) Note that y_N1+1>h₁。

The number of holes N2-N1 on curve 1 segment (curve 1) was calculated, noting that the Ceil function is an rounded-up function.

Calculating the peripheral hole B on the curve 1 segment (curve 1)_vAnd (4) coordinates. v is the number of the blast hole, N1+1<v<＝N2。

Calculate the lowest peripheral hole B on curve 2 segment (curve 2)_N2+1The coordinate is (x)_N2+1,y_N2+1) Note that x is taken_N2+1The smaller solution.

The number of holes N3-N2 on curve 2 segment (curve 2) was calculated, noting that the Ceil function is an rounded-up function.

Calculate the peripheral hole B on curve 2 segment (curve 2)_wAnd (4) coordinates. w is the number of the blast hole, N2+1<w<＝N3。

⑤ decomposition of peripheral hole outside insertion angle above arch line

Theta of each peripheral hole above the arch line_aDecomposed into horizontal angle α and vertical angle β, the calculation process requires that the coordinates of each blast hole and the corresponding theta are known_Tk。θ_TkA tangent line of the peripheral hole track is made for passing through each blast hole orifice, and the tangent line T forms an included angle with the horizontal. Calculating each peripheral hole B on curve 1 (curve 1) and curve 2 (curve 2)_kCorresponds to theta_TkThe value of (c).

According to the space geometric relationship (such as figure 8), decomposing theta_a。

Details of field applications:

and (4) compiling the results into a program, and carrying out a downhole test together with the trolley motion control program. Calculating the relation between the external insertion angle of the blast hole and the size of the working space according to the content of the section 3) to obtain theta₀Equal to the dimensions of the single-arm workspace at 0,1,2, … …,14 deg., respectively.

Respectively set delta₁＝0.1°，p₀＝4900mm，Δ₂100 mm. Each theta₀The corresponding workspaces each contain 50000 data points. To obtain each theta₀And the corresponding workspace data point profile (outer envelope) (see fig. 9). The analysis is performed with respect to the contour lines within the dashed box in fig. 9 (peripheral holes are generally arranged in this region).

Take each theta₀And its corresponding p_ymaxAnd (4) combining. In order to avoid unreliable results caused by accidental factors in the calculation process, simultaneously taking p under each working condition_yThe maximum first 100 values are averaged with θ₀Combine (see FIG. 10.) points in FIG. 10 were fitted using a cubic polynomial in MAT L AB to give θ_aAnd p_ymax/p_ymeanThe functional relationship of (a).

The test and production are carried out in Guangan green water tunnel coal mine in Sichuan China, which is a three-arch tunnel with a vertical wall of h height₁2m, 1.6m arch height f and half width h of tunnel₂2.4 m. Calculating to obtain three-circle center coordinate O_f1(0m,0.2789m)；O_f2(1.1474m,2m)；O_f3(-1.1474 m,2m), furthermore r₁＝1.2526m；r₂＝3.3211m；θ_f1＝56.3099°；θ_f267.3801 deg. the rock quality of tunnel is very hard, self-stability is good, after explosion there is no support measure, the designed cyclic footage D is 1.8m, and the distance between the hole mouth and the contour of side is L₁200mm, orifice spacing L₂∈ (400mm,500mm), distance of hole bottom from border outline L₃50 mm. Thus theta_a0At 7.9072 °, 8 ° is taken. After the vehicle body is positioned, the central line of the trolley deviates from the horizontal distance E of the central line of the roadway₂∈ (-200mm,200 mm.) thus, the half-width of coverage of the workspace L∈ (2200mm,2400mm), corresponding to a single arm p_ymax∈ (1935mm,2135mm), at a distance of theta_aL<1, the designed width of the roadway is not large. Due to theta_aL<θ_a0Therefore, using theta_a0As theta_{a Final}。

Calculating the coordinates of the orifice of the peripheral hole and the corresponding tangent angle theta of the peripheral hole above the arch camber line according to the content of the section 4)_TkDecomposition angles α and β are calculated by a program to obtain L₂＝443.8870mm，x_N3-L₂0.1244 mm. The hole position parameters are shown in Table 3.

TABLE 3 peripheral hole pose parameters

Number of holes	X coordinate/mm	Y coordinate/mm	θT(°)	α(°)	β(°)
						1	2200	643.887	90	8	0
2	2200	1087.774	90	8	0
						3	2200	1531.661	90	8	0
4	2200	1975.548	90	8	0
						5	2116.248	2411.462	66.989	7.371	3.119
6	1860.485	2774.259	42.645	5.439	5.876
						7	1491.279	3020.679	28.542	3.842	7.022
8	1087.245	3204.505	20.387	2.803	7.496
						9	661.219	3329.155	12.231	1.705	7.817
10	221.819	3392.108	4.075	0.572	7.980

The automatic positioning precision of the peripheral holes is measured actually on site and is 8.1 cm. A large number of adjacent interloop travel times were tested in the roadway and compared with previous travel times when manually operated with a 6-way valve. The average time for hole walking is 23s when the automatic positioning is carried out, and the average time for hole walking is 51s when the manual positioning is carried out, so that the time for automatic positioning is shortened by 55% compared with the time for manual operation.

The above description is only the method for automatically determining the peripheral hole provided by the invention for the double-arm drilling jumbo with a specific mechanism, and it should be noted that, for other double-arm jumbo in the technical field, even if the size and the mechanism are changed to some extent, the pose parameters of the peripheral hole are determined based on the working space of the double-arm jumbo, and the changes are considered to be the protection scope of the invention. Meanwhile, the circular arch tunnel can be regarded as a special case of a three-center arch tunnel, so that the automatic design of the peripheral holes of the circular arch tunnel by using the drill jumbo is also regarded as the protection scope of the invention; meanwhile, the method is also suitable for some special-shaped roadways.

While several embodiments of the present invention have been presented herein, it will be appreciated by those skilled in the art that changes may be made to the embodiments herein without departing from the spirit of the invention. The above examples are merely illustrative and should not be taken as limiting the scope of the invention.