阅读说明：本技术 一种用于不平整工作面的自动钻孔的施工方法 (Construction method for automatic drilling of uneven working surface ) 是由 李永丰 李小祥 袁煜豪 于 2020-12-13 设计创作，主要内容包括：本发明公开了一种用于不平整工作面的自动钻孔的施工方法,通过凿岩台车上臂架传感器探测出臂架的位置数据,并将位置数据传送到中控制系统,主控制系统对凿岩台车的钻臂传送的数据进行处理,并将经过系统算法处理结果传输至钻进系统,进而对钻进的具体参数进行调整,最终获得钻孔底部处于同一平整面上。该方法能够用于不平整工作面钻进施工,并且能够保证钻孔孔底处于同一平面,方便后续的爆破和掘进,同时该方法能够有效的避免安全问题,提高掘进效率。(The invention discloses a construction method for automatic drilling on an uneven working surface, which comprises the steps of detecting position data of an arm support through an arm support sensor on a rock drilling trolley, transmitting the position data to a central control system, processing the data transmitted by a drill arm of the rock drilling trolley by a main control system, transmitting a system algorithm processing result to a drilling system, further adjusting specific drilling parameters, and finally obtaining that the bottoms of drill holes are positioned on the same flat surface. The method can be used for drilling construction on uneven working faces, the bottoms of the drill holes can be ensured to be positioned on the same plane, subsequent blasting and tunneling are facilitated, meanwhile, the method can effectively avoid safety problems, and the tunneling efficiency is improved.)

1. A construction method for automatic drilling of uneven working surfaces is characterized in that a rock drilling trolley is used for drilling a tunnel face, and hole bottoms of drilled holes are located on the same plane.

2. The construction method for automatic drilling of uneven working surface according to claim 1, characterized in that it comprises the following steps:

step 1), a boom sensor on the rock drilling trolley acquires position data and transmits the position data to a middle control system;

step 2) the main control system processes data transmitted by a drill boom of the drill jumbo and transmits a system algorithm processing result to the drilling system;

and 3) carrying out specific drilling operation by the drilling system, and ensuring that the bottoms of the drilled holes are on the same plane.

3. The construction method for automatic drilling of uneven working surface according to claim 2,

step 1) before, establishing a rock drilling jumbo body coordinate system { C } by using the joint center of the rock drilling jumbo arm support; the boom sensor in the step 1) monitors the coordinates of the tail end of the drill rod in real time, and coordinate data are fed back to the main control system.

4. The construction method for automatic drilling on uneven working surfaces as claimed in claim 2, wherein a basic coordinate system is arranged in the main control system, the basic coordinate system is that the rotation matrix of the trolley coordinate system is converted into the same direction as the face coordinate system, and the basic coordinate system is used for determining the coordinates of the end position of the drill rod and the coordinates of the hole to be drilled on the face.

5. The construction method for automatic drilling of uneven working surface according to claim 4, characterized in that the base coordinate system is obtained as follows: the two-axis inclinometer on the drill jumbo can detect a front rolling angle theta 1 and a rear rolling angle theta 2 and a left rolling angle theta 2, a geodetic coordinate system is { G }, and a rotation matrix converted by a drill jumbo coordinate system { C } and a geodetic coordinate system { G } is { G } - { C } -. T }, wherein_θ2*T_θ1；

Through the straight curve parameters and the vertical curve parameters of the tunnel design drawing, the horizontal direction tangent slope of the current mileage of the tunnel can be converted into an angle beta 1 and a vertical direction slope beta 2, the tunnel face coordinate system is { D }, and the rotation matrix converted from the tunnel face coordinate system { D } and the ground coordinate system { G } is { G } - { D } - } T }, namely_β1*T_β2；

The conversion relation between the coordinate system of the drill jumbo and the coordinate system of the face is as follows { C }. T }_θ2*T_θ1＝{D}*T_β1*T_β2(ii) a Namely the base coordinate system.

6. The construction method for automatic drilling of uneven working surface according to any one of claims 1 to 5, wherein when the working mode is manual mode, the specific operation is as follows:

determining a virtual face, moving the drill boom to any position on the face by an operator, and taking the face of a point where the drill boom is positioned, which is vertical to the axis of the tunnel, as the virtual face planned by the drilling; acquiring the coordinates of the tail end of the drill boom at the moment, recording the coordinates as X, Y, Z, and feeding the coordinates back to the main control system to generate the vehicle body coordinates of all target holes;

before drilling is started, an operator needs to preset a target drilling depth L of drilling; in the manual mode, the main control system feeds back angles and coordinates during drilling, specifically a left-right inclination angle theta 1 and an up-down inclination angle beta 1 of the drill rod, and meanwhile, the tail end of the drill rod and the tunnel faceThe coordinates of the contact point are denoted as X_Powder、Y_Powder、Z_Powder；

At the moment, the drill rod needs to drill to the depth

L_Drill＝(L-(Y-Y_Powder))/(cos(θ1)*cos(β1))；

The operator adjusts the position and the angle of the drill boom according to the parameters fed back by the main control system, and the system adjusts the drilling depth L calculated in the manual mode_DrillTransmitting to a drilling system, monitoring the current drilling depth in real time by a flowmeter, and calculating L when the drilling depth reaches the formula_DrillAnd then, finishing the current drilling, wherein the hole bottoms of the finally obtained drilled holes are positioned on the same plane.

7. The construction method for automatic drilling of uneven working surfaces as claimed in any one of claims 1 to 5, wherein the operation mode is automatic mode, and the specific operation is as follows:

the main control system acquires coordinates of the drilled hole such as a blank point and coordinates of the bottom of the hole; notation X_{1 into}、Y_{1 into}、Z_{1 into}，X_{1 bottom}、Y_{1 bottom}、Z_{1 bottom}；

Calculating the relation between the drill rod angle and the coordinate system through a preset drilling point coordinate and a preset drilling hole bottom coordinate;

the left-right inclination angle theta 2 and the up-down inclination angle beta 2 of the drill rod are in the following relation with the coordinates:

θ2＝actan((X_{1 bottom}-X_{1 into})/(Y_{1 bottom}-Y_{1 into}))；

β2＝actan((Z_{1 bottom}-Z_{1 into})/((X_{1 bottom}-X_{1 into})²+(Y_{1 bottom}-Y_{1 into})²)^(1/2))；

When the drill boom of the trolley is automatically aligned with the position of the target hole, the pushing beam is stretched and moved to the tunnel face, the tail end of the drill boom is an actual hole-entering point, and the coordinate value of the tail end of the drill boom is obtained and recorded as X₂、Y₂、Z_2；

The preset drilling depth is set to be L, and the actual drilling depth of the drill boom is as follows:

L_drill＝(L-(Y₂-Y_Powder))/(cos(θ₂)*cos(β₂))；

The system will calculate the drilling depth L in the automatic mode_DrillTransmitting to a drilling system, monitoring the current drilling depth in real time by a flowmeter, and calculating L when the drilling depth reaches the formula_DrillAnd then, finishing the current drilling, wherein the hole bottoms of the finally obtained drilled holes are positioned on the same plane.

Technical Field

The invention belongs to the technical field of drilling control of full-automatic rock drilling jumbo, and particularly relates to an automatic drilling system and method for an uneven working surface.

Background

The working face is a working face which is continuously pushed forward in the process of excavating a tunnel or a mine, and in the process of blasting and excavating the tunnel, no matter a multi-arm drill carriage or a drill jumbo is adopted, the working face is generally required to be flat before drilling and after blasting for facilitating measurement and control, particularly drilling control. However, in the excavation propelling process of the face, blasting or excavation is often needed, the condition that the face is not flat is often encountered after blasting, the non-flat face brings about a lot of troubles for subsequent measurement and judgment of a rock stratum structure of the face by engineers, especially when blasting is continuously performed on the face in the subsequent process, a blasting site needs to be determined, and the non-flat face causes an error in setting of the blasting site, so that the safety problem of excavation is affected.

In the prior art, in order to ensure the flatness of a tunnel face, the general operation in the blasting process is that the hole depth is 20-350 cm deeper according to the hole diameter or a resistance line, more residual holes can be left after blasting, and also more residual holes can be left in peripheral holes in smooth blasting of a tunnel. Although the blasting can improve the flatness of the tunnel face, the blasting has low efficiency, high requirements on experience of engineering personnel and is lack of automation.

In the prior art, for excavation of a rock drilling trolley, an invention patent with the publication number of CN107885916A discloses a rock drilling trolley drill boom kinematics analysis method based on a CFDH (coordinated Fixed named Denavit-Hartenberg) method, which comprises the steps of firstly determining parameters of connecting rods, wherein the parameters comprise the length of the connecting rods and the torsion angle of the connecting rods, and the relation parameters of adjacent connecting rods comprise the distance between the connecting rods and the joint angle; simplifying the drill boom into a multi-joint robot structure, determining a coordinate transformation matrix of adjacent rod pieces by setting coordinate systems of the rod pieces of the drill boom, and further establishing a drill boom kinematic equation of the drill jumbo by using a CFDH method; and finally, drawing the effective working space of the drill arm of the drill jumbo according to the established kinematic equation in the MATLAB. The method solves the problem that the coordinate system is difficult to determine in the drill boom research, and the establishment of the coordinate system group is intuitive and accurate, thereby providing an effective means for the kinematics analysis of the drill boom of the drill jumbo. The invention mainly determines the coordinate system of the drill boom through a robot D-H (Denavit-Hartenberg) model, and further establishes a coordinate system group more intuitively and accurately. The method not only improves the accuracy and operability of kinematic analysis, but also saves the analysis time, and provides an effective analysis means for optimizing and improving the drill jumbo. However, this prior art does not provide any solution as to how to drill a flat face.

The invention provides a construction method for automatically drilling on an uneven working surface, which aims at solving the technical problems existing in the prior art or not discovered, and is particularly suitable for a working environment of an uneven tunnel face.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the construction method for the automatic drilling of the uneven working surface, the construction method can obviously improve the construction accuracy of the drill jumbo, can be suitable for the operation of the uneven working surface, avoids the problem that the new working surface is uneven due to uneven hole bottom positions after the working surface is blasted, and effectively ensures the construction quality.

In the drilling process, the inventor finds that the influence of the bottom of a drilled hole on the tunneling efficiency by a plane is not found in the conventional operation, the conventional construction is to tunnel the drilled hole on the face, arrange an explosive in the drilled hole and further advance the face, but the operation has a remarkable problem that the difference of explosive arrangement points is different, and the face after blasting is uneven due to the difference of explosive explosion power points. When the next circulation blasting is carried out, the face is further uneven, a vicious circle is formed, the uneven face is extremely unfavorable for construction, safety problems are easy to cause, and meanwhile, when the next drilling is carried out on the uneven face, the adjustment of the drill boom is extremely complicated, and the efficiency is extremely low.

The inventor finds the technical problems in the actual construction and research process, and finds the influence of the drilling depth on the face on the flatness of the face, and the flat face has great production significance for safe construction and efficient construction.

The invention has the conception that the position data of the arm support is detected by an arm support sensor on the drill jumbo, the position data is transmitted to a central control system, the main control system processes the data transmitted by the drill arm of the drill jumbo, the processed result of the system algorithm is transmitted to a drilling system, further the specific parameters of drilling are adjusted, and finally the bottoms of drill holes are positioned on the same flat surface.

Specifically, the invention provides a construction method for automatic drilling of an uneven working surface.

Further, the invention uses an automated drill jumbo, which can be calculated for a specific drilling depth.

Furthermore, the construction method comprises the following steps: step 1), a boom sensor on the rock drilling trolley acquires position data and transmits the position data to a middle control system; step 2) the main control system processes data transmitted by a drill boom of the drill jumbo and transmits a system algorithm processing result to the drilling system; and 3) carrying out specific drilling operation by the drilling system, and ensuring that the bottoms of the drilled holes are on the same plane.

Furthermore, before the step 1), a rock drilling jumbo body coordinate system { C } is established by using the joint center of the rock drilling jumbo arm support.

The establishment of the vehicle body coordinate system is beneficial to the main control system to judge the specific position of the drill jumbo, the main control system is convenient to analyze the position data fed back by the boom sensor, the drilling point can be accurately positioned, and the drilling depth can be calculated.

Specifically, the boom sensor in the step 1) monitors the coordinates of the tail end of the drill rod in real time, and feeds back coordinate data to the main control system.

Furthermore, a base coordinate system needs to be determined before the step 1);

the basic coordinate system is used for determining the coordinates of the tail end position of the drill rod and the coordinates of holes needing to be drilled on the working face;

specifically, the rock drilling jumbo is also provided with a double-shaft inclinometer, and the double-shaft inclinometer can detect a front rolling angle theta 1 and a rear rolling angle theta 2 and a left rolling angle theta 2;

the drill jumbo can also acquire the horizontal rotation angle theta 3 of the jumbo relative to a geodetic coordinate system;

specifically, two prisms A and B are installed on a vehicle body, after the prisms A and B are installed, the vehicle body coordinates of the prism AB need to be measured to obtain a horizontal included angle theta 3_ a between an AB line segment and a vehicle body coordinate system, a total station is used for obtaining the earth coordinates of the prism AB to obtain a horizontal included angle theta 3_ B between the AB line segment and the earth coordinate system during vehicle positioning, and the horizontal included angle theta 3 of the line segment connecting two points under two different coordinate systems can be known to be theta 3_ B-theta 3_ B;

the relative relation between the rock drilling jumbo coordinate system { C } and the geodetic coordinate system { G } can be obtained through a double-axis inclinometer and total station prism positioning mode.

Furthermore, a rotation matrix for converting the rock drilling rig coordinate system { C } with the geodetic coordinate system { G } may be used.

I.e., { G } - { C } -. T }, respectively_θ2*T_θ1*T_θ3；

Furthermore, through the horizontal curve parameters and the vertical curve parameters of the tunnel design drawing, the conversion of the horizontal direction tangent slope of the current mileage of the tunnel into the angle beta 1 and the vertical direction slope beta 2 can be obtained, and therefore the rotation matrix converted by the tunnel face coordinate system { D } and the ground coordinate system { G } is obtained.

I.e., { G } - { D } -. T }, respectively_β1*T_β2；

The conversion relation between the rock drilling trolley coordinate system { C } and the ground coordinate system { G } and the conversion relation between the working face coordinate system { D } and the ground coordinate system { G } are utilized to determine the conversion relation between the rock drilling trolley coordinate system { C } and the working face coordinate system { D }, and further data support is provided for drilling of the rock drilling trolley, subsequent drilling system parameters are corrected, and the hole bottoms of the drilled holes are ensured to be in the same plane.

Through the above calculation, the conversion relation between the rock drilling trolley coordinate system and the face coordinate system can be determined as follows:

i.e. { C }. T_θ2*T_θ1*T_θ3＝{D}*T_β1*T_β2；

The conversion relation is a base coordinate system in the main control system, the base coordinate system is that the rotation matrix of the trolley coordinate system is converted into the direction same as the face coordinate system, the base coordinate system is used for determining the coordinates of the tail end position of the drill rod and the coordinates of holes needing to be drilled on the face, and the base coordinate system is determined to provide basic support for the drilling parameter calculation of the drilling system.

Furthermore, according to the construction method for automatic drilling of the uneven working surface provided by the invention, in the step 1), a virtual face needs to be determined, the virtual face is a flat plane, and the arm support sensor transmits the coordinate parameters of the virtual face to the main control system.

Furthermore, the virtual tunnel face is perpendicular to the tunnel axis.

Specifically, the main control system in the step 2) processes data transmitted by a drill boom of the drill jumbo and transmits a system algorithm processing result to the drilling system; the drilling system comprises a drilling system which calculates the coordinates of the virtual working face, the drilling depth, the tail end of a drill rod and the coordinates of a preset working face and transmits actual drilling parameters.

Further, the drilling system in the step 3) acquires actual drilling parameters fed back by the main control system in the step 2), and specific drilling operation is carried out, so that the bottoms of the drilled holes are in the same plane.

Furthermore, the working mode of the construction method for automatic drilling of the uneven working surface is a manual mode and/or an automatic mode, the manual mode is that an operator needs to move the drill boom to the virtual working surface, and the arm support sensor transmits the coordinates of the virtual working surface to the main control system; the automatic mode is that the drill boom is moved to the virtual face in a preset mode, and the boom sensor transmits the coordinates of the virtual face to the main control system.

More specifically, when the operation mode is the manual mode, the specific operation is as follows:

determining a virtual palm surface, wherein the virtual palm surface is close to the palm surface;

specifically, the operator moves the drill boom to any position on the tunnel face, and the plane where the point where the drill boom is located is perpendicular to the tunnel axis is used as the virtual tunnel face planned for the drilling. And acquiring the coordinates of the tail end of the drill boom at the moment, recording the coordinates as X, Y, Z, and feeding the coordinates back to the main control system to generate the vehicle body coordinates of all the target holes.

Before starting drilling, the operator needs to set a target drilling depth L for drilling in advance. In the manual mode, the main control system feeds back angles and coordinates during drilling, specifically a left-right inclination angle theta 1 and an up-down inclination angle beta 1 of the drill rod, and a seating mark of a contact point of the tail end of the drill rod and the tunnel face is marked as X_Powder、Y_Powder、Z_Powder。

At the moment, the drill rod needs to drill to the depth

L_Drill＝(L-(Y-Y_Powder))/(cos(θ1)*cos(β1))；

The operator adjusts the position and the angle of the drill boom according to the parameters fed back by the main control system, and the system adjusts the drilling depth L calculated in the manual mode_DrillTransmitting to a drilling system, monitoring the current drilling depth in real time by a flowmeter, and calculating L when the drilling depth reaches the formula_DrillAnd then, finishing the current drilling, wherein the hole bottoms of the finally obtained drilled holes are positioned on the same plane.

More specifically, when the operation mode is the automatic mode, the specific operations are as follows:

the main control system acquires coordinates of the drilled hole such as a blank point and coordinates of the bottom of the hole; notation X_{1 into}、Y_{1 into}、Z_{1 into}，X_{1 bottom}、Y_{1 bottom}、Z_{1 bottom}；

Calculating the relation between the drill rod angle and the coordinate system through a preset drilling point coordinate and a preset drilling hole bottom coordinate;

the left-right inclination angle theta 2 and the up-down inclination angle beta 2 of the drill rod are in the following relation with the coordinates:

θ2＝actan((X_{1 bottom}-X_{1 into})/(Y_{1 bottom}-Y_{1 into}))；

β2＝actan((Z_{1 bottom}-Z_{1 into})/((X_{1 bottom}-X_{1 into})²+(Y_{1 bottom}-Y_{1 into})²)^(1/2))；

Further, after the drill boom of the trolley is automatically aligned with the position of the target hole, the pushing beam is stretched and moved to the tunnel face, the tail end of the drill boom is an actual hole-entering point, and the coordinate value of the tail end of the drill boom is obtained and recorded as X₂、Y₂、Z₂。

The preset drilling depth is set to be L, and the actual drilling depth of the drill boom is as follows:

L_drill＝(L-(Y₂-Y_Powder))/(cos(θ₂)*cos(β₂))；

The system will calculate the drilling depth L in the automatic mode_DrillTransmitting to a drilling system, monitoring the current drilling depth in real time by a flowmeter, and calculating L when the drilling depth reaches the formula_DrillAnd then, finishing the current drilling, wherein the hole bottoms of the finally obtained drilled holes are positioned on the same plane.

The technical scheme adopted by the invention is as follows: before starting the operation, a relatively even point is searched on the working face as a virtual working face, and an operator needs to move a drill boom of the drill jumbo to the point to complete positioning in the main system. The main system will use the surface of the current point as the virtual palm surface. And calculating the actual drilling depth according to the actual hole entering point coordinate detected by the full-automatic drill jumbo and the included angle between the drill rod and the virtual tunnel face. The method can be used for drilling construction on uneven working faces, the bottoms of the drill holes can be ensured to be positioned on the same plane, subsequent blasting and tunneling are facilitated, meanwhile, the method can effectively avoid safety problems, and the tunneling efficiency is improved.

Drawings

FIG. 1 is a flow chart of the construction method of drilling hole of the present invention;

FIG. 2 is a flow chart of the operation of the construction method of the drilling hole of the present invention;

fig. 3 is a schematic view of the construction of the borehole of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 shows a construction method for automatic drilling of uneven working surfaces, which comprises the following steps: step 1), a boom sensor on the rock drilling trolley acquires position data and transmits the position data to a middle control system; step 2) the main control system processes data transmitted by a drill boom of the drill jumbo and transmits a system algorithm processing result to the drilling system; and 3) carrying out specific drilling operation by the drilling system, and ensuring that the bottoms of the drilled holes are on the same plane.

And step 1) before, establishing a rock drilling jumbo body coordinate system { C } by using the joint center of the rock drilling jumbo arm support.

The boom sensor in the step 1) monitors the coordinates of the tail end of the drill rod in real time and feeds back the coordinate data to the main control system.

Determining a base coordinate system before step 1);

the rock drilling trolley is provided with a double-shaft inclinometer, the double-shaft inclinometer can detect a front rolling angle theta 1 and a rear rolling angle theta 2 and a left rolling angle theta 2, and the relative relation between a coordinate system { C } of the rock drilling trolley and a geodetic coordinate system { G } can be obtained through the double-shaft inclinometer.

The drill jumbo can also acquire the horizontal rotation angle theta 3 of the jumbo relative to a geodetic coordinate system;

specifically, two prisms A and B are installed on a vehicle body, after the prisms A and B are installed, the vehicle body coordinates of the prism AB need to be measured to obtain a horizontal included angle theta 3_ a between an AB line segment and a vehicle body coordinate system, a total station is used for obtaining the earth coordinates of the prism AB to obtain a horizontal included angle theta 3_ B between the AB line segment and the earth coordinate system during vehicle positioning, and the horizontal included angle theta 3 of the line segment connecting two points under two different coordinate systems can be known to be theta 3_ B-theta 3_ B;

the relative relation between the rock drilling jumbo coordinate system { C } and the geodetic coordinate system { G } can be obtained through a double-axis inclinometer and total station prism positioning mode.

Furthermore, a rotation matrix for converting the rock drilling rig coordinate system { C } with the geodetic coordinate system { G } may be used.

I.e., { G } - { C } -. T }, respectively_θ2*T_θ1*T_θ3；

Through the straight curve parameters and the vertical curve parameters of the tunnel design drawing, the conversion of the horizontal direction tangent slope of the current mileage of the tunnel into the angle beta 1 and the vertical direction slope beta 2 can be obtained, and therefore the rotation matrix converted by the tunnel face coordinate system { D } and the geodetic coordinate system { G } is obtained.

I.e., { G } - { D } -. T }, respectively_β1*T_β2；

Through the above calculation, the conversion relation between the rock drilling trolley coordinate system and the face coordinate system can be determined as follows:

{C}*T_θ2*T_θ1*T_θ3＝{D}*T_β1*T_β2i.e., the base coordinate system.

Before step 1), a virtual tunnel face needs to be determined, wherein the virtual tunnel face is perpendicular to the tunnel axis.

Step 2) the main control system processes data transmitted by a drill boom of the drill jumbo and transmits a system algorithm processing result to the drilling system; the drilling system comprises a drilling system which calculates the coordinates of the virtual working face, the drilling depth, the tail end of a drill rod and the coordinates of a preset working face and transmits actual drilling parameters.

Step 3) the drilling system acquires actual drilling parameters fed back by the main control system in the step 2), and specific drilling operation is carried out to ensure that the bottoms of the drilled holes are positioned on the same plane;

as shown in fig. 2 to 3, an operation mode of a construction method for automatic drilling of an uneven work surface is a manual mode and/or an automatic mode.

The manual mode is that an operator needs to move the drill boom to the virtual working face, and the boom sensor transmits the coordinates of the virtual working face to the master control system;

the automatic mode is a preset mode that the drill boom is moved to the virtual face, and the boom sensor transmits the coordinates of the virtual face to the main control system.

When the working mode is the manual mode, the specific operation is as follows:

determining a virtual palm surface, wherein the virtual palm surface is close to the palm surface;

specifically, the operator moves the drill boom to any position on the tunnel face, and the plane where the point where the drill boom is located is perpendicular to the tunnel axis is used as the virtual tunnel face planned for the drilling. And acquiring the coordinates of the tail end of the drill boom at the moment, recording the coordinates as X, Y, Z, and feeding the coordinates back to the main control system to generate the vehicle body coordinates of all the target holes.

Before starting drilling, the operator needs to set a target drilling depth L for drilling in advance. In the manual mode, the main control system feeds back angles and coordinates during drilling, specifically a left-right inclination angle theta 1 and an up-down inclination angle beta 1 of the drill rod, and a seating mark of a contact point of the tail end of the drill rod and the tunnel face is marked as X_Powder、Y_Powder、Z_Powder。

At the moment, the drill rod needs to drill to the depth

L_Drill＝(L-(Y-Y_Powder))/(cos(θ1)*cos(β1))；

The operator adjusts the position and the angle of the drill boom according to the parameters fed back by the main control system, and the system adjusts the drilling depth L calculated in the manual mode_DrillTransmitting to a drilling system, monitoring the current drilling depth in real time by a flowmeter, and calculating L when the drilling depth reaches the formula_DrillAnd then, finishing the current drilling, wherein the hole bottoms of the finally obtained drilled holes are positioned on the same plane.

When the working mode is the automatic mode, the specific operation is as follows:

the main control system acquires coordinates of the drilled hole such as a blank point and coordinates of the bottom of the hole; notation X_{1 into}、Y_{1 into}、Z_{1 into}，X_{1 bottom}、Y_{1 bottom}、Z_{1 bottom}；

Calculating the relation between the drill rod angle and the coordinate system through a preset drilling point coordinate and a preset drilling hole bottom coordinate;

the left-right inclination angle theta 2 and the up-down inclination angle beta 2 of the drill rod are in the following relation with the coordinates:

θ2＝actan((X_{1 bottom}-X_{1 into})/(Y_{1 bottom}-Y_{1 into}))；

β2＝actan((Z_{1 bottom}-Z_{1 into})/((X_{1 bottom}-X_{1 into})²+(Y_{1 bottom}-Y_{1 into})²)^(1/2))；

Further, after the drill boom of the trolley is automatically aligned with the position of the target hole, the pushing beam is stretched and moved to the tunnel face, the tail end of the drill boom is an actual hole-entering point, and the coordinate value of the tail end of the drill boom is obtained and recorded as X₂、Y₂、Z₂。

The preset drilling depth is set to be L, and the actual drilling depth of the drill boom is as follows:

L_drill＝(L-(Y₂-Y_Powder))/(cos(θ₂)*cos(β₂))；

The system will calculate the drilling depth L in the automatic mode_DrillTransmitting to a drilling system, monitoring the current drilling depth in real time by a flowmeter, and calculating L when the drilling depth reaches the formula_DrillAnd then, finishing the current drilling, wherein the hole bottoms of the finally obtained drilled holes are positioned on the same plane.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The present invention has been described in detail, and the principles and embodiments of the present invention have been described herein using specific examples, which are provided only to assist in understanding the present invention and the core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.