CN-122014207-A - Efficient rock breaking and slag discharging cooperative control system of mining layer-penetrating bottom angle drilling machine

CN122014207ACN 122014207 ACN122014207 ACN 122014207ACN-122014207-A

Abstract

The invention relates to the technical field of cooperative control of drilling machines, and discloses a high-efficiency rock breaking and slag discharging cooperative control system of a mining through-layer bottom angle drilling machine. The system is integrated with a data acquisition component, an intelligent analysis component and a regulation component. The data acquisition component collects vibration signals and deslagging parameters in the rock breaking process of the drilling machine in real time, and a rock breaking oscillogram and a state description text are generated based on the signals and the parameters. The intelligent analysis component is internally provided with a multi-mode recognition model and a mechanism simulation model, the multi-mode recognition model is used for processing the rock breaking oscillogram and the state description text in a combined mode to output classification of rock breaking working conditions, and the mechanism simulation model is used for analyzing characteristic parameters from the rock breaking oscillogram and outputting working condition matching results by matching with a standard mechanism library. The regulation and control assembly carries out comprehensive evaluation according to the output classification and matching result of the intelligent analysis assembly, generates a drilling machine control command, and optimizes rock breaking and slag discharging processes. The intelligent cooperative control of rock breaking and slag discharging is realized by the system.

Inventors

PAN DONGJIANG
YANG ZHENXING
ZHANG NONG
LIANG DONGXU
XIE ZHENGZHENG
WU WEIJIE
ZHANG LIANYING
LI HONGBO
WANG YANBO
ZHAI QIANZHI

Assignees

徐州工程学院

Dates

Publication Date: 20260512
Application Date: 20260330

Claims (10)

1. Rock breaking and slag discharging cooperative control system of mining through-layer base angle drilling machine is characterized in that the system is integrated with a data acquisition assembly, an intelligent analysis assembly and a regulation and control assembly, wherein: The data acquisition component is configured to collect vibration signals and deslagging parameters in the rock breaking process of the drilling machine in real time, and generate a rock breaking oscillogram and a state description text based on the signals and the parameters; The intelligent analysis component is internally provided with a multi-mode recognition model and a mechanism simulation model, wherein the multi-mode recognition model is used for jointly processing a rock breaking oscillogram and a state description text, outputting classification of rock breaking working conditions, and the mechanism simulation model is used for analyzing characteristic parameters from the rock breaking oscillogram, matching with a standard mechanism library and outputting a working condition matching result; and the regulation and control component carries out comprehensive evaluation according to the output classification and matching result of the intelligent analysis component, generates a drilling machine control command and optimizes the rock breaking and slag discharging processes.
2. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 1, wherein the data acquisition component performs characteristic extraction operation while generating a rock breaking waveform diagram, and derives a plurality of mechanism characteristic indexes from the vibration signal, wherein the indexes comprise amplitude volatility, frequency domain aggregation degree, pressure change rate, vibration form, rotation speed consistency, low-frequency energy and high-frequency energy; the component also calculates the association strength between the rock breaking parameter and the slag discharging parameter, and generates a slag discharging correction factor through relativity deduction; and then, carrying out numerical regulation and text mapping on the mechanism characteristic index and the slag discharge correction factor, and assembling the numerical regulation and text mapping into a state description text by using a key value structure.
3. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 2, wherein the slag discharging parameters comprise slag discharging flow rate readings and slag discharging consistency readings; The correlation deduction comprises the steps of performing correlation calculation on rock breaking vibration signals and deslagging flow velocity readings at the same time period to obtain flow velocity correlation factors, performing correlation calculation on the rock breaking vibration signals and deslagging consistency readings to obtain consistency correlation factors, and then synthesizing the flow velocity correlation factors and the consistency correlation factors according to a preset proportion to generate deslagging correction factors.
4. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 1, wherein the multi-mode identification model comprises a visual coding unit, a semantic coding unit, a multi-mode fusion unit and a multi-mode analysis unit; When the multi-mode recognition model processes the rock breaking waveform diagram and the state description text, the visual coding unit is used for carrying out feature coding on the rock breaking waveform diagram to obtain waveform feature vectors, and the semantic coding unit is used for carrying out feature coding on the state description text to obtain text feature vectors; Based on the cross-modal alignment loss and the graph-text consistency loss, inputting the waveform feature vector and the text feature vector into a multi-modal fusion unit for feature integration to obtain a fusion coding result; And inputting the fusion coding result into a multi-mode analysis unit for decoding, and outputting the classification of the rock breaking working conditions.
5. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 1, wherein the mechanism simulation model quantifies a plurality of characteristic dimensions of a rock breaking waveform chart when analyzing characteristic parameters, including amplitude level, event frequency, time interval, low-frequency and high-frequency energy ratio, waveform symmetry, peak value number, distribution mode, sound wave detection probability and phase characteristic; And comparing the similarity between the characteristic dimensions and a prestored multi-class working condition mechanism model to obtain similarity scores, and taking the working condition corresponding to the highest score as a working condition matching result.
6. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 1, wherein the rock breaking working condition classification output by the multi-mode recognition model comprises a working condition type and a confidence level thereof; when the regulation and control assembly carries out comprehensive evaluation, a multi-mode weight value is distributed according to the confidence coefficient, and a mechanism weight value is distributed according to the similarity score; And carrying out standardization processing on the multi-modal weight value and the mechanism weight value to obtain a comprehensive weight value, and determining the type of the final working condition based on the comprehensive weight value, the rock breaking working condition classification and the working condition matching result.
7. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 1, further comprising a safety monitoring assembly; the safety monitoring component establishes a drilling machine fault feature set comprising drilling tool loss, rock mass resistance enhancement and slag discharge blocking; Acquiring a drilling machine equipment identifier, judging whether the drilling machine equipment identifier accords with a fault feature set or not by combining a real-time vibration signal, and calculating the occurrence probability of each fault feature to form a risk report; and generating an early warning signal according to the risk report.
8. The mining cooperative control system for rock breaking and slag discharging of a bedding foundation angle drilling machine according to claim 7, wherein the safety monitoring assembly performs the following operations when generating an early warning signal: acquiring a drilling machine control command generated by the regulation and control assembly; judging whether safety intervention is needed or not based on the risk report and the drilling machine control command; If so, generating a safety instruction comprising an intervention level and a recommended operation, and sending the safety instruction to the regulation and control component; The regulatory assembly is configured to adjust rig control commands in response to the safety instructions preferentially.
9. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 4, wherein the multi-mode fusion unit adopts a fusion mechanism based on cross attention when performing feature integration, and specifically comprises: Taking the waveform feature vector as a query vector, taking the text feature vector as a key vector and a value vector, and performing cross attention calculation to obtain a first fusion vector; Taking the text feature vector as a query vector, taking the waveform feature vector as a key vector and a value vector, and performing cross attention calculation to obtain a second fusion vector; and splicing the first fusion vector and the second fusion vector, and reducing the dimension through a full-connection layer to obtain the fusion coding result.
10. The mining through-layer bottom angle drilling machine rock breaking and slag discharging cooperative control system according to claim 5, wherein the mechanism simulation model is further configured with a self-updating mechanism, and the self-updating mechanism comprises: Recording characteristic parameters obtained by each analysis and finally determining a working condition matching result; triggering a model optimization flow when the rock breaking working condition classification output by the multi-mode identification model and the working condition matching result continuously have the difference of preset times; and carrying out parameter correction on a pre-stored working condition mechanism model based on the recorded characteristic parameters and the rock breaking working condition classification.

Description

Efficient rock breaking and slag discharging cooperative control system of mining layer-penetrating bottom angle drilling machine Technical Field The invention relates to the technical field of cooperative control of drilling machines, in particular to a high-efficiency rock breaking and slag discharging cooperative control system of a mining through-layer bottom angle drilling machine. Background The mining layer-penetrating bottom angle drilling machine is key engineering equipment in the fields of mining, roadway tunneling, geological exploration and the like, and has the core functions of realizing the breaking of rock stratum through the rotation and the pushing of a drill bit and synchronously discharging generated rock slag out of a hole to form a drill hole meeting the design requirements. In practical engineering application, rock breaking and slag discharging are two core processes which are tightly coupled and mutually restricted. Conventional rig control systems typically manage the rock breaking process and the slag discharging process as relatively independent links. The rock breaking parameters are preset mainly according to experience of operators or rough description of geological survey reports, and the deslagging system usually adopts a fixed operation mode. Such control strategies based on empirically preset and fixed patterns present significant limitations in dealing with complex and varying conditions of the subsurface rock mass. The underground rock stratum has the characteristics of non-uniformity and anisotropy, and even on the same drilling path, the underground rock stratum can also encounter complex geological structures such as faults, fracture zones, interaction of soft rock and hard rock and the like. When a drill bit passes from one lithology to another, or encounters joints, fissure development zones, the rock-machine interactions can change drastically. The change is directly reflected on the working parameters of the drilling machine, namely the frequency spectrum and the amplitude of a vibration signal generated in the rock breaking process can be changed, and the granularity distribution, the generation rate and the morphological characteristics of the rock slag can be changed. If the rock breaking parameters are not suitable for rock stratum changes in time, excessive abrasion, drill sticking and even fracture of a drill bit can be caused, if the slag discharging parameters are not synchronously adjusted, unsmooth slag discharging can be caused, rock slag is accumulated in holes, abrasion of drilling tools is increased, rotation torque is increased, burial accidents can be caused in severe cases, the construction efficiency is affected, and great potential safety hazards are brought. In the prior art, some improved control systems attempt to indirectly determine operating conditions and trigger an alarm or simple adjustment by monitoring a single or a few key parameters. However, there are significant disadvantages to this simple feedback mechanism based on threshold alarms. First, it is difficult for a single parameter to comprehensively and accurately reflect complex rock breaking conditions and formation properties. For example, the rise in motor current may be caused by hard rock formations, or by slag removal, resulting in increased drag, which is difficult for the system to distinguish the root cause. Second, responses are hysteresis, and intervention is usually performed after an abnormality occurs, belonging to passive management rather than active prevention. In addition, the state monitoring of the deslagging process is often neglected, and the parameter adjustment and the rock breaking process lack an effective cooperative mechanism. A further problem is that existing systems lack a deep understanding of the rock breaking mechanism and the ability to fusion analyze multi-source information. Abundant rock mass breaking mechanism information is contained in the vibration signals, slag discharging parameters directly reflect the working conditions in the holes, but the multi-mode data are not effectively associated and deeply mined, and systematic cognition of the working conditions cannot be formed, so that the intelligent level of a control strategy is restricted. Therefore, a control system capable of sensing rock breaking and slag discharging multisource information in real time, intelligently identifying working condition changes and realizing cooperative optimization of rock breaking and slag discharging is urgently needed, so that the working efficiency, adaptability and reliability of the drilling machine under complex geological conditions are improved. Disclosure of Invention The invention aims to provide a high-efficiency rock breaking and slag discharging cooperative control system of a mining through-layer bottom angle drilling machine, so as to solve the problems in the background technology. In order to achieve the purpose, the invention provides