CN106996272A - A kind of method and device for controlling rig to be automatically positioned drilling - Google Patents
A kind of method and device for controlling rig to be automatically positioned drilling Download PDFInfo
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- CN106996272A CN106996272A CN201710335105.6A CN201710335105A CN106996272A CN 106996272 A CN106996272 A CN 106996272A CN 201710335105 A CN201710335105 A CN 201710335105A CN 106996272 A CN106996272 A CN 106996272A
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- 238000005553 drilling Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Earth Drilling (AREA)
Abstract
The present invention discloses a kind of method and device for controlling rig to be automatically positioned drilling, by setting up coordinate system, in real time be monitored and controlled rig coordinate and driving mode to, and control forward beam to erect automatically, realization is automatically positioned drilling, artificial unwrapping wire positioning process need not be carried out, automation positioning drilling function is realized.Operating efficiency is not only greatly improved, and it is more accurate than the positioning of artificial unwrapping wire.
Description
Technical field
The present invention relates to a kind of method and device for controlling rig to be automatically positioned drilling, belong to rig automation technology neck
Domain.
Background technology
As energy shortage is increasingly serious, the demand to clean energy resource is more and more urgent, and the construction of photovoltaic plant is increasingly
More supported., it is necessary to open up a series of Cheng Te on level land using rig during the construction of photovoltaic plant
Determine the solar energy stake holes of distribution shape.And existing boring method is pinpointed generally by artificial unwrapping wire in advance, then by rig
Gone after moving to predetermined point, artificial keyhole, drilling depth needed for completing to next fixed point.This method has station accuracy not
It is high, it is necessary to indirect labor it is more, the defect such as workload is big.
Therefore, prior art has much room for improvement.
The content of the invention
For above-mentioned problems of the prior art, it is automatically positioned it is an object of the invention to provide one kind control rig
The method of drilling, it is intended to overcome existing boring method to cause the defect that precision is low, workload is big using artificial fixed point.
Technical scheme is as follows：A kind of method for controlling rig to be automatically positioned drilling, wherein, specifically include following
Step：
Step S100：The determination of position measurement and punch position before rig walking：Coordinate system is set up, is measured using positioner
Coordinate before rig walking, and set the coordinate of first hole position；
Step S200：Rig automatically walk is to operating point：Rig is switched into automatically walk pattern, walked by monitoring rig
Real-time coordinates P and traveling azimuth angle alpha in journey, the travel direction of adjust automatically rig make its row to first hole position operating point；
Step S300：Forward beam automatic leveling is erect：Reach behind first hole position operating point, rig automatically cuts off walking mode,
Into mode of operation, the angle of inclination of forward beam is detected using angular transducer, and pitching oil cylinder is controlled according to its angle of inclination
With cylinder efficient of vacillating now to the left, now to the right, erect forward beam automatic leveling；
Step S400：Forward beam withstands work ground automatically：Forward beam is completed after Automatic Levelling setting, and compensating cylinder stretches out, and pushes away
Dynamic forward beam earthward move by direction, and by detecting the pressure of compensating cylinder, judges whether forward beam withstands ground completely；
Step S500：Bore operation：After forward beam withstands ground, start rotary motor, start drilling, until drilling tool reach it is pre-
Apertured is deep, stops drilling；
Step S600：Forward beam automatic lifting：Rig stops after drilling, and drilling tool is lifted away from working face by forward beam automatic lifting,
Then repeat step S100-S500, carries out the operation of next hole position.
In the control rig method that is automatically positioned drilling, step S100, pass through the first GPS days on rig
Coordinate before line measurement rig walking.
The method that the control rig is automatically positioned drilling, step S200 is completed especially by following steps：
Step S210：Coordinate before rig is walked and the wire definition between the coordinate of first hole position are straight line L；
Step S220：Monitor the real-time coordinates P and traveling azimuth angle alpha in rig walking process；
Step S230：When the real-time coordinates P distances for deviateing straight line L exceed preset value, the traveling azimuth angle alpha of adjust automatically rig
It is set to be moved along straight line L until reaching straight line L terminal.
In the method that the control rig is automatically positioned drilling, the step S220, rig is monitored by the first gps antenna
Real-time coordinates P in walking process, while installing the second gps antenna on rig, and makes the second gps antenna point to the first GPS
The direction of antenna is identical with rig travel direction, and rig row is monitored according to the positional information of the first gps antenna and the second gps antenna
Traveling azimuth angle alpha during walking.
In the method that the control rig is automatically positioned drilling, the step S230, by controlling rig or so crawler belt
Differential adjusts the traveling azimuth angle alpha of rig.
In the method that the control rig is automatically positioned drilling, the step S400, by compensating oil installed in forward beam
The pressure in pressure sensor detection compensating cylinder on cylinder, when being persistently pressurized more than 10s in compensating cylinder, judges forward beam
Ground is withstood completely.
In the method that the control rig is automatically positioned drilling, the step S500, pass through the displacement on drilling tool
Sensor measures drilling depth.
It is a further object of the present invention to provide a kind of device for controlling rig to be automatically positioned drilling, including：Coordinate system module,
Data acquisition module, data input module, central control module, wherein,
Coordinate system module, for setting up coordinate system；
Data acquisition module, while connection coordinate system module and central control module, for detecting the coordinate before rig walking
And real-time coordinates and travel direction in walking process, forward beam angle of inclination, the pressure of forward beam compensating cylinder, and drilling tool
Drilling depth, and it is sent to central control module；
Data input module, is connected with central control module, for set work hole position coordinate and with pre-perforated depth；
Central control module, is connected with the power drive unit of rig, the data arrived according to data collecting module collected, to rig
Power drive unit sends the corresponding command, and adjustment rig travel direction makes its traveling to work hole position, adjustment forward beam inclination angle
Degree makes it erect it, judges whether forward beam withstands work ground, starts rotary motor and starts drilling, and is completed in drilling
Afterwards, the order that forward beam is lifted out to working face is sent.
Control rig is automatically positioned the device of drilling, wherein, the data acquisition module includes being arranged on the on rig
One gps antenna and the second gps antenna, the angular transducer on forward beam, the pressure sensing on compensating cylinder
Device, and the displacement transducer on drilling tool, wherein,
First gps antenna is used to detect rig coordinate, and the second gps antenna points to direction and the rig row of the first gps antenna
Direction is sailed identical, for detecting rig travel direction；
The angular transducer is used for the angle of inclination for detecting forward beam；
The pressure sensor is used to detect the pressure in compensating cylinder；
Institute's displacement sensors are used for the depth for detecting drilling tool drilling.
Beneficial effects of the present invention are：The present invention provides a kind of method and device for controlling rig to be automatically positioned drilling, leads to
Cross and set up coordinate system, be monitored and controlled in real time the coordinate and driving mode of rig to, and control forward beam to erect automatically, realize from
Dynamic positioning drilling, without carrying out artificial unwrapping wire positioning process, realizes automation positioning drilling function.Not only greatly improve work effect
Rate, and it is more accurate than the positioning of artificial unwrapping wire.
Brief description of the drawings
Fig. 1 is automatically positioned the method flow schematic diagram of drilling for control rig in the present invention.
Fig. 2 is automatically positioned the apparatus structure connection diagram of drilling for control rig in the present invention.
Embodiment
To make the purpose of the present invention, technical scheme and effect clearer, clear and definite, give an actual example below further to the present invention
Describe in detail.It should be appreciated that specific embodiment described herein is only used for explaining the present invention, it is not intended to limit the present invention.
As shown in figure 1, a kind of method for controlling rig to be automatically positioned drilling, specifically includes following steps：
Step S100：The determination of position measurement and punch position before rig walking：Coordinate system is set up, is measured using positioner
Coordinate before rig walking, and set the coordinate of first hole position；
Step S200：Rig automatically walk is to operating point：Rig is switched into automatically walk pattern, walked by monitoring rig
Real-time coordinates P and traveling azimuth angle alpha in journey, the travel direction of adjust automatically rig make its row to first hole position operating point；
Step S300：Forward beam automatic leveling is erect：Reach behind first hole position operating point, rig automatically cuts off walking mode,
Into mode of operation, the angle of inclination of forward beam is detected using angular transducer, and pitching oil cylinder is controlled according to its angle of inclination
With cylinder efficient of vacillating now to the left, now to the right, erect forward beam automatic leveling；
Step S400：Forward beam withstands work ground automatically：Forward beam is completed after Automatic Levelling setting, and compensating cylinder stretches out, and pushes away
Dynamic forward beam earthward move by direction, and by detecting the pressure of compensating cylinder, judges whether forward beam withstands ground completely；
Step S500：Bore operation：After forward beam withstands ground, start rotary motor, start drilling, until drilling tool reach it is pre-
Apertured is deep, stops drilling；
Step S600：Forward beam automatic lifting：Rig stops after drilling, and drilling tool is lifted away from working face by forward beam automatic lifting,
Then repeat step S100-S500, carries out the operation of next hole position.
The present embodiment by setting up coordinate system, in real time be monitored and controlled rig coordinate and driving mode to, and control push away
Enter the setting of beam Automatic Levelling, realization is automatically positioned drilling, without carrying out artificial unwrapping wire positioning process.Not only greatly improve work effect
Rate, and it is more accurate than the positioning of artificial unwrapping wire.
Above steps is specifically described below based on specific embodiment：
The first step：The determination of position measurement and punch position before rig walking
Set up after coordinate system, the coordinate P before rig walking is measured by the first gps antenna on rig0, and set the
The coordinate P of one hole position1.In practical application, due to the hole position distribution for needing to start（And the distance between Kong Yukong and orientation）
It has been determined that therefore, after the coordinate for setting first hole position, the coordinate of other hole positions is that can determine that.
Second step：Rig automatically walk is to operating point
Input in the step s 100 after the coordinate of first hole position, rig switches to automatically walk pattern, passes through following steps control
The travel route of rig processed：
Step S210：By rig as the coordinate P before walking0With the coordinate P of first hole position of input1Between wire definition be
Straight line L, that is, control rig to reach the first hole position operating point to terminal from straight line L starting point movement；
Step S220：Rig start it is mobile after, continue through the monitoring rig of the first gps antenna on rig and be expert at and pass by
Real-time coordinates P in journey, while monitoring the traveling azimuth angle alpha of rig；
Step S230：Coordinate P before rig walking0As straight line L starting point, during drilling-machine shifter, as step S220
Monitor that its real-time coordinates P deviates straight line L distance more than 50mm（It can be arranged as required to）When, then drive rig adjust automatically
Traveling azimuth angle alpha makes it be moved along straight line L until reaching the first hole position coordinate P1（That is straight line L terminal）.
Specifically, in above-mentioned steps S220, in order to monitor the traveling azimuth angle alpha of rig, the present embodiment is installed on rig
Second gps antenna, and make the second gps antenna point to the first gps antenna direction it is with rig travel direction identical.Such as,
One gps antenna is arranged on rig front end, and the 2nd GPS directions are arranged on rig tail end correspondence position, and the second gps antenna points to first
The direction of gps antenna is the direction of travel of rig, is by the positional information for gathering the first gps antenna and the second gps antenna
It can obtain the traveling azimuth angle alpha of rig.
In the step S230, the present embodiment is by controlling the differential of rig or so crawler belt to adjust the traveling azimuth of rig
α。
3rd step：Forward beam Automatic Levelling is erect
Rig reaches the first hole position operating point（That is straight line L terminal）Afterwards, walking mode is automatically cut off, into mode of operation, profit
The angle of inclination of forward beam is detected with the angular transducer on forward beam, and according to its angle of inclination, automatic driving is pushed away
Enter beam pitching cylinder efficient, be horizontally oriented the X-axis of forward beam；The cylinder efficient while driving forward beam is vacillated now to the left, now to the right, makes
The Y-axis of forward beam is horizontally oriented, until forward beam is in horizontality in X-Y plane, that is, completes the setting of forward beam.
4th step：Forward beam withstands work ground automatically
Pressure sensor is housed on the compensating cylinder of forward beam, completed after forward beam setting, starts compensating cylinder drive and promotes
Beam is moved down, when detect persistently be pressurized more than 10s in compensating cylinder when, then judge forward beam withstand ground completely.
5th step：Bore operation
Displacement transducer is installed on the drilling tool of rig, after forward beam withstands ground completely, starts rotary motor and starts to bore
Hole, when the displacement for detecting drilling tool reaches the hole depth of setting, stops bore operation.
6th step：Forward beam automatic lifting
Rig stops after drilling, automatically lifts forward beam, drilling tool is lifted away from working face, then repeat step S100-S500.
As shown in Fig. 2 the present embodiment also provides a kind of device for controlling rig to be automatically positioned drilling, including：Coordinate system mould
Block, data acquisition module, data input module, central control module, wherein,
Coordinate system module, for setting up coordinate system；
Data acquisition module, while connection coordinate system module and central control module, for detecting the coordinate before rig walking
And real-time coordinates and travel direction in walking process, forward beam angle of inclination, the pressure of forward beam compensating cylinder, and drilling tool
Drilling depth, and it is sent to central control module；
Data input module, is connected with central control module, for set work hole position coordinate and with pre-perforated depth；
Central control module, is connected with the power drive unit of rig, the data arrived according to data collecting module collected, to rig
Power drive unit sends the corresponding command, and adjustment rig travel direction makes its traveling to work hole position, adjustment forward beam inclination angle
Degree makes it erect it, judges whether forward beam withstands work ground, starts rotary motor and starts drilling, and is completed in drilling
Afterwards, the order that forward beam is lifted out to working face is sent.
Specifically, control rig is automatically positioned in the device of drilling, and the data acquisition module includes being arranged on rig
The first gps antenna and the second gps antenna, the angular transducer on forward beam, the pressure on compensating cylinder
Sensor and the displacement transducer on drilling tool, wherein,
First gps antenna is used to detect rig coordinate, and the second gps antenna points to direction and the rig row of the first gps antenna
Direction is sailed identical, for detecting rig travel direction；
The angular transducer is used for the angle of inclination for detecting forward beam；
The pressure sensor is used to detect the pressure in compensating cylinder；
Institute's displacement sensors are used for the depth for detecting drilling tool drilling.
The present invention is described in detail above, for those of ordinary skills, can be according to above stating
It is bright to be improved or converted, and all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (9)
1. a kind of method for controlling rig to be automatically positioned drilling, it is characterised in that specifically include following steps：
Step S100：The determination of position measurement and punch position before rig walking：Coordinate system is set up, is measured using positioner
Coordinate before rig walking, and set the coordinate of first hole position；
Step S200：Rig automatically walk is to operating point：Rig is switched into automatically walk pattern, walked by monitoring rig
Real-time coordinates P and traveling azimuth angle alpha in journey, the travel direction of adjust automatically rig make its row to first hole position operating point；
Step S300：Forward beam automatic leveling is erect：Reach behind first hole position operating point, rig automatically cuts off walking mode,
Into mode of operation, the angle of inclination of forward beam is detected using angular transducer, and pitching oil cylinder is controlled according to its angle of inclination
With cylinder efficient of vacillating now to the left, now to the right, erect forward beam automatic leveling；
Step S400：Forward beam withstands work ground automatically：Forward beam is completed after Automatic Levelling setting, and compensating cylinder stretches out, and pushes away
Dynamic forward beam earthward move by direction, and by detecting the pressure of compensating cylinder, judges whether forward beam withstands ground completely；
Step S500：Bore operation：After forward beam withstands ground, start rotary motor, start drilling, until drilling tool reach it is pre-
Apertured is deep, stops drilling；
Step S600：Forward beam automatic lifting：Rig stops after drilling, and drilling tool is lifted away from working face by forward beam automatic lifting,
Then repeat step S100-S500, carries out the operation of next hole position.
2. the method that control rig according to claim 1 is automatically positioned drilling, it is characterised in that in step S100, lead to
The coordinate crossed before the first gps antenna measurement rig walking on rig.
3. the method that control rig according to claim 1 is automatically positioned drilling, it is characterised in that the step S200 tools
Body is completed by following steps：
Step S210：Coordinate before rig is walked and the wire definition between the coordinate of first hole position are straight line L；
Step S220：Monitor the real-time coordinates P and traveling azimuth angle alpha in rig walking process；
Step S230：When the real-time coordinates P distances for deviateing straight line L exceed preset value, the traveling azimuth angle alpha of adjust automatically rig
It is set to be moved along straight line L until reaching straight line L terminal.
4. the method that control rig according to claim 3 is automatically positioned drilling, it is characterised in that in step S220, lead to
The real-time coordinates P crossed in the first gps antenna monitoring rig walking process, while install the second gps antenna on rig, and makes the
The direction that two gps antennas point to the first gps antenna is identical with rig travel direction, according to the first gps antenna and the second gps antenna
Positional information monitoring rig walking process in traveling azimuth angle alpha.
5. the method that control rig according to claim 3 is automatically positioned drilling, it is characterised in that the step S230
In, by controlling the differential of rig or so crawler belt to adjust the traveling azimuth angle alpha of rig.
6. the method that control rig according to claim 1 is automatically positioned drilling, it is characterised in that the step S400
In, the pressure in compensating cylinder is detected by pressure sensor on forward beam compensating cylinder, when being held in compensating cylinder
During continuous supercharging more than 10s, judge that forward beam withstands ground completely.
7. the method that control rig according to claim 1 is automatically positioned drilling, it is characterised in that the step S500
In, pass through the displacement sensor drilling depth on drilling tool.
8. a kind of device for controlling rig to be automatically positioned drilling, it is characterised in that described device includes coordinate system module, data and adopted
Collect module, data input module, central control module, wherein,
Coordinate system module, for setting up coordinate system；
Data acquisition module, while connection coordinate system module and central control module, for detecting the coordinate before rig walking
And real-time coordinates and travel direction in walking process, forward beam angle of inclination, the pressure of forward beam compensating cylinder, and drilling tool
Drilling depth, and it is sent to central control module；
Data input module, is connected with central control module, for set work hole position coordinate and with pre-perforated depth；
Central control module, is connected with the power drive unit of rig, the data arrived according to data collecting module collected, to rig
Power drive unit sends the corresponding command, and adjustment rig travel direction makes its traveling to work hole position, adjustment forward beam inclination angle
Degree makes it erect it, judges whether forward beam withstands work ground, starts rotary motor and starts drilling, and is completed in drilling
Afterwards, the order that forward beam is lifted out to working face is sent.
9. control rig according to claim 8 is automatically positioned the device of drilling, it is characterised in that the data acquisition module
Block includes the first gps antenna and the second gps antenna being arranged on rig, and the angular transducer on forward beam is installed
Pressure sensor on compensating cylinder, and the displacement transducer on drilling tool, wherein,
First gps antenna is used to detect rig coordinate, and the second gps antenna points to direction and the rig row of the first gps antenna
Direction is sailed identical, for detecting rig travel direction；
The angular transducer is used for the angle of inclination for detecting forward beam；
The pressure sensor is used to detect the pressure in compensating cylinder；
Institute's displacement sensors are used for the depth for detecting drilling tool drilling.
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| CN201710335105.6A CN106996272A (en) | 2017-05-12 | 2017-05-12 | A kind of method and device for controlling rig to be automatically positioned drilling |
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| CN201710335105.6A CN106996272A (en) | 2017-05-12 | 2017-05-12 | A kind of method and device for controlling rig to be automatically positioned drilling |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109025815A (en) * | 2018-09-14 | 2018-12-18 | 北京奥腾岩石科技有限公司 | Control system and control method for drill jumbo |
| CN109286650A (en) * | 2018-01-19 | 2019-01-29 | 上海云统信息科技有限公司 | Internet of Things application system of the intelligent integral down-the-hole drill in surface mine |
| CN110056340A (en) * | 2019-05-29 | 2019-07-26 | 南京南大岩土工程技术有限公司 | A kind of drilling machine self-navigation monitoring system and monitoring method based on Internet of Things |
| CN110439460A (en) * | 2019-08-21 | 2019-11-12 | 航天晨光股份有限公司 | A kind of automatic drilling machine based on drawing identification and intelligent positioning |
| CN111425183A (en) * | 2020-02-24 | 2020-07-17 | 中铁第四勘察设计院集团有限公司 | Geological exploration hole site positioning method and positioning robot |
| CN111458743A (en) * | 2019-01-22 | 2020-07-28 | 中国石油天然气集团有限公司 | Automatic detector point laying device without pile numbers |
| CN111536954A (en) * | 2020-04-26 | 2020-08-14 | 中国人民解放军63653部队 | Drilling position positioning system and positioning method of drilling machine |
| CN111998768A (en) * | 2020-06-10 | 2020-11-27 | 中国科学院武汉岩土力学研究所 | System and method for realizing borehole positioning based on thermal imaging technology |
| CN114233266A (en) * | 2021-12-17 | 2022-03-25 | 中联重科股份有限公司 | Automatic control method and system for drilling machine and storage medium |
| CN116122797A (en) * | 2022-09-07 | 2023-05-16 | 东南大学 | Intelligent drilling device for monitoring drilling angle and drilling depth in real time and control method |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109286650A (en) * | 2018-01-19 | 2019-01-29 | 上海云统信息科技有限公司 | Internet of Things application system of the intelligent integral down-the-hole drill in surface mine |
| CN109025815A (en) * | 2018-09-14 | 2018-12-18 | 北京奥腾岩石科技有限公司 | Control system and control method for drill jumbo |
| CN111458743A (en) * | 2019-01-22 | 2020-07-28 | 中国石油天然气集团有限公司 | Automatic detector point laying device without pile numbers |
| CN110056340A (en) * | 2019-05-29 | 2019-07-26 | 南京南大岩土工程技术有限公司 | A kind of drilling machine self-navigation monitoring system and monitoring method based on Internet of Things |
| CN110439460A (en) * | 2019-08-21 | 2019-11-12 | 航天晨光股份有限公司 | A kind of automatic drilling machine based on drawing identification and intelligent positioning |
| CN111425183B (en) * | 2020-02-24 | 2023-12-08 | 中铁第四勘察设计院集团有限公司 | Geological exploration hole site positioning method and positioning robot |
| CN111425183A (en) * | 2020-02-24 | 2020-07-17 | 中铁第四勘察设计院集团有限公司 | Geological exploration hole site positioning method and positioning robot |
| CN111536954A (en) * | 2020-04-26 | 2020-08-14 | 中国人民解放军63653部队 | Drilling position positioning system and positioning method of drilling machine |
| CN111536954B (en) * | 2020-04-26 | 2022-01-14 | 中国人民解放军63653部队 | Drilling position positioning system and positioning method of drilling machine |
| CN111998768A (en) * | 2020-06-10 | 2020-11-27 | 中国科学院武汉岩土力学研究所 | System and method for realizing borehole positioning based on thermal imaging technology |
| CN114233266A (en) * | 2021-12-17 | 2022-03-25 | 中联重科股份有限公司 | Automatic control method and system for drilling machine and storage medium |
| CN114233266B (en) * | 2021-12-17 | 2023-11-03 | 中联重科股份有限公司 | Automatic control method, system and storage medium for drilling machine |
| CN116122797A (en) * | 2022-09-07 | 2023-05-16 | 东南大学 | Intelligent drilling device for monitoring drilling angle and drilling depth in real time and control method |
| CN116122797B (en) * | 2022-09-07 | 2025-02-14 | 东南大学 | Intelligent drilling device and control method for real-time monitoring of drilling angle and depth |
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