Orientation system for horizontal drill of deep-hole drill carriage

Abstract

The invention relates to an orientation system for the horizontal drill of a deep-hole drill carriage. The orientation system comprises an inertial unit, a rotary encoder, a 485 bus communication card, an ARM controller and a display, wherein spatial position information is obtained by the inertial unit and the rotary encoder, and is then transmitted to the ARM controller; the ARM controller performs synchronous processing according to the received information, and then calculates the spatial position and the spatial drift angle of the horizontal drill respectively; two-ply Kalman filtering data fusion algorithm are performed respectively to obtain true and reliable position data of the horizontal drill, which is then stored in the expansion memory; the horizontal drill position information transmission is performed passively or actively according to instruction of a deep hole drill carriage console; and the information is shown on the display in a real-time manner. The orientation system for the horizontal drill of the deep-hole drill carriage is accurate in real-time localization and reliable in data, and has good feasibility and is low in manufacture cost.

Description

technical field [0001] The invention relates to a horizontal drilling orientation system of a deep hole drilling vehicle. Background technique [0002] The horizontal drilling directional system of deep hole drilling rigs is widely used in coal mine deep hole drilling rigs. Due to the special environment of coal mines, satellite positioning and radio navigation cannot be used on deep-hole drilling rigs. At present, the most commonly used horizontal drilling orientation system for deep-hole drilling rigs uses self-service positioning systems. The inertial unit is often used in self-service positioning systems. The advantage of the inertial unit is that it is independent of external information, but the complex magnetic field environment under the mine, the drift error of the inertial unit, and the difficulty in calibration will make the self-service positioning system unreliable or even unavailable; another type of horizontal drilling orientation system It is a total station...

AI Technical Summary

Problems solved by technology

Due to the special environment of coal mines, satellite positioning and radio navigation cannot be used on deep-hole drilling rigs. At present, the most commonly used horizontal drilling orientation system for deep-hole drilling rigs uses self-service positioning systems. The inertial unit is often used in self-service positioning systems. The advantage of the inertial unit is that it is independent of external information, but the complex magnetic field environment under the mine, the drift error of the inertial unit, and the difficulty in calibration will make the self-service positioning system unreliable or even unavailable; another type of horizontal drilling orientation system It is a total station, which is also a common tunnel construction monitoring instrument, but it is difficult to calibrate in coal mines, and the cost is high; there is also a horizontal drilling orientation system that is a laser orientation system, which is relatively reliable, but difficult to implement , and it is inconvenient to perform absolute space pose positioning of horizontal drilling

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