Development of remote service platform for underground tunnel drilling rigs of coal mine
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摘要:
针对煤矿井下钻场人员需求大、安全隐患多、一人操作难以同时控制钻机动作并从全局视角知悉钻机运行状态等问题，引入了数字孪生技术，设计开发了钻机远程服务平台。该平台系统以ZDY25000LDK钻机为载体，融合了钻机远程控制系统、数字孪生模型和参数监测系统3方面技术，通过检测与执行层、数据传输层和远程集控层实现钻机远程控制、钻机运行全生命周期映射与参数监测。钻机远程控制系统实现了实时远距离控制钻机，数字孪生模型能够映射钻机各运动部件的运动状态，并能通过仿真实验为钻探施工提供先验参考，参数监测系统实现了对钻机状态参数和钻进参数的实时监测。基于该钻机远程服务平台，进行了平台的功能性和实时性验证。试验结果表明：钻机远程服务平台能够实现钻机远程控制，并从全局视角上映射和监测钻机运行状态和参数，通过数字孪生体仿真，得出钻机上扣过程中动力头回转速度和给进速度的最优比值为4.28，与实际上扣情况相符。平台操作方便、实时性高、可靠性好、人机交互友好，为煤矿井下钻探工作的减人增效和智能化升级提供了解决方案。
Abstract:In view of the large demand for personnel in the underground coal mine drilling site, many potential safety hazards, and the difficulty of controlling the movement of the drilling rig by one-man operation and knowing the operating status of the drilling rig from a global perspective, the digital twin technology has benn introduced to design and develop a remote service platform for the drilling rig. Based on the ZDY25000LDK drilling rig, the platform system integrates the technologies concerning the remote control system of the drilling rig, the digital twin model and parameter monitoring system, with the remote control of the drilling rig, the whole life cycle mapping of the rig operation and parameter monitoring realized by the sensing and execution layer, data transmission layer and remote centralized control layer. Specifically, the remote control system of the drilling rig can control the drilling rig remotely in real time. The digital twin model can map the movement state of each moving part of the drilling rig, and can provide a priori reference for drilling construction through simulation experiments. The parameter monitoring system can realize the real-time monitoring of the state and drilling parameters of drilling rig. Thus, the remote service platform of the drilling rig had its functionality and real-timeness verified. The experimental results show that the remote service platform of the drilling rig can control the drilling rig remotely, as well as map and monitor the operating status and parameters of the drilling rig from a global perspective. The optimal ratio of the rotary speed and the feed speed of the power head during the make-up process of the drilling rig obtained through the digital twin simulation is 4.28, which is consistent with the actual make-up situation. Generally, the platform has the advantages of convenient operation, high real-timeness, good reliability, and friendly human-computer interaction, etc., providing a solution for reducing manpower, increasing efficiency and intelligent upgrading of coal mine drilling.
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图 6 ZDY25000LDK钻机系统程序结构
注：A1为模拟信号输入；D1为数字信号输入；AO为模拟信号输出；DO为数字信号输出。
Fig. 6 Structure of ZDY25000LDK drilling rig system control program
表 1 远程控制时钻机动作延时统计表
Table 1 Statistics on action delay of rig under remote control
序号 首次动作延时/s 后续动作延时/s 1 1.2 <0.5 2 1.5 <0.5 3 0.8 <0.5 4 1.6 <0.5 5 1.2 <0.5 6 1.2 <0.5 7 1.8 <0.5 8 1.0 <0.5 9 2.0 <0.5 10 1.3 <0.5 
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