Four-point dynamic leveling method for drilling platform application

Abstract

Purpose It is essential to level the drilling platform across which a drilling robot travels in a slant underground coal mine tunnel to ensure smooth operation of the drill rod. However, existing leveling methods do not provide dynamic performance under the drilling conditions of the underground coal mine. A four-point dynamic leveling algorithm is presented in this paper based on the platform attitude and support rod displacement (DLAAD). An experimental drilling robot demonstrates its dynamic leveling capability and ability to ensure smooth drill rod operations. Design/methodology/approach The attitude coordinate of the drilling robot is established according to its structure. A six-axis combined sensor is adopted to detect the platform attitude, thus revealing the three-axis Euler angles. The support rod displacement values are continuously detected by laser displacement sensors to obtain the displacement increment of each support rod as needed. The drilling robot is leveled according to the current support rod displacement and three-dimensional (3 D) attitude detected by the six-axis combined sensor dynamically. Findings Experimental results indicate that the DLAAD algorithm is correct and effectively levels the drilling platform dynamically. It can thus provide essential support in resolving drill rod sticking problems during actual underground coal mine drilling operations. Practical implications The DLAAD algorithm supports smooth drill rod operations in underground coal mines, which greatly enhances safety, reduces power consumption, and minimizes cost. The approach proposed here thus represents considerable benefits in terms of coal mine production and shows notable potential for application in similar fields. Originality/value The novel DLAAD algorithm and leveling control method are the key contributions of this work, they provide dynamical 3 D leveling and help to resolve drill rod sticking problems.

PID and compliance control-based anti-sticking of drill rod in underground mining

“…To prevent SDR, the rotation and feed mechanisms need to be controlled according to the key signals that indicate the occurrence of SDR. In this study, the hydraulic pressure of rotation motor and the feed force and displacement of feed cylinder are identified as the key signals based on insights from the actual drilling process and findings from previous studies (Li et al, 2021a(Li et al, , 2019(Li et al, , 2021b. Moreover, the rotation motor and feed cylinder are controlled using PID and compliance control algorithms, respectively (Lee et al, 2020;Ugurlu et al, 2020).…”

Experimental comparison of leveling control schemes for the hyperstatic-leg support platform

“…Pan et al, 13 Guo et al, 14 and Wang et al, 15 all constructed control schemes based on the highest point chasing method and carried out experimental validations for the four-legged or six-legged platforms. Jiao et al 16 and Li et al 17 all constructed control schemes based on the angle error method and carried out experimental validations for the four-legged platforms. Zuo et al, 18 Feng et al, 19 Geranmehr et al, 20 and Wang et al, 15 introduced control concepts such as fuzzy and sliding, and partially carried out experimental validations for the four-legged platforms.…”