| Citation: |
WANG Zhongbin，SI Lei，GU Jinheng，et al. Drilling trajectory measurement method while drilling for drilling robot forrockburst prevention based on wireless electromagnetic transmission[J]. Coal Science and Technology，2024，52（9）：220−237. DOI: 10.12438/cst.2024-0899
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WANG Zhongbin: 王忠宾，男，安徽宿州人，中国矿业大学副校长，二级教授，博士生导师。国家“万人计划”科技创新领军人才，江苏省“333高层次人才培养工程”中青年科技领军人才、国家矿山安全监察局智能化专家、全国煤矿智能化卓越专家。研究方向：智能化开采装备、特种环境机器人。主要成果：承担了国家重点研发计划项目、国家发改委“智能制造装备专项”课题、国家自然科学基金项目、霍英东基金优选资助项目以及企业委托项目50余项；获国家技术发明二等奖1项、教育部科技进步二等奖1项、江苏省科学技术二等奖2项、山东省科学技术二等奖1项、中国煤炭工业科学技术一等奖2项，授权国家发明专利40余项，发表论文100余篇，出版学术专著2部
Drilling robot for rockburst prevention is a necessary equipment for achieving unmanned pressure relief in coal mines with high in-situ stress. Developing a reliable drilling trajectory measurement system while drilling is an important measure to ensure the effectiveness of drilling pressure relief. Based on analysis of basic principle of drilling trajectory measurement while drilling, a drilling trajectory measurement drill rod based on wireless electromagnetic transmission technology is developed. The spectral efficiency and anti-noise performance of different electromagnetic signal modulation methods are analyzed, and the FSK modulation and demodulation process for drill rod attitude signals are designed, so as to develop a weak signal conditioning system that amplifies before filtering. The Corresponding functional circuits are designed and tested using Multisim software, and each circuit module met the design requirements. A comparative analysis is conducted on the accuracy and execution efficiency of five trajectory calculation algorithms, and the mean angle full range method is chosen for drilling trajectory calculation. The vibration error processing method for inertial measurement unit measurement data based on wavelet filtering is studied, and the effectiveness of wavelet filtering algorithm in improving attitude angle calculation accuracy is also verified. A drilling depth measurement method based on wire displacement sensors and robot action markers is proposed, and the surface and underground experiments are conducted. The experimental results show that the designed weak signal conditioning system can achieve the reception and processing of weak signals in underground coal mines. The drilling depth measurement method based on wire displacement sensors and robot action markers can improve the fitting accuracy of the drilling trajectory.
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