Title:
DRILL ROD MOUNTING AND DISMOUNTING CONTROL METHOD AND DEVICE, AND DRILL ROD MOUNTING AND DISMOUNTING APPARATUS
Document Type and Number:
WIPO Patent Application WO/2022/227726
Kind Code:
A1
Abstract:
A drill rod mounting and dismounting control method and device, and a drill rod mounting and dismounting apparatus. The method comprises: obtaining the current position, the current pose, and an environment image of a drill rod mounting and dismounting apparatus (S101); on the basis of the environment image, determining a target position of a target drill rod and a target pose of the drill rod mounting and dismounting apparatus for grabbing at a preset grabbing point on the target drill rod (S102); on the basis of the environment image, the current pose, and the target pose, determining a planned path of the drill rod mounting and dismounting apparatus moving from the current position to the target position (S103); on the basis of the change condition of a moving pose of the drill rod mounting and dismounting apparatus on a moving route, determining a pose control node on the moving route and a pose conversion instruction corresponding to the pose control node (S104); and on the basis of the moving route, the pose control node, and the pose conversion instruction corresponding to the pose control node, controlling the drill rod mounting and dismounting apparatus to move to the target position to grab the target drill rod for rod mounting or rod dismounting (S105).
Inventors:
SONG CHANGFA (CN)
XUE HAIOU (CN)
XUE HAIOU (CN)
Application Number:
PCT/CN2022/072676
Publication Date:
November 03, 2022
Filing Date:
January 19, 2022
Export Citation:
Assignee:
BEIJING SANY INTELLIGENT MANUFACTURING TECH CO LTD (CN)
International Classes:
E21B19/16
Domestic Patent References:
| WO2018193130A1 | 2018-10-25 |
Foreign References:
| CN113062697A | 2021-07-02 | |||
| CN106586837A | 2017-04-26 | |||
| CN112115929A | 2020-12-22 | |||
| CN110794841A | 2020-02-14 | |||
| CN101770235A | 2010-07-07 |
Attorney, Agent or Firm:
SUNSHINE INTELLECTUAL PROPERTY INTERNATIONAL CO., LTD. (CN)
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