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Updated: May 7, 2025

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Collision detection method for anchor digging machine water drilling rig.

Zhi-Xiang Liu1, Shu-Tong Yan2, Kang Zou1

  • 1School of Mechanical Engineering, Liaoning Technical University, Fuxin, 123000, Liaoning, China.

Scientific Reports
|January 3, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a collision detection method for water drilling rigs on anchor digging machines to prevent interference and improve tunneling efficiency. The method uses robot kinematics and bounding box collision detection for accurate analysis and guidance during operations.

Keywords:
Anchor digging machineBounding boxCollision detectionInterference analysisWater drilling rig

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Area of Science:

  • Robotics and Automation
  • Mechanical Engineering
  • Tunneling Technology

Background:

  • Loading water drilling rigs onto anchor digging machines enhances tunneling efficiency.
  • Potential for interference between the water drilling rig and anchor machine requires accurate joint variable calculation.

Purpose of the Study:

  • To develop and validate a collision detection method for onboard water exploration and drainage drilling rigs used with anchor digging machines.
  • To ensure safe and efficient operation by avoiding interference between integrated drilling and excavation equipment.

Main Methods:

  • Robot kinematics analysis was employed to establish a kinematics model of the integrated system.
  • Bounding box collision detection technology was utilized for mathematical modeling of key equipment components.
  • A novel collision detection method was proposed for the onboard water drilling rig and anchor digging machine.

Main Results:

  • Simulation results demonstrate the effectiveness of the designed collision detection method.
  • The method accurately analyzes interference characteristics and performs collision detection for the equipment.
  • The collision detection method can guide attitude adjustments during drilling operations.

Conclusions:

  • The proposed collision detection method provides a theoretical basis for automatic excavation and drilling control.
  • Accurate kinematic analysis and collision detection are crucial for integrated tunneling operations.
  • The system allows for specific azimuth (±15°) and pitch angle (+5° to -10°) adjustments for the water drilling rig.