Working pose measurement and quality evaluation of rotary drilling rig based on laser tracker

Rotary drilling rig is a large-scale construction machinery. It is of great significance to detect the on-line state of the drilling stem, especially the drilling pose. Optical pose measurement is a novel and effective solution for such large machine. In this work, a pose measurement model for drilling stem of rotary drill rig based on laser tracker is proposed. Furthermore, with the pose data, a method for evaluating the quality of the drilling stem based on pose gradient, discrete curvature and pose entropy is established. The accuracy of the model is verified by off-line pose measurement experiments. Also, the on-line condition monitoring of the actual drilling stem is carried out, and the quantitative description of the drill stem state is obtained. The results are consistent with the actual working state. In this paper, the on-line condition monitoring of large engineering machines based on laser tracker is innovative, and it can provide a solution for the condition monitoring of rotary drilling rigs.