CN115012907B - Auxiliary drilling system and method for rotary drill - Google Patents

Abstract

The present invention relates to a rotary drill assisted drilling system and method, wherein the main measuring antenna is arranged at A at the head end of the rotary drill, the auxiliary measuring antenna is arranged at B at the tail end of the rotary drill, the drill rod is arranged at Z at the head end of the rotary drill, and an angle θ ₂ is formed between ZA and BA, a GNSS receiver is arranged in the acquisition electric control box, and the main measuring antenna and the auxiliary measuring antenna obtain longitude and latitude information through the GNSS receiver, the drill rod motor detects the speed during drilling through a rotary tachometer, and detects the motor current during drilling through a rotary ammeter, the acquisition electric control box is connected to a machine intelligent terminal arranged in a driving room of the rotary drill, and the longitude and latitude information of the main measuring antenna, the longitude and latitude information of the auxiliary measuring antenna, the detection data of the rotary tachometer, and the detection data of the rotary ammeter are all transmitted to the machine intelligent terminal after passing through the acquisition electric control box. The present invention uses the main measuring antenna and the auxiliary measuring antenna in combination with the spherical surface of the earth to obtain the longitude and latitude of the drill rod, and the calculation process and equipment are greatly simplified.

Description

A rotary drill auxiliary drilling system and method

Technical Field

The invention relates to the field of rotary drills, in particular to an auxiliary drilling system and method for a rotary drill.

Background Art

The rotary drill is the main drilling equipment used in open-pit mine production. The traditional rotary drill drilling operation mainly relies on workers to use tape measures to arrange holes and use colored markers to mark the hole positions. The drill driver then relies on driving experience to find holes, but this makes it difficult to ensure the accuracy of the drilling position and drilling depth. The drilling position is often too large, the drilling depth is too deep or too shallow, which ultimately affects the blasting effect. In addition, when the rotary drill encounters particularly hard rock underground during the drilling operation, if the driver continues to drill, the drilling motor will always be in a high-load operation state, which is prone to accidents such as motor damage and will also accelerate the wear of the drill bit.

With the development of science and technology, some positioning methods have emerged in the prior art to assist drilling rigs in drilling positioning. However, the methods in the prior art mainly rely on GPS positioning and then approximating it to a plane and using plane geometry or a series of coordinate transformations to perform positioning calculations.

For example, a Chinese invention patent with authorization announcement number CN102155212B discloses a rotary drill hole locator and positioning method, which uses two GPS antennas to sense the drill position and converts it into an electrical signal to be transmitted to a signal acquisition solver, and uses a dual inclination sensor to sense the drill inclination and converts it into inclination pulse data to be transmitted to the signal acquisition solver. The signal acquisition solver then solves the electrical signal and the inclination pulse data to obtain the drill bit position coordinates, and can also measure the drilling depth. However, this method continuously compares the obtained drill bit position coordinates with the target casting hole position coordinates stored in the controller until the error meets the preset range requirements. Its accuracy needs to be further improved, and when encountering hard rock formations, the driver cannot understand and make adjustments in time.

A Chinese invention patent with authorization announcement number CN103343683B discloses a real-time perforation positioning method for a rotary drill based on GPS. The method first uses GPS to build a perforation positioning model. Specifically, three control points are selected on the rotary drill platform. Then, the RTK-GPS device is used to monitor the three control points in real time, and a real-time perforation positioning model of the rotary drill is obtained. Then, the three-point spatial intersection method is used to obtain the plane coordinates of the perforation points of the rotary drill, and the perforation depth of the rotary drill is calculated by the elevation change of the control points. This method improves the positioning accuracy, but the conversion process is relatively complicated, and three RTK-GPS devices need to be installed on the rotary drill, which also increases the equipment cost. In addition, this method can only prompt the driver whether the drilling is completed by displaying the drilling depth. When encountering hard rock formations, the driver still cannot understand and make adjustments in time.

For example, a Chinese invention patent with authorization announcement number CN105320831B also discloses a method for achieving real-time high-precision positioning of the drill rod of an open-pit mine drilling rig. The method uses two high-precision GPS and electronic compass devices installed on the drilling rig for positioning. The method obtains the relationship value between two GPS coordinate points, the drill rod point and the electronic compass when the drilling rig is in a horizontal state, and then finally achieves high-precision positioning of the drilling rig through coordinate translation, three-dimensional and two-dimensional space coordinate conversion, and mathematical modeling. This method is also complex in calculation, and the driver cannot understand it in time when encountering hard rock formations.

Summary of the invention

The object of the present invention is to provide a rotary drill assisted drilling system and method, which utilizes a main measuring antenna and an auxiliary measuring antenna in combination with the spherical surface of the earth to obtain the longitude and latitude of the drill rod, and the calculation process and the configured devices are greatly simplified.

The objective of the present invention is achieved through the following technical solutions:

A rotary drill auxiliary drilling system comprises a collection electric control box, a main measuring antenna, a secondary measuring antenna, a rotary tachometer, a rotary ammeter, a drill rod and a drill rod motor, wherein the main measuring antenna is arranged at A at the head end of the rotary drill, the secondary measuring antenna is arranged at B at the tail end of the rotary drill, the drill rod is arranged at Z at the head end of the rotary drill, and an angle θ ₂ is formed between ZA and BA. A GNSS receiver is arranged in the collection electric control box, and the main measuring antenna and the secondary measuring antenna obtain longitude and latitude information through the GNSS receiver. The drill rod motor detects the rotation speed during drilling through the rotary tachometer and the motor current during drilling through the rotary ammeter. The collection electric control box is connected to a machine intelligent terminal arranged in a cab of the rotary drill, and the longitude and latitude information of the main measuring antenna, the longitude and latitude information of the secondary measuring antenna, the rotary tachometer detection data, and the rotary ammeter detection data are all transmitted to the machine intelligent terminal after passing through the collection electric control box.

A hole depth detection device is provided at the head end of the rotary drill, and an electric energy meter is provided on the rotary drill.

The data acquisition control box is provided with an intelligent data acquisition controller, and the longitude and latitude information of the main measuring antenna, the longitude and latitude information of the auxiliary measuring antenna, the tachometer detection data, the ampere meter detection data, the hole depth detection device detection data, and the electric energy meter detection data are sent to the machine intelligent terminal via the intelligent data acquisition controller.

A terminal block is provided inside the acquisition electric control box, and the main measurement antenna cable, auxiliary measurement antenna cable, tachometer cable, gyroelectric ammeter cable, electric energy meter cable, communication cable and power supply cable of the machine intelligent terminal, and hole depth detection device cable are all inserted into the terminal block.

The acquisition electric control box is equipped with an air switch, a DC power supply, a 4G/5G router, a switch, a hard disk recording device and a digital transmission radio.

The rotary drill is provided with a radio antenna, and the radio antenna is connected to the digital transmission radio.

The rotary drilling rig is provided with an air conditioner.

A positioning method according to the rotary drill auxiliary drilling system comprises the following steps:

Step 1: Measure the distance L between the main measuring antenna and the drill pipe, that is, ZA=L, and measure the angle θ ₂ between ZA and BA;

Step 2: Obtain the real-time longitude A _lon and real-time latitude A _lat of the main measurement antenna position A, and the real-time longitude B _lon and real-time latitude B _lat of the auxiliary measurement antenna position B by collecting the GNSS receiver in the electric control box;

Step 3: Taking the position A of the main measurement antenna as the vertex, calculate the angle θ between BA and the true north direction, and obtain the angle θ ₁ =θ-θ ₂ between ZA and the true north direction;

Step 4: Based on L obtained in step 1 and θ ₁ obtained in step 3, calculate the distance X _lon between the drill pipe and the main measurement antenna position A in the longitude direction and the distance Y _lat between the drill pipe and the main measurement antenna position A in the latitude direction:

_Xlon = L × sin( _θ1 );

Y _lat =L×cos(θ ₁ );

Step 5: Calculate the spherical radius rb of the main measurement antenna position A latitude using the following formula (a):

In the above formula (1), re is the equatorial radius of the earth, and rp is the polar radius of the earth;

Step 6: Calculate the radius rlat of the latitude circle at the location A of the main measurement antenna using the following formula (b):

Step 7: Obtain the drill pipe longitude D _LON according to the following formula (c):

Step 8: Obtain the drill pipe latitude D _Lat according to the following formula (d):

Step 9: The obtained longitude and latitude of the drill pipe are displayed on the screen of the machine intelligent terminal (8) and prompt the driver to drive.

A drilling judgment method according to the rotary drill auxiliary drilling system comprises the following steps:

Step 1: Prepare comparison data and input it into the machine’s intelligent terminal. The comparison data includes:

(i) Collect the average motor speed of the rotary drill during drilling within a set time as S _level (RPM);

(ii) The average motor current of the rotary drill during drilling within a set time is C _level (A);

(III) The average drilling speed of the rotary drill during the set time is _Vping (m/10min);

Step 2: When the rotary drill is working, collect the current real-time motor speed S (RPM), real-time motor current C (A), and real-time drilling speed V (m/10min);

Step 3: Compare the real-time data obtained in step 2 with the comparison data in step 1 to determine the drilling situation.

In step three:

(i) If the result of dividing the real-time speed S (RPM) by the average motor speed S _level (RPM) is between 0.85 and 1.15, the result of dividing the real-time motor current C (A) by the average motor current C _level (A) is between 0.85 and 1.15, and the result of dividing the real-time drilling speed V (m/10min) by the average drilling speed V _level (m/10min) is less than 0.5, the current drilling hole is judged to be an active slag hole;

(ii) if the result of dividing the real-time speed S (RPM) by the average motor speed S _level (RPM) is between 0.85 and 1.15, the result of dividing the real-time motor current C (A) by the average motor current C _level (A) is between 0.85 and 1.15, and the result of dividing the real-time drilling speed V (m/10min) by the average drilling speed V _level (m/10min) is greater than 2.0, the current borehole is determined to be a water hole;

(III) If the result of dividing the real-time rotation speed S (RPM) by the average motor rotation speed _SP (RPM) is greater than 2.0, the result of dividing the real-time motor current C (A) by the average motor current C _SP (A) is greater than 2.0, and the result of dividing the real-time drilling speed V (m/10min) by the average drilling speed V _SP (m/10min) is less than 0.5, it is judged that the underground is hard rock.

The advantages and positive effects of the present invention are:

1. The present invention utilizes the main measuring antenna and the auxiliary measuring antenna in combination with the longitude and latitude conversion of the earth's spherical surface to obtain the longitude and latitude of the drill pipe, and only needs to configure a GNSS receiver to obtain the real-time longitude and latitude values of the main measuring antenna and the auxiliary measuring antenna, and the calculation process and the configured devices are greatly simplified.

2. The main measuring antenna and the auxiliary measuring antenna of the present invention can be installed at appropriate positions according to the structural conditions of the rotary drill, and are no longer restricted by the structure of the rotary drill itself.

3. When the present invention is working, the hole depth detection device is used to detect the drilling depth in real time, and the motor speed and motor current of the drill rod motor are used to assist in cooperation to determine whether the drill hole is an active slag hole or a water hole, or whether the underground is a particularly hard rock mass, so that the driver can understand the situation in time and respond.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of the present invention,

FIG2 is a schematic diagram of the conversion principle of the drill rod positioning method of the present invention.

FIG3 is a second schematic diagram of the conversion principle of the drill rod positioning method of the present invention,

FIG. 4 is a schematic diagram of the internal structure of the acquisition electric control box in FIG. 1 .

Among them, 1 is the data collection control box, 2 is the radio antenna, 3 is the main measurement antenna, 4 is the auxiliary measurement antenna, 5 is the rotary tachometer, 6 is the rotary ammeter, 7 is the electric energy meter, 8 is the machine intelligent terminal, 9 is the hole depth detection device, 10 is the air conditioner, 11 is the drill rod, and 12 is the drill rod motor.

DETAILED DESCRIPTION

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in FIG1 , the system of the present invention comprises a data acquisition control box 1, a main measuring antenna 3, an auxiliary measuring antenna 4, a rotary tachometer 5, a rotary ammeter 6, a drill rod 11 and a drill rod motor 12 arranged on a rotary drill, wherein the main measuring antenna 3 is arranged at the head end A of the rotary drill, the auxiliary measuring antenna 4 is arranged at the tail end B of the rotary drill, the drill rod 11 is arranged at the head end Z of the rotary drill and is driven to rotate by the drill rod motor 12, as shown in FIG2 , an angle θ ₂ is formed between ZA and BA , BA forms an angle θ with the due north direction, as shown in FIG4 , the acquisition control box 1 is provided with a GNSS receiver for receiving satellite positioning data, and the main measuring antenna 3 and the auxiliary measuring antenna 4 obtain real-time longitude and latitude information through the GNSS receiver, the drill rod motor 12 detects the real-time speed during drilling through the rotary tachometer 5, and detects the real-time motor current during drilling through the rotary ammeter 6, the acquisition control box 1 is connected to the machine intelligent terminal 8 provided in the driving room of the rotary drill, and the longitude and latitude information of the main measuring antenna 3, the longitude and latitude information of the auxiliary measuring antenna 4, the detection data of the rotary tachometer 5, and the detection data of the rotary ammeter 6 are all transmitted to the machine intelligent terminal 8 for calculation and analysis after passing through the acquisition control box 1. The GNSS receiver, the rotary tachometer 5, the rotary ammeter 6, and the machine intelligent terminal 8 are all well-known technologies in the art, wherein the GNSS receiver, the rotary tachometer 5, and the rotary ammeter 6 are commercially available products, and the machine intelligent terminal 8 can be a commercially available product, or it can be obtained by programming and design by the user unit itself according to needs. In addition, in this embodiment, the main measuring antenna 3 and the auxiliary measuring antenna 4 are both seven-band external measuring antennas, which are commercially available products.

As shown in FIG1 , the rotary drill head is provided with a hole depth detection device 9 for real-time detection of the drilling depth. In this embodiment, the hole depth detection device 9 is a non-contact hole depth detection device, which completes the real-time detection of the drilling depth through the principle of laser ranging, which is a well-known technology in the art and is a commercially available product.

As shown in Fig. 1, the rotary drill is provided with an electric energy meter 7 for detecting the electric energy data of the drill rod motor 12 when the rotary drill is drilling, so as to calculate the electric energy consumption per meter and provide data support for the assessment of a single machine. The electric energy meter 7 is a well-known technology in the art and is a commercially available product.

As shown in FIG4 , in this embodiment, the acquisition electric control box 1 is provided with an intelligent data acquisition controller, and the longitude and latitude information of the main measuring antenna 3, the longitude and latitude information of the auxiliary measuring antenna 4, the detection data of the rotary tachometer 5, the detection data of the rotary ammeter 6, the detection data of the hole depth detection device 9, and the detection data of the electric energy meter 7 are firstly collected by the intelligent data acquisition controller, and then sent to the machine intelligent terminal 8 by the intelligent data acquisition controller. The intelligent data acquisition controller is a well-known technology in the art and is a commercially available product.

As shown in Figure 4, in this embodiment, the acquisition control box 1 is also provided with an air switch, a DC power supply, a 4G/5G router, a switch, a hard disk recording device and a data transmission radio. The air switch is used to protect the components on the circuit, the DC power supply is used to power each part, the 4G/5G router is used to connect wireless mobile communications, the switch is used to connect various network devices together, and the data transmission radio is used to ensure wireless data transmission. Wireless data transmission gives priority to 4G/5G router communication. When the 4G/5G router communication is interrupted, it automatically switches to the digital transmission radio communication mode. The hard disk recording device is used to store the video data of the camera. The camera is installed at a suitable position on the rotary drill. All of the above parts are commercially available products.

As shown in FIG4 , in this embodiment, a terminal block is provided inside the acquisition electric control box 1, and the main measuring antenna 3 cable, the auxiliary measuring antenna 4 cable, the tachometer 5 cable, the gyroscopic ammeter 6 cable, the electric energy meter 7 cable, the communication cable and the power supply cable of the machine intelligent terminal 8, the hole depth detection device 9 cable and the camera cable are all inserted into the corresponding terminal holes on the terminal block, thereby realizing the corresponding connection of each part.

As shown in FIG1 , the rotary drill is provided with a radio antenna 2 , which is connected to a digital radio station for enhancing the communication signal strength of the digital radio station, which is a well-known technology in the art and a commercially available product.

As shown in FIG. 1 , the rotary drill is provided with an air conditioner 10 to adjust the temperature inside the cab and improve the operating environment for the driver.

The working principle of the present invention is:

As shown in FIGS. 1 to 3 , when the present invention is working, the actual position data of the drill rod is first calculated based on the triangle formed by the main measuring antenna 3 , the auxiliary measuring antenna 4 and the drill rod 11 , as follows:

Step 1: Measure in advance the distance L between the main measuring antenna 3 and the drill rod 11, that is, ZA=L, and measure the angle θ ₂ between ZA and BA.

In addition, as described in the background technology of patent CN105320831B, the prior art utilizes GPS drill pipe positioning, and mainly adopts two methods, one is that two GPS antennas and the drill pipe are in the same straight line, and the other is that the drill pipe and the two GPS antennas form an isosceles triangle. Due to the complex structure of the drilling rig itself, it is often difficult to find a suitable position for installation using the above method. However, as shown in FIG. 1 , the position A of the main measuring antenna 3 and the position B of the auxiliary measuring antenna 4 can be installed at a suitable position according to the structure of the rotary drill rig, and are not limited by the structure of the rotary drill rig itself.

Step 2: Obtain the real-time longitude A _lon (°) and real-time latitude A _lat (°) of position A of the main measuring antenna 3 , and the real-time longitude B _lon (°) and real-time latitude B _lat (°) of the auxiliary measuring antenna 4 by collecting the GNSS receiver in the electric control box 1 .

Step 3: As shown in FIGS. 1 and 2 , taking the position A of the main measurement antenna 3 as the vertex, calculate the angle θ between BA and the true north direction, and obtain the angle θ ₁ =θ-θ ₂ between ZA and the true north direction.

In actual operation, in order to assist the driver in hole alignment, it is necessary to know the current moving posture of the drilling rig, and this posture is determined by the angle between it and the north direction.

Step 4: According to L obtained in step 1 and θ ₁ obtained in step 3, calculate the distance X _lon between the drill rod 11 and the position A of the main measurement antenna 3 in the longitude direction and the distance Y _lat between the drill rod 11 and the position A of the main measurement antenna 3 in the latitude direction:

_Xlon = L × sin( _θ1 );

Y _lat =L×cos(θ ₁ ).

Step 5: As shown in FIG3 , the spherical radius rb of the latitude A of the main measurement antenna 3 is calculated using the following formula (a):

In the above formula (1), re is the equatorial radius of the earth (in this embodiment, re=6378137 meters), rp is the polar radius of the earth (in this embodiment, rp=6356752 meters), and A _lat is the real-time latitude obtained in step 2.

Step 6: As shown in FIG3 , the radius rlat (MA radius) of the latitude circle at the position A of the main measurement antenna 3 is calculated using the following formula (b):

The above formulas (1) and (2) are for calculating longitude and latitude in geography, which is a well-known technique in the art.

Step 7: Obtain the longitude D _LON (°) of drill pipe 11 according to the following formula (c):

In the above formula (3):

It is the radian value converted from the longitude translation distance of point A;

is the arc value converted from the longitude of point A;

Add the two radians above and multiply by Converted into an angle value, it is the longitude value of the drill rod 11.

Step 8: Obtain the latitude D _Lat (°) of the drill pipe 11 according to the following formula (d):

In the above formula (4):

It is the radian value converted from the latitude translation distance of point A;

is the arc value converted from the latitude of point A;

Add the two radians above and multiply by Converted into an angle value, it is the latitude value of drill rod 11.

Step 9: After obtaining the longitude and latitude of the drill rod 11, a moving arrow will be given on the screen of the machine intelligent terminal 8 to instruct the driver to drive the rotary drill to move. The system of the present invention will continue to calculate the longitude and latitude of the drill rod 11 above, and the driver will drive directly according to the arrow prompts until it moves to the target hole position to complete the hole search.

The difference between the positioning method of the present invention and the prior art is that: the prior art is to approximate to a plane and then use plane geometry and other methods to calculate, while the present invention takes into account the spherical factor of the earth and directly obtains the longitude and latitude of the drill rod 11, which greatly simplifies both the calculation and the configuration of the device and equipment, thereby reducing the equipment cost. In addition, the earth is actually approximately spherical (ellipsoidal), but the maximum distance for the drilling rig to find a hole is only about 50 meters, which is very small relative to the earth. Therefore, the method of the present invention can be calculated in a spherical (circular) shape, and the error caused by the shape of the earth can be completely ignored.

In addition, since the present invention is not equipped with a GPS antenna to measure the hole depth at the same time as other methods in the prior art, the present invention uses the hole depth detection device 9 to detect the drilling depth in real time during operation, and uses the motor speed and motor current of the drill rod motor 12 to assist in cooperation to determine whether the drill hole is an active slag hole or a water hole, or whether the underground is a particularly hard rock mass, specifically:

Step 1: Prepare comparison data and input it into the machine intelligent terminal 8. The comparison data includes:

(1) The average motor speed of rotary drills during drilling in the past year is S _level (RPM);

(ii) The average motor current of the rotary drill when drilling in the past year is C _level (A);

(III) The average drilling speed of rotary drills collected in the past year is _Vping (m/10min);

Step 2: When the rotary drill is working, collect the current real-time motor speed S (RPM), real-time motor current C (A), and real-time drilling speed V (m/10min);

Step 3: Compare and judge the real-time data obtained in step 2 with the comparison data obtained in step 1, specifically:

(i) If the result of dividing the real-time speed S (RPM) by the average motor speed S _level (RPM) is between 0.85 and 1.15, the result of dividing the real-time motor current C (A) by the average motor current C _level (A) is between 0.85 and 1.15, and the result of dividing the real-time drilling speed V (m/10min) by the average drilling speed V _level (m/10min) is less than 0.5, the current drilling hole is judged to be an active slag hole;

(ii) if the result of dividing the real-time speed S (RPM) by the average motor speed S _level (RPM) is between 0.85 and 1.15, the result of dividing the real-time motor current C (A) by the average motor current C _level (A) is between 0.85 and 1.15, and the result of dividing the real-time drilling speed V (m/10min) by the average drilling speed V _level (m/10min) is greater than 2.0, the current borehole is determined to be a water hole;

(III) If the result of dividing the real-time rotation speed S (RPM) by the average motor rotation speed _SP (RPM) is greater than 2.0, the result of dividing the real-time motor current C (A) by the average motor current C _SP (A) is greater than 2.0, and the result of dividing the real-time drilling speed V (m/10min) by the average drilling speed V _SP (m/10min) is less than 0.5, it is judged that the underground is hard rock.

Claims (7)

1. A positioning method for a rotary drill auxiliary drilling system, characterized in that: the rotary drill auxiliary drilling system comprises a data acquisition electric control box (1) arranged on the rotary drill, a main measuring antenna (3), an auxiliary measuring antenna (4), a rotary tachometer (5), a rotary ammeter (6), a drill rod (11) and a drill rod motor (12), wherein the main measuring antenna (3) is arranged at the head end A of the rotary drill, the auxiliary measuring antenna (4) is arranged at the tail end B of the rotary drill, the drill rod (11) is arranged at the head end Z of the rotary drill, and an angle θ ₂ is formed between ZA and BA The acquisition control box (1) is provided with a GNSS receiver, and the main measuring antenna (3) and the auxiliary measuring antenna (4) obtain longitude and latitude information through the GNSS receiver, the drill rod motor (12) detects the rotation speed during drilling through the rotary tachometer (5), and detects the motor current during drilling through the rotary ammeter (6), the acquisition control box (1) is connected to a machine intelligent terminal (8) provided in the driving room of the rotary drill, and the longitude and latitude information of the main measuring antenna (3), the longitude and latitude information of the auxiliary measuring antenna (4), the detection data of the rotary tachometer (5), and the detection data of the rotary ammeter (6) are all transmitted to the machine intelligent terminal (8) after passing through the acquisition control box (1); The positioning method of the rotary drill auxiliary drilling system comprises the following steps: Step 1: Measure and obtain the distance L between the main measuring antenna (3) and the drill rod (11), that is, ZA=L, and measure and obtain the angle θ ₂ between ZA and BA; Step 2: acquiring the real-time longitude A _lon and latitude A _lat of position A of the main measuring antenna (3), and the real-time longitude B _lon and latitude B _lat of position B of the auxiliary measuring antenna (4) by using the GNSS receiver in the electric control box (1); Step 3: Taking the position A of the main measurement antenna (3) as the vertex, calculate the angle θ between BA and the true north direction, and obtain the angle θ ₁ =θ-θ ₂ between ZA and the true north direction; Step 4: Based on L obtained in step 1 and θ ₁ obtained in step 3, calculate the distance X _lon between the drill rod (11) and the position A of the main measurement antenna (3) in the longitude direction and the distance Y _lat between the drill rod (11) and the position A of the main measurement antenna (3) in the latitude direction: _Xlon = L × sin( _θ1 ); Y _lat =L×cos(θ ₁ ); Step 5: Calculate the spherical radius rb at the latitude A of the main measurement antenna (3) using the following formula (a): In the above formula (1), re is the equatorial radius of the earth, and rp is the polar radius of the earth; Step 6: Calculate the radius rlat of the latitude circle at the location A of the main measurement antenna (3) using the following formula (b): Step 7: Obtain the longitude D _LON of the drill pipe (11) according to the following formula (c): Step 8: Obtain the latitude D _Lat of the drill pipe (11) according to the following formula (d): Step 9: The obtained longitude and latitude of the drill rod (11) are displayed on the screen of the machine intelligent terminal (8) and prompt the driver to drive. 2. The positioning method of the rotary drill assisted drilling system according to claim 1 is characterized in that: a hole depth detection device (9) is provided at the head end of the rotary drill, and an electric energy meter (7) is provided on the rotary drill. 3. The positioning method of the rotary drill assisted drilling system according to claim 2 is characterized in that: the acquisition electrical control box (1) is provided with an intelligent data acquisition controller, and the longitude and latitude information of the main measuring antenna (3), the longitude and latitude information of the auxiliary measuring antenna (4), the detection data of the rotary tachometer (5), the detection data of the rotary ammeter (6), the detection data of the hole depth detection device (9), and the detection data of the electric energy meter (7) are sent to the machine intelligent terminal (8) via the intelligent data acquisition controller. 4. The positioning method of the rotary drill assisted drilling system according to claim 3 is characterized in that: a terminal block is provided inside the acquisition electric control box (1), and the main measurement antenna (3) cable, the auxiliary measurement antenna (4) cable, the tachometer (5) cable, the gyroelectric ammeter (6) cable, the electric energy meter (7) cable, the communication cable and power supply cable of the machine intelligent terminal (8), and the hole depth detection device (9) cable are all inserted into the terminal block. 5. The positioning method of the rotary drill assisted drilling system according to claim 1 is characterized in that: the acquisition control box (1) is internally provided with an air switch, a DC power supply, a 4G/5G router, a switch, a hard disk recording device and a data transmission radio. 6. The positioning method of the rotary drill assisted drilling system according to claim 5 is characterized in that: the rotary drill is provided with a radio antenna (2), and the radio antenna (2) is connected to the digital transmission radio. 7. The positioning method of the rotary drill assisted drilling system according to claim 1, characterized in that: the rotary drill is provided with an air conditioner (10).