为提高钻爆法竖井施工的安全性，实现伞钻自动化施工，开发伞钻控制系统。首先介绍伞钻功能、结构等被控对象背景，之后分别从控制系统硬件、运动控制算法及人机界面软件、Unity3D功能应用等3方面进行描述。搭载该控制系统的伞钻装置进行多次钻孔试验，结果证明： 该系统整体功能、效率、精度达到设计目标，能实现凿岩过程的自动化，提高施工的安全性；Unity3D的应用可方便主司机获取伞钻各动臂位姿信息，也能从软件上降低各动臂机械干涉概率。

A control system for umbrella drill is developed to improve the construction safety of vertical shaft by drilling and blasting method and to realize automatic construction of umbrella drill. Firstly, the control targets such as function and structure of umbrella drill are introduced. And then the hardware of the control system, movement control algorithm and humanmachine interface software, and functional application of Unity3D are presented and described. Several drilling tests have been carried out on the umbrella drill with the control system, and the results show that: (1) The function, efficiency and accuracy of the system meet the design requirements, which can help to realize automation of drilling and improve construction safety. (2) By applying Unity3D, the arm information of the umbrella drill can be obtained easily, which can help reduce the interference rate of the arm.