CN104975842A - Control method, device and system of rotary drilling rig - Google Patents
Control method, device and system of rotary drilling rig Download PDFInfo
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- CN104975842A CN104975842A CN201510393331.0A CN201510393331A CN104975842A CN 104975842 A CN104975842 A CN 104975842A CN 201510393331 A CN201510393331 A CN 201510393331A CN 104975842 A CN104975842 A CN 104975842A
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Abstract
The invention discloses a control method, a device and a system of a rotary drilling rig. Wherein, the method comprises the following steps: determining a reference position of the rotary drilling rig; acquiring a reference coordinate set of a reference position of the rotary drilling rig through a positioning device; acquiring an operation mode of the rotary drilling rig, wherein the operation mode at least comprises the following steps: excavating, dumping and centering; the real-time coordinate set and the reference coordinate set of the rotary drilling rig are substituted into the control model corresponding to the operation mode, and correction parameters used for correcting operation actions of the rotary drilling rig are generated, wherein the control model is used for calculating the correction parameters corresponding to the operation mode through the real-time coordinate set and the reference coordinate set, and the problems that in the prior art, the drilling bit position of the rotary drilling rig is determined only through angle calculation and an inclination angle sensor, so that the excavating quality is poor and the precision is low are solved. The accurate control of the rotary drilling rig is realized, and therefore the effect of improving the drilling precision of the rotary drilling rig is improved.
Description
Technical field
The present invention relates to Mechanical course field, in particular to a kind of control method, Apparatus and system of rotary drilling rig.
Background technology
At present, rotary drilling rig is the construction machinery of pore-forming operation in a kind of applicable building foundation engineering, is mainly suitable for the soil layer constructions such as sand, cohesive soil, slity soil, is used widely in the multiple foundation basic constructions such as castinplace pile, diaphragm wall, underpin.When churning driven is constructed, first must position precisely to drill bit, to ensure that drill bit is perpendicular to horizontal plane, carry out bore operation.Meanwhile, due to the demand of casting, revolve dig operation proceed to a certain degree time, need drill bit entirety to propose partially-formed boring, that carries out churning driven drill bit at operation near zone unloads native operation.Then, after completing and unloading native operation, the boring region before needing again to be returned to by drill bit, strictly aims at partially-formed pore-forming, drill bit is put into again the hole of half form, proceeds bore operation.
In the process that existing rotary drilling rig is constructed, concrete as follows of position fixing process in automatically the returning of drill bit:
In rotary drilling rig operation process, revolution control section adopts the man-machine control mode combined.When boring under rotary drilling rig master file, original work industry position is designated as original control position, as the upper-part rotation platform return control bit that discharging is later.After discharging, need manual operation rotary handle, upper-part rotation angle is recorded relative to the real-time angular of control bit and is presented on bridge operation display screen in real time, operating personnel are by driver's cabin screen display angle, judge whether drilling bucket gets back to position, original work industry hole, by handle and range estimation drilling tool relative to the deviation of actual apertures position, manually adjust, to meet lower requirement of boring centering.
Rotary drilling rig is in practical work process, although because the currently used control mode of equipment can complete relevant pore-forming job requirements, but there is hole quality undesirable (super side's amount is large), pore-forming cost is higher, and for the ability of operating personnel and the exigent problem of notice.Meanwhile, owing to mainly relying on artificial and computer-aided to judge, subjectivity comparatively greatly, accurately cannot ensure the homogeneity of pore-forming.
Further, because the churning driven construction ground foundation of job site is enough not firm, in the process that rotary drilling rig creeps into, often there is the problem of part surface settlement, have a strong impact on the quality of rotary drilling rig boring and pore-forming.Existing undertaken assisting back by rotary encoder in or technology in automatically returning, the pore-forming job requirements after surface settlement cannot be met.Existing drilling rod vertical bury pipe ensures, only adopt obliquity sensor to detect, precision is poor, cannot detect for less sedimentation angle.
For the bit location only by angle calculation and obliquity sensor determination rotary drilling rig in prior art, the Mining Quality caused is poor, the problem that precision is low, not yet proposes effective solution at present.
Summary of the invention
Main purpose of the present invention is the control method, the Apparatus and system that provide a kind of rotary drilling rig, and to solve in prior art the bit location only by angle calculation and obliquity sensor determination rotary drilling rig, the Mining Quality caused is poor, the problem that precision is low.
To achieve these goals, according to an aspect of the embodiment of the present invention, a kind of control method of rotary drilling rig is provided.The method comprises: the reference position determining rotary drilling rig; By positioner, obtain the reference coordinate set of the reference position of rotary drilling rig; Obtain the work pattern of rotary drilling rig, wherein, work pattern at least comprises: digging operation, unload native operation and operation in returning; By Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generate the corrected parameter of the operation action for revising rotary drilling rig, wherein, Controlling model is used for by real-time coordinates set and reference coordinate set, calculates the corrected parameter corresponding with work pattern.
Further, when positioner comprises five differential GPS terminals, on the mast top of rotary drilling rig, the first differential GPS terminal is installed, in four corners of upper-part rotation mechanism, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal are installed respectively, wherein, by positioner, obtain the reference coordinate set of reference position, comprise: the coordinate value reading the first differential GPS terminal, obtain the first coordinate of mast top end; Read the coordinate value of the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal respectively, obtain the second coordinate of four corners of upper-part rotation mechanism, three-dimensional, 4-coordinate and Five Axis; According to the first coordinate, the second coordinate, three-dimensional, 4-coordinate and Five Axis, obtain the reference coordinate set of rotary drilling rig.
Further, by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generating the corrected parameter of the operation action for revising rotary drilling rig, comprising: by the real-time coordinates set of the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal Real-time Collection rotary drilling rig; The real-time coordinates set of collection and reference coordinate set are compared, obtains comparison result; According to comparison result, calculate the coordinate difference of real-time coordinates set and reference coordinate set; According to coordinate difference, generate the corrected parameter corresponding with work pattern.
Further, by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, after generating the corrected parameter of operation action for revising rotary drilling rig, method also comprises: according to corrected parameter, generate the control instruction for controlling rotary drilling rig, wherein, the controller of rotary drilling rig, according to control instruction, controls rotary drilling rig and performs corresponding operation action according to corrected parameter.
Further, by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, after generating the corrected parameter of operation action for revising rotary drilling rig, method also comprises: according to corrected parameter, generates information.
To achieve these goals, according to the another aspect of the embodiment of the present invention, provide a kind of control device of rotary drilling rig, this device comprises: determination module, for determining the reference position of rotary drilling rig; First acquisition module, for by positioner, obtains the reference coordinate set of the reference position of rotary drilling rig; Second acquisition module, for obtaining the work pattern of rotary drilling rig, wherein, work pattern at least comprises: digging operation, unload native operation and return in operation; Processing module, for by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generate the corrected parameter of the operation action for revising rotary drilling rig, wherein, Controlling model is used for by real-time coordinates set and reference coordinate set, calculates the corrected parameter corresponding with work pattern.
Further, when positioner comprises five differential GPS terminals, on the mast top of rotary drilling rig, the first differential GPS terminal is installed, in four corners of upper-part rotation mechanism, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal are installed respectively, wherein, first acquisition module comprises: the first sub-read module, for reading the coordinate value of the first differential GPS terminal, obtains the first coordinate of mast top end; Second sub-read module, for reading the coordinate value of the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal respectively, obtain the second coordinate of four corners of upper-part rotation mechanism, three-dimensional, 4-coordinate and Five Axis; Sub-processing module, for according to the first coordinate, the second coordinate, three-dimensional, 4-coordinate and Five Axis, obtains the reference coordinate set of rotary drilling rig.
Further, processing module comprises: sub-acquisition module, for the real-time coordinates set by the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal Real-time Collection rotary drilling rig; Sub-comparing module, for the real-time coordinates set of collection and reference coordinate set being compared, obtains comparison result; Sub-computing module, for according to comparison result, calculates the coordinate difference of real-time coordinates set and reference coordinate set; Sub-generation module, for according to coordinate difference, generates the corrected parameter corresponding with work pattern.
Further, device also comprises: the first generation module, for according to corrected parameter, generate the control instruction for controlling rotary drilling rig, wherein, the controller of rotary drilling rig, according to control instruction, controls rotary drilling rig and performs corresponding operation action according to corrected parameter.
Further, device also comprises: the second generation module, for according to corrected parameter, generates information.
To achieve these goals, according to the another aspect of the embodiment of the present invention, provide a kind of control system of rotary drilling rig, this system comprises: positioner; Controller, sets up with positioner and is electrically connected, determine the reference position of rotary drilling rig; By positioner, obtain the reference coordinate set of reference position; Obtain the work pattern of rotary drilling rig; By Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generate the corrected parameter of the operation action for revising rotary drilling rig; Display, sets up with controller and is electrically connected.
Further, positioner comprises: differential GPS base station, is arranged on outside rotary drilling rig; At least four differential GPS terminals, set up communication with differential GPS base station and controller respectively and are connected, and wherein, install a differential GPS terminal on the mast top of rotary drilling rig, in upper installation at least three differential GPS terminals of the upper-part rotation mechanism of rotary drilling rig.
Further, system also comprises: angling cylinder, sets up be electrically connected with controller.
Further, system also comprises: amplitude oil cylinder, sets up be electrically connected with controller; Support cylinder, sets up with controller and is electrically connected.
According to inventive embodiments, by determining the reference position of rotary drilling rig; By positioner, obtain the reference coordinate set of the reference position of rotary drilling rig; Obtain the work pattern of rotary drilling rig, wherein, work pattern at least comprises: digging operation, unload native operation and operation in returning; By Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generate the corrected parameter of the operation action for revising rotary drilling rig, wherein, Controlling model is used for by real-time coordinates set and reference coordinate set, calculate the corrected parameter corresponding with work pattern, solve prior art only by the bit location of angle calculation and obliquity sensor determination rotary drilling rig, the Mining Quality caused is poor, the problem that precision is low.Achieve the accurate control to rotary drilling rig, thus improve the effect of the excavation precision of rotary drilling rig.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the control system of rotary drilling rig according to the embodiment of the present invention one;
Fig. 2 is the structural representation of the control system according to the optional rotary drilling rig of the embodiment of the present invention one;
Fig. 3 is the structural representation of the control system according to the optional rotary drilling rig of the embodiment of the present invention one;
Fig. 4 is the flow chart of the control method of rotary drilling rig according to the embodiment of the present invention two;
Fig. 5 is the schematic top plan view of the rotary drilling rig according to the embodiment of the present invention;
Fig. 6 is the schematic top plan view of the rotary drilling rig according to the embodiment of the present invention;
Fig. 7 is the schematic top plan view of the rotary drilling rig according to the embodiment of the present invention;
Fig. 8 is the schematic top plan view of the rotary drilling rig according to the embodiment of the present invention;
Fig. 9 a is optional for locating the flow chart of the method for the drill bit of rotary drilling rig according to the embodiment of the present invention two;
Fig. 9 b is optional for locating the flow chart of the method for the drill bit of rotary drilling rig according to the embodiment of the present invention two;
Figure 10 is the structural representation of the control device of rotary drilling rig according to the embodiment of the present invention three;
Figure 11 a is the structural representation of the control device according to the optional rotary drilling rig of the embodiment of the present invention three; And
Figure 11 b is the structural representation of the control device according to the optional rotary drilling rig of the embodiment of the present invention three.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
The present invention program is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the embodiment of a part of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.
It should be noted that, term " first ", " second " etc. in manual of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.Should be appreciated that the data used like this can be exchanged, in the appropriate case so that embodiments of the invention described herein.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.
Embodiment 1
Present embodiments provide a kind of control system of rotary drilling rig, as shown in Figure 1, this system can comprise: positioner 11, controller 13 and display 15.
Wherein, positioner 11; Controller 13, sets up with positioner 11 and is electrically connected, determine the reference position of rotary drilling rig; By positioner 11, obtain the reference coordinate set of reference position, obtaining the work pattern of rotary drilling rig, by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generating the corrected parameter of the operation action for revising rotary drilling rig; Display 15, sets up with controller and is electrically connected.
Concrete, by above-mentioned positioner 11, controller 13 and display 15, the rotary drilling rig obtained by positioner is compared in the real-time coordinates set of the reference coordinate set of reference position and the rotary drilling rig of acquisition, determines the corrected parameter to rotary drilling rig according to work pattern.Wherein, corrected parameter refers to the difference of real-time coordinates distance reference coordinate.
Further, when excavate rig adopt manually return in operation time, system, simultaneously also will the real time position of display drill bit drill bit when unloading native operation by one-tenth hole site when drill bit creeps into before display automatically over the display.Driver is after unloading native operation and completing, by manual operation Operation of Rotary Pile Drill to one-tenth hole site (reference position) before, at this moment display is by the position of real-time tracking drill bit, and compares with the hole site (i.e. reference position) that becomes before.Position both can simultaneously showing in real time over the display, the operation of operation in carrying out back to point out human pilot.
In the middle of practical application, the drill bit of rotary drilling rig is fixed in the upper-part rotation mechanism of rotary drilling rig, and the upper-part rotation mechanism of rotary drilling rig is fixed on removable or fixing base.The horizontal level of the drill bit of rotary drilling rig is mobile with the movement of upper-part rotation mechanism.So, can before digging operation, by the axis of rotation of positioner determination upper-part rotation mechanism, thus the movement locus of drill bit when determining that upper-part rotation mechanism rotates.When digging operation, the controller of rotary drilling rig can by the brill rotating shaft heart of reference coordinate set and upper-part rotation mechanism, calculate drill bit coordinate set of each point on drill bit motion track when following upper-part rotation mechanism and rotating, and further calculate path length value drill bit being moved to angle value or the required movement rotated required for reference position.In returning during operation, the controller of rotary drilling rig needs the angle value of rotation and upper-part rotation mechanism to need the path length value of movement according to upper-part rotation mechanism, generates corrected parameter.The corrected parameter generated can directly be showed on display in digital form.Also the virtual image that can be converted into for pointing out is showed in display.
In sum, by the control method of rotary drilling rig provided in above-described embodiment, to solve in prior art the bit location only by angle calculation and obliquity sensor determination rotary drilling rig, the Mining Quality caused is poor, the problem that precision is low.The object reach and ensure construction quality, improved construction technology.Achieve the accurate control to rotary drilling rig, thus improve the effect of the excavation precision of rotary drilling rig.
Optionally, as shown in Figure 2, in the above embodiments of the present application, positioner 11 comprises: differential GPS base station 111 and at least four differential GPS terminals 113.
Wherein, differential GPS base station 111, is arranged on outside rotary drilling rig; At least four differential GPS terminals 113, set up communication with differential GPS base station 111 and controller 13 to be respectively connected, wherein, on the mast top of rotary drilling rig, a differential GPS terminal 113 is installed, in upper installation at least three differential GPS terminals 113 of the upper-part rotation mechanism of rotary drilling rig.
Concrete, differential GPS base station can obtain the relative position information between differential GPS terminal, and precision high (grade).Therefore, utilize differential GPS terminal to control rotary drilling rig, positioning precision is high, the vertical bury pipe that can ensure holes is shaped and forming quality.
Wherein, differential GPS terminal, its can with differential GPS base station communication, the coordinate of differential GPS terminal relative to differential GPS base station is obtained by base station, that is: differential GPS terminal can three-dimensional coordinate in the three-dimensional coordinate system that formed for the origin of coordinates with differential GPS base station of Real-time Obtaining, whether is in level by the upper-part rotation mechanism of three-dimensional coordinate determination rotary drilling rig.Further, the angle of upper-part rotation mechanism and horizontal plane can also further be calculated.Because the drill bit of rotary drilling rig is fixed in upper-part rotation mechanism, so the differential GPS terminal of being installed by mast top, determine that whether drill bit is perpendicular to horizontal plane.
A differential GPS terminal is assembled on the mast top of rotary drilling rig, in upper-part rotation mechanism, i.e. top assembling at least three differential GPS terminals of turntable.
Optional embodiment, can assemble a differential GPS terminal on the mast top of rotary drilling rig and install four differential GPS terminals additional four corners respectively.The core component that drill bit proposed by the invention returns middle technology is automatically formed by five differential GPS terminals.
Further, when positioner comprises five differential GPS terminals, on the mast top of rotary drilling rig, the first differential GPS terminal is installed, in four corners of upper-part rotation mechanism, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal is installed respectively.When starting to carry out digging operation, respectively from being installed on the coordinate of the first differential GPS terminal on mast top of rotary drilling rig, the second differential GPS terminal being installed on rotary drilling rig upper-part rotation mechanism four corners, the 3rd differential GPS terminal, the 4th differential GPS terminal obtain rotary drilling rig digging operation time coordinate value, form coordinate set.And this coordinate set is set to reference coordinate set.
Further, the real-time coordinates set collected by the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal and reference coordinate are compared, according to the coordinate difference of comparison result determination real-time coordinates set and reference coordinate set.For different work patterns, generate the corrected parameter corresponding with work pattern according to coordinate difference.
Optionally, in the above embodiments of the present application, system also comprises: angling cylinder 17.Wherein, angling cylinder 17, sets up with controller 13 and is electrically connected.
Concrete, be described to return middle operation, when excavating rig employing and automatically returning middle operation, the control instruction that controller sends according to controller, drive angling cylinder, rotary drilling rig by automatic rotary to bore position before, certainly, controller also can directly control angling cylinder action.
Optionally, as shown in Figure 3, in the above embodiments of the present application, system also comprises: amplitude oil cylinder 18 and support cylinder 19.
Wherein, amplitude oil cylinder 18 is set up with controller 13 and is electrically connected; Support cylinder 19, sets up with controller and is electrically connected.
Concrete, controller can to control control amplitude oil cylinder 18 and support cylinder 19 by transmitting control signal, and certain controller also directly can control amplitude oil cylinder 18 and support cylinder 19.Wherein, be described to return middle operation, because rotary drilling rig is in the process of carrying out digging operation boring shaping, the mast of rotary drilling rig and drilling rod can not adjust angle in real time, if therefore do not consider the sedimentation on ground, so the upper-part rotation mechanism of rotary drilling rig and mast will be considered as rigid body, and relative position therebetween can not change, drilling rod is fixed on mast, also can not change.So when rotary drilling rig is when constructing, the sedimentation on the ground that digging operation causes will be directly reflected in the excavation angle of the drilling rod being fixed on mast.Therefore, when performing digging operation in rotary drilling rig pore forming process, controller needs the support cylinder driving churning driven mast in time, control support cylinder action, the drill bit be connected with drilling rod of churning driven is revised excavation angle value in time, the angle value of this angle value and surface settlement, to ensure the vertical bury pipe of mast, drilling rod and drill bit.Further, the length value due to mast is constant, and differential GPS terminal is assemblied in the top of mast, then mast is when adjusting angle, and the distance of the differential GPS fast mobile terminal on its top can calculate.Therefore when adjusting mast angle, only needing the coordinate detecting differential GPS terminal in real time, can calculate according to the length of its coordinate and mast the angle that mast rotates in real time.Like this by detecting in real time and revising the angle of inclination of mast, just can ensure that mast and drill bit are in the beginning of each digging operation with carry out Shi Junneng and vertically creep into and vertical pore-forming, the quality of guarantee operation pore-forming and vertical bury pipe.
The control system of the rotary drilling rig provided in above-mentioned embodiment, technology in automatically returning, is applied to churning driven after work progress unloads native operation, time middle position fixing process of drilling bit of rotary-digging drilling rig.When churning driven normal drill operation, 5 differential GPS terminal coordinates that just real time record is now respective (comprising horizontal coordinate and height coordinate), and using this coordinate as object coordinate when returning middle later at every turn.Unloading in native operation turning course, differential GPS passes through and controller communication, and the position coordinates automatically in record churning driven turning course, is calculated by controller and can know the pivotal direction of churning driven.Unloading after soil completes, rotary drilling rig operating personnel only need to press a key, send instruction and carry out go back to middle location automatically, then system is by the automatic churning driven gyratory directions according to calculating before, on the coordinates of targets recorded before automatically churning driven drill bit and drilling rod being turned back to.Meanwhile, because differential GPS terminal can record its relative height coordinate automatically, therefore it can judge whether the earth foundation surface of now rotary drilling rig construction has sedimentation or distortion.If any sedimentation, then according to the coordinate of front and back record, the rotary drilling rig angle of inclination that foundation settlement causes can be calculated, and the drilling rod automatically adjusted now and angle of drill bit, ensureing that drilling bit of rotary-digging drilling rig can continue vertical drilling hole when continuing bore operation, ensureing construction quality.
Further, the control system of the rotary drilling rig provided in above-mentioned embodiment can not only at the construction field (site) under complex environment, and can also realize drilling bit of rotary-digging drilling rig self-return accurately, and positioning precision is high, locating speed is fast, and antijamming capability is strong.In addition, the control system of the rotary drilling rig provided in above-mentioned embodiment can also when the face portion sedimentation of rotary drilling rig construction ground, moment adjustment angle of drill bit is calculated by algorithm, realize location accurately and reliably, drill bit when ensureing location in automatically going back to and drilling rod vertical, greatly improve the quality of pore-forming, greatly reduce the disturbing factor of environment simultaneously.Said system relies on mathematical computations, can complete, except differential GPS terminal and connection cable, without the need to increasing any other electric component on the existing core controller of rotary drilling rig.Finally, also there is Redundant Control in this algorithm, all right extra increase Partial Differential GPS terminal, ensures that time middle accurate positioning of churning driven drill bit is reliable, guarantee construction quality and processing quality.
The control system display of the rotary drilling rig provided in above-mentioned embodiment shows in real time to drilling bit of rotary-digging drilling rig position, utilizes controller to carry out automatically accurately controlling to the self-return of rotary drilling rig, achieves good control effects.Meanwhile, human pilot can be assisted to carry out the manual return operation of drill bit, to human pilot, there is good directive significance.And utilize differential GPS terminal to drilling bit of rotary-digging drilling rig unloading in native operation process when pore-forming operation, realize the self-return operation of rotary drilling rig, can accurately be positioned to hole site and bit location, ensure that bit location when creeping into operation for twice precisely overlaps.In addition, native system also take into account churning driven airborne construction time surface subsidence problem, and utilize differential GPS terminal to solve this problem preferably, solve and to occur in work progress and the rotary drilling rig hole quality that insurmountable surface settlement brings is poor in the past, the drawbacks such as pore-forming aperture is larger, novelty solve this difficult problem.
Differential GPS terminal in this programme can be replaced by plain edition GPS terminal, but due to the precision of plain edition GPS terminal poor, therefore greatly can affect precision and the reliability of location.
In this programme, surface settlement is for the angle of inclination of drill bit and vertical bury pipe impact, and its angle tilted also can adopt high precision dip sensor to measure.But high precision dip sensor cost is high, and installation accuracy requires also higher.Or employing other types, as accurate measuring transducers such as infrared ray sensors, but infrared sensor operating environment requirements is higher, is not too applicable to the occasion of the work under bad environment such as construction site.
The secondary effects that the control system of the rotary drilling rig provided in above-mentioned embodiment produces is far longer than other schemes and system, has had larger lifting to rotary drilling rig in digging operation technology and time middle operation technique.
Embodiment 2
The embodiment of the present invention additionally provides a kind of control method of rotary drilling rig.
Fig. 4 is the flow chart of the control method of rotary drilling rig according to the embodiment of the present invention.Rotary drilling rig comprises: be laid in the multiple positioners in rotary drilling rig, and positioner is set up with the controller of rotary drilling rig and is electrically connected, and as shown in Figure 4, it is as follows that the method comprising the steps of:
Step S11, determines the reference position of rotary drilling rig.
Concrete, by above-mentioned steps S11, when carrying out digging operation by rotary drilling rig, first by positioner, as reference position, record is carried out to the initial position that rotary drilling rig excavates.After rotary drilling rig can being moved to assigned address, by the coordinate of positioner record current location, and using the coordinate of current location as the reference position of excavating afterwards.Also before rotary drilling rig is implemented to excavate, the coordinate value of the reference position that will excavate can be marked by positioner.
Step S13, by positioner, obtains the reference coordinate set of the reference position of rotary drilling rig.
Concrete, by above-mentioned steps S13, after rotary drilling rig moves to reference position, obtain the current reference coordinate set of rotary drilling rig by positioner.Based on the operating principle of rotary drilling rig, when excavating, the drill bit needing to determine rotary drilling rig is vertical or excavate with identical excavation angle all the time, so need at least to arrange two positioners on rotary drilling rig, is used for determining the excavation position of rotary drilling rig respectively.Therefore the reference coordinate set that reference position is made up of at least two coordinates.
Step S15, obtain the work pattern of rotary drilling rig, wherein, work pattern at least comprises: digging operation, unload native operation and operation in returning.
Concrete, rotary drilling rig, after carrying out digging operation a period of time, needs the rotation by rotary drilling rig upper-part rotation mechanism, and the earthwork of excavating out is unloaded at other positions.At least comprise so excavate the work pattern of rig: digging operation, unload native operation and operation in returning.By above-mentioned steps S15, obtain the work pattern that rotary drilling rig is current carried out.
Step S17, by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generate the corrected parameter of the operation action for revising rotary drilling rig, wherein, Controlling model is used for by real-time coordinates set and reference coordinate set, calculates the corrected parameter corresponding with work pattern.
Concrete, by step S17, by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig when operation.According to Controlling model, determine the coordinates of targets set of rotary drilling rig, and real-time coordinates set and coordinates of targets set are compared, calculate corrected parameter.
In the middle of practical application, the coordinates of targets set of rotary drilling rig can change according to work pattern difference.Such as, when the work pattern of rotary drilling rig is digging operation, the operative goals of rotary drilling rig excavates preset distance vertically downward on the basis of reference position.Therefore, the vertical coordinate can getting horizontal coordinate in reference coordinate set and desired depth is set to coordinates of targets set.When rotary drilling rig is when carrying out unloading native operation, the operative goals of rotary drilling rig is turn to the native position of unloading of specifying to carry out unloading soil, therefore, can obtain the coordinate set unloading native position of execution, and the coordinate set unloading native position is set to coordinates of targets set.When rotary drilling rig is when carrying out back middle operation, the operative goals of rotary drilling rig carries out continuation digging operation after rotating back into former reference position, therefore, reference coordinate set can be set to coordinates of targets set.
By above-mentioned steps S11 to step S17, the rotary drilling rig obtained by positioner is compared in the real-time coordinates set of the reference coordinate set of reference position and the rotary drilling rig of acquisition, determines the corrected parameter to rotary drilling rig according to work pattern.
In the middle of practical application, the drill bit of rotary drilling rig is fixed in the upper-part rotation mechanism of rotary drilling rig, and the upper-part rotation mechanism of rotary drilling rig is fixed on removable or fixing base.The horizontal level of the drill bit of rotary drilling rig is mobile with the movement of upper-part rotation mechanism.So, can before digging operation, by the axis of rotation of positioner determination upper-part rotation mechanism, thus the movement locus of drill bit when determining that upper-part rotation mechanism rotates.When digging operation, the controller of rotary drilling rig can by the brill rotating shaft heart of reference coordinate set and upper-part rotation mechanism, calculate drill bit coordinate set of each point on drill bit motion track when following upper-part rotation mechanism and rotating, and further calculate path length value drill bit being moved to angle value or the required movement rotated required for reference position.In returning during operation, the controller of rotary drilling rig needs the angle value of rotation and upper-part rotation mechanism to need the path length value of movement according to upper-part rotation mechanism, generates corrected parameter.The corrected parameter generated can directly be showed on display in digital form.The moving curve of source location or the upper-part rotation mechanism calculated by above-mentioned corrected parameter directly can certainly be shown by display.Further, can also directly show by display the virtual image for pointing out transformed according to corrected parameter.
In sum, by the control method of rotary drilling rig provided in above-described embodiment, to solve in prior art the bit location only by angle calculation and obliquity sensor determination rotary drilling rig, the Mining Quality caused is poor, the problem that precision is low.The object reach and ensure construction quality, improved construction technology.Achieve the accurate control to rotary drilling rig, thus improve the effect of the excavation precision of rotary drilling rig.
Optionally, in the above embodiments of the present application, when positioner at least comprises four differential GPS terminals, on the mast top of rotary drilling rig, a differential GPS terminal is installed, in upper installation at least three differential GPS terminals of upper-part rotation mechanism.
Concrete, according to the structure of rotary drilling rig, 3 differential GPS terminals are installed by upper-part rotation mechanism, a differential GPS terminal is installed on mast top.By the coordinate that 3 differential GPS terminals of installing in upper-part rotation mechanism read, in Controlling model, set up a triangle projective planum.Whether level is in by the upper-part rotation mechanism of triangle projective planum determination rotary drilling rig.Further, the angle of upper-part rotation mechanism and horizontal plane can also further be calculated.Because the drill bit of rotary drilling rig is installed in upper-part rotation mechanism by mast, therefore, at least three differential GPS terminals that a differential GPS terminal of being installed by mast top and upper-part rotation mechanism install, form a Virtual space geometric figure.Controller can calculate the angle beta on current drill bit and ground in real time by Virtual space geometric figure.Further, controller can drive support cylinder for controlling mast according to angle beta, adjusts in real time to the angle of mast, to ensure that mast, drilling rod and drill bit are vertically and ground.
Optionally, in the above embodiments of the present application, when positioner comprises five differential GPS terminals, on the mast top of rotary drilling rig, the first differential GPS terminal is installed, install the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal respectively in four corners of upper-part rotation mechanism, wherein, step S13 passes through positioner, obtain the reference coordinate set of reference position, comprising:
Step S131, reads the coordinate value of the first differential GPS terminal, obtains the first coordinate of mast top end.
Step S133, read the coordinate value of the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal respectively, obtain the second coordinate of four corners of upper-part rotation mechanism, three-dimensional, 4-coordinate and Five Axis.
Step S135, according to the first coordinate, the second coordinate, three-dimensional, 4-coordinate and Five Axis, obtains the reference coordinate set of rotary drilling rig.
Concrete, by above-mentioned steps S131 to step S135, when starting to carry out digging operation, respectively from being installed on the coordinate of the first differential GPS terminal on mast top of rotary drilling rig, the second differential GPS terminal being installed on rotary drilling rig upper-part rotation mechanism four corners, the 3rd differential GPS terminal, the 4th differential GPS terminal obtain rotary drilling rig digging operation time coordinate value, form coordinate set.And this coordinate set is set to reference coordinate set.
In actual applications, differential GPS base station can obtain the relative position information between differential GPS terminal, and precision high (grade).Therefore, utilize differential GPS terminal to control rotary drilling rig, positioning precision is high, the vertical bury pipe that can ensure holes is shaped and forming quality.
Optionally, in the above embodiments of the present application, step S17, by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generating the corrected parameter of the operation action for revising rotary drilling rig, comprising:
Step S171, by the real-time coordinates set of the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal Real-time Collection rotary drilling rig.
Step S173, compares the real-time coordinates set of collection and reference coordinate set, obtains comparison result.
Step S175, according to comparison result, calculates the coordinate difference of real-time coordinates set and reference coordinate set.
Step S177, according to coordinate difference, generates the corrected parameter corresponding with work pattern.
Concrete, by above-mentioned steps S171 to step S177, the real-time coordinates set collected by the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal and reference coordinate are compared, according to the coordinate difference of comparison result determination real-time coordinates set and reference coordinate set.For different work patterns, generate the corrected parameter corresponding with work pattern according to coordinate difference.
In actual applications, be described for operation in returning, introduce in detail below utilize differential GPS terminal carry out drill bit automatically return in detailed algorithm.
Fig. 5 is the schematic top plan view of rotary drilling rig, and as shown in Figure 5, dash area is the creeper undercarriage of rotary drilling rig, and black circles part is differential GPS terminal.The differential GPS terminal of bit part is assemblied in the mast top for installing drill bit.Four differential GPS terminals in upper-part rotation mechanism are distributed on four angles of upper-part rotation mechanism.Rotary drilling rig is reached the appointed area in smooth good level ground, after drill bit is aligned to bore region, is completed the vertical location of drill bit by differential GPS terminal device, and by differential GPS terminal, obtain reference coordinate set.Utilize reference coordinate set can take out following Mathematical Modeling:
As shown in Figure 6, A point is the first differential GPS terminal that mast place installs, and B, C, D, E place is four differential GPS terminals that turntable corner is arranged.Fig. 6 is that rotary drilling rig completes the situation after obtaining reference coordinate set in building site, and now △ ABD and △ AEC and BCED is the reference coordinate collective data that rotary drilling rig is in reference position.
When rotary drilling rig, on ground, sedimentation does not occur, during work pattern is in back during operation, as shown in Figure 7, in Fig. 7, O point is the centre of gyration point of the upper-part rotation mechanism of rotary drilling rig.In Fig. 7, bold portion is according to rotary drilling rig in reference position, the schematic diagram that the reference coordinate set utilizing differential GPS terminal to get generates.Fig. 7 dotted portion be the upper-part rotation mechanism of rotary drilling rig in revolution angle, the schematic diagram that when drill bit arrives A ' place, difference GPS terminal is located.Rotary drilling rig is when dispatching from the factory, and the center of upper-part rotation mechanism is fixing, and therefore O point is fixing.So, when dispatching from the factory, the center of rotation of upper-part rotation mechanism is apart from the distance of each differential GPS terminal, and namely OB, OC, OD and OE are all known.Because upper-part rotation mechanism is rigid body, shape invariance.Therefore the pivotal angle of A point is consistent with the pivotal angle of B point, i.e. ∠ BOB '=∠ AOA '.In △ BOB ', BO=BO ' and known, BB ' can be calculated by the data before and after the differential GPS that is assemblied in B point.So, ∠ AOA '=∠ BOB '=arcos [(OB '
2+ OB
2-BB '
2)/(2 × OB ' × OB)].Meanwhile, the direction of rotation can be drawn by the coordinate position change calculations of front and back twice.So, after rotary drilling rig completes and unloads native operation, as long as human pilot sends the order of " drill bit self-return " (operation in returning), rotary drilling rig is enough calculates by above-mentioned angle the direction that now churning driven should rotate automatically.
When rotary drilling rig, on ground, sedimentation occurs, during work pattern is in back during operation, due to the impact operation of drill hammer, the construction inevitable generating portion sedimentation in ground.As shown in Figure 8, the sedimentation on ground often can occur in x-axis direction, i.e. the fore-and-aft direction (X-direction namely shown in Fig. 8) of churning driven.As shown in Figure 8, when sedimentation occurs on ground, the overall downtilt angles β of rotary drilling rig can be made.B ' CED ' is installed on B ', C, E, D by the upper-part rotation mechanism of rotary drilling rig ' the differential GPS terminal put.Because upper-part rotation mechanism is rigid platfor, can not deform, therefore BCED is similarly constant rigidity quadrangle.B ' CED ' is the upper-part rotation mechanism of rotary drilling rig in the horizontal plane, and A ' point is the position of the drilling bit of rotary-digging drilling rig when the upper-part rotation mechanism of rotary drilling rig is in reference position (horizontal level).Due to surface settlement, rotary drilling rig entirety (has been rotated counterclockwise) angle beta to lopsidedness.Because churning driven have read the reference coordinate set relative to differential GPS base station by differential GPS terminal in reference position, constitute three-dimensional coordinate, therefore in same three-dimensional system of coordinate, B ', C, E, D ' and the three-dimensional coordinate of A ' five points be known, so the length of limit B ' C, limit CE, limit ED ' and limit B ' D ' can calculate acquisition.Limit DE, limit CB and limit BD are known equally, and BC=B ' C, ED=ED ', BD=B ' D '.Quadrangle diagonal DC=D ' C, BE=B ' E is also known.In interspace analytic geometry, if want to make line segment DT ' perpendicular to limit D ' E in T ', the distance of D point to limit D ' E can be calculated according to the three-dimensional coordinate of D point, and be the length of line DT '.In right angle △ DET ', (length is that (length is a) to c) He one right-angle side DT ' to determine hypotenuse DE, so after right angle △ DET ' is determined, calculated the angle value of α by α=arcos (a/c), and then calculated the angle value of β by β=90 °-α.
Optionally, in the above embodiments of the present application, as illustrated in fig. 9, in step S17 by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, after generating the corrected parameter of operation action for revising rotary drilling rig, method also comprises:
Step S19a, according to corrected parameter, generates the control instruction for controlling rotary drilling rig, and wherein, the controller of rotary drilling rig, according to control instruction, controls rotary drilling rig and performs corresponding operation action according to corrected parameter.
Concrete, by above-mentioned steps S19a, according to corrected parameter, generate the control instruction for controlling to excavate drill control device operation action.
In the middle of practical application, be described for operation in returning, when excavate rig adopt automatically return in operation time, controller according to the control instruction received, driving angling cylinder, rotary drilling rig by automatic rotary to bore position before.
Because rotary drilling rig is in the process of carrying out digging operation boring shaping, the mast of rotary drilling rig and drilling rod can not adjust angle in real time, if therefore do not consider the sedimentation on ground, so the upper-part rotation mechanism of rotary drilling rig and mast will be considered as rigid body, relative position therebetween can not change, drilling rod is fixed on mast, also can not change.So when rotary drilling rig is when constructing, the sedimentation (angle in such as Fig. 8 is β) on the ground that digging operation causes will be directly reflected in the excavation angle of the drilling rod being fixed on mast.Therefore, when performing digging operation in rotary drilling rig pore forming process, controller needs the support cylinder driving churning driven mast in time, control support cylinder action, the drill bit be connected with drilling rod of churning driven is revised excavation angle value in time, the angle value β of this angle value and surface settlement, to ensure the vertical bury pipe of mast, drilling rod and drill bit.Further, the length value due to mast is constant, and differential GPS terminal is assemblied in the top of mast, then mast is when adjusting angle, and the distance of the differential GPS fast mobile terminal on its top can calculate.Therefore when adjusting mast angle, only needing the coordinate detecting differential GPS terminal in real time, can calculate according to the length of its coordinate and mast the angle that mast rotates in real time.Like this by detecting in real time and revising the angle of inclination of mast, just can ensure that mast and drill bit are in the beginning of each digging operation with carry out Shi Junneng and vertically creep into and vertical pore-forming, the quality of guarantee operation pore-forming and vertical bury pipe.
Optionally, in the above embodiments of the present application, as shown in figure 9b, in step S17 by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, after generating the corrected parameter of operation action for revising rotary drilling rig, method also comprises:
Step S19b, according to corrected parameter, generates information.
In the middle of practical application, be described to return middle operation, when excavate rig adopt manually return in operation time, system, simultaneously also will the real time position of display drill bit drill bit when unloading native operation by one-tenth hole site when drill bit creeps into before display automatically over the display.Driver is after unloading native operation and completing, by manual operation Operation of Rotary Pile Drill to one-tenth hole site (reference position) before, at this moment display is by the position of real-time tracking drill bit, and compares with the hole site (i.e. reference position) that becomes before.Position both can simultaneously showing in real time over the display, the operation of operation in carrying out back to point out human pilot.
Embodiment 3
The embodiment of the present invention additionally provides a kind of control device of rotary drilling rig.Figure 10 is the structural representation of the control device of rotary drilling rig according to the embodiment of the present invention.Wherein, rotary drilling rig comprises: be laid in the multiple positioners in rotary drilling rig, positioner is set up with the controller of rotary drilling rig and is electrically connected, and as shown in Figure 10, this device can comprise: determination module 21, first acquisition module 23, second acquisition module 25, processing module 27.
Wherein, determination module 21, for determining the reference position of rotary drilling rig; First acquisition module 23, for by positioner, obtains the reference coordinate set of the reference position of rotary drilling rig; Second acquisition module 25, for obtaining the work pattern of rotary drilling rig, wherein, work pattern at least comprises: digging operation, unload native operation and return in operation; Processing module 27, for by Controlling model corresponding with work pattern with reference coordinate set substitution for the real-time coordinates set of rotary drilling rig, generate the corrected parameter of the operation action for revising rotary drilling rig, wherein, Controlling model is used for by real-time coordinates set and reference coordinate set, calculates the corrected parameter corresponding with work pattern.
The rotary drilling rig that above-mentioned determination module 21, first acquisition module 23, second acquisition module 25, processing module 27 are obtained by positioner is compared in the real-time coordinates set of the reference coordinate set of reference position and the rotary drilling rig of acquisition, determines the corrected parameter to rotary drilling rig according to work pattern.
In the middle of practical application, the drill bit of rotary drilling rig is fixed in the upper-part rotation mechanism of rotary drilling rig, and the upper-part rotation mechanism of rotary drilling rig is fixed on removable or fixing base.The horizontal level of the drill bit of rotary drilling rig is mobile with the movement of upper-part rotation mechanism.So, can before digging operation, by the axis of rotation of positioner determination upper-part rotation mechanism, thus the movement locus of drill bit when determining that upper-part rotation mechanism rotates.When digging operation, the controller of rotary drilling rig can by the brill rotating shaft heart of reference coordinate set and upper-part rotation mechanism, calculate drill bit coordinate set of each point on drill bit motion track when following upper-part rotation mechanism and rotating, and further calculate path length value drill bit being moved to angle value or the required movement rotated required for reference position.In returning during operation, the controller of rotary drilling rig needs the angle value of rotation and upper-part rotation mechanism to need the path length value of movement according to upper-part rotation mechanism, generates corrected parameter.The corrected parameter generated can directly be showed on display in digital form.The moving curve of source location or the upper-part rotation mechanism calculated by above-mentioned corrected parameter directly can certainly be shown by display.Further, can also directly show by display the virtual image for pointing out transformed according to corrected parameter.
In sum, by the control method of rotary drilling rig provided in above-described embodiment, to solve in prior art the bit location only by angle calculation and obliquity sensor determination rotary drilling rig, the Mining Quality caused is poor, the problem that precision is low.The object reach and ensure construction quality, improved construction technology.Achieve the accurate control to rotary drilling rig, thus improve the effect of the excavation precision of rotary drilling rig.
Optionally, in the above embodiments of the present application, when positioner comprises five differential GPS terminals, on the mast top of rotary drilling rig, the first differential GPS terminal is installed, in four corners of upper-part rotation mechanism, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal are installed respectively, wherein, the first acquisition module 23 comprises: the first sub-read module 231, second sub-read module 233 and sub-processing module 235.
Wherein, the first sub-read module 231, for reading the coordinate value of the first differential GPS terminal, obtains the first coordinate of mast top end; Second sub-read module 233, for reading the coordinate value of the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal respectively, obtain the second coordinate of four corners of upper-part rotation mechanism, three-dimensional, 4-coordinate and Five Axis; Sub-processing module 235, for according to the first coordinate, the second coordinate, three-dimensional, 4-coordinate and Five Axis, obtains the reference coordinate set of rotary drilling rig.
Concrete, by above-mentioned first sub-read module 231, second sub-read module 233 and sub-processing module 235, when starting to carry out digging operation, respectively from being installed on the coordinate of the first differential GPS terminal on mast top of rotary drilling rig, the second differential GPS terminal being installed on rotary drilling rig upper-part rotation mechanism four corners, the 3rd differential GPS terminal, the 4th differential GPS terminal obtain rotary drilling rig digging operation time coordinate value, form coordinate set.And this coordinate set is set to reference coordinate set.
In actual applications, differential GPS base station can obtain the relative position information between differential GPS terminal, and precision high (grade).Therefore, utilize differential GPS terminal to control rotary drilling rig, positioning precision is high, the vertical bury pipe that can ensure holes is shaped and forming quality.
Optionally, in the above embodiments of the present application, processing module 27 comprises: sub-acquisition module 271, sub-comparing module 273, sub-computing module 275 and sub-generation module 277.
Wherein, sub-acquisition module 271, for the real-time coordinates set by the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal Real-time Collection rotary drilling rig; Sub-comparing module 273, for the real-time coordinates set of collection and reference coordinate set being compared, obtains comparison result; Sub-computing module 275, for according to comparison result, calculates the coordinate difference of real-time coordinates set and reference coordinate set; Sub-generation module 277, for according to coordinate difference, generates the corrected parameter corresponding with work pattern.
Concrete, by above-mentioned sub-acquisition module 271, sub-comparing module 273, sub-computing module 275 and sub-generation module 277, the real-time coordinates set collected by the first differential GPS terminal, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal and reference coordinate are compared, according to the coordinate difference of comparison result determination real-time coordinates set and reference coordinate set.For different work patterns, generate the corrected parameter corresponding with work pattern according to coordinate difference.
Optionally, in the above embodiments of the present application, as shown in fig. lla, device also comprises: the first generation module 291.Wherein, the first generation module 291, for according to corrected parameter, generates the control instruction for controlling rotary drilling rig, and wherein, the controller of rotary drilling rig, according to control instruction, controls rotary drilling rig and performs corresponding operation action according to corrected parameter.
Concrete, by above-mentioned first generation module 291, according to corrected parameter, generate the control instruction for controlling to excavate drill control device operation action.
In the middle of practical application, be described for operation in returning, when excavate rig adopt automatically return in operation time, controller according to the control instruction received, driving angling cylinder, rotary drilling rig by automatic rotary to bore position before.
Because rotary drilling rig is in the process of carrying out digging operation boring shaping, the mast of rotary drilling rig and drilling rod can not adjust angle in real time, if therefore do not consider the sedimentation on ground, so the upper-part rotation mechanism of rotary drilling rig and mast will be considered as rigid body, relative position therebetween can not change, drilling rod is fixed on mast, also can not change.So when rotary drilling rig is when constructing, the sedimentation (angle in such as Fig. 8 is β) on the ground that digging operation causes will be directly reflected in the excavation angle of the drilling rod being fixed on mast.Therefore, when performing digging operation in rotary drilling rig pore forming process, controller needs the support cylinder driving churning driven mast in time, control support cylinder action, the drill bit be connected with drilling rod of churning driven is revised excavation angle value in time, the angle value β of this angle value and surface settlement, to ensure the vertical bury pipe of mast, drilling rod and drill bit.Further, the length value due to mast is constant, and differential GPS terminal is assemblied in the top of mast, then mast is when adjusting angle, and the distance of the differential GPS fast mobile terminal on its top can calculate.Therefore when adjusting mast angle, only needing the coordinate detecting differential GPS terminal in real time, can calculate according to the length of its coordinate and mast the angle that mast rotates in real time.Like this by detecting in real time and revising the angle of inclination of mast, just can ensure that mast and drill bit are in the beginning of each digging operation with carry out Shi Junneng and vertically creep into and vertical pore-forming, the quality of guarantee operation pore-forming and vertical bury pipe.
Optionally, in the above embodiments of the present application, as shown in figure lib, device also comprises: the second generation module 292.Wherein, the second generation module 292, for according to corrected parameter, generates information.
In the middle of practical application, be described to return middle operation, when excavate rig adopt manually return in operation time, system, simultaneously also will the real time position of display drill bit drill bit when unloading native operation by one-tenth hole site when drill bit creeps into before display automatically over the display.Driver is after unloading native operation and completing, by manual operation Operation of Rotary Pile Drill to one-tenth hole site (reference position) before, at this moment display is by the position of real-time tracking drill bit, and compares with the hole site (i.e. reference position) that becomes before.Position both can simultaneously showing in real time over the display, the operation of operation in carrying out back to point out human pilot.
It should be noted that, for aforesaid each embodiment of the method, in order to simple description, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the present invention is not by the restriction of described sequence of movement, because according to the present invention, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in manual all belongs to preferred embodiment, and involved action and module might not be that the present invention is necessary.
In the above-described embodiments, the description of each embodiment is all emphasized particularly on different fields, in certain embodiment, there is no the part described in detail, can see the associated description of other embodiments.
In several embodiments that the application provides, should be understood that, disclosed device, the mode by other realizes.Such as, device embodiment described above is only schematic, the such as division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the INDIRECT COUPLING of device or unit or communication connection can be electrical or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprises all or part of step of some instructions in order to make a computer equipment (can be personal computer, mobile terminal, server or the network equipment etc.) perform method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), portable hard drive, magnetic disc or CD etc. various can be program code stored medium.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (14)
1. a control method for rotary drilling rig, is characterized in that, comprising: be laid in the multiple positioners in described rotary drilling rig, and described positioner is set up with the controller of described rotary drilling rig and is electrically connected, and described method comprises:
Determine the reference position of described rotary drilling rig;
By described positioner, obtain the reference coordinate set of the reference position of described rotary drilling rig;
Obtain the work pattern of described rotary drilling rig, wherein, described work pattern at least comprises: digging operation, unload native operation and return in operation;
The real-time coordinates set of described rotary drilling rig is substituted into the Controlling model corresponding with described work pattern with described reference coordinate set, generate the corrected parameter of the operation action for revising described rotary drilling rig, wherein, described Controlling model is used for by real-time coordinates set and described reference coordinate set, calculates the corrected parameter corresponding with described work pattern.
2. method according to claim 1, it is characterized in that, when described positioner comprises five differential GPS terminals, on the mast top of described rotary drilling rig, the first differential GPS terminal is installed, second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal are installed respectively, wherein, by described positioner in four corners of upper-part rotation mechanism, obtain the reference coordinate set of described reference position, comprising:
Read the coordinate value of described first differential GPS terminal, obtain the first coordinate of described mast top end;
Read the coordinate value of described second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal respectively, obtain the second coordinate of four corners of described upper-part rotation mechanism, three-dimensional, 4-coordinate and Five Axis;
According to described first coordinate, described second coordinate, described three-dimensional, described 4-coordinate and described Five Axis, obtain the described reference coordinate set of described rotary drilling rig.
3. method according to claim 2, it is characterized in that, the real-time coordinates set of described rotary drilling rig is substituted into the Controlling model corresponding with described work pattern with described reference coordinate set, generating the corrected parameter of the operation action for revising described rotary drilling rig, comprising:
By the real-time coordinates set of rotary drilling rig described in described first differential GPS terminal, described second differential GPS terminal, described 3rd differential GPS terminal, described 4th differential GPS terminal and described 5th differential GPS terminal Real-time Collection;
The real-time coordinates set of collection and described reference coordinate set are compared, obtains comparison result;
According to described comparison result, calculate the coordinate difference of described real-time coordinates set and described reference coordinate set;
According to described coordinate difference, generate the described corrected parameter corresponding with described work pattern.
4. method according to claim 3, it is characterized in that, the real-time coordinates set of described rotary drilling rig is being substituted into the Controlling model corresponding with described work pattern with described reference coordinate set, after generating the corrected parameter of operation action for revising described rotary drilling rig, described method also comprises:
According to described corrected parameter, generate the control instruction for controlling described rotary drilling rig, wherein, the controller of described rotary drilling rig, according to described control instruction, controls described rotary drilling rig and performs corresponding described operation action according to described corrected parameter.
5. method according to claim 3, it is characterized in that, the real-time coordinates set of described rotary drilling rig is being substituted into the Controlling model corresponding with described work pattern with described reference coordinate set, after generating the corrected parameter of operation action for revising described rotary drilling rig, described method also comprises:
According to described corrected parameter, generate information.
6. a control system for rotary drilling rig, is characterized in that, described system comprises:
Positioner;
Controller, sets up with described positioner and is electrically connected, determine the reference position of rotary drilling rig; By described positioner, obtain the reference coordinate set of described reference position; Obtain the work pattern of described rotary drilling rig; The real-time coordinates set of described rotary drilling rig being substituted into the Controlling model corresponding with described work pattern with described reference coordinate set, generating the corrected parameter of the operation action for revising described rotary drilling rig;
Display, sets up with described controller and is electrically connected.
7. system according to claim 6, is characterized in that, described positioner comprises:
Differential GPS base station, is arranged on outside described rotary drilling rig;
At least four differential GPS terminals, set up communication with described differential GPS base station and described controller to be respectively connected, wherein, a described differential GPS terminal is installed, in the described differential GPS terminal of the upper installation at least three of the upper-part rotation mechanism of described rotary drilling rig on the mast top of described rotary drilling rig.
8. system according to claim 7, is characterized in that, described system also comprises:
Angling cylinder, sets up with described controller and is electrically connected.
9. system according to claim 8, is characterized in that, described system also comprises:
Amplitude oil cylinder, sets up with described controller and is electrically connected;
Support cylinder, sets up with described controller and is electrically connected.
10. a control device for rotary drilling rig, is characterized in that, comprising: be laid in the multiple positioners in described rotary drilling rig, and described positioner is set up with the controller of described rotary drilling rig and is electrically connected, and described device comprises:
Determination module, for determining the reference position of described rotary drilling rig;
First acquisition module, for by described positioner, obtains the reference coordinate set of the reference position of described rotary drilling rig;
Second acquisition module, for obtaining the work pattern of described rotary drilling rig, wherein, described work pattern at least comprises: digging operation, unload native operation and return in operation;
Processing module, for the real-time coordinates set of described rotary drilling rig is substituted into the Controlling model corresponding with described work pattern with described reference coordinate set, generate the corrected parameter of the operation action for revising described rotary drilling rig, wherein, described Controlling model is used for by real-time coordinates set and described reference coordinate set, calculates the corrected parameter corresponding with described work pattern.
11. devices according to claim 10, it is characterized in that, when described positioner comprises five differential GPS terminals, on the mast top of described rotary drilling rig, the first differential GPS terminal is installed, in four corners of upper-part rotation mechanism, the second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal are installed respectively, wherein, described first acquisition module comprises:
First sub-read module, for reading the coordinate value of described first differential GPS terminal, obtains the first coordinate of described mast top end;
Second sub-read module, for reading the coordinate value of described second differential GPS terminal, the 3rd differential GPS terminal, the 4th differential GPS terminal and the 5th differential GPS terminal respectively, obtain the second coordinate of four corners of described upper-part rotation mechanism, three-dimensional, 4-coordinate and Five Axis;
Sub-processing module, for according to described first coordinate, described second coordinate, described three-dimensional, described 4-coordinate and described Five Axis, obtains the described reference coordinate set of described rotary drilling rig.
12. devices according to claim 11, is characterized in that, described processing module comprises:
Sub-acquisition module, for the real-time coordinates set by rotary drilling rig described in described first differential GPS terminal, described second differential GPS terminal, described 3rd differential GPS terminal, described 4th differential GPS terminal and described 5th differential GPS terminal Real-time Collection;
Sub-comparing module, for the real-time coordinates set of collection and described reference coordinate set being compared, obtains comparison result;
Sub-computing module, for according to described comparison result, calculates the coordinate difference of described real-time coordinates set and described reference coordinate set;
Sub-generation module, for according to described coordinate difference, generates the described corrected parameter corresponding with described work pattern.
13. devices according to claim 12, is characterized in that, described device also comprises:
First generation module, for according to described corrected parameter, generate the control instruction for controlling described rotary drilling rig, wherein, the controller of described rotary drilling rig, according to described control instruction, controls described rotary drilling rig and performs corresponding described operation action according to described corrected parameter.
14. devices according to claim 12, is characterized in that, described device also comprises:
Second generation module, for according to described corrected parameter, generates information.
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| CN112253083A (en) * | 2020-10-23 | 2021-01-22 | 中煤科工集团重庆研究院有限公司 | Automatic positioning device and method for drilling |
| CN112377097A (en) * | 2020-11-11 | 2021-02-19 | 苏州星恒通导航技术有限公司 | Device with auxiliary drilling, fixed-point and lofting functions and fixed-point method thereof |
| CN115584960A (en) * | 2022-10-13 | 2023-01-10 | 徐州徐工基础工程机械有限公司 | Control method and system for fixed-point automatic operation of rotary drilling rig |
| CN115584960B (en) * | 2022-10-13 | 2024-01-30 | 徐州徐工基础工程机械有限公司 | Control method and system for fixed-point automatic operation of rotary drilling rig |
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