CN111608570A - Rotary drilling rig control method and device, rotary drilling rig and readable storage medium - Google Patents
Rotary drilling rig control method and device, rotary drilling rig and readable storage medium Download PDFInfo
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- 238000005553 drilling Methods 0.000 title claims abstract description 138
- 238000000034 method Methods 0.000 title claims abstract description 47
- 239000002689 soil Substances 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 description 8
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- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
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Abstract
The embodiment of the invention discloses a rotary drilling rig control method and device, a rotary drilling rig and a readable storage medium. The rotary drilling rig control method comprises the following steps: acquiring a control signal of a power head of the rotary drilling rig; and automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal. According to the technical scheme, the working modes of the rotary drilling rig are automatically switched according to the change rule of the control signal, and the working modes do not need to be switched by using a specific key in the switching process of the working modes of the rotary drilling rig, so that the problem that the switching of the working modes of the rotary drilling rig fails because an operator probably forgets to trigger the key in the switching process of the working modes of the rotary drilling rig is avoided. The working mode of the rotary drilling rig is automatically switched according to the change rule of the control signal, so that the automation of the working mode switching process of the rotary drilling rig is improved, and the user experience is improved.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a rotary drilling rig control method and device, a rotary drilling rig and a readable storage medium.
Background
At present, for solving the difficult problem of the soil of revolving drill rig, each domestic producer has all made a series of researches to how to realize that revolving drill rig's high efficiency is got rid of soil, current producer has through switch switching drilling mode and the mode of getting rid of soil, thereby set for the main pump discharge capacity to be the biggest and the minimum mode of unit head motor discharge capacity improves and get rid of soil efficiency when getting rid of soil mode, because the main pump discharge capacity is great under this mode, and unit head motor discharge capacity is less, the unit head rotational speed is higher, get rid of soil to the unit head motor when just reversing the switching at the unit head, speed reducer and drilling rod all have great harm, and it all needs manual operation button earlier to switch to get rid of soil mode to dig drill rig entering at every turn, get rid of soil and switch to the mode through triggering the button after finishing, intelligent degree is not high, seriously influence operator's operation experience.
Disclosure of Invention
In view of the above problems, the invention provides a rotary drilling rig control method, a rotary drilling rig control device, a rotary drilling rig and a readable storage medium. The automatic switching of the working modes of the rotary drilling rig is realized, and the operation experience of an operator is improved.
One embodiment of the invention provides a rotary drilling rig control method, which comprises the following steps:
acquiring a control signal of a power head of the rotary drilling rig;
and automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal.
In the method for controlling a rotary drilling rig according to the embodiment, the control signal includes a pilot pressure signal of the power head and a position signal of a control handle of the power head.
In the method for controlling a rotary drilling rig according to the above embodiment, when the control signal is the pilot pressure signal, the automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal includes:
monitoring the pilot pressure;
calculating a first time interval between a starting time at the nth increase of the pilot pressure and a starting time at the (n-1) th increase;
when the first time interval is smaller than a preset first time threshold, recording a first accumulated time of the first time interval which is continuously smaller than the first time threshold;
and when the first accumulated times is larger than or equal to a preset first time threshold value, automatically switching the working mode of the rotary drilling rig into a soil throwing working mode.
The method for controlling the rotary drilling rig according to the embodiment further comprises the following steps:
and when the first time interval is greater than or equal to the first time threshold or when the first accumulated times is smaller than the first time threshold, automatically switching the working mode of the rotary drilling rig into a drilling working mode.
Another embodiment of the present invention provides a method for controlling a rotary drilling rig, where when the control signal is the position signal, the method for automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal includes:
monitoring the position signal;
calculating a second time interval between a start time of the position signal when moving from the first position to the second position the nth time and a start time of the position signal when moving from the first position to the second position the (n-1) th time;
when the second time interval is smaller than a preset second time threshold, recording a second accumulated number of times that the second time interval is continuously smaller than the second time threshold;
and when the second accumulated times is larger than or equal to a preset second time threshold value, automatically switching the working mode of the rotary drilling rig into a soil throwing working mode.
The method for controlling the rotary drilling rig according to the embodiment further comprises the following steps:
and when the second time interval is greater than or equal to the second time threshold or when the second accumulated times is less than the second time threshold, automatically switching the working mode of the rotary drilling rig into a drilling working mode.
In the method for controlling a rotary drilling rig according to the embodiment, the first position includes a middle position of a power head control handle base, and the second position includes maximum displacement positions of the power head control handle on two sides of the middle position.
Another embodiment of the present invention provides a control device for a rotary drilling rig, including:
the signal acquisition module is used for acquiring a control signal of a power head of the rotary drilling rig;
and the automatic switching module is used for automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal.
The embodiment relates to a rotary drilling rig, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the rotary drilling rig to execute the rotary drilling rig control method.
The above embodiments relate to a readable storage medium storing a computer program which, when executed on a processor, executes the above-described rotary drilling rig control method.
According to the technical scheme, the working modes of the rotary drilling rig are automatically switched according to the change rule of the control signal, and the working modes do not need to be switched by using a specific key in the switching process of the working modes of the rotary drilling rig, so that the problem that the switching of the working modes of the rotary drilling rig fails because an operator probably forgets to trigger the key in the switching process of the working modes of the rotary drilling rig is avoided. The working mode of the rotary drilling rig is automatically switched according to the change rule of the control signal, so that the automation of the working mode switching process of the rotary drilling rig is improved, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 shows a schematic flow chart of a control method of a rotary drilling rig according to an embodiment of the invention;
fig. 2 is a schematic flow chart illustrating that a rotary drilling rig provided by an embodiment of the invention automatically switches working modes by using a pilot pressure signal;
fig. 3 is a schematic flow chart illustrating that a rotary drilling rig according to an embodiment of the present invention automatically switches operating modes according to a position signal of a handle;
fig. 4 shows a schematic structural diagram of a control device of a rotary drilling rig according to an embodiment of the invention.
Description of the main element symbols:
1-a control device of a rotary drilling rig; 100-a signal acquisition module; 200-automatic switching module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
The power head operating system of the rotary drilling rig comprises a main pump, a main pump power regulating valve, a soil throwing control electromagnetic valve, a main valve, a power head motor displacement regulating valve and a load pressure feedback valve, and the rotary drilling rig has a drilling mode and a soil throwing mode. The load pressure feedback valve is respectively connected with the main pump power regulating valve and the power head motor displacement regulating valve and used for feeding back load pressure to the main pump power regulating valve and the power head motor displacement regulating valve, and simultaneously feeding back a load pressure signal to the controller.
Example 1
In this embodiment, referring to fig. 1, it is shown that the method for controlling a rotary drilling rig according to the embodiment of the present invention includes the following steps:
step S100: and acquiring a control signal of a power head of the rotary drilling rig.
When the rotary drilling rig is used for drilling, not only large-torque drilling is needed, but also soil is quickly thrown, and the rotating speed of a power head needs to be frequently changed. Generally, an operator of the rotary drilling rig can operate a handle of the rotary drilling rig through a specific operation mode to generate a corresponding control signal to control a power head of the rotary drilling rig.
The control signals may be a pilot pressure signal and a position signal of the handle.
Exemplarily, a pilot pressure sensor is arranged on a pilot pipeline between a handle of the rotary drilling rig and a switch electromagnetic valve group to monitor pilot pressure of a power head of the rotary drilling rig; the corresponding position sensor or the illumination sensor can be arranged at a specific position of the handle of the rotary drilling rig to monitor a position signal of the handle of the rotary drilling rig; in addition, for the handle operated by the electric control, the electric control signal of the power head action can be controlled by monitoring the handle so as to obtain the corresponding control signal.
Step S200: and automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal.
An operator of the rotary drilling rig generates corresponding control signals through a specific operation mode, and when the change rule of the control signals meets a preset condition, the rotary drilling rig automatically switches the working mode to the working mode corresponding to the change rule of the control signals.
Exemplarily, as shown in fig. 2, in this embodiment, a control method for a rotary drilling rig to automatically switch an operation mode by using a pilot pressure signal includes the following steps:
step S211: the pilot pressure is monitored.
When the control signal is a pilot pressure signal of the power head, the real-time change condition of the pilot pressure can be obtained by monitoring a pilot pressure sensor arranged on a pilot pipeline between a power head control handle of the rotary drilling rig and the switch electromagnetic valve bank.
Step S212: a first time interval between a starting time at the nth increase of the pilot pressure and a starting time at the (n-1) th increase is calculated.
From the above real-time variation of the pilot pressure, a first time interval between the start time of the nth increase of the pilot pressure and the start time of the (n-1) th increase of the pilot pressure is calculated, it being understood that n is an integer equal to or greater than 2. I.e. the time interval when the pilot pressure is increased two consecutive times is calculated, the first time interval may be the time difference between the starting time when the current pilot pressure is increased and the starting time when the previous pilot pressure is increased.
Illustratively, the first time interval between the nth rising edge and the (n-1) th rising edge of the pilot pressure can also be calculated by monitoring the rising edge of the pilot pressure, and it should be understood that n is an integer greater than or equal to 2. I.e. the time interval between two adjacent rising edges of the pilot pressure is calculated, and the first time interval may be the time difference between the rising edge time of the current pilot pressure and the rising edge time of the previous pilot pressure.
Step S213: when the first time interval is smaller than a preset first time threshold, recording a first accumulated number of times that the first time interval is continuously smaller than the first time threshold.
Further, when the first time interval is smaller than a preset first time threshold, recording a first accumulated number of times that the first time interval is continuously smaller than the first time threshold. It should be understood that, if the consecutive first time intervals are all smaller than the preset first time threshold, the first accumulated number is the number of times that the consecutive first time intervals are smaller than the first time threshold.
Exemplarily, when the first time threshold is preset to be 1.5s, if the time intervals recorded by the first time intervals according to the time sequence are sequentially 1.2s, 1.5s and 1.2s, where 1.2s is the current first time interval, and the current first time interval 1.2s is smaller than the first time threshold 1.5s, then the first accumulated number of times is 1; if the time intervals recorded according to the time sequence of the first time interval are 1.2s, 1.5s, 1.2s and 1.3s in sequence, wherein 1.3s is the current first time interval, the current first time interval 1.3s is smaller than a first time threshold value 1.5s, and the first accumulated time is 2 at this moment; if the time intervals recorded according to the time sequence of the first time interval are 1.2s, 1.5s, 1.2s and 1.5s in sequence, wherein 1.5s is the current first time interval, the current first time interval 1.5s is not less than the first time threshold value 1.5s, the first accumulated time is 0, and when the first time interval is greater than or equal to the first time threshold value, the first accumulated time is cleared.
Further, when the first time interval is greater than or equal to a preset first time threshold, the rotary drilling rig automatically switches the working mode to the drilling working mode.
Step S214: and when the first accumulated times is larger than or equal to a preset first time threshold value, automatically switching the working mode of the rotary drilling rig into a soil throwing working mode.
Further, when the first accumulated times is larger than or equal to a preset first time threshold value, the rotary drilling rig automatically switches the working mode to the soil throwing working mode. The first time threshold value can be set according to the actual working condition of the rotary drilling rig, and can be set to be 2 or 3 under the general condition.
Further, when the first accumulated times is smaller than a preset first time threshold, the rotary drilling rig automatically switches the working mode to the drilling working mode.
According to the technical scheme, the working modes of the rotary drilling rig are automatically switched according to the change rule of the pilot pressure signal, and the working modes do not need to be switched by using a specific key in the switching process of the working modes of the rotary drilling rig, so that the problem that the working modes of the rotary drilling rig are failed to be switched due to the fact that an operator possibly forgets to trigger the key in the switching process of the working modes of the rotary drilling rig is solved. The working mode of the rotary drilling rig is automatically switched according to the change rule of the pilot pressure signal, so that the automation of the working mode switching process of the rotary drilling rig is improved, and the user experience is improved.
Example 2
In this embodiment, referring to fig. 3, a control method for automatically switching a working mode of a rotary drilling rig by using a position signal of a handle is shown, which includes the following steps:
step S221: the position signal is monitored.
When the control signal is a position signal of a power head control handle, a corresponding position sensor or an illumination sensor can be arranged at a specific position of the power head control handle of the rotary drilling rig to monitor the position signal of the power head control handle of the rotary drilling rig; or, for the power head control handle which is electrically controlled to operate, the power head control handle can be monitored to control the power head to act according to the electric control signal, so that the real-time change condition of the corresponding control signal can be obtained.
Step S222: a second time interval between a start time of the position signal when it moves from the first position to the second position the nth time and a start time when it moves from the first position to the second position the n-1 st time is calculated.
Illustratively, the first position includes a middle position of the handle base and the second position includes maximum displacement positions of the powerhead control handle on either side of the middle position, e.g., a leftmost position and a rightmost position of the powerhead control handle base.
And calculating a second time interval between the starting time of the position signal when the position signal moves from the first position to the second position for the nth time and the starting time of the position signal when the position signal moves from the first position to the second position for the (n-1) th time according to the real-time change condition of the position signal. It is to be understood that n is an integer equal to or greater than 2. I.e. the time interval between two adjacent movements of the position signal from the first position to the second position is calculated, said second time interval may be the time difference between the starting time of the current movement of the handle from the first position to the second position and the starting time of the last movement of the handle from the first position to the second position.
Step S223: and when the second time interval is smaller than a preset second time threshold, recording a second accumulated time when the second time interval is continuously smaller than the second time threshold.
Further, when the second time interval is smaller than a preset second time threshold, recording a second accumulated number of times that the second time interval is continuously smaller than the second time threshold. It should be understood that, if the consecutive second time intervals are all smaller than the preset second time threshold, the second accumulated number is the number of times that the consecutive second time intervals are smaller than the second time threshold.
Exemplarily, when the second time threshold is preset to be 1.5s, if the time intervals recorded according to the time sequence of the second time interval are 1.2s, 1.5s and 1.2s in sequence, where 1.2s is the current second time interval, and the current second time interval 1.2s is smaller than the second time threshold 1.5s, then the second accumulated number is 1; if the time intervals recorded according to the time sequence of the second time interval are 1.2s, 1.5s, 1.2s and 1.3s in sequence, wherein 1.3s is the current second time interval, and the current second time interval 1.3s is smaller than a second time threshold value 1.5s, the second accumulated number of times is 2; and if the time intervals recorded according to the time sequence of the second time interval are 1.2s, 1.5s, 1.2s and 1.5s in sequence, wherein 1.5s is the current second time interval, the current second time interval 1.5s is not less than a second time threshold value 1.5s, the second accumulated time is 0, and when the second time interval is greater than or equal to the second time threshold value, the second accumulated time is cleared.
Further, when the second time interval is greater than or equal to a preset second time threshold, the rotary drilling rig automatically switches the working mode to the drilling working mode.
Step S224: and when the second accumulated times is larger than or equal to a preset second time threshold value, automatically switching the working mode of the rotary drilling rig into a soil throwing working mode.
Further, when the second accumulated times is larger than or equal to a preset second time threshold value, the rotary drilling rig automatically switches the working mode to the soil throwing working mode. The second secondary number threshold value can be set according to the actual working condition of the rotary drilling rig, and generally, the second secondary number threshold value can be set to be 2 or 3.
Further, when the second accumulated number of times is smaller than a preset second number threshold, the rotary drilling rig automatically switches the working mode to the drilling working mode.
According to the technical scheme, the working modes of the rotary drilling rig are automatically switched according to the change rule of the position signal of the handle, and the working modes do not need to be switched by using a specific key in the switching process of the working modes of the rotary drilling rig, so that the problem that the working modes of the rotary drilling rig are failed to be switched due to the fact that an operator possibly forgets to trigger the key in the switching process of the working modes of the rotary drilling rig is solved. The working mode of the rotary drilling rig is automatically switched according to the change rule of the position signal, so that the automation of the working mode switching process of the rotary drilling rig is improved, and the user experience is improved.
Example 3
In the present embodiment, referring to fig. 4, the control device 1 of the rotary drilling rig includes: a signal acquisition module 100 and an automatic switching module 200.
The signal acquisition module 100 is used for acquiring a control signal of a power head of the rotary drilling rig; and the automatic switching module 200 is used for automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal.
The control device 1 of the rotary drilling rig of the embodiment is used by matching the signal acquisition module 100 with the automatic switching module 200, and is used for executing the control method of the rotary drilling rig according to the embodiment.
It can be understood that the foregoing embodiment relates to a rotary drilling rig, which includes a memory and a processor, where the memory is used for storing a computer program, and the processor runs the computer program to enable the rotary drilling rig to execute the rotary drilling rig control method according to the foregoing embodiment.
It is to be understood that the foregoing embodiments relate to a readable storage medium storing a computer program, and the computer program, when executed on a processor, executes the method for controlling a rotary drilling rig according to the foregoing embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A rotary drilling rig control method is characterized by comprising the following steps:
acquiring a control signal of a power head of the rotary drilling rig;
and automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal.
2. The method of claim 1, wherein the control signals comprise a pilot pressure signal of the power head and a position signal of a control handle of the power head.
3. The method for controlling the rotary drilling rig according to claim 2, wherein when the control signal is the pilot pressure signal, the automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal comprises:
monitoring the pilot pressure;
calculating a first time interval between a starting time at the nth increase of the pilot pressure and a starting time at the (n-1) th increase;
when the first time interval is smaller than a preset first time threshold, recording a first accumulated time of the first time interval which is continuously smaller than the first time threshold;
and when the first accumulated times is larger than or equal to a preset first time threshold value, automatically switching the working mode of the rotary drilling rig into a soil throwing working mode.
4. The rotary drilling rig control method according to claim 3, further comprising:
and when the first time interval is greater than or equal to the first time threshold or when the first accumulated times is smaller than the first time threshold, automatically switching the working mode of the rotary drilling rig into a drilling working mode.
5. The method for controlling the rotary drilling rig according to claim 2, wherein when the control signal is the position signal, the automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal comprises:
monitoring the position signal;
calculating a second time interval between a start time of the position signal when moving from the first position to the second position the nth time and a start time of the position signal when moving from the first position to the second position the (n-1) th time;
when the second time interval is smaller than a preset second time threshold, recording a second accumulated number of times that the second time interval is continuously smaller than the second time threshold;
and when the second accumulated times is larger than or equal to a preset second time threshold value, automatically switching the working mode of the rotary drilling rig into a soil throwing working mode.
6. The rotary drilling rig control method according to claim 5, further comprising:
and when the second time interval is greater than or equal to the second time threshold or when the second accumulated times is less than the second time threshold, automatically switching the working mode of the rotary drilling rig into a drilling working mode.
7. The method of claim 5, wherein the first position comprises a center position of a base of a power head control handle, and the second position comprises a maximum displacement position of the power head control handle on either side of the center position.
8. A rotary drilling rig control device is characterized by comprising:
the signal acquisition module is used for acquiring a control signal of a power head of the rotary drilling rig;
and the automatic switching module is used for automatically switching the working mode of the rotary drilling rig according to the change rule of the control signal.
9. A rotary drilling rig, characterized by comprising a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the rotary drilling rig to execute the rotary drilling rig control method according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the rotary drilling rig control method according to any one of claims 1 to 7.
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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