CN112065358A - Drilling bucket state prompting method and device, rotary drilling rig and soil shaking control method of rotary drilling rig - Google Patents
Drilling bucket state prompting method and device, rotary drilling rig and soil shaking control method of rotary drilling rig Download PDFInfo
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- CN112065358A CN112065358A CN202010978531.3A CN202010978531A CN112065358A CN 112065358 A CN112065358 A CN 112065358A CN 202010978531 A CN202010978531 A CN 202010978531A CN 112065358 A CN112065358 A CN 112065358A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
Abstract
The embodiment of the invention provides a drilling bucket state prompting method and device, a rotary drilling rig and a soil shaking control method thereof, and relates to the field of engineering machinery. The method for prompting the state of the drilling bucket comprises the steps of obtaining the actual tension of a main winch and the corresponding depth of the drilling bucket; calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process; calculating the soil mass in the drilling bucket according to the actual tension and the reference tension; and controlling the display device to display the soil quality in the drilling bucket. The drilling bucket state prompting device is arranged on the rotary drilling rig so as to execute the drilling bucket state prompting method. The drilling bucket state prompting method and the corresponding drilling bucket state prompting device, the rotary drilling rig and the soil shaking control method thereof can avoid the situation that a manipulator carries out some unnecessary operations, save the drilling time and improve the drilling efficiency.
Description
Technical Field
The invention relates to the field of rotary drilling rigs, in particular to a drilling bucket state prompting method and device, a rotary drilling rig and a soil shaking control method of the rotary drilling rig.
Background
After the drilling of the soil is finished, the rotary drilling rig lifts the drilling bucket and lifts the drilling bucket to the ground for soil shaking operation. However, in the process of lifting and shaking soil, a manipulator of the rotary drilling rig cannot judge the state in the drilling bucket, and some problems occur. For example, in the lifting process of the drill bucket, soil in the drill bucket completely falls off and reaches the ground, the soil in the drill bucket is basically not soil-free, but a manipulator still carries out soil shaking operation and finds no soil after carrying out soil shaking; for another example, soil in the soil shaking process of the drill bucket is completely shaken off, but a manipulator cannot determine that no soil exists in the drill bucket, the soil can be continuously shaken, and the soil shaking can be stopped only after no soil falls off for a period of time.
These problems may cause unnecessary operations by the machine operator, thereby wasting drilling time and reducing drilling efficiency.
Disclosure of Invention
The invention aims to provide a drilling bucket state prompting method, a drilling bucket state prompting device, a rotary drilling rig and a rotary drilling rig soil shaking control method, which can avoid some unnecessary operations performed by a manipulator, save drilling time and improve drilling efficiency.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides a method for prompting a drilling bucket state, which is used for prompting soil quality in a drilling bucket of a rotary drilling rig during a process of lifting or shaking the drilling bucket, and includes:
acquiring the actual tension of a main winch and the corresponding depth of a drilling bucket;
calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process;
calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
and controlling the display device to display the soil quality in the drilling bucket.
In an optional embodiment, before the step of calculating the reference pulling force of the main winch corresponding to the depth of the drilling bucket according to a preset function, the method further comprises:
controlling the soil-free drilling bucket to lift or shake soil;
and recording and storing the pulling force of the main winch in the soil-free drilling bucket lifting or soil shaking process and the corresponding drilling bucket depth so as to obtain a preset function.
In an optional embodiment, before the step of calculating the reference pulling force of the main winch corresponding to the depth of the drilling bucket according to a preset function, the method further comprises:
and acquiring a preset function input by a user.
In an alternative embodiment, the soil mass is calculated by the following formula:
Mg＝F1-F2；
wherein M is the soil mass in the drilling bucket, g is the gravity acceleration, F1 is the actual pulling force of the main winch, and F2 is the theoretical pulling force of the main winch.
In an alternative embodiment, the step of calculating the soil mass in the drilling bucket according to the actual tension and the reference tension further comprises the following steps:
and controlling a display device to display an operation suggestion according to the soil quality in the drilling bucket.
In an alternative embodiment, the step of displaying an operation recommendation according to the soil quality control display device in the drilling bucket comprises:
and under the condition that the soil mass in the drilling bucket is less than or equal to a first threshold value, controlling the display device to display first suggestion information for suggesting that the drilling bucket stops lifting or shaking.
In an alternative embodiment, the step of displaying an operation recommendation according to the soil quality control display device in the drilling bucket comprises:
and in the case that the reduction speed of the soil mass in the drilling bucket is greater than or equal to a second threshold value, controlling the display device to display second suggestion information for suggesting that the lifting speed of the drilling bucket is reduced or the shaking frequency of the drilling bucket is reduced.
In a second aspect, an embodiment of the present invention provides a drilling bucket state prompting device, configured to prompt soil mass in a drilling bucket of a rotary drilling rig during a process of lifting or shaking the drilling bucket, where the device includes an obtaining module, a first calculating module, a second calculating module, and a control module;
the acquisition module is used for acquiring the actual tension of the main winch and the corresponding depth of the drilling bucket;
the first calculation module is used for calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process;
the second calculation module is used for calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
the control module is used for controlling the display device to display the soil quality in the drilling bucket.
In a third aspect, an embodiment of the present invention provides a rotary drilling rig, including a main winch, a drilling bucket, a tension sensor, a control device, and a display device, where the main winch is configured to drive the drilling bucket to lift up, the tension sensor is configured to detect a tension of the main winch during lifting up the drilling bucket or soil shaking, the tension sensor and the display device are respectively in communication with the control device, and the control device is configured to:
acquiring the actual tension of a main winch and the corresponding depth of a drilling bucket;
calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process;
calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
and controlling the display device to display the soil quality in the drilling bucket.
In a fourth aspect, an embodiment of the present invention provides a soil shaking control method for a rotary drilling rig, including:
acquiring the actual tension of a main winch and the corresponding depth of a drilling bucket;
calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process;
calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
and controlling the execution action of the drilling bucket according to the soil quality in the drilling bucket.
The beneficial effects of the embodiment of the invention include, for example:
according to the method for prompting the state of the drilling bucket, provided by the embodiment of the invention, the actual tension of the main winch in the process of lifting or shaking the soil on the drilling bucket is monitored and compared with the reference tension of the main winch at the same depth of the drilling bucket, so that the soil mass in the drilling bucket can be calculated, and the display device is controlled to display the soil mass in the drilling bucket for a manipulator to check. Therefore, the manipulator can check the soil quality in the drilling bucket at any time in the process of lifting or shaking the drilling bucket of the rotary drilling rig during operation, so that the operation can be adjusted in time, unnecessary operations can be avoided, the drilling time can be saved, and the drilling efficiency can be improved.
For example, when the soil in the drilling bucket completely falls off in the lifting process, the display device can display that the soil quality in the drilling bucket is close to or equal to 0, and the driller can timely operate the drilling bucket to stop lifting after seeing the soil, so that unnecessary continuous lifting is avoided; for another example, when the drill bucket shakes soil on the ground, and the soil in the drill bucket completely falls off, the display device can display that the soil quality in the drill bucket is close to or equal to 0, and the driller can timely operate the drill bucket to stop shaking after seeing the soil quality, so that unnecessary continuous shaking is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, 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, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a rotary drilling rig according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for prompting a state of a drill bucket according to an embodiment of the present invention;
fig. 3 is a block diagram of a structure of a drilling bucket state prompting device according to an embodiment of the present invention;
fig. 4 is a flowchart of a soil shaking control method of a rotary drilling rig according to an embodiment of the present invention.
Icon: 101-a control device; 102-main winding; 103-a tension sensor; 104-an encoder; 105-a display device; 200-a drilling bucket state prompting device; 210-an obtaining module; 220-a first calculation module; 230-a second calculation module; 240-control module.
Detailed Description
After the drilling of the soil is finished, the rotary drilling rig lifts the drilling bucket and lifts the drilling bucket to the ground for soil shaking operation. However, in the process of lifting or shaking the soil, the manipulator of the rotary drilling rig cannot judge the state in the drilling bucket, which causes the manipulator to perform some unnecessary operations and wastes drilling time. For example, in the lifting process of the drilling bucket, soil in the drilling bucket completely falls off, and the drilling bucket is basically free of soil when the drilling bucket reaches the ground, but a manipulator does not know that the soil shaking operation is still carried out, and the drilling bucket is found to have no soil originally after the soil shaking operation is carried out; for another example, soil in the soil shaking process of the drill bucket is completely shaken off, but a manipulator cannot determine that no soil exists in the drill bucket, the soil can be continuously shaken, and the soil shaking can be stopped only after no soil falls off for a period of time.
In view of the above situation, embodiments of the present invention provide a drilling bucket state prompting method and apparatus, a rotary drilling rig and a soil shaking control method thereof, which can effectively avoid some unnecessary operations performed by a manipulator in a process of lifting or soil shaking the drilling bucket, thereby saving drilling time and improving drilling efficiency.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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 given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, the rotary drilling rig provided in this embodiment includes a main winch 102, a drilling bucket, a tension sensor 103, an encoder 104, a control device 101, and a display device 105, where the main winch 102 is in transmission connection with the drilling bucket through a steel wire rope and is used to drive the drilling bucket to lift up, the tension sensor 103 is disposed on a pulley yoke of the rotary drilling rig and is used to detect a tension of the main winch 102 during lifting up the drilling bucket or shaking up the soil, the encoder 104 is disposed on the main winch 102 and is used to detect a number of turns of the main winch 102 during lifting up the drilling bucket or shaking up the soil, and the main winch 102, the tension sensor 103, the encoder 104, and the display device 105 are respectively in communication with the.
The control device 101 is configured to obtain the actual tension of the main winch 102 and the corresponding bucket depth; calculating the reference tension of the main winch 102 corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch 102, and the reference tension of the main winch 102 is the tension of the main winch 102 in the soil-free drilling bucket lifting or soil shaking process; calculating the soil mass in the drilling bucket according to the actual tension and the reference tension; the control display device 105 displays the soil mass in the drill bucket.
According to the rotary drilling rig, the actual tension of the main winch 102 in the process of lifting or shaking the drilling bucket is monitored, and compared with the reference tension of the main winch 102 in the same drilling bucket depth, so that the soil quality in the drilling bucket can be calculated, and the display device 105 is controlled to display the soil quality in the drilling bucket for a manipulator to check. Therefore, the manipulator can check the soil quality in the drilling bucket at any time in the process of lifting or shaking the drilling bucket of the rotary drilling rig during operation, so that the operation can be adjusted in time, unnecessary operations can be avoided, the drilling time can be saved, and the drilling efficiency can be improved.
Referring to fig. 2, an embodiment of the present invention further provides a method for prompting a state of a drilling bucket, which may be used for prompting soil quality in the drilling bucket of the rotary drilling rig during a process of lifting or shaking the drilling bucket. The drilling bucket state prompting method comprises the following steps:
step S100: the actual tension of the main hoist 102 and the corresponding depth of the bucket are obtained. The actual tension of the main winch 102 is detected by the tension sensor 103 and then converted into an electric signal to be sent to the control device 101, so that the electric signal can be acquired by the control device 101. The depth h of the bucket (the vertical distance between a specific part of the bucket and the ground) corresponding to the actual pulling force F1 of the main hoist 102 is determined according to the number of revolutions n of the main hoist 102, the circumference l of the main hoist 102 and the initial depth h 'of the bucket, wherein h is h' -nl. The number of rotations n of the main winch 102 is detected by the encoder 104 and then converted into an electric signal to be sent to the control device 101, so that the electric signal can be acquired by the control device 101. The perimeter l of the main winch 102 and the initial depth h of the drilling bucket are determined by an operator and then input into the control device 101, and the control device 101 performs calculation according to the three parameters to obtain the depth h of the drilling bucket corresponding to the actual tension F1 of the main winch 102.
It should be noted that, since the above-mentioned method for prompting the state of the drilling bucket is mainly used in the process of lifting the drilling bucket or shaking the soil, the execution of the first step S100 needs to be triggered, that is, the control device 101 starts to execute the step S100 only when receiving the corresponding trigger instruction. In the process of lifting the drilling bucket, the trigger command is generally sent out by a manipulator, for example, when the manipulator pulls a joystick to lift the drilling bucket, the control device 101 receives the trigger command, and starts to execute the step S100; in the soil shaking process of the drilling bucket, the trigger command is generally sent out by the manipulator, for example, when the manipulator continuously operates the drilling bucket to shake for more than 2 times within 3 seconds, the control device 101 receives the trigger command, and starts to execute the step S100.
Step S110: the reference tension of the main winch 102 corresponding to the depth of the drilling bucket is calculated according to a preset function, the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch 102, and the reference tension of the main winch 102 is the tension of the main winch 102 in the soil-free drilling bucket lifting or soil shaking process.
The mathematical expression of the preset function may be: f2 ═ F (h). The preset function can be obtained in different ways. In this embodiment, the control device 101 controls the soil-free drilling bucket to lift or shake soil, and then records and stores the pulling force of the main winch 102 during the soil-free drilling bucket lifting or shaking process and the corresponding drilling bucket depth to obtain the preset function. By the mode, the situation that the pulling force of the main winch 102 changes along with the depth of the drill bucket in the soil-free drill bucket lifting or soil shaking process can be accurately recorded, so that the corresponding relation between the main winch and the drill bucket is determined, and the reference pulling force of the main winch 102 is guaranteed to be calculated as accurately as possible.
The preset functions corresponding to the drilling buckets of different models are different, so that when the drilling buckets of different models are replaced, the preset functions corresponding to the drilling buckets of the models are obtained in the above mode. The functions corresponding to the drilling buckets of the same model are generally the same, so that when the drilling buckets of the same model are replaced, the new preset function does not need to be obtained again in the mode. Of course, in order to make the calculated reference tension at the main hoist 102 as accurate as possible, a new preset function may be obtained in the above manner even if the same type of drill is replaced.
It should be noted that, in other embodiments, the preset function may also be directly input into the control device 101 by the user, and the source of the preset function may be theoretical research or practical experience. The user in this embodiment may be a manipulator of the rotary drilling rig, or may be other related professionals.
When the predetermined function F2 ═ F (h) and the depth h of the bucket are known, the control device 101 can calculate the reference tension F2 of the main hoist 102 at the depth h of the bucket.
Step S120: and calculating the soil mass in the drilling bucket according to the actual tension and the reference tension. During the process of lifting or shaking the drill bucket, it can be known through mechanical analysis that the actual pulling force F1 of the main winch 102 is approximately equal to the gravity G of the drill bucket, the gravity G of the drill bucket is approximately equal to the sum of the gravity G1 of the drill bucket and the gravity G2 of the soil in the drill bucket, and the gravity G1 of the drill bucket is approximately equal to the reference pulling force F2 of the main winch 102, so that the difference between the actual pulling force F1 of the main winch 102 and the reference pulling force F2 of the main winch 102 is approximately equal to the gravity G2 of the soil in the drill bucket. And the weight G2 of the earth in the bucket is equal to the product of its mass M and the acceleration of gravity G. Thus, it can be seen that:
equation 1: f1 ═ G1+ G2 ═ F2+ G2 ═ F2+ Mg;
after deformation, the following can be obtained:
equation 2: and Mg is F1-F2.
The control device 101 can calculate the mass M of the soil in the bucket according to the above formula 2 under the condition that the actual pulling force F1 of the main winch 102, the reference pulling force F2 of the main winch 102 and the gravity acceleration g are known.
It should be noted that, in the actual process of lifting or shaking the soil on the drilling bucket, the actual pulling force of the main winch 102 may have some other influence factors besides the gravity of the drilling bucket, but these influence factors have relatively small influence and thus can be ignored.
Step S130: the control display device 105 displays the soil mass in the drill bucket.
After the control device 101 calculates the mass M of the soil in the drilling bucket, the mass M can be sent to the display device 105 for displaying, so that a mechanic can check the falling condition of the soil in the drilling bucket at any time, and accordingly operation is performed accordingly.
In order to more intuitively display the condition in the drilling bucket to the manipulator so that the manipulator can do the corresponding most appropriate operation, in the embodiment, when the control display device 105 displays the soil quality in the drilling bucket, the control display device 105 can also display operation suggestions according to the soil quality in the drilling bucket.
For example, in the case that the soil mass in the drilling bucket is less than or equal to the first threshold value, the control display device 105 displays first suggestion information for suggesting that the drilling bucket stops lifting or the drilling bucket stops shaking soil. The first suggestion information may specifically be words such as "stop lifting," "suggest stop lifting the drilling bucket," "stop shaking the soil," "suggest stop shaking the drilling bucket," and the like.
When the soil mass in the drilling bucket is smaller than or equal to the first threshold value, the soil in the drilling bucket is less, the drilling bucket can be considered to have no soil at the moment, and therefore if the drilling bucket is in a lifting state at the moment, the display device 105 can directly display the word of 'suggesting to stop lifting', so as to clearly prompt a manipulator to operate the drilling bucket to stop lifting; if the drilling bucket is in the soil shaking state at the moment, the display device 105 can directly display the word of 'suggesting stopping soil shaking' so as to clearly prompt a manipulator to operate the drilling bucket to stop soil shaking.
For another example, in the case that the speed of decrease of the soil mass in the drill is greater than or equal to the second threshold value, the control display device 105 displays second advice information for advising a decrease of the lifting speed of the drill or a decrease of the shaking frequency of the drill. The second suggestion information may be embodied in the words "lower lifting speed", "suggest lower lifting speed", "reduce soil shaking frequency", "suggest reduce soil shaking frequency", and the like.
When the reduction speed of the soil mass in the drilling bucket is greater than or equal to the second threshold value, the soil in the drilling bucket falls quickly, so that if the drilling bucket is in a lifting state at the moment, the display device 105 can directly display a word of 'suggesting to reduce the lifting speed', and a manipulator can be clearly prompted to operate the drilling bucket to reduce the lifting speed; if the drilling bucket is in the soil shaking state at the moment, the display device 105 can directly display the word of 'suggesting to reduce the soil shaking frequency' so as to clearly prompt that the driller can operate the drilling bucket to reduce the soil shaking frequency.
It should be noted that the first threshold value and the second threshold value are generally determined by the user according to theoretical studies or practical experience and then input to the control device 101.
According to the method for prompting the state of the drilling bucket, the actual tension of the main winch 102 in the process of lifting or shaking the drilling bucket is monitored and compared with the reference tension of the main winch 102 at the same drilling bucket depth, so that the soil mass in the drilling bucket can be calculated, and the display device 105 is controlled to display the soil mass in the drilling bucket for a manipulator to check. Therefore, the manipulator can check the soil quality in the drilling bucket at any time in the process of lifting or shaking the drilling bucket of the rotary drilling rig during operation, so that the operation can be adjusted in time, unnecessary operations can be avoided, the drilling time can be saved, and the drilling efficiency can be improved.
Referring to fig. 3, an embodiment of the present invention further provides a device 200 for prompting a drilling bucket state, which is used in the control device 101 of the rotary drilling rig, so as to prompt soil quality in the drilling bucket in a process of lifting or shaking the drilling bucket. The drilling bucket status display device 105 includes an obtaining module 210, a first calculating module 220, a second calculating module 230, and a control module 240.
The obtaining module 210 is configured to obtain an actual pulling force of the main winch 102 and a corresponding depth of the drilling bucket. In this embodiment, the obtaining module 210 is configured to execute step S100.
The first calculation module 220 is configured to calculate a reference pulling force of the main winch 102 corresponding to the drilling bucket depth according to a preset function, where the preset function is a corresponding relationship between the drilling bucket depth and the reference pulling force of the main winch 102, and the reference pulling force of the main winch 102 is a pulling force of the main winch 102 during a soil-free drilling bucket lifting or soil shaking process. In this embodiment, the first calculating module 220 is used for executing the step S110.
The second calculation module 230 is used for calculating the soil mass in the drilling bucket according to the actual tension and the reference tension. In this embodiment, the second calculating module 230 is configured to execute step S120.
The control module 240 is used to control the display device 105 to display the soil mass in the drilling bucket. In this embodiment, the control module 240 is configured to execute step S130.
The device 200 for prompting the state of the drilling bucket can calculate the soil mass in the drilling bucket by monitoring the actual tension of the main winch 102 in the process of lifting or shaking the drilling bucket and comparing the actual tension with the reference tension of the main winch 102 at the same drilling bucket depth, and can control the display device 105 to display the soil mass in the drilling bucket for a manipulator to check. Therefore, the manipulator can check the soil quality in the drilling bucket at any time in the process of lifting or shaking the drilling bucket of the rotary drilling rig during operation, so that the operation can be adjusted in time, unnecessary operations can be avoided, the drilling time can be saved, and the drilling efficiency can be improved.
Referring to fig. 4, an embodiment of the present invention further provides a soil shaking control method for a rotary drilling rig, including the following steps:
step S100: acquiring the actual tension of the main winch 102 and the corresponding depth of a drilling bucket; step S110: calculating the reference tension of the main winch 102 corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch 102, and the reference tension of the main winch 102 is the tension of the main winch 102 in the soil-free drilling bucket lifting or soil shaking process; step S120: calculating the soil mass in the drilling bucket according to the actual tension and the reference tension; step S140: and controlling the execution action of the drilling bucket according to the soil quality in the drilling bucket.
Therefore, the first three steps of the soil shaking control method of the rotary drilling rig are the same as the drilling bucket state display method, and the difference between the first three steps is the fourth step.
Namely, after the soil mass M in the drilling bucket is calculated, the soil shaking control method of the rotary drilling rig does not only display the soil mass M to a manipulator for viewing, but controls the execution work of the drilling bucket according to the soil mass M in the drilling bucket.
For example, when the soil mass M in the drilling bucket is less than or equal to the first threshold, the control device 101 may directly control the drilling bucket to stop lifting; when the rate of decrease of the mass M of earth inside the drill bucket is greater than or equal to the second threshold value, the control device 101 may directly control the drill bucket to stop shaking. Therefore, the high automation of soil shaking operation can be realized, unnecessary operation of a manipulator can be avoided, the working strength of the manipulator can be reduced to a great extent, the drilling time is saved, and the drilling efficiency is improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may 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 some 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, the functional modules in the embodiments 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 may 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 personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
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 changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A drilling bucket state prompting method is used for prompting the soil quality in a drilling bucket of a rotary drilling rig in the process of lifting or shaking the soil, and is characterized by comprising the following steps:
acquiring the actual tension of a main winch and the corresponding depth of a drilling bucket;
calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process;
calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
and controlling a display device to display the soil quality in the drilling bucket.
2. The method for prompting the state of the drilling bucket according to claim 1, wherein before the step of calculating the reference pulling force of the main winch corresponding to the depth of the drilling bucket according to a preset function, the method further comprises the following steps:
controlling the soil-free drilling bucket to lift or shake soil;
and recording and storing the pulling force of the main winch in the soil-free drilling bucket lifting or soil shaking process and the corresponding drilling bucket depth so as to obtain the preset function.
3. The method for prompting the state of the drilling bucket according to claim 1, wherein before the step of calculating the reference pulling force of the main winch corresponding to the depth of the drilling bucket according to a preset function, the method further comprises the following steps:
and acquiring the preset function input by the user.
4. The method for prompting the state of the drill bucket according to claim 1, wherein the soil mass is calculated by the following formula:
Mg＝F1-F2；
the M is the soil mass in the drilling bucket, the g is the gravity acceleration, the F1 is the actual pulling force of the main winch, and the F2 is the theoretical pulling force of the main winch.
5. The method for prompting the state of the drill bucket according to claim 1, wherein the step of calculating the soil mass in the drill bucket according to the actual tension and the reference tension further comprises the following steps:
and controlling the display device to display an operation suggestion according to the soil quality in the drilling bucket.
6. The method for prompting the state of the drill bucket according to claim 5, wherein the step of controlling the display device to display the operation suggestion according to the soil quality in the drill bucket comprises the following steps:
and controlling the display device to display first suggestion information for suggesting that the lifting of the drilling bucket is stopped or the shaking of the drilling bucket is stopped when the soil mass in the drilling bucket is less than or equal to a first threshold value.
7. The method for prompting the state of the drill bucket according to claim 5, wherein the step of controlling the display device to display the operation suggestion according to the soil quality in the drill bucket comprises the following steps:
and controlling the display device to display second suggestion information for suggesting that the lifting speed of the drilling bucket is reduced or the shaking frequency of the drilling bucket is reduced under the condition that the reduction speed of the soil mass in the drilling bucket is greater than or equal to a second threshold value.
8. A drilling bucket state prompting device is used for prompting the soil quality in a drilling bucket of a rotary drilling rig in the process of lifting or shaking the soil, and is characterized by comprising an acquisition module, a first calculation module, a second calculation module and a control module;
the acquisition module is used for acquiring the actual tension of the main winch and the corresponding depth of the drilling bucket;
the first calculation module is used for calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the process of lifting or shaking the soil on the soil-free drilling bucket;
the second calculation module is used for calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
the control module is used for controlling a display device to display the soil quality in the drilling bucket.
9. The rotary drilling rig is characterized by comprising a main winch, a drilling bucket, a tension sensor, a control device and a display device, wherein the main winch is used for driving the drilling bucket to lift up, the tension sensor is used for detecting tension of the main winch in the process of lifting up the drilling bucket or shaking soil, the tension sensor and the display device are respectively communicated with the control device, and the control device is configured to:
acquiring the actual tension of a main winch and the corresponding depth of a drilling bucket;
calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process;
calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
and controlling a display device to display the soil quality in the drilling bucket.
10. A soil shaking control method of a rotary drilling rig is characterized by comprising the following steps:
acquiring the actual tension of a main winch and the corresponding depth of a drilling bucket;
calculating the reference tension of the main winch corresponding to the depth of the drilling bucket according to a preset function, wherein the preset function is the corresponding relation between the depth of the drilling bucket and the reference tension of the main winch, and the reference tension of the main winch is the tension of the main winch in the soil-free drilling bucket lifting or soil shaking process;
calculating the soil mass in the drilling bucket according to the actual tension and the reference tension;
and controlling the execution action of the drilling bucket according to the soil quality in the drilling bucket.
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