CN112814645A - Emergency stop control system and method for rotary drilling rig and storage medium - Google Patents
Emergency stop control system and method for rotary drilling rig and storage medium Download PDFInfo
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- 238000005553 drilling Methods 0.000 title claims abstract description 132
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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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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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Abstract
The application provides an emergency stop control system, a control method and a storage medium of a rotary drilling rig, and solves the technical problems that when a remote control technology is adopted to remotely control the work of the rotary drilling rig in the prior art, remote control signals are lost, and a drilling rig controller or a remote control signal receiving device fails, the remote emergency stop cannot be realized. According to the emergency stop control system of the rotary drilling rig, signals are transmitted between the main controller and the remote control receiver in a wired mode and a wireless mode. When signal transmission between the main controller or the remote control receiver is abnormal, the controller or the remote control receiver generates an emergency stop signal, the emergency stop signal is transmitted to the engine controller, so that the rotary drilling rig stops working, namely in the emergency stop process of the remote control rotary drilling rig, the main controller and the remote control receiver both participate in the completion of the emergency stop function of the remote control rotary drilling rig, and when the remote control receiver or the main controller breaks down, the remote emergency stop can still be realized.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to an emergency stop control system and method of a rotary drilling rig and a storage medium.
Background
The rotary drilling rig is a construction machine suitable for hole-forming operation in building foundation engineering, is mainly suitable for soil layer construction of sandy soil, cohesive soil, silty soil and the like, is widely applied to foundation construction of various foundations such as cast-in-place piles, continuous walls, foundation reinforcement and the like, generally adopts a hydraulic crawler type telescopic chassis, a self-lifting foldable drilling mast, a telescopic drill rod, vertical automatic detection and adjustment, hole depth digital display and the like, generally adopts hydraulic pilot control and load sensing for complete machine operation, and has the characteristics of light and comfortable operation and the like.
The rotary drilling rig in the prior art adopts a manual control hydraulic handle to reach the position of a drill hole, so that the working time is long, the machine hand is hard, the labor intensity is high, the precision is not high, and the efficiency is low. Therefore, in the prior art, a remote control technology is adopted to remotely control the operation of the rotary drilling rig. At present, a remote control receiving and transmitting device is used for transmitting an emergency stop signal, a remote control emergency stop switch is connected with the remote control transmitting device, and a remote control receiving device is connected with a drilling machine controller or is connected with the controller through an emergency stop circuit of a host machine, so that an emergency stop function is realized. However, in the whole remote control process, once the remote control signal packet is lost, the emergency stop signal loss machine cannot be remotely and emergently stopped; in addition, the drilling machine controller does not participate in the completion of the emergency stop function of the remote control rotary drilling machine, and once the remote control signal receiving device fails, the remote emergency stop cannot be realized; and the remote control signal receiving device does not participate in the completion of the emergency stop function of the remote control rotary drilling rig, is only responsible for transmitting emergency stop signals and is completed by the drilling rig controller, and if the controller fails, the remote emergency stop cannot be realized. That is, when the remote control technology is adopted to remotely control the operation of the rotary drilling rig at present, the remote control signal is lost, and the drilling rig controller or the remote control signal receiving device fails, the remote emergency stop cannot be realized.
Disclosure of Invention
In view of this, the present application provides an emergency stop control system, a control method and a storage medium for a rotary drilling rig, which solve the technical problems in the prior art that when a remote control technology is adopted to remotely control the operation of the rotary drilling rig, a remote control signal is lost, and a drilling rig controller or a remote control signal receiving device fails, the rotary drilling rig cannot be remotely and emergently stopped.
For the purpose of making the present application more apparent, its objects, technical means and advantages will be further described in detail with reference to the accompanying drawings.
According to an aspect of the present application, the present application provides an emergency stop control system of a rotary drilling rig, comprising: an engine controller including an emergency stop signal input; a main controller; the remote control receiver is electrically connected with the main controller, and the main controller is also connected with the remote control receiver through wireless communication; one end of the emergency stop control circuit is electrically connected with the main controller and the remote control receiver respectively, and the other end of the emergency stop control circuit is electrically connected with the emergency stop signal input end; when the judgment signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver and/or the main controller generate an emergency stop signal; the scram control circuit is conducted under the action of the scram signal, so that the scram signal is transmitted to the engine controller.
In one possible implementation, the scram control circuit includes a normally open relay.
In one possible implementation, the normally open relay includes: one end of the coil is electrically connected with the output end of the main controller; a first contact electrically connected to an output of the remote control receiver; and the second contact is electrically connected with the emergency stop signal input end.
In one possible implementation, the normally open relay includes: one end of the coil is electrically connected with the output end of the remote control receiver; the first contact is electrically connected with the output end of the main controller; and the second contact is electrically connected with the emergency stop signal input end.
In a possible implementation manner, the emergency stop control system of the rotary drilling rig further includes:
and the remote control transmitter is connected with the remote control receiver through wireless communication.
As a second aspect of the present application, the present application provides a method for controlling an emergency stop of a rotary drilling rig, including: when a signal transmission rule between a remote control receiver and a main controller does not correspond to a preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal; the emergency stop control circuit receives the emergency stop signal transmitted by the remote control receiver and is conducted under the action of the emergency stop signal; and the engine controller receives the emergency stop signal and controls the rotary drilling rig to stop working according to the emergency stop signal.
In a possible implementation manner, the preset transmission rule includes: the wired signal and the wireless signal transmitted between the remote control receiver and the main controller correspond to each other; wherein, when the signal transmission rule between remote control receiver and the main control unit does not correspond to the preset transmission rule, the remote control receiver or the main control unit generates an emergency stop signal, including: when the remote control receiver receives a first wired judgment signal transmitted by the main controller and does not correspond to a first wireless judgment signal, the remote control receiver generates an emergency stop signal; and/or when the main controller receives that the second wired judgment signal transmitted by the remote control receiver does not correspond to the second wireless judgment signal, the main controller generates an emergency stop signal.
In a possible implementation manner, the preset transmission rule includes: when the remote control receiver is connected with the main controller through wireless communication to transmit signals, the packet loss rate is smaller than the preset packet loss rate; wherein, when the signal transmission rule between remote control receiver and the main control unit does not correspond to the preset transmission rule, the remote control receiver or the main control unit generates an emergency stop signal, including: when a first packet loss rate when the remote control receiver receives a first wireless judgment signal transmitted by the main controller is greater than or equal to the preset packet loss rate, the remote control receiver generates an emergency stop signal; and/or when a second packet loss rate when the main controller receives a second wireless judgment signal transmitted by the remote control receiver is greater than or equal to the preset packet loss rate, the main controller generates an emergency stop signal.
In a possible implementation manner, the preset transmission rule includes: a first hardware fault detection result of the main controller and a second hardware fault detection result of the remote control receiver are both absent; wherein, when the signal transmission rule between remote control receiver and the main control unit does not correspond to the preset transmission rule, the remote control receiver or the main control unit generates an emergency stop signal, including: when the main controller judges that the second hardware fault detection result received by the remote control receiver is yes, the main controller generates an emergency stop signal; and/or when the remote control receiver judges that the first hardware fault detection result received by the main controller is yes, the remote control receiver generates an emergency stop signal.
As a third aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the method for controlling emergency stop of a rotary drilling rig described above.
According to the emergency stop control system of the rotary drilling rig, the main controller and the remote control receiver realize transmission of the judgment signal in a wired mode and a wireless mode, namely the judgment signal is transmitted in the wired mode and the wireless mode, when the transmission rule of the remote control receiver and the main controller in mutual signal transmission does not correspond to the preset rule in the working process of the remote control rotary drilling rig, the signal transmission between the main controller and the remote control receiver is abnormal, therefore, the main controller or the remote control receiver generates an emergency stop signal, an emergency stop control circuit is conducted under the action of the emergency stop signal, the emergency stop signal is transmitted to the engine controller, the engine controller controls the rotary drilling rig to stop working according to the emergency stop signal, namely, in the emergency stop process of the remote control rotary drilling rig, the main controller and the remote control receiver both participate in the completion of the emergency stop function of the remote control rotary drilling rig, when the remote control receiver or the main controller breaks down, the remote emergency stop can still be realized.
Drawings
Fig. 1 is a working schematic diagram of an emergency stop control system of a rotary drilling rig according to the present application;
fig. 2 is a working schematic diagram of another emergency stop control system of a rotary drilling rig according to the present application;
fig. 3 is a working schematic diagram of another emergency stop control system of a rotary drilling rig according to the present application;
fig. 4 is a working schematic diagram of another emergency stop control system of a rotary drilling rig according to the present application;
fig. 5 is a flow diagram illustrating an emergency stop control method of a rotary drilling rig according to the present application;
fig. 6 is a flow diagram illustrating another emergency stop control method for a rotary drilling rig according to the present application;
fig. 7 is a flow diagram illustrating another emergency stop control method for a rotary drilling rig according to the present application;
fig. 8 is a flow diagram illustrating another method for controlling emergency stop of a rotary drilling rig according to the present disclosure.
Detailed Description
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the corresponding embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Just as the main controller and the remote control receiver in the prior art do not participate in direct remote control, in the working process of the rotary drilling rig, when a judgment signal generated by the main controller according to the working state of the rotary drilling rig is a signal for stopping the rotary drilling rig, if the remote control receiver fails, the judgment signal cannot be transmitted to the remote control receiver, the rotary drilling rig cannot be remotely controlled to stop, and huge loss may be caused; similarly, when the remote control receiver receives a signal for stopping the rotary drilling rig, and when the main controller breaks down, the main controller cannot receive the signal for stopping the rotary drilling rig, so that the rotary drilling rig cannot be controlled to stop, and the remote control fails. Therefore, the application provides an emergency stop control system of a rotary drilling rig, the transmission of a judgment signal is realized between a main controller and a remote control receiver in a wired mode and a wireless mode, namely the judgment signal is transmitted in the wired mode and the wireless mode, when a transmission rule of the remote control receiver and the main controller when the remote control receiver mutually transmit signals does not correspond to a preset rule in the working process of the remote control rotary drilling rig, the signal transmission between the main controller and the remote control receiver is abnormal, therefore, the main controller or the remote control receiver generates an emergency stop signal, an emergency stop control circuit is conducted under the action of the emergency stop signal, the emergency stop signal is transmitted to an engine controller, the engine controller controls the rotary drilling rig to stop working according to the emergency stop signal, namely, in the emergency stop process of the remote control rotary drilling rig, the main controller and the remote control receiver both participate in the completion of the emergency stop function of the remote control rotary drilling rig, when the remote control receiver or the main controller breaks down, the remote emergency stop can still be realized.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
Fig. 1 is a schematic diagram of an emergency stop control system of a rotary drilling rig according to the present application, and as shown in fig. 1, the emergency stop control system of the rotary drilling rig includes a remote control transmitter 5, a remote control emergency stop switch K2, an engine controller 1, a main controller 2, a remote control receiver 3, and an emergency stop control circuit 4.
Wherein the engine controller 1 comprises an emergency stop signal input; one end of the emergency stop control circuit 4 is electrically connected with the main controller 2 and the remote control receiver 3 respectively, and the other end of the emergency stop control circuit 4 is electrically connected with the emergency stop signal input end.
The remote control transmitter 5 is connected with the remote control receiver 3 through wireless communication, the remote control emergency stop switch K2 is connected with the input end of the remote control transmitter 5, and the other end of the remote control emergency stop switch K2 is connected with a remote control 24V power supply.
The main controller 2 is electrically connected with the remote control receiver 3, so that the main controller 2 and the remote control receiver 3 mutually transmit the judgment signals in a wired transmission mode. Specifically, as shown in fig. 1, the main controller 2 includes a first determination signal input end, a first determination signal output end, and a power supply end, wherein the power supply end is connected with a 24V power supply of the rotary drilling rig; the remote control receiver 3 comprises a second judgment signal input end, a second judgment signal output end and a power supply end, wherein the power supply end is connected with a 24V power supply of the rotary drilling rig; the first judgment signal output end of the main controller 2 is electrically connected with the second judgment signal input end of the remote control receiver 3, and the second judgment signal input end of the main controller 2 is electrically connected with the second judgment signal output end of the remote control receiver 3, so that the main controller 2 and the remote control receiver 3 are electrically connected.
The main controller 2 and the remote control receiver 3 are also connected through wireless communication, so that the main controller 2 and the remote control receiver 3 can transmit the judgment signal mutually in a wireless transmission mode. Namely, the first judgment signal generated by the main controller 2 can be divided into a first wired judgment signal and a second wireless judgment signal, and the second judgment signal generated by the remote control receiver 3 can be divided into a second wired judgment signal and a second wireless judgment signal, wherein the first wired judgment signal and the second wired judgment signal can be mutually transmitted through the electric connection between the main controller 2 and the remote control receiver 3; the first wireless judgment signal and the second wireless judgment signal can be transmitted to each other through the wireless communication connection between the main controller 2 and the remote control receiver 3.
When the judgment signal transmission rule between the remote control receiver 3 and the main controller 2 does not correspond to the preset transmission rule, the remote control receiver 3 or the main controller 2 generates an emergency stop signal; that is, an abnormality occurs in the transmission of the determination signal between the remote control receiver 3 and the main controller 2, the remote control receiver 3 or the main controller 2 generates an emergency stop signal. The emergency stop control circuit 4 is conducted under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops.
When the transmission rule of the judgment signal between the remote control receiver 3 and the main controller 2 corresponds to the preset transmission rule, it is indicated that the remote control receiver 3 and the main controller 2 of the rotary drilling rig both work normally, and it is only required that the judgment signal mutually transmitted by the main controller 2 and the remote control receiver 3 determines whether the rotary drilling rig needs to be stopped, for example, when the main controller 2 and the remote control receiver 3 both work normally, when the judgment signal mutually transmitted by the main controller 2 and the remote control receiver 3 is at a low level, it is indicated that the rotary drilling rig needs to be normally scrammed, then the scram control circuit 4 is turned on according to the judgment signal, so that the scram signal is transmitted to the engine controller 1, so that the engine controller 1 controls the engine to stop working, namely, the rotary drilling rig stops. When the judgment signal mutually transmitted by the main controller 2 and the remote control receiver 3 is high level, it indicates that the rotary drilling rig does not need normal emergency stop, and therefore the stop control circuit is disconnected, and the rotary drilling rig continues to work normally.
According to the emergency stop control system of the rotary drilling rig, the main controller 2 and the remote control receiver 3 realize the transmission of the judgment signal in a wired mode and a wireless mode, namely the judgment signal is transmitted in the wired mode and the wireless mode, when the transmission rule of the remote control receiver 3 and the main controller 2 in the mutual signal transmission process does not correspond to the preset rule in the working process of the remote control rotary drilling rig, the abnormity of the signal transmission between the main controller 2 and the remote control receiver 3 is explained, therefore, the main controller 2 or the remote control receiver 3 generates the emergency stop signal, the emergency stop control circuit 4 is conducted under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, the engine controller 1 controls the rotary drilling rig to stop working according to the emergency stop signal, namely, in the emergency stop process of the remote control rotary drilling rig, the main controller and the remote control receiver both participate in the completion of the emergency stop function of the remote control rotary drilling rig, when the remote control receiver or the main controller breaks down, the remote emergency stop can still be realized.
Specifically, the wireless communication connection between the main controller 2 and the remote control receiver 3 may be: the main controller is connected with the remote control receiver 3 through a CAN bus so as to realize wireless communication connection between the main controller 2 and the remote control receiver 3.
Specifically, the signal transmission rule between the remote control receiver 3 and the main controller 2 does not correspond to the preset transmission rule, and the generation of the emergency stop signal by the remote control receiver 3 or the main controller 2 may include the following 6 cases:
(1) when the preset transmission rule comprises: when the wired signal and the wireless signal transmitted between the remote control receiver 3 and the main controller 2 correspond to each other, then when the remote control receiver 3 receives the first wired judgment signal and the first wireless judgment signal transmitted by the main controller and do not correspond to each other, for example, the first wired judgment signal is at a high level, the first wireless judgment signal is at a low level, since the first wired judgment signal and the first wireless judgment signal are both transmitted by the first judgment signal through both wired and wireless transmission methods, the first wireless judgment signal and the first wired judgment signal should correspond to each other, therefore, when the remote control receiver 3 receives the first wired judgment signal and the first wireless judgment signal transmitted by the main controller and do not correspond to each other, it is indicated that the main controller 2 is abnormal or disconnected, so the remote control receiver 3 generates an emergency stop signal, the emergency stop control circuit 4 is turned on under the effect of the emergency stop signal, so that an emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops. That is, when the master controller 2 is abnormal, the remote control receiver 3 actively generates an emergency stop signal.
(2) Similarly, when the preset transmission rule includes: when the wired signal and the wireless signal transmitted between the remote control receiver 3 and the main controller 2 correspond to each other, then when the main controller 2 receives a second wired judgment signal and a second wireless judgment signal transmitted by the remote control receiver 3, for example, the second wired judgment signal is at a high level, the second wireless judgment signal is at a low level, since the second wired judgment signal and the second wireless judgment signal are both transmitted by the wired and wireless transmission methods, the second wireless judgment signal and the second wired judgment signal should correspond to each other, therefore, when the main controller 2 receives the second wired judgment signal and the second wireless judgment signal transmitted by the remote control receiver 3, it is indicated that the remote control receiver 3 is abnormal or disconnected, and therefore, the main controller 2 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that an emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops. That is, when the remote control receiver 3 is abnormal, the main controller 2 actively generates an emergency stop signal.
(3) When the preset transmission rule comprises: the packet loss rate when the remote control receiver 3 is connected with the main controller 2 through wireless communication to transmit signals is less than the preset packet loss rate; that is, when the remote control receiver 3 and the main controller 2 transmit signals wirelessly, the packet loss rate of the signals must be smaller than the preset packet loss rate. Therefore, when the first packet loss rate when the remote control receiver 3 receives the first wireless determination signal transmitted by the main controller 2 is greater than or equal to the preset packet loss rate, it indicates that the packet loss rate is greater when the main controller 2 transmits the first wireless determination signal to the remote control receiver 3, that is, the main controller 2 is abnormal in the process of transmitting the wireless signal, so that the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, that is, the rotary drilling rig stops. That is, when an abnormality occurs in the main controller 2 during the transmission of the wireless signal, the remote control receiver 3 actively generates an emergency stop signal.
(4) When the preset transmission rule comprises: the packet loss rate when the remote control receiver 3 is connected with the main controller 2 through wireless communication to transmit signals is less than the preset packet loss rate; that is, when the remote control receiver 3 and the main controller 2 transmit signals wirelessly, the packet loss rate of the signals must be smaller than the preset packet loss rate. Therefore, when the second packet loss rate when the main controller 2 receives the second wireless determination signal transmitted by the remote control receiver 3 is greater than or equal to the preset packet loss rate, it indicates that the packet loss rate is higher when the remote control receiver 3 transmits the second wireless determination signal to the main controller 2, that is, the remote control receiver 3 is abnormal in the process of transmitting the wireless signal, so that the main controller 2 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, that is, the rotary drilling rig stops. That is, when an abnormality occurs in the remote control receiver 3 during the transmission of the wireless signal, the main controller 2 actively generates an emergency stop signal.
(5) When the preset transmission rule comprises: a first hardware fault detection result of the main controller 2 and a second hardware fault detection result of the remote control receiver 3 are both absent; that is, when both the first hardware detection result of the main controller 2 and the second hardware failure detection result of the remote control receiver 3 are absent, that is, the hardware of the main controller 2 and the hardware of the remote control receiver 3 are absent of failure.
When the main controller 2 receives that the second hardware fault detection result of the remote control receiver 3 is yes, that is, the hardware of the remote control receiver 3 has a fault, the remote control receiver 3 cannot normally operate, at this time, the main controller 2 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop operating, that is, the rotary drilling rig stops. I.e. when the hardware of the remote control receiver 3 fails, the main controller 2 actively generates an emergency stop signal.
(6) When the preset transmission rule comprises: a first hardware fault detection result of the main controller 2 and a second hardware fault detection result of the remote control receiver 3 are both absent; that is, when both the first hardware detection result of the main controller 2 and the second hardware failure detection result of the remote control receiver 3 are absent, that is, the hardware of the main controller 2 and the hardware of the remote control receiver 3 are absent of failure.
When the remote control receiver 3 receives a first hardware fault detection result of the main controller 2, that is, the hardware of the main controller 2 has a fault, the main controller 2 cannot normally operate, at this time, the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop operating, that is, the rotary drilling rig stops. I.e. when the hardware of the main controller 2 fails, the remote control receiver 3 actively generates an emergency stop signal.
In a possible implementation manner, fig. 2 is a schematic diagram of an operation of another emergency stop control system of a rotary drilling rig according to the present application, and as shown in fig. 2, the emergency stop control system of the rotary drilling rig further includes: and one end of a main engine emergency stop switch K1 and one end of a main engine emergency stop switch K1 are electrically connected with the output end of the emergency stop control circuit 4, and the other end of the main engine emergency stop switch K1 is electrically connected with an emergency stop signal input end of the engine controller 1.
Specifically, the main engine emergency stop switch K1 may be a normally open main engine emergency stop switch K1, and when the main engine emergency stop switch K1 is the normally open main engine emergency stop switch K1, the normally open main engine emergency stop switch K1 is also turned on under the effect of the emergency stop signal, for example, when the emergency stop signal is a low level, the normally open main engine emergency stop switch K1 is closed under the low level, so that the emergency stop signal is transmitted to the engine controller 1, so that the engine controller 1 controls the engine to stop working, that is, the rotary drilling rig stops.
In addition, the main engine emergency stop switch K1 may also be a normally closed main engine emergency stop switch K1, as shown in fig. 2, when the main engine emergency stop switch K1 is a normally closed main engine emergency stop switch K1, an emergency stop signal may be transmitted to the engine controller 1, so that the engine controller 1 controls the engine to stop working, that is, the rotary drilling rig stops.
In a possible implementation manner, fig. 3 is a schematic diagram of an operation of an emergency stop control system of another rotary drilling rig according to the present application, and as shown in fig. 3, a normally open relay includes: one end of the coil is electrically connected with the first judgment signal output end; the first contact N1, the first contact N1 is electrically connected with the second judgment signal output end; and a second contact N2, the second contact N2 being electrically connected with the scram signal input. The other end of the coil is grounded or connected with the negative pole of a power supply. When the remote control receiver 3 outputs an emergency stop signal, the first contact N1 and the second contact N2 are closed, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops. When the main controller 2 outputs an emergency stop signal, for example, when the emergency stop signal is at a low level, the coil is turned on, so that the first contact N1 and the second contact N2 are closed, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely, the rotary drilling rig stops.
In a possible implementation manner, fig. 4 is a schematic diagram of an operation of an emergency stop control system of another rotary drilling rig according to the present application, and as shown in fig. 4, a normally open relay includes: one end of the coil is electrically connected with the second judgment signal output end of the remote control receiver 3; the first contact N1, the first contact N1 is electrically connected with the first judgment signal output end of the main controller 2; and a second contact N2, the second contact N2 being electrically connected with the scram signal input. The other end of the coil is grounded or connected with the negative pole of a power supply. When the main controller 2 outputs an emergency stop signal, the first contact N1 and the second contact N2 are closed, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops. When the remote control receiver 3 outputs an emergency stop signal, for example, when the emergency stop signal is at a low level, the coil is turned on, so that the first contact N1 and the second contact N2 are closed, so that the emergency stop signal is transmitted to the engine controller 1, so that the engine controller 1 controls the engine to stop working, namely, the rotary drilling rig stops.
As another aspect of the present application, the present application further provides an emergency stop control method for a rotary drilling rig, fig. 5 is a schematic flow chart of the emergency stop control method for the rotary drilling rig provided by the present application, and as shown in fig. 5, the emergency stop control method for the rotary drilling rig includes the following steps:
step S101: the remote control receiver 3 and the main controller 2 respectively judge whether a signal transmission rule between the remote control receiver 3 and the main controller 2 corresponds to a preset transmission rule or not;
when the signal transmission rule between the remote control receiver 3 and the main controller 2 does not correspond to the preset transmission rule, that is, the transmission of the determination signal between the remote control receiver 3 and the main controller 2 is abnormal, the remote control receiver 3 or the main controller 2 generates an emergency stop signal, that is, step S102 is executed:
step S102: the remote control receiver 3 or the main controller 2 generates an emergency stop signal;
step S103: the emergency stop control circuit 4 receives the emergency stop signal transmitted by the remote control receiver 3 and is conducted under the action of the emergency stop signal; and
step S104: and the engine controller 1 receives the emergency stop signal and controls the rotary drilling rig to stop working.
According to the emergency stop control method of the rotary drilling rig, when the transmission rule of the remote control receiver 3 and the main controller 2 in the signal transmission process does not correspond to the preset rule, it is stated that the signal transmission between the main controller 2 and the remote control receiver 3 is abnormal, therefore, the main controller 2 or the remote control receiver 3 generates an emergency stop signal, the emergency stop control circuit 4 is conducted under the effect of the emergency stop signal, the emergency stop signal is transmitted to the engine controller 1, the engine controller 1 controls the rotary drilling rig to stop working according to the emergency stop signal, namely, in the emergency stop process of the remote control rotary drilling rig, the main controller and the remote control receiver both participate in the completion of the emergency stop function of the remote control rotary drilling rig, and when the remote control receiver or the main controller breaks down, the remote emergency stop can still be achieved.
Specifically, the signal transmission rule between the remote control receiver 3 and the main controller 2 does not correspond to the preset transmission rule, and the remote control receiver 3 or the main controller 2 generates the emergency stop signal, which may include the following three conditions:
fig. 6 is a schematic flow chart of another method for controlling emergency stop of a rotary drilling rig according to the present application, and as shown in fig. 6, the preset transmission rule in step S101 includes: the wired signal and the wireless signal transmitted between the remote control receiver 3 and the main controller 2 correspond to each other;
specifically, step S101 includes:
step S1011: the remote control receiver 3 judges whether the first wired judgment signal transmitted by the receiving main controller 2 corresponds to the first wireless judgment signal;
when the remote control receiver 3 determines that the first wired determination signal does not correspond to the first wireless determination signal, for example, the first wired determination signal is at a high level, and the first wireless determination signal is at a low level, because the first wired determination signal and the first wireless determination signal are both transmitted in a wired transmission manner and a wireless transmission manner, the first wireless determination signal and the first wired determination signal should correspond to each other, and therefore, when the remote control receiver 3 receives the first wired determination signal and the first wireless determination signal transmitted by the master controller, it indicates that the master controller 2 is abnormal or the remote control receiver 3 is disconnected, and thus the remote control receiver 3 generates an emergency stop signal, that is, step S102 specifically includes:
step S1021: the remote control receiver 3 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops, namely step S103 and the subsequent steps are executed. That is, when the master controller 2 is abnormal, the remote control receiver 3 actively generates an emergency stop signal.
Similarly, as shown in fig. 6, that is, when the remote control receiver 3 is abnormal, the main controller 2 actively generates an emergency stop signal, specifically:
step S101 specifically further includes:
step S1012: the main controller 2 judges whether the second wired judgment signal transmitted by the receiving remote control receiver 3 corresponds to the second wireless judgment signal;
when the main controller 2 determines that the second wired determining signal does not correspond to the second wireless determining signal, for example, the second wired determining signal is at a high level, and the second wireless determining signal is at a low level, because the second wired determining signal and the second wireless determining signal are both transmitted by the second determining signal through two transmission manners, namely, wired and wireless, the second wireless determining signal and the second wired determining signal should be corresponding, therefore, when the main controller 2 detects that the second wired determining signal and the second wireless determining signal transmitted by the remote control receiver 3 do not correspond, it indicates that the remote control receiver 3 is abnormal or disconnected, and therefore the main controller 2 actively generates an emergency stop signal, that is, the step S102 specifically includes:
step S1022: the main controller 2 generates an emergency stop signal. The main controller 2 transmits the emergency stop signal to the emergency stop control circuit 4, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops, namely step S103 and the subsequent steps are executed. That is, when the remote control receiver 3 is abnormal, the main controller 2 actively generates an emergency stop signal.
Fig. 7 is a schematic flow chart of another method for controlling emergency stop of a rotary drilling rig according to the present application, and as shown in fig. 7, the preset transmission rule in step S101 includes: the packet loss rate when the remote control receiver 3 is connected with the main controller 2 through wireless communication to transmit signals is less than the preset packet loss rate; that is, when the remote control receiver 3 and the main controller 2 transmit signals wirelessly, the packet loss rate of the signals must be smaller than the preset packet loss rate.
Specifically, step S101 includes:
step S1013: the remote control receiver 3 judges whether a first packet loss rate when receiving the first wireless judgment signal transmitted by the main controller 2 is greater than or equal to a preset packet loss rate; that is, when the remote control receiver 3 receives the first wireless determination signal transmitted by the main controller 2, the first wireless determination signal is used for determining whether a phenomenon of continuous packet loss occurs, when the remote control receiver 3 determines that the first packet loss rate when receiving the first wireless determination signal transmitted by the main controller 2 is greater than or equal to the preset packet loss rate, that is, when the main controller 2 transmits the first wireless determination signal to the remote control receiver 3, the packet loss rate is relatively high, and a phenomenon of continuous packet loss occurs, so that it can be described that an abnormality occurs in the process of transmitting the wireless signal by the main controller 2, at this time, the remote control receiver 3 generates an emergency stop signal, namely, step S102 specifically includes:
step S1021: the remote control receiver 3 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops, namely step S103 and the subsequent steps are executed. That is, when an abnormality occurs in the main controller 2 during the transmission of the wireless signal, the remote control receiver 3 actively generates an emergency stop signal.
Similarly, when the remote control receiver 3 is abnormal, the main controller 2 actively generates an emergency stop signal, specifically:
step S101 specifically further includes:
step S1024: the main controller 2 judges whether a second packet loss rate when receiving a second wireless judgment signal transmitted by the remote control receiver 3 is greater than or equal to a preset packet loss rate; that is, when the main controller 2 receives the second wireless determination signal transmitted by the remote control receiver 3, whether the second wireless determination signal has a phenomenon of continuous packet loss or not is determined, when the main controller 2 determines that the second packet loss rate when receiving the second wireless determination signal transmitted by the remote control receiver 3 is greater than or equal to the preset packet loss rate, that is, when the remote control receiver 3 transmits the second wireless determination signal to the main controller 2, the packet loss rate is relatively high and a phenomenon of continuous packet loss occurs, which can indicate that an abnormality occurs in the process of transmitting the wireless signal by the remote control receiver 3, at this time, the main controller 2 generates an emergency stop signal, that is, step S102 specifically includes:
step S1022: the main controller 2 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops, namely step S103 and the subsequent steps are executed. That is, when an abnormality occurs in the main controller 2 during the transmission of the wireless signal, the remote control receiver 3 actively generates an emergency stop signal.
Fig. 8 is a schematic flow chart of another method for controlling emergency stop of a rotary drilling rig according to the present application, and as shown in fig. 8, the preset transmission rule in step S101 includes: a first hardware fault detection result of the main controller 2 and a second hardware fault detection result of the remote control receiver 3 are both absent; that is, when both the first hardware detection result of the main controller 2 and the second hardware failure detection result of the remote control receiver 3 are absent, that is, the hardware of the main controller 2 and the hardware of the remote control receiver 3 are absent of failure.
Specifically, step S101 includes:
step S1015: the remote control receiver 3 determines whether the received first hardware fault detection result of the main controller 2 is yes, and when the remote control receiver 3 receives the first hardware fault detection result of the main controller 2 as yes, that is, the hardware of the main controller 2 has a fault, then the main controller 2 cannot normally operate, at this time, the remote control receiver 3 generates an emergency stop signal, that is, step S102 includes: step S1021: the remote control receiver 3 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops, namely step S103 and the subsequent steps are executed. I.e. when the hardware of the main controller 2 fails, the remote control receiver 3 actively generates an emergency stop signal.
Similarly, when the hardware of the remote control receiver 3 fails, the main controller 2 actively generates an emergency stop signal, specifically
Step S101 includes:
step S1016: the main controller 2 determines whether the received second hardware fault detection result of the remote control receiver 3 is yes, and when the second hardware fault detection result of the remote control receiver 3 received by the main controller 2 is yes, that is, the hardware of the remote control receiver 3 has a fault, then the remote control receiver 3 cannot normally operate, at this time, the main controller 2 generates an emergency stop signal, that is, step S102 includes: step S1022: the main controller 2 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops, namely step S103 and the subsequent steps are executed. I.e. when the hardware of the main controller 2 fails, the remote control receiver 3 actively generates an emergency stop signal.
In the above steps S1011 to S1016, when the determination result is: the remote control receiver 3 judges that the first wired judgment signal transmitted by the receiving main controller 2 corresponds to the first wireless judgment signal; the main controller 2 judges that the second wired judgment signal transmitted by the receiving remote control receiver 3 corresponds to the second wireless judgment signal; the remote control receiver 3 judges that a first packet loss rate when receiving the first wireless judgment signal transmitted by the main controller 2 is less than a preset packet loss rate; the main controller 2 judges that a second packet loss rate when receiving a second wireless judgment signal transmitted by the main controller 2 is less than a preset packet loss rate; the remote control receiver 3 judges whether the received first hardware fault detection result of the main controller 2 is negative; the main controller 2 judges whether the received first hardware fault detection result of the main controller 2 is negative; the remote control receiver 3 and the main controller 2 of the rotary drilling rig work normally, and whether the rotary drilling rig needs to be stopped is determined only by judging signals transmitted by the main controller 2 and the remote control receiver 3, for example, when the main controller 2 and the remote control receiver 3 work normally, when the judging signals transmitted by the main controller 2 and the remote control receiver 3 are low level, the rotary drilling rig needs to be normally scrammed, then the scram control circuit 4 is conducted according to the judging signals, so that the scram signals are transmitted to the engine controller 1, and the engine controller 1 controls the engine to stop working, namely the rotary drilling rig stops. When the judgment signal mutually transmitted by the main controller 2 and the remote control receiver 3 is high level, it indicates that the rotary drilling rig does not need normal emergency stop, and therefore the stop control circuit is disconnected, and the rotary drilling rig continues to work normally.
As a third aspect of the present application, there is provided a rotary drilling rig, comprising: the emergency stop control system of the rotary drilling rig. According to the rotary drilling rig of the rotary drilling rig, the emergency stop of the rotary drilling rig is controlled by the emergency stop control system of the rotary drilling rig, the transmission of the judgment signal is realized between the main controller 2 and the remote control receiver 3 in a wired mode and a wireless mode, namely the judgment signal is transmitted in the wired mode and the wireless mode, when the transmission rule of the remote control receiver 3 and the main controller 2 in the process of transmitting signals mutually does not correspond to the preset rule in the working process of the remote control rotary drilling rig, the abnormity happens in the signal transmission between the main controller 2 and the remote control receiver 3 is proved, therefore, the main controller 2 or the remote control receiver 3 generates an emergency stop signal, the emergency stop control circuit 4 is conducted under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the rotary drilling rig to stop working according to the emergency stop signal, in other words, in the emergency stop process of the remote control rotary drilling rig, the main controller and the remote control receiver both participate in the completion of the emergency stop function of the remote control rotary drilling rig, and when the remote control receiver or the main controller breaks down, the remote emergency stop can still be realized.
As a fourth aspect of the present application, the present application further provides a computer-readable storage medium having stored thereon computer program information, which, when executed by a processor, causes the processor to execute the steps in the method for controlling emergency stop of a rotary drilling rig according to various embodiments of the present application.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a scram control system of rotary drilling rig which characterized in that includes:
an engine controller including an emergency stop signal input;
a main controller;
the remote control receiver is electrically connected with the main controller, and the main controller is also connected with the remote control receiver through wireless communication; and
one end of the emergency stop control circuit is electrically connected with the main controller and the remote control receiver respectively, and the other end of the emergency stop control circuit is electrically connected with the emergency stop signal input end;
when the judgment signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver and/or the main controller generate an emergency stop signal;
the scram control circuit is conducted under the action of the scram signal, so that the scram signal is transmitted to the engine controller.
2. The emergency stop control system of the rotary drilling rig according to claim 1, wherein the emergency stop control circuit comprises a normally open relay.
3. The emergency stop control system of the rotary drilling rig according to claim 2, wherein the normally open relay comprises:
one end of the coil is electrically connected with the output end of the main controller;
a first contact electrically connected to an output of the remote control receiver; and
and the second contact is electrically connected with the emergency stop signal input end.
4. The emergency stop control system of the rotary drilling rig according to claim 2, wherein the normally open relay comprises:
one end of the coil is electrically connected with the output end of the remote control receiver;
the first contact is electrically connected with the output end of the main controller; and
and the second contact is electrically connected with the emergency stop signal input end.
5. The emergency stop control system of the rotary drilling rig according to claim 1, further comprising:
and the remote control transmitter is connected with the remote control receiver through wireless communication.
6. The emergency stop control method of the rotary drilling rig is characterized by comprising the following steps:
when a signal transmission rule between a remote control receiver and a main controller does not correspond to a preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal;
the emergency stop control circuit receives the emergency stop signal transmitted by the remote control receiver and is conducted under the action of the emergency stop signal; and
and the engine controller receives the emergency stop signal and controls the rotary drilling rig to stop working according to the emergency stop signal.
7. The emergency stop control method of the rotary drilling rig according to claim 6,
the preset transmission rule comprises: the wired signal and the wireless signal transmitted between the remote control receiver and the main controller correspond to each other;
wherein, when the signal transmission rule between remote control receiver and the main control unit does not correspond to the preset transmission rule, the remote control receiver or the main control unit generates an emergency stop signal, including:
when the remote control receiver receives a first wired judgment signal transmitted by the main controller and does not correspond to a first wireless judgment signal, the remote control receiver generates an emergency stop signal; and/or
And when the main controller receives that the second wired judgment signal transmitted by the remote control receiver does not correspond to the second wireless judgment signal, the main controller generates an emergency stop signal.
8. The emergency stop control method of the rotary drilling rig according to claim 6,
the preset transmission rule comprises: when the remote control receiver is connected with the main controller through wireless communication to transmit signals, the packet loss rate is smaller than the preset packet loss rate;
wherein, when the signal transmission rule between remote control receiver and the main control unit does not correspond to the preset transmission rule, the remote control receiver or the main control unit generates an emergency stop signal, including:
when a first packet loss rate when the remote control receiver receives a first wireless judgment signal transmitted by the main controller is greater than or equal to the preset packet loss rate, the remote control receiver generates an emergency stop signal; and/or
And when the second packet loss rate when the main controller receives the second wireless judgment signal transmitted by the remote control receiver is greater than or equal to the preset packet loss rate, the main controller generates an emergency stop signal.
9. The emergency stop control method of the rotary drilling rig according to claim 6,
the preset transmission rule comprises: a first hardware fault detection result of the main controller and a second hardware fault detection result of the remote control receiver are both absent;
wherein, when the signal transmission rule between remote control receiver and the main control unit does not correspond to the preset transmission rule, the remote control receiver or the main control unit generates an emergency stop signal, including:
when the main controller judges that the second hardware fault detection result received by the remote control receiver is yes, the main controller generates an emergency stop signal; and/or
And when the remote control receiver judges that the received first hardware fault detection result of the main controller is yes, the remote control receiver generates an emergency stop signal.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the method for controlling emergency stop of a rotary drilling rig according to any one of claims 6 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110189304.7A CN112814645A (en) | 2021-02-19 | 2021-02-19 | Emergency stop control system and method for rotary drilling rig and storage medium |
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| CN202110189304.7A CN112814645A (en) | 2021-02-19 | 2021-02-19 | Emergency stop control system and method for rotary drilling rig and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115182406A (en) * | 2022-06-21 | 2022-10-14 | 徐工集团工程机械股份有限公司 | A long-range unmanned remote control system and loaderdigger for loaderdigger |
| CN115331417A (en) * | 2022-07-11 | 2022-11-11 | 中联重科股份有限公司 | Method for monitoring frequency of remote controller, controller and pumping equipment |
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2021
- 2021-02-19 CN CN202110189304.7A patent/CN112814645A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115182406A (en) * | 2022-06-21 | 2022-10-14 | 徐工集团工程机械股份有限公司 | A long-range unmanned remote control system and loaderdigger for loaderdigger |
| CN115331417A (en) * | 2022-07-11 | 2022-11-11 | 中联重科股份有限公司 | Method for monitoring frequency of remote controller, controller and pumping equipment |
| CN115331417B (en) * | 2022-07-11 | 2023-11-17 | 中联重科股份有限公司 | Method for monitoring frequency of remote controller, controller and pumping equipment |
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