CN115584960A - Control method and system for fixed-point automatic operation of rotary drilling rig - Google Patents
Control method and system for fixed-point automatic operation of rotary drilling rig Download PDFInfo
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- CN115584960A CN115584960A CN202211251036.8A CN202211251036A CN115584960A CN 115584960 A CN115584960 A CN 115584960A CN 202211251036 A CN202211251036 A CN 202211251036A CN 115584960 A CN115584960 A CN 115584960A
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- 238000005553 drilling Methods 0.000 title claims abstract description 185
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000002893 slag Substances 0.000 claims description 21
- 238000007599 discharging Methods 0.000 claims description 17
- 239000002689 soil Substances 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 6
- 239000002390 adhesive tape Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
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Classifications
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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
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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
- E21B3/00—Rotary drilling
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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
- E21B44/02—Automatic control of the tool feed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
Abstract
The invention provides a control method and a control system for fixed-point automatic operation of a rotary drilling rig, wherein the start and the end of each operation section under automatic operation are determined according to signals obtained by a positioning transmitting device, a positioning receiving device, a drilling bucket weight sensing device and a bucket door opening and closing sensing device; when the distance between the position of the positioning receiving device and the drilling point is judged to be smaller than a set value, the drilling bucket stops rotating to enable the bucket door pin shaft to be on the same side with the rotation direction of the rotary table, so that the drilling bucket can close the bucket door; obtaining a predicted current value of each operation section under automatic operation according to the obtained actual duration and the actual current value of each operation section under manual operation; controlling the electric proportional valve group to reproduce each operation section according to the corresponding predicted current value of each operation section; and repeating the automatic operation until the set hole depth is reached, and finishing the automatic operation.
Description
Technical Field
The invention relates to the field of engineering machinery control, in particular to a control system and a control method for fixed-point automatic operation of a rotary drilling rig.
Background
With the rapid development of the construction of basic facilities such as railways, highways, high-rise buildings and the like in China, the pile foundations, particularly the pile foundations with large diameters and large-depth holes, have huge engineering quantities, so that the market demand of the rotary drilling rig is gradually expanded, and the requirements of people on the automation of the rotary drilling rig are also higher and higher. In the construction process, after the drilling position is determined, an operator needs to repeatedly operate the operation processes of lowering drilling, lifting drilling, turning on the vehicle, deslagging, reversely turning to the hole position and then drilling. Therefore, the rotary drilling rig has complex fixed-point operation process, high labor intensity of operators, needs to concentrate attention for a long time, is easy to cause accidents due to improper operation caused by fatigue or external interference, can cause equipment damage, and even brings potential safety hazards to the operators.
Disclosure of Invention
The invention aims to solve the problem of complex operation in the manual fixed-point operation process, improve the efficiency of manual drilling operation and provide a control method and a control system for fixed-point automatic operation of a rotary drilling rig.
In order to achieve the technical purpose, the invention adopts the following technical scheme.
In a first aspect, the present invention provides a method for controlling fixed-point automatic operation of a rotary drilling rig, comprising: arranging positioning and transmitting devices at a drilling point, a slag discharging point and a hopper door closing point; arranging a positioning receiving device at a drilling bucket gate pin shaft of the rotary drilling rig;
respectively arranging a drilling bucket weight sensing device and a bucket door opening and closing sensing device; the drilling bucket weight sensing device is used for sensing the total weight of the drilling bucket and the muck; the hopper door opening and closing sensing device is used for sensing the closing and the opening of a hopper door of the drilling hopper;
controlling the upper vehicle body to rotate around the rotary center of the rotary table according to the motion track determined by the drilling point position, and executing automatic operation;
the automatic operation includes: determining the beginning and the end of each operation section under automatic operation according to signals obtained by the positioning transmitting device, the positioning receiving device, the drilling bucket weight sensing device and the bucket door opening and closing sensing device;
when the distance between the position of the positioning receiving device and the drilling point is judged to be smaller than a set value, the drilling bucket stops rotating to enable the bucket door pin shaft to be on the same side with the rotation direction of the rotary table, so that the drilling bucket can close the bucket door;
obtaining a predicted current value of each operation section under automatic operation according to the obtained actual duration and the actual current value of each operation section under manual operation; controlling the electric proportional valve group to reproduce each operation section according to the corresponding predicted current value of each operation section;
and repeating the circulation automatic operation of each operation section until the preset hole depth is reached, and finishing the automatic operation.
Further, the operation section includes pre-division, is divided into 8, includes: the method comprises the following steps of 'lowering drilling', 'lifting drilling', 'turning on a vehicle and turning around', 'deslagging', 'reverse turning', 'Guan Doumen', 'returning and lifting', and 'returning'.
Still further, according to the signal that location emitter, location receiving arrangement, drilling bucket weight induction system and the induction system that opens and shuts of fill door acquireed, confirm each operation section under the automatic operation beginning and end, specifically include:
the first operation section is used for detecting that the total weight of the drilling bucket and the muck exceeds a threshold value from the first time of identifying the drilling point to the first time;
the second operation section is used for identifying a drilling point for the second time from the first time when the total weight of the drilling bucket and the muck exceeds the threshold value;
a third operation section from the identification of the drilling point to the identification of the slag discharging point;
the fourth operation section, from the identification of the slag discharging point to the second detection that the total weight of the drilling bucket and the slag soil exceeds the threshold value;
a fifth operation section, wherein a bucket door closing point is identified for the first time from the second time of detecting that the total weight of the drilling bucket and the muck exceeds the threshold value;
in the sixth operation stage, the closing of the hopper door is sensed by the hopper door opening and closing sensing device after the hopper door closing point is identified for the first time;
in the seventh operation stage, the hopper door opening and closing sensing device senses that the hopper door is closed and identifies a hopper door closing point for the second time;
and in the eighth operation stage, the second time of identifying the closing door point to the third time of identifying the drilling point.
Still further, the method for determining the predicted current value of each operation segment of the next cycle of the automatic operation is as follows:
the predicted current value of each operation section in the next cycle of the automatic operation = the predicted current value of the corresponding operation section this time (the actual time length of the corresponding operation section this time + the difference between the actual time length of the corresponding operation section this time and the predicted time length)/the actual time length of the operation section.
Still further, the method for determining the predicted current value of each operation section of the first automatic operation cycle comprises the following steps: operating the center of the drilling bucket to align with the drilling hole, and performing manual operation twice;
the actual time lengths of the first operation section and the second operation section … … and the eighth operation section of the first manual operation are respectively recorded as
The actual current value is recorded as
；
The actual time lengths of the first operation section and the second operation section … … of the second manual operation are respectively recorded as
The actual current value is recorded as
；
The unit drilling time length is the difference between the actual time length of the second operation section of the second manual operation and the actual time length of the first operation section;
the unit lifting time length is the difference value between the actual time length of the second operation section of the second manual operation and the actual time length of the second operation section of the first manual operation;
the predicted time length of the first operation section of the first automatic operation cycle is the sum of the actual time length of the first operation section of the second manual operation and the unit lifting time length; the predicted duration of the second operation segment is the actual duration of the second operation segment of the second manual operation
Sum of unit hoisting duration; the time length from the third operation section to the eighth operation section is the actual time length from the second operation section to the eighth operation section of the second manual operation;
the predicted current values of the first working section to the eighth working section of the first automatic working cycle are actual current values of the first working section to the eighth working section of the second manual working.
And the electric proportional valve group comprises eight electric proportional valves, a pressurizing oil cylinder pressurizing proportional valve, a pressurizing oil cylinder pulling proportional valve, a power head forward rotation proportional valve, a power head reverse rotation proportional valve, a main winding-up proportional valve, a main winding-down proportional valve, a rotary motor forward rotation proportional valve and a rotary motor reverse rotation proportional valve.
And further, adjusting the current value according to the difference value between the predicted time length and the actual time length of each operation section.
In a second aspect, the present invention provides a control system for fixed-point automatic operation of a rotary drilling rig, comprising: the device comprises a positioning transmitting device, a positioning receiving device, a drilling bucket weight sensing device, a bucket door opening and closing sensing device and a controller; the positioning and transmitting devices are arranged at a drilling point, a slag discharging point and a hopper door closing point; the positioning receiving device is arranged at a hinge pin of a bucket door of a drilling bucket of the rotary drilling rig;
the drilling bucket weight sensing device is used for sensing the total weight of the drilling bucket and the muck; the hopper door opening and closing sensing device is used for sensing the closing and the opening of a hopper door of the drilling hopper;
the controller is used for controlling the upper vehicle body to rotate around the rotary center of the rotary table according to the motion track determined by the position of the drilling point, and executing automatic operation;
the automatic operation includes: determining the beginning and the end of each operation section under automatic operation according to signals obtained by the positioning transmitting device, the positioning receiving device, the drilling bucket weight sensing device and the bucket door opening and closing sensing device;
when the distance between the position of the positioning receiving device and the drilling point is judged to be smaller than a set value, the drilling bucket stops rotating to enable the bucket door pin shaft to be on the same side with the rotation direction of the rotary table, so that the drilling bucket can close the bucket door;
obtaining a predicted current value of each operation section under automatic operation according to the obtained actual duration and the actual current value of each operation section under manual operation; controlling the electric proportional valve group to reproduce each operation section according to the corresponding predicted current value of each operation section;
and repeating the circulation automatic operation of each operation section until the preset hole depth is reached, and finishing the automatic operation.
Further, the system also comprises a control panel, and the control panel is used for setting two modes of manual operation and automatic operation.
Further, the system also comprises a display, and the display is used for displaying various parameters of the current operation state of the rotary drilling rig.
The invention has the following beneficial technical effects:
the invention aims at improving the efficiency of manual drilling operation by applying auxiliary functions of automatic return control, automatic drilling, automatic pressurization, automatic soil unloading, automatic casing pipe pulling, automatic drill pipe lifting and lowering, a drill pipe visualization system and the like in the construction process of a rotary drilling rig, but does not provide a control system and a method for releasing manpower for fixed-point operation. The invention provides a control method and a system for automatic operation.A controller receives a start signal of a certain operation section, controls an electro-proportional valve group according to a predicted current value of the operation section, thereby controlling the opening of a valve of an oil way, realizing the power output of a corresponding execution mechanism, and sequentially receives start and end signals of each operation section, and sequentially reproduces the action of each operation section until the operation cycle is completed; the problem that the manual fixed-point operation process is complex in operation, needs operators to concentrate on attention for a long time, is prone to improper operation caused by fatigue or external interference, and further leads to the fact that the structure of the rotary drilling rig is damaged, the service life of the whole machine is shortened, and even safety accidents are caused can be solved.
The labor is completely liberated in the fixed-point operation, so that the labor cost is reduced, and the operation efficiency is greatly improved; meanwhile, according to the difference value between the estimated time length and the actual time length of the operation cycle, the input current value of the corresponding actuating mechanism of the next cycle is adjusted, the power output of the actuating mechanism is ensured to change according to the working condition and the soil texture, and the automatic control system is ensured to have certain environmental adaptability and robustness and work more effectively.
Drawings
FIG. 1 is a schematic block diagram of a control system for fixed-point automatic operation of a rotary drilling rig according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a method for controlling the automatic fixed-point operation of the rotary drilling rig according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating specific steps of implementing fixed-point automatic operation of a rotary drilling rig according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of an RFID locating device employed in an embodiment of the present invention.
Fig. 5 is a schematic diagram of the calculation of the unit drilling time length and the unit hoisting time length according to the embodiment of the present invention.
Detailed Description
To further illustrate the technical means adopted by the present invention to achieve the intended purpose, the following detailed description of the embodiments of the present invention is given with reference to the accompanying drawings and examples.
Example 1: the control method for the fixed-point automatic operation of the rotary drilling rig comprises the following steps: arranging positioning and transmitting devices at a drilling point, a slag discharging point and a hopper door closing point; a positioning receiving device is arranged at a drilling bucket gate pin shaft of the rotary drilling rig;
respectively arranging a drilling bucket weight sensing device and a bucket door opening and closing sensing device; the drilling bucket weight sensing device is used for sensing the total weight of the drilling bucket and the muck; the hopper door opening and closing sensing device is used for sensing the closing and the opening of a hopper door of the drilling hopper;
controlling the upper vehicle body to rotate around the rotary center of the rotary table according to the motion track determined by the position of the drilling point, and executing automatic operation;
the automatic operation includes: determining the beginning and the end of each operation section under automatic operation according to signals obtained by the positioning transmitting device, the positioning receiving device, the drilling bucket weight sensing device and the bucket door opening and closing sensing device;
when the distance between the position of the positioning receiving device and the drilling point is judged to be smaller than a set value, the drilling bucket stops rotating to enable the bucket door pin shaft to be on the same side with the rotation direction of the rotary table, so that the drilling bucket can close the bucket door;
obtaining a predicted current value of each operation section under automatic operation according to the obtained actual duration and the actual current value of each operation section under manual operation; controlling the electric proportional valve group to reproduce each operation section according to the corresponding predicted current value of each operation section;
and repeating the circulation automatic operation of each operation section until the preset hole depth is reached, and finishing the automatic operation.
In this embodiment, the positioning transmitting device and the positioning receiving device are respectively an RFID tag and an RFID reader. In this embodiment, an RFID reader position sensor is disposed on the RFID reader for determining a distance between the RFID reader and the RFID tag, and in other embodiments, the distance between the RFID reader and the RFID tag may be directly determined according to the positioning transmitting device and the positioning receiving device.
With reference to fig. 2, a schematic flow chart of a control method for fixed-point automatic operation of a rotary drilling rig includes:
(1) And setting a manual operation mode through a control panel, and performing two manual operation cycles to obtain the actual operation time of each operation section in the two cycles and the current value of the electro-proportional valve group.
(2) And calculating to obtain the unit drilling time length and the unit hoisting time length of the drilling bucket, and the predicted time length and the predicted current value of the first automatic operation cycle.
(3) And switching to an automatic operation mode through a control panel.
(4) And reproducing the operation cycle according to the predicted current value, and recording the actual time length of each operation section.
(5) And calculating to obtain the predicted time length and the predicted current value of the next automatic operation cycle according to the difference between the actual time length and the predicted time length.
(6) And (5) repeating the steps (4) and (5) until the set hole depth value is reached, and finishing the automatic operation.
With reference to fig. 3, 4 and 5, the specific steps of the control method provided by the present invention for realizing the fixed-point automatic operation of the rotary drilling rig are as follows:
(1) And (4) performing manual operation twice under the condition that a manual operation mode is selected by the control panel and a driver ensures that the center of the drilling bucket is aligned with the construction hole site. The two manual operations have the following functions:
the method comprises the steps that initial actual current values and initial actual operation time lengths of an electro-proportional valve set of each operation section under the current working condition are obtained according to valve opening degree calibration of a left handle, a right handle and a floating pedal and are sent to a parameter recording module of a controller;
as shown in fig. 4, a drilling point, a slag discharge point, and a closing point are selected as appropriate according to the manual operation process, and after the RFID tag adhesive tape is attached to the upper portion of the crawler belt, RFID tags are attached to the RFID tag adhesive tape and are respectively denoted as a tag a, a tag b, and a tag c.
(2) Referring to fig. 5, in the controller comparison processing module, the unit drilling time length, that is, the drilling time length from the time when the drilling bucket contacts the ground to the time when the drilling bucket is full of soil, can be calculated by subtracting the time lengths of the first operation sections of the two manual operations. The unit lifting time length can be calculated by subtracting the time lengths of the second operation sections of the two times of manual operation, namely the lifting time length of lifting one drilling bucket when the drilling bucket is full of soil. And the predicted time length of the first and second operation sections of the first automatic operation cycle = the actual operation time length of the second manual operation cycle + the unit drilling time length and the unit lifting time length, and itThe residual operation section predicted time length = the actual operation time length of the second manual operation; predicting current values
The actual time lengths of the first operation section and the second operation section … … of the first manual operation cycle and the eighth operation section are respectively recorded as
The actual current value is recorded as
；
The actual time lengths of the first operation section and the second operation section … … of the second manual operation cycle and the eighth operation section are respectively recorded as
The actual current value is recorded as
。
Unit drilling time length
(ii) a Duration of unit lift
；
Predicted duration of first automatic work cycle
；
Predicting current value
。
(3) Switching an automatic operation mode on a control panel, and setting input parameters:
the RFID label serial codes of the depth of the hole, the drilling point (point a), the slag discharging point (point b) and the closing door point (point c) and the corresponding signal intensity threshold values thereof, and the upper threshold value and the lower threshold value of the weight sensing device.
(4) As shown in fig. 3, the start and end response signals and the corresponding actuators of each operation segment of the automatic operation cycle specifically include:
when the controller receives tag a for the first time,
the predicted current value of the 'downward drilling' operation section is input into the electro-proportional valve group to drive the main winding-down, the power head to rotate forward and the pressurizing oil cylinder to pressurize until the weight of the drilling bucket and the muck reaches the upper threshold value of the weight sensing device when the weight sensing device of the drilling bucket responds for the first time. The controller sends out a command of stopping drilling and preparing for lifting;
when the controller receives a signal of the weight sensing device of the drilling bucket for the first time, the predicted current value of the operation section of 'lifting the drilling bucket' is input into the electric proportional valve group to drive the main winch to ascend until the tag a is received for the second time, namely the tag a represents that the drilling bucket is lifted to a position higher than the crawler. The controller issues a command to stop bit raising and start slewing.
When the controller receives the label a for the second time, the current value predicted by the operation section of 'turning on the vehicle and turning around' is input into the electro-proportional valve group, the turning motor is driven to turn around until the label b is received, namely the label b represents that the slag discharging point is reached. The controller sends out a command of stopping rotation and starting slag discharge.
When the controller receives the label b, the current value predicted by the 'deslagging' operation section is input into the electric proportional valve group to drive the corresponding actuating mechanism to operate, the actuating mechanism comprises a small-amplitude power down-putting power head, the main roll is slowly lifted, and the bucket door is opened to rotate the mast in a small-amplitude mode to shake soil. And when the weight sensing device of the second drilling bucket responds to the situation that the residual soil is discharged, the controller sends a command of stopping discharging the residual soil and starting reverse rotation.
When the controller receives the current value predicted by the 'reverse rotation' operation section for the second time and inputs the current value into the electric proportional valve group, the rotary motor is driven to rotate reversely until the label c is received for the first time, namely the label c represents that the bucket closing door point is reached, and the controller sends a 'stopping reverse rotation and starting closing the bucket door' instruction.
When the controller receives the tag c for the first time,
the current value predicted in the 'closing hopper door' operation section is input into an electric proportional valve group to drive a main coil to be lowered, when the lower end of the hopper door is in contact with the ground (whether a signal of contact with the ground is transmitted by a ground contact sensing device on the drilling hopper door), the upper vehicle slowly rotates towards one side of a hopper door pin shaft by virtue of an RFID reader position sensor, and the hopper door can be closed by gradually lowering the drilling hopper. And the controller sends a command of starting return lifting until the hopper door opening and closing sensing device responds.
When the controller receives a signal of the opening and closing induction device of the bucket door, a current value predicted by the 'return lifting' operation section is input into the electric proportional valve group to drive the main roll to lift until a label c is received for the second time, namely the drilling bucket is lifted to a position higher than the crawler. The controller sends a command of stopping return lifting and continuing returning.
When the controller receives the label c received for the second time and inputs the current value predicted by the 'return' operation section into the electro-proportional valve group, the rotary motor is driven to continuously rotate in the reverse direction until the label a is received for the third time, which means that the drill rod is aligned with the construction hole position again, and the controller sends a 'return completion and hole measurement starting' instruction.
And when the controller receives the label a for the third time, the hole depth is measured by using the conventional device for automatically measuring the hole depth, and the hole depth data is transmitted back to the controller. If the hole depth does not reach the set value, the controller sends out an instruction of 'continuing to start operation', namely returning to the first operation section to continue to execute circulation; if the hole depth has reached the set value, the controller issues an instruction of "end operation". The automatic work cycle is stopped.
(5) A parameter recording module of the controller records the actual duration of each operation section; and according to the difference value between the actual time length and the predicted time length, calculating to obtain the predicted time length and the predicted current value of the next automatic operation cycle. And the relationship between the time length and the current value, wherein the next predicted current value = the current predicted current value (the current actual time length + the current time length difference)/the current actual time length.
The specific calculation method of the predicted duration and the predicted current value is as follows:
first of allSub-automatic duty cycle based on predicted current value
The actual duration of the recurring working cycle is recorded as
Difference between actual duration and predicted duration
，
Predicted duration of next automatic operation cycle
(ii) a Predicting current value
；
The second automatic cycle of operation is based on the predicted current value
The actual duration of the recurring working cycle is recorded as
Difference between actual duration and predicted duration
Predicted duration of next automatic operation cycle
；
Predicting current values
And so on.
The whole operation cycle relates to four actuating mechanisms including four pressurizing oil cylinders, four power heads, four main reels and four rotary motors, and the electric proportional valve group includes eight electric proportional valves, one pressurizing oil cylinder pressurizing proportional valve, one pressurizing oil cylinder pulling proportional valve, one power head forward rotating proportional valve, one power head reverse rotating proportional valve, one main reel lifting proportional valve, one main reel lowering proportional valve, one rotary motor forward rotating proportional valve and one rotary motor reverse rotating proportional valve.
If the estimated time of a certain operation section is longer than the actual time, the estimated time represents that the rotating speed of an execution structure of the current operation section is higher or the torque is larger, the rotating speed should be adjusted slowly or the torque should be reduced, and the current value of the electro-proportional valve should be reduced, so that the power of the execution structure is reduced;
if the estimated time of a certain operation section is less than the actual time, the estimated time represents that the rotating speed of the executing structure of the current operation section is slow or the torque is small, the rotating speed should be increased or the torque should be increased, and the current value of the electric proportional valve should be increased, so that the power of the executing structure is increased; the current value of the circulating electro-proportional valve group for the next automatic operation is adjusted, so that the power of the power head, the pressurizing oil cylinder, the upper turning motor and the main roll is adapted to the current soil quality and working conditions.
Example 2: corresponding to the method for controlling the fixed-point automatic operation of the rotary drilling rig provided in the above embodiment, the present embodiment provides a system for controlling the fixed-point automatic operation of the rotary drilling rig, including: the device comprises a positioning transmitting device, a positioning receiving device, a drilling bucket weight sensing device, a bucket door opening and closing sensing device and a controller; the positioning and transmitting devices are arranged at a drilling point, a slag discharging point and a hopper door closing point; the positioning receiving device is arranged at a hinge pin of a bucket door of a drilling bucket of the rotary drilling rig;
the drilling bucket weight sensing device is used for sensing the total weight of the drilling bucket and the muck; the hopper door opening and closing sensing device is used for sensing the closing and the opening of a hopper door of the drilling hopper;
the controller is used for controlling the upper vehicle body to rotate around the rotary center of the rotary table according to the motion track determined by the position of the drilling point, and executing automatic operation;
the automatic operation includes: determining the beginning and the end of each operation section under automatic operation according to signals obtained by the positioning transmitting device, the positioning receiving device, the drilling bucket weight sensing device and the bucket door opening and closing sensing device;
when the distance between the position of the positioning receiving device and the drilling point is judged to be smaller than a set value, the drilling bucket stops rotating to enable the bucket door pin shaft to be on the same side with the rotation direction of the rotary table, so that the drilling bucket can close the bucket door;
obtaining a predicted current value of each operation section under automatic operation according to the obtained actual duration and the actual current value of each operation section under manual operation; controlling the electric proportional valve group to reproduce each operation section according to the corresponding predicted current value of each operation section;
and repeating the circulation automatic operation of each operation section until the preset hole depth is reached, and finishing the automatic operation.
As shown in fig. 1, the controller is connected to other devices, receives the signals of the tag and the sensor, generates control data, converts the control data to generate a control quantity of a PWM signal, and adjusts the power output of the actuator by adjusting the current of the electro-proportional valve set. The parameter recording module is used for receiving signals of the positioning device and recording the duration of each operation section and the current value of the electro-proportional valve group; and the comparison processing module is used for predicting the duration and the current value of each operation section of the next cycle by comparing the estimated duration with the actual duration.
The electric proportional valve group is used for receiving the predicted current values of the electric proportional valves for controlling the power head, the pressurizing oil cylinder, the main winch and the rotary motor, so that the rotating speed or the torque of each actuating mechanism is adjusted. The electric proportional valve group comprises eight electric proportional valves, a pressurizing oil cylinder pressurizing proportional valve, a pressurizing oil cylinder lifting proportional valve, a power head forward rotation proportional valve, a power head reverse rotation proportional valve, a main winding-up proportional valve, a main winding-down proportional valve, a rotary motor forward rotation proportional valve and a rotary motor reverse rotation proportional valve.
In the embodiment, the bucket door opening and closing sensing device, the drilling bucket weight sensing device, the RFID reader position sensor and the RFID reader are classified as positioning devices.
The positioning device is used for sending the captured sensor and RFID signals to the controller so as to identify the operation section and time. The positioning device specifically comprises
(1) A detachable reusable RFID tag adhesive tape for fixing the RFID tag;
(2) RFID labels for marking drilling points, slag discharging points and hopper door closing points;
(3) The RFID reader is used for identifying the RFID label information and sending a signal to the controller;
(4) An RFID reader position sensor for transmitting position information of the RFID reader to the controller;
(4) The weight sensing device is used for sensing the total weight of the drilling bucket and the muck and sending a signal to the controller;
(5) The hopper door opening and closing sensing device is used for sensing the closing and opening of the hopper door of the drilling hopper and sending signals to the controller;
the display is used for inputting initial parameters, including the depth of the hole, the drilling point, the slag discharging point, the RFID label serial code of the closing door point, the corresponding signal intensity threshold value and the upper and lower threshold values of the weight sensing device. And various parameters of the current operation state of the rotary drilling rig, including hole depth, power head torque and the like, are displayed.
The control panel selects a manual or automatic operation mode.
The RFID label pasting belt is arranged on the upper surface of the crawler belt close to the equipment construction hole site and the slag discharge site side and is simply connected with the upper edge of the crawler belt through a clamp. Therefore, the mounting structure is convenient to assemble and disassemble and can be repeatedly used, and a proper mounting point can be selected according to the operation working condition.
The RFID tags are convenient to replace, and before each operation, sequence codes of four RFID tags a, b and c used in the operation are input into a display and respectively correspond to a drilling point, a slag discharging point and a hopper closing point of the operation; if not, the previous input value is kept.
The RFID reader is positioned in the box body at the bottom of the drill bucket close to the hinge pin of the drill bucket door and comprises a radio frequency module and a control module, the radio frequency module is used for automatically acquiring RFID label information,
the control module mainly sends data acquired by the radio frequency module to the controller, a signal intensity threshold value for sending information to the controller is set in the control module, and the reader can send the information to the controller only when the signal intensity of the tag reaches the threshold value.
The radio frequency signal of the RFID reader is based on an inductive coupling principle, the typical action distance is 10-20cm, and the radio frequency signal can identify information of three tags within a certain range. To ensure that the drill only recognizes the closest tag when it is moved. Firstly, adopting a radio frequency module emission power self-adaptive adjustment method, namely matching the most appropriate power through the number of identified tags;
and secondly, setting a signal intensity threshold value for sending information to the automatic operation controller in the control module of the reader, wherein the reader can send the information to the controller only when the signal intensity of the tag reaches the threshold value.
The signal intensity threshold values of the tags a, b and c are respectively the signal intensity values of the tags a, b and c which are caught by the reader under the condition that the drilling bucket is at a drilling point, a slag discharging point and a bucket closing door point, and the height of the drilling bucket from the ground is the same as the height of the RFID tag adhesive tape from the ground. I.e. the signal strength value of the reader at the moment closest to the tag.
And the RFID reader position sensor is attached to the RFID reader and used for monitoring the position of the RFID reader, and when the RFID reader of the drilling bucket is identified to be nearest to the tag a, the drilling bucket stops rotating to enable the gate pin shaft to be at the same side with the rotation direction of the rotary table, so that the drilling bucket closes the gate.
The weight sensing device is used for measuring the total weight of the drilling bucket and the muck, and is provided with an upper threshold value and a lower threshold value, wherein the upper threshold value is the sum of the self weight of the drilling bucket and the weight of the filled muck, and the lower threshold value is the weight of the drilling bucket plus reasonable residual muck.
When the total weight of the drilling bucket and the muck is greater than or equal to the upper threshold value or when the total weight of the drilling bucket and the muck is less than or equal to the lower threshold value, the weight sensing device sends a signal to the controller.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The principle and the implementation of the present invention are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, it is possible to make various improvements and modifications to the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The control method for the fixed-point automatic operation of the rotary drilling rig is characterized by comprising the following steps: arranging positioning and transmitting devices at a drilling point, a slag discharging point and a hopper door closing point; a positioning receiving device is arranged at a drilling bucket gate pin shaft of the rotary drilling rig;
respectively arranging a drilling bucket weight sensing device and a bucket door opening and closing sensing device; the drilling bucket weight sensing device is used for sensing the total weight of the drilling bucket and the muck; the hopper door opening and closing sensing device is used for sensing the closing and the opening of a hopper door of the drilling hopper;
controlling the upper vehicle body to rotate around the rotary center of the rotary table according to the motion track determined by the position of the drilling point, and executing automatic operation;
the automatic operation includes: determining the beginning and the end of each operation section under automatic operation according to signals obtained by the positioning transmitting device, the positioning receiving device, the drilling bucket weight sensing device and the bucket door opening and closing sensing device;
when the distance between the position of the positioning receiving device and the drilling point is judged to be smaller than a set value, the drilling bucket stops rotating to enable the bucket door pin shaft to be on the same side with the rotation direction of the rotary table, so that the drilling bucket can close the bucket door;
obtaining a predicted current value of each operation section under automatic operation according to the obtained actual duration and the actual current value of each operation section under manual operation; controlling the electric proportional valve group to reproduce each operation section according to the corresponding predicted current value of each operation section;
and repeating the circulation automatic operation of each operation section until the preset hole depth is reached, and finishing the automatic operation.
2. The method for controlling the fixed-point automatic operation of the rotary drilling rig according to claim 1, wherein the operation sections are 8 operation sections divided in advance, and the method comprises the following steps: the method comprises the following steps of 'downward drilling', 'drill lifting', 'turning on the vehicle', 'deslagging', 'reverse turning', 'Guan Doumen', 'return lifting' and 'return'.
3. The method for controlling the fixed-point automatic operation of the rotary drilling rig according to claim 2, wherein the start and the end of each operation section under the automatic operation are determined according to signals obtained by the positioning transmitting device, the positioning receiving device, the drilling bucket weight sensing device and the bucket door opening and closing sensing device, and the method specifically comprises the following steps:
the first operation section is used for detecting that the total weight of the drilling bucket and the muck exceeds a threshold value from the first time of identifying the drilling point to the first time;
the second operation section is used for identifying a drilling point for the second time from the first time when the total weight of the drilling bucket and the muck exceeds the threshold value;
a third operation section, from the second recognition of the drilling point to the recognition of the slag discharging point;
the fourth operation section, from the identification of the slag discharging point to the second detection that the total weight of the drilling bucket and the slag soil exceeds the threshold value;
a fifth operation section, wherein a bucket door closing point is identified for the first time from the second time of detecting that the total weight of the drilling bucket and the muck exceeds the threshold value;
in the sixth operation stage, the closing of the hopper door is sensed by the hopper door opening and closing sensing device after the hopper door closing point is identified for the first time;
in the seventh operation stage, the hopper door opening and closing sensing device senses that the hopper door is closed and identifies a hopper door closing point for the second time;
and in the eighth operation stage, the second time of identifying the closing door point to the third time of identifying the drilling point.
4. The method for controlling the fixed-point automatic operation of the rotary drilling rig according to claim 3, wherein the method for determining the predicted current value of each operation section of the next cycle of the automatic operation is as follows:
the predicted current value of each operation section in the next cycle of the automatic operation = the predicted current value of the corresponding operation section this time (the actual time length of the corresponding operation section this time + the difference between the actual time length of the corresponding operation section this time and the predicted time length)/the actual time length of the operation section.
5. The method for controlling the fixed-point automatic operation of the rotary drilling rig according to claim 4, wherein the method for determining the predicted current value of each operation section of the first automatic operation cycle comprises the following steps:
operating the center of the drilling bucket to align with the drilling hole, and performing manual operation twice;
the actual time lengths of the first and second working sections … … and the eighth working section of the first manual working are recorded as the actual time lengths of the first and second working sections respectively
Actual current value is recorded as
；
The actual time lengths of the first operation section and the second operation section … … of the second manual operation are respectively recorded as
The actual current value is recorded as
；
The unit drilling time length is the difference between the actual time length of the second operation section of the second manual operation and the actual time length of the first operation section;
the unit lifting time length is the difference value between the actual time length of the second operation section of the second manual operation and the actual time length of the second operation section of the first manual operation;
the predicted time length of the first operation section of the first automatic operation cycle is the sum of the actual time length of the first operation section of the second manual operation and the unit lifting time length; the predicted duration of the second operation segment is the actual duration of the second operation segment of the second manual operation
Sum of unit hoisting duration; the time length from the third operation section to the eighth operation section is the actual time length from the second operation section to the eighth operation section of the second manual operation;
the predicted current values of the first working section to the eighth working section of the first automatic working cycle are actual current values of the first working section to the eighth working section of the second manual working.
6. The method for controlling the fixed-point automatic operation of the rotary drilling rig according to claim 5, wherein the electro proportional valve group comprises eight electro proportional valves, a pressurization oil cylinder pressurization proportional valve, a pressurization oil cylinder pulling proportional valve, a power head forward rotation proportional valve, a power head reverse rotation proportional valve, a main winding proportional valve, a rotary motor forward rotation proportional valve and a rotary motor reverse rotation proportional valve.
7. The method for controlling the fixed-point automatic operation of the rotary drilling rig according to claim 1, wherein the magnitude of the current value is adjusted according to a difference value between the predicted duration and the actual duration of each operation section.
8. Control system of automatic fixed point operation of rotary drilling rig, characterized by comprising: the device comprises a positioning transmitting device, a positioning receiving device, a drilling bucket weight sensing device, a bucket door opening and closing sensing device and a controller; the positioning and transmitting devices are arranged at a drilling point, a slag discharging point and a hopper door closing point; the positioning receiving device is arranged at a hinge pin of a bucket door of a drilling bucket of the rotary drilling rig;
the drilling bucket weight sensing device is used for sensing the total weight of the drilling bucket and the muck; the hopper door opening and closing sensing device is used for sensing the closing and the opening of the hopper door of the drilling hopper;
the controller is used for controlling the upper vehicle body to rotate around the rotary center of the rotary table according to the motion track determined by the position of the drilling point, and executing automatic operation;
the automatic operation includes: determining the beginning and the end of each operation section under automatic operation according to signals obtained by the positioning transmitting device, the positioning receiving device, the drilling bucket weight sensing device and the bucket door opening and closing sensing device;
when the distance between the position of the positioning receiving device and the drilling point is judged to be smaller than a set value, the drilling bucket stops rotating to enable the bucket door pin shaft to be on the same side with the rotation direction of the rotary table, so that the drilling bucket can close the bucket door;
obtaining a predicted current value of each operation section under automatic operation according to the obtained actual duration and the actual current value of each operation section under manual operation; controlling the electric proportional valve group to reproduce each operation section according to the corresponding predicted current value of each operation section;
and repeating the circulation automatic operation of each operation section until the preset hole depth is reached, and finishing the automatic operation.
9. The control system for the fixed-point automatic operation of the rotary drilling rig according to claim 8, further comprising a control panel, wherein the control panel is used for setting two modes of manual operation and automatic operation.
10. The system for controlling the fixed-point automatic operation of the rotary drilling rig according to claim 8, further comprising a display, wherein the display is used for displaying various parameters of the current operation state of the rotary drilling rig.
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