CN112855113A - Automatic drilling method and controller of rotary drilling rig, storage medium and electronic equipment - Google Patents
Automatic drilling method and controller of rotary drilling rig, storage medium and electronic equipment Download PDFInfo
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- 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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Abstract
The application provides an automatic drilling method of a rotary drilling rig, a controller, a storage medium and electronic equipment of the automatic drilling method, and solves the technical problem that in the prior art, the drilling efficiency is low in the automatic drilling process of the rotary drilling rig. According to the automatic drilling method of the rotary drilling rig, the current working parameters of the rotary drilling rig are obtained in real time, the type of the current working stratum where the rotary drilling rig works currently is determined according to the change of the current working parameters, the working parameters of the rotary drilling rig are regulated and controlled according to the type of the current working stratum, the working parameters of the rotary drilling rig are regulated and controlled adaptively when the type of the working stratum changes, when the working parameters of the rotary drilling rig are regulated and controlled, the working parameters of the rotary drilling rig during working are taken into consideration, namely, the deviation caused by factors such as a drilling tool, a machine and the like is reduced, therefore, the optimal working parameters of the rotary drilling rig can be regulated and controlled in real time, and the working efficiency of the rotary drilling.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to an automatic drilling method and a controller, a storage medium and electronic equipment of a rotary drilling rig.
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.
With the development of economy in China, rotary drilling rigs are more and more extensive in pile hole construction, and the rock entering capability gradually becomes the main performance of the rotary drilling rig, in the prior art, the working conditions of the rotary drilling rig are divided into four types of soil drilling, soft rock drilling, hard rock drilling and special working conditions according to rock-soil model input, at present, the automatic drilling of the automatic rotary drilling rig mainly adopts fixed-parameter control, or a construction database is established aiming at various stratums, and the construction scheme is adjusted according to stratum material information acquired by a sensor. However, the reliability of the information of the stratum substances acquired by the sensor is low, so that the reliability of the drilling parameters of the working parameters of the rotary drilling rig is low, the optimal working parameters of the rotary drilling rig are difficult to realize, and the working efficiency of the rotary drilling rig is reduced; in addition, the parameters are adjusted only according to the stratum material information acquired by the sensor, and the deviation caused by factors such as drilling tools and machines is not considered, so that the optimal working parameters of the rotary drilling rig are difficult to realize, and the working efficiency of the rotary drilling rig is reduced.
Disclosure of Invention
In view of the above, the application provides an automatic drilling method of a rotary drilling rig, a controller, a storage medium and an electronic device thereof, and solves the technical problem of low drilling efficiency in the automatic drilling process of the rotary drilling rig in the prior art.
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 one aspect of the application, an automatic drilling method of a rotary drilling rig comprises the following steps: acquiring current working parameters of the rotary drilling rig in drilling work; when the absolute value of the working parameter variation value between the last working parameter adjacent to the current working parameter and the current working parameter is larger than or equal to a preset working parameter variation value, acquiring the current working stratum type of the rotary drilling rig according to the current working parameter; acquiring preset working parameters corresponding to the current working stratum type according to the current working stratum type; and regulating and controlling the current working parameters of the rotary drilling rig to be preset working parameters.
In a possible implementation manner, the obtaining of the current working stratum type of the rotary drilling rig according to the current working parameter includes: acquiring physical parameters of stratum substances of a current working stratum of the rotary drilling rig according to the current working parameters; acquiring preset working parameters corresponding to the current working stratum type according to the current working stratum type, wherein the preset working parameters comprise: and acquiring preset working parameters corresponding to the physical parameters of the stratum materials of the current working stratum according to the physical parameters of the stratum materials of the current working stratum.
In a possible implementation manner, the adjusting and controlling the current working parameters of the rotary drilling rig to be preset working parameters includes: acquiring a preset power parameter corresponding to the preset working parameter according to the preset working parameter; and regulating and controlling the current power parameter of the rotary drilling rig to be the preset power parameter so as to regulate and control the current working parameter of the rotary drilling rig to be the preset working parameter.
In a possible implementation manner, the obtaining of the current working stratum type of the rotary drilling rig according to the current working parameter includes: according to the current working parameters, obtaining a first working stratum type with the highest matching degree with the current working parameters from a first working parameter database, wherein the first working stratum type is the current working stratum type; the acquiring of the preset working parameters corresponding to the current working stratum type according to the current working stratum type comprises: according to the type of the first working stratum, obtaining a first working parameter with the highest matching degree with the type of the first working stratum from a second working parameter database; and the first working parameter is a preset working parameter corresponding to the type of the current working stratum.
In a possible implementation manner, after the current working parameter of the rotary drilling rig is regulated and controlled to be the preset working parameter, the automatic drilling method of the rotary drilling rig further includes: updating the first working parameter database according to the current working parameters and the first working stratum type; and updating the second working parameter database according to the first working formation type and the first working parameter.
In a possible implementation manner, the automatic drilling method of the rotary drilling rig further includes: acquiring current drilling result data of the rotary drilling rig; and when the current drilling result parameters of the rotary drilling rig correspond to preset result data, generating information for completing a drilling process.
In one possible implementation, the current drilling outcome parameters include: the single bucket drilling depth and the current drilling depth in the current drilling bucket; when the current drilling result parameter of the rotary drilling rig corresponds to preset result data, generating information for completing a drilling process, wherein the information comprises the following steps: when the single-bucket drilling depth in the current drilling bucket of the rotary drilling rig corresponds to the preset single-bucket drilling depth, generating information for completing a drilling process; or when the current drilling depth of the rotary drilling rig corresponds to the preset drilling depth, generating information for completing a drilling process.
As a second aspect of the present application, a second aspect of the present application provides an automatic drilling controller of a rotary drilling rig, including: the working parameter acquiring unit is used for acquiring the current working parameters of the rotary drilling rig in the drilling work; the stratum type obtaining unit is used for obtaining the current working stratum type of the rotary drilling rig according to the current working parameter when the absolute value of the working parameter change value between the last working parameter adjacent to the current working parameter and the current working parameter is larger than or equal to a preset working parameter change value; the regulating and controlling working parameter obtaining unit is used for obtaining preset working parameters corresponding to the current working stratum type according to the current working stratum type; and the parameter regulating and controlling unit is used for regulating and controlling the current working parameters of the rotary drilling rig to be preset working parameters.
As a third aspect of the present application, a third aspect of the present application provides an electronic apparatus comprising: a processor; and a memory for storing the processor executable information; the processor is used for executing the automatic drilling method of the rotary drilling rig.
As a fourth aspect of the present application, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program for executing the automatic drilling method of the rotary drilling rig described above.
According to the automatic drilling method of the rotary drilling rig, the current working parameters of the rotary drilling rig are obtained in real time, the type of the current working stratum where the rotary drilling rig works currently is determined according to the change of the current working parameters, the working parameters of the rotary drilling rig are regulated and controlled according to the type of the current working stratum, the working parameters of the rotary drilling rig are regulated and controlled adaptively when the type of the working stratum changes, when the working parameters of the rotary drilling rig are regulated and controlled, the working parameters of the rotary drilling rig during working are taken into consideration, namely, the deviation caused by factors such as a drilling tool, a machine and the like is reduced, therefore, the optimal working parameters of the rotary drilling rig can be regulated and controlled in real time, and the working efficiency of the rotary drilling.
Drawings
Fig. 1 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to another embodiment of the present application;
fig. 3 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to another embodiment of the present application;
fig. 4 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to another embodiment of the present application;
fig. 5 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to another embodiment of the present application;
fig. 6 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to another embodiment of the present application;
fig. 7 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to another embodiment of the present application;
fig. 8 is a schematic flow chart illustrating an automatic drilling method of a rotary drilling rig according to another embodiment of the present application;
fig. 9 is a schematic structural diagram of an automatic drilling controller of a rotary drilling rig according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
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 same 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.
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 flow chart of an automatic drilling method of a rotary drilling rig according to the present application, and as shown in fig. 1, the automatic drilling method of the rotary drilling rig includes the following steps:
step S101: acquiring current working parameters of the rotary drilling rig in drilling work;
wherein, the current working parameters may include one or more of the following four parameters: current rate of penetration VDrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurizing pressure F.
Step S102: judging whether the absolute value of the working parameter change value between the last working parameter adjacent to the current working parameter and the current working parameter is greater than or equal to a preset working parameter change value or not;
when the working parameter variation value between the previous working parameter adjacent to the current working parameter and the current working parameter is greater than or equal to the preset working parameter variation value, that is, the type of the current working stratum where the rotary drilling rig is currently located may be changed, therefore, the type of the current working stratum needs to be obtained according to the current working parameter of the rotary drilling rig, that is, step S103 is executed.
Specifically, when step S101 only the current drilling speed V of the rotary drilling rig is obtainedDrillIf so, step S102 specifically includes:
judging and current drilling speed VDrillAdjacent last rate of penetration VDrill 1With current drilling speed VDrillWhether the absolute value of the drilling speed variation value is larger than or equal to the preset drilling speed variation value or not is judged, namely whether the following formula (one) is correct or not is judged, namely
|VDrill-VDrill 1|≥VDrill device(formula one),
when the formula (one) is correct, that is, the current drilling speed of the rotary drilling rig changes greatly relative to the previous drilling speed, that is, the type of the current working stratum where the rotary drilling rig is currently located may change, and therefore, the type of the current working stratum needs to be obtained according to the current drilling speed of the rotary drilling rig, that is, step S103.
Similarly, when only the current power head rotation speed V is obtained in step S101Rotating shaftIf so, step S102 specifically includes:
judging and current power head rotating speed VRotating shaftThe rotating speed V of the adjacent previous power headTurning to 1And the current power head rotating speed VRotating shaftWhether the absolute value of the change value of the rotating speed of the power head is larger than or equal to the preset change value of the rotating speed of the power head or not is judged, namely whether the following formula (two) is correct or not is judged, namely
|VRotating shaft-VTurning to 1|≥VRotary device(formula two) is shown in the figure,
when the formula (two) is correct, that is, the change of the current power head rotation speed of the rotary drilling rig is larger than the previous drilling speed, that is, the type of the current working stratum where the rotary drilling rig is located may change, and therefore, the type of the current working stratum needs to be obtained according to the current power head rotation speed of the rotary drilling rig, namely, step S103.
Similarly, when the current drilling speed V of the rotary drilling rig is obtained in the step S101DrillAnd the current power head rotating speed VRotating shaftThen, step S102 needs to determine whether the formula (one) and the formula (two) are correct, that is, determine:
|Vdrill-VDrill 1|≥VDrill device(formula one),
|Vrotating shaft-VTurning to 1|≥VRotary device(formula two)
When the formula (I) and the formula (II) are both correct, the current drilling speed V of the rotary drilling rig is obtainedDrillAnd the current power head rotating speed VRotating shaftThe step S103 is executed only when the current working formation type is obtained, that is, both the formula (i) and the formula (ii) are satisfied correctly, and because two factors are considered at the same time, the accuracy of the current working formation type and the accuracy of the current working parameter regulation are improved.
Similarly, the current operating parameters may include: current rate of penetration VDrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurizing pressure F, i.e. the current operating parameters comprise 4, 4 operating parameters are requiredThe number average satisfies: if the current working parameter-the previous working parameter |, is greater than or equal to the preset working parameter variation value, step S103 is executed, and the accuracy of the type of the current working formation and the accuracy of the regulation and control of the current working parameter can be further improved by taking various working parameters into consideration.
If the result of the determination in the step S102 is negative, that is, when the absolute value of the working parameter variation value between the previous working parameter adjacent to the current working parameter and the current working parameter is smaller than the preset working parameter variation value, that is, the current working parameter is not greatly changed from the previous working parameter, that is, the type of the working formation is not changed, therefore, the rotary drilling rig continues to work with the current working parameter, and then the working parameters of the rotary drilling rig during the working process are continuously obtained, that is, the step S101 and the subsequent steps are continuously executed.
Step S103: acquiring the current working stratum type of the rotary drilling rig according to the current working parameters;
specifically, when step S101 only obtains the current power head rotation speed VRotating shaftIf yes, step S103 is: acquiring the type of the current working stratum according to the rotating speed of the current power head of the rotary drilling rig;
when the current drilling speed V of the rotary drilling rig is obtained in the step S101DrillAnd the current power head rotating speed VRotating shaftIf yes, step S103 is: according to the current drilling speed V of the rotary drilling rigDrillAnd the current power head rotating speed VRotating shaftAcquiring the type of the current working stratum;
when the current drilling speed V is acquired in step S101DrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurizing pressure F, then step S103 is: according to the current drilling speed VDrillCurrent power head rotation speed VRotating shaftThe current torque T and the current pressurization pressure F obtain the current working formation type.
Step S104: acquiring preset working parameters corresponding to the type of the current working stratum according to the type of the current working stratum;
the preset operating parameters may be pre-designed operating parameters, such as: when the working stratum type is soft rock, the working parameters of the rotary drilling rig can be pre-designed into first preset working parameters, when the working stratum type is soil, the working parameters of the rotary drilling rig can be pre-designed into second preset working parameters, and when the working stratum type is hard rock, the working parameters of the rotary drilling rig can be pre-designed into third preset working parameters.
Step S105: and regulating and controlling the current working parameters of the rotary drilling rig to be preset working parameters.
According to the automatic drilling method of the rotary drilling rig, the current working parameters of the rotary drilling rig are obtained in real time, the type of the current working stratum where the rotary drilling rig works currently is determined according to the change of the current working parameters, the working parameters of the rotary drilling rig are regulated and controlled according to the type of the current working stratum, the working parameters of the rotary drilling rig are regulated and controlled adaptively when the type of the working stratum changes, when the working parameters of the rotary drilling rig are regulated and controlled, the working parameters of the rotary drilling rig during working are taken into consideration, namely, the deviation caused by factors such as a drilling tool, a machine and the like is reduced, therefore, the optimal working parameters of the rotary drilling rig can be regulated and controlled in real time, and the working efficiency of the rotary drilling.
In the actual working process of the rotary drilling rig, the working stratum can comprise soil, soft rock, hard rock and the like, at the moment, the specific type of the current working stratum can be judged according to the physical parameters of the current stratum substances, and no matter what type of working stratum, the physical parameters of the stratum substances included in the same stratum can be different, so that the types of the stratum can be divided into more details according to the physical parameters of the substances included in the stratum, the rotary drilling rig can adaptively adjust the optimal working parameters according to the current stratum state in the drilling work, and the working efficiency is further improved.
Specifically, in a possible implementation manner, fig. 2 is a schematic flow chart of another automatic drilling method of a rotary drilling rig provided in the present application, and as shown in fig. 2, step S103 (obtaining a current working stratum type of the rotary drilling rig according to a current working parameter) specifically includes the following steps:
step S1030: acquiring physical parameters of stratum substances of a current working stratum of the rotary drilling rig according to the current working parameters;
for example, the hardness of the stratum material of the current working stratum is obtained according to the current working parameters, for example, the hardness of soil is smaller, the hardness of rock is larger, the drilling speed and the power head rotating speed of the rotary drilling rig during soil drilling are larger, and the drilling speed and the power head rotating speed of the rotary drilling rig during rock drilling are smaller. Therefore, when the current drilling speed of the rotary drilling rig is within a first preset range and the rotating speed of the power head is within a second preset range, the first hardness of the stratum material of the current working stratum where the rotary drilling rig is located can be judged, and the corresponding preset working parameters can be obtained according to the first hardness;
when the current drilling speed of the rotary drilling rig is within a third preset range and the rotating speed of the power head is within a fourth preset range, judging the second hardness of the stratum material of the current working stratum where the rotary drilling rig is located, and acquiring corresponding preset working parameters according to the second hardness; .
At this time, after acquiring the physical parameter of the formation material of the current working formation corresponding to the current working parameter, step S104 includes:
step S1040: and acquiring preset working parameters corresponding to the physical parameters of the stratum materials of the current working stratum according to the physical parameters of the stratum materials of the current working stratum.
Specifically, when the hardness of the formation material of the current working formation is the first hardness, the preset working parameter corresponding to the first hardness is obtained according to the first hardness.
According to the automatic drilling method of the rotary drilling rig, the physical parameters of the current stratum substances are obtained according to the current working parameters, and the physical parameters of the stratum substances included in the same stratum are different, so that the types of the stratum can be divided into more details according to the physical parameters of the substances included in the stratum, the rotary drilling rig can adjust the optimal working parameters according to the current stratum state adaptability at any time in the drilling work, and the working efficiency is further improved.
In a possible implementation manner, fig. 3 is a schematic flow chart of another automatic drilling method of a rotary drilling rig according to the present application, and as shown in fig. 3, step S103 (obtaining a current working stratum type of the rotary drilling rig according to a current working parameter) specifically includes:
step S1031: according to the current working parameters, obtaining a first working stratum type with the highest matching degree with the current working parameters from a first working parameter database, wherein the first working stratum type is the current working stratum type;
specifically, a local optimization algorithm or an improved genetic algorithm may be used to obtain the first working formation type with the highest matching degree with the current working parameters from the first working parameter database.
Specifically, when the current drilling rate V is acquired in step S101DrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurizing pressure F, then the current operating parameters include current rate of penetration VDrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurization pressure F, the first operation database includes a plurality of sets of data, one set of data includes operation parameters and operation formation types corresponding to the operation parameters, for example, one set of data includes: (rate of penetration VDrillRotating speed V of power headRotating shaftTorque T and pressure F), (working formation type).
Then, a working stratum type with the highest matching degree with the current working parameters can be searched in the first database according to the current working parameters.
Step S104 (obtaining preset working parameters corresponding to the current working formation type according to the current working formation type) specifically includes:
step S1041: according to the type of the first working stratum, obtaining a first working parameter with the highest matching degree with the type of the current working stratum from a second working parameter database;
the first working parameter is a preset working parameter corresponding to the type of the current working stratum.
Specifically, a local optimization algorithm or an improved genetic algorithm may be used to obtain the first working parameter with the highest matching degree with the first working formation type in the second working parameter database.
Specifically, when the current drilling rate V is acquired in step S101DrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurizing pressure F, then the current operating parameters include current rate of penetration VDrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurization pressure F, at this time, the second working database includes a plurality of sets of data, one set of data includes the working formation type and the preset working parameters corresponding to the working formation type, for example, one set of data includes: (rate of penetration VDrill deviceRotating speed V of power headRotary deviceTorque TIs provided withAnd a pressure FIs provided with) (kind of working formation).
The optimal preset working parameters can be determined through the step S1031 and the step S1041, the optimal working parameters can be obtained according to the current working parameter adaptability, and the efficiency of the rotary drilling rig is improved.
Optionally, the first operating parameter database and the second operating parameter database may be the same database, for example, the first operating database includes multiple sets of data, and one set of data includes: (rate of penetration VDrillRotating speed V of power headRotating shaftTorque T and pressure F), (working formation type), (drilling speed VDrill deviceRotating speed V of power headRotary deviceTorque TIs provided withAnd a pressure FIs provided with)。
It should be understood that the first working database and the second working database may be two different databases, respectively, for example, the first working parameter database includes a set of data including: (rate of penetration VDrillRotating speed V of power headRotating shaftTorque T and pressure F), (working formation type). The second database of operating parameters includes a set of data comprising: (rate of penetration VDrill deviceRotating speed V of power headRotary deviceTorque TIs provided withAnd a pressure FIs provided with) (kind of working formation).
In a possible implementation manner, fig. 4 is a schematic flow chart of another automatic drilling method of a rotary drilling rig provided in the present application, and as shown in fig. 4, in step S105, the automatic drilling method of the rotary drilling rig further includes the following steps:
step S106: updating a first working parameter database according to the current working parameters and the type of the first working stratum;
step S107: and updating the second working parameter database according to the first working stratum type and the first working parameters.
The first working parameter database and the second working parameter database can be continuously updated through the steps S106 and S107, namely, the self-learning of the machine through the artificial neural network is realized, the first working parameter database and the second working parameter database are continuously optimized and iteratively updated, the optimal working parameters are quickly searched, the time is saved, and meanwhile, the working efficiency of the rotary drilling rig is further improved.
In a possible implementation manner, fig. 5 is a schematic flow chart of another automatic drilling method of a rotary drilling rig according to the present application, and as shown in fig. 5, step S105 (adjusting and controlling a current working parameter of the rotary drilling rig to be a preset working parameter) specifically includes the following steps:
step S1050: acquiring a preset power parameter corresponding to a preset working parameter according to the preset working parameter;
specifically, when the current drilling rate V is acquired in step S101DrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurizing pressure F, step S103 is based on the current drilling rate VDrillCurrent power head rotation speed VRotating shaftThe current torque T and the current pressurizing pressure F acquire the corresponding current working stratum type, and step S104 acquires a preset working parameter, namely a preset drilling speed V, according to the current working stratum typeDrill devicePresetting the rotating speed V of the power headRotary devicePreset torque TIs provided withAnd a preset pressurization pressure FIs provided withIn this case, step S1050 is: according to a preset drilling speed VDrill devicePresetting the rotating speed V of the power headRotary devicePreset torque TIs provided withAnd a preset pressurization pressure FIs provided withAcquiring corresponding preset main pump displacement, preset motor displacement and preset pressurizing pressure FIs provided with；
Step S1051: and regulating and controlling the current power parameter of the rotary drilling rig to be a preset power parameter so as to regulate and control the current working parameter of the rotary drilling rig to be a preset working parameter.
Specifically, the current power parameters of the rotary drilling rig are regulated and controlled to be the preset main pump displacement and the preset motor displacement, and therefore the working parameters of the rotary drilling rig can be regulated and controlled to be the preset working parameters.
The working parameters of the rotary drilling rig are regulated and controlled by regulating and controlling the discharge capacity of the main pump and the discharge capacity of the motor.
In a possible implementation manner, fig. 6 is a schematic flow chart of another automatic drilling method of a rotary drilling rig provided in the present application, and as shown in fig. 6, in step S105, the automatic drilling method of the rotary drilling rig further includes the following steps:
step S1080: acquiring current drilling result data of the rotary drilling rig;
specifically, the current drilling result data includes the single bucket drilling depth in the current drilling bucket and the current drilling depth.
Step S1081: judging whether the current drilling result parameter of the rotary drilling rig corresponds to a preset completion result parameter or not; when the current drilling result parameter of the rotary drilling rig corresponds to the preset completion result parameter, indicating that one drilling process of the rotary drilling rig is completed, and executing the step S1082;
step S1082: information is generated to complete a drilling process. After the information of completing one drilling process is generated, the automatic drilling method of the rotary drilling rig further comprises the steps of lifting the rotary drilling rig according to the information and transporting the excavated stratum materials to the ground. Namely, the excavated stratum materials are automatically transported to the ground, and full automation is realized.
When the judgment result in the step S1081 is negative, that is, the current drilling achievement parameter of the rotary drilling rig does not correspond to the preset completion achievement parameter, that is, one drilling process is not completed, therefore, the rotary drilling rig continues to work, and the step S101 and subsequent steps are continuously executed until when the current drilling achievement parameter of the rotary drilling rig corresponds to the preset completion achievement parameter, that is, one drilling process of the rotary drilling rig is completed, that is, the step S1082 is executed.
After the information of completing one drilling process is generated, the information can be transmitted to a display interface of the rotary drilling rig, and the operator manually lifts the rotary drilling rig according to the displayed information to transport the excavated stratum materials to the ground. Namely, human-computer interaction is realized.
Specifically, step S1080 includes: acquiring the drilling depth of a single bucket in a current drilling bucket of the rotary drilling rig;
step S1081 specifically includes: and judging whether the single bucket drilling depth in the current drilling bucket of the rotary drilling rig corresponds to the preset single bucket drilling depth, and generating information for completing one drilling process when the single bucket drilling depth in the current drilling bucket of the rotary drilling rig corresponds to the preset single bucket drilling depth, namely executing the step S1082.
That is, the drilling depth of the single bucket is adopted to judge whether a drilling process is completed.
Specifically, step S1080 includes: acquiring the current drilling depth of the rotary drilling rig;
step S1081 includes: and judging that the current drilling depth corresponds to the preset drilling depth, for example, the current drilling depth is equal to the preset drilling depth. And when the current drilling depth of the rotary drilling rig corresponds to the preset drilling depth, generating information for completing one drilling process, namely executing the step S1082.
Namely, whether the drilling depth of a drilling process meets the preset process depth is adopted to judge whether the drilling process is finished.
In a possible implementation manner, fig. 7 is a schematic flow chart of another automatic drilling method of a rotary drilling rig provided in the present application, and as shown in fig. 7, before step S101, the automatic drilling method of the rotary drilling rig further includes the following steps:
step S1000: acquiring an initial working state of the rotary drilling rig;
step S1001: judging whether the initial working state of the rotary drilling rig corresponds to an automatic construction preset working state or not, wherein the initial working state comprises initial working parameters;
when the initial working state of the rotary drilling rig corresponds to the preset working state of automatic construction, step S1011 is executed,
step S1002: and controlling the rotary drilling rig to automatically work according to the initial working parameters.
Specifically, the initial working state of the rotary drilling rig comprises: the method comprises the following steps that when the engine initial rotating speed is greater than 700, the initial position of a mast in the X direction, the initial position of the mast in the Y direction, the initial amplitude variation angle, the initial rotation angle, the initial distance from a drill bit to the bottom of a hole, the initial state of a floating electromagnetic valve, the initial state of a main winch lifting and lowering electromagnetic valve and the initial state of a power head are adopted; and the initial position of the mast in the X direction is between-0.2 and 0.2, the initial position of the mast in the Y direction is between-0.2 and 0.2, the initial amplitude angle is between 60 and 80, the initial rotation angle is between-0.2 and 0.2, the initial distance between the drill bit and the bottom of the hole is between 10 and 40cm, the initial state of the floating electromagnetic valve is closed, the initial state of the main winch for lifting and lowering the electromagnetic valve is closed, and the power head is controlled to automatically work by the initial working parameters when the initial state is no action. Then, step S101 and the subsequent steps are carried out according to the current working parameters in the automatic working process.
According to the automatic construction and automatic drilling rig, a certain automatic construction preset working state is set, only the automatic construction preset working state is met, the rotary drilling rig can perform automatic drilling work, and the probability of work abnormity caused by blind adoption of automatic work is reduced.
When the initial working state of the rotary drilling rig does not meet the preset working state correspondence of automatic construction, warning information is generated, the warning information is displayed on a display interface of the rotary drilling rig or warning sound is directly sent to workers, and then the workers manually operate the rotary drilling rig according to the information displayed on the display interface and the warning sound, so that the rotary drilling rig can normally work.
In a possible implementation manner, when the rotary drilling rig performs automatic drilling operation, a situation of abnormal operation may also occur, that is, when the rotary drilling rig performs automatic drilling operation, whether the operation of the rotary drilling rig is abnormal or not needs to be judged, and the specific manner of judging whether the operation is abnormal or not may adopt the following method:
and in a period of time after the preset working parameters corresponding to the current working stratum type are obtained according to the current working stratum type, the current working parameters of the rotary drilling rig are not regulated and controlled to be the preset working parameters. That is, the unit for generating the regulation and control information may be disconnected, so that the controller cannot generate the regulation and control information, and therefore, it can be considered that the rotary drilling rig is abnormal in operation.
The two methods are only one example method for judging the working abnormity of the rotary drilling rig, and other methods can be adopted for judging the working abnormity of the rotary drilling rig, so that the specific method for judging the working abnormity of the rotary drilling rig is not limited.
In order to further provide the automatic drilling method of the rotary drilling rig of the main material machine, the automatic drilling method of the rotary drilling rig will be described in detail below with respect to specific working parameters.
Fig. 8 is a schematic flow chart of an automatic drilling method of a rotary drilling rig according to the present application, and as shown in fig. 8, the automatic drilling method of the rotary drilling rig includes the following steps:
step S201: acquiring the current drilling speed V of the rotary drilling rig in the drilling workDrillCurrent power head rotation speed VRotating shaftCurrent torque T and current pressurizing pressure F.
Step S202: respectively judging: judging and current drilling speed VDrillAdjacent last rate of penetration VDrill 1With current drilling speed VDrillWhether the absolute value of the drilling speed change value is larger than or equal to a preset drilling speed change value or not; judging and current power head rotating speed VRotating shaftThe rotating speed V of the adjacent previous power headTurning to 1And the current power head rotating speed VRotating shaftWhether the absolute value of the change value of the rotating speed of the power head is larger than or equal to the preset change value of the rotating speed of the power head or not; judging the current torque T1Adjacent last torque T2With the current torque T1Value of torque variation therebetweenWhether the absolute value of (d) is greater than or equal to a preset torque variation value; judging the current pressurizing pressure F1Adjacent last pressing pressure F2With the current pressing pressure F1Whether the absolute value of the change value of the pressurizing pressure is greater than or equal to a preset change value of the pressurizing pressure;
namely, whether the formula (one) to the formula (four) are all satisfied is judged:
|Vdrill-VDrill 1|≥VDrill device(formula one),
|Vrotating shaft-VTurning to 1|≥VRotary device(formula two)
|T1-T2|≥TIs provided with(formula three)
|F1-F2|≥FIs provided with(formula four)
When the formula (a) and the formula (d) are all satisfied, it is stated that the current drilling speed of the rotary drilling rig is changed greatly relative to the previous drilling speed, the current power head rotating speed is changed greatly relative to the previous power head rotating speed, the current torque is changed greatly relative to the previous torque, and the current pressurizing pressure is changed greatly relative to the previous pressurizing pressure, so that the type of the current working stratum where the rotary drilling rig is located at present can be comprehensively judged to be changed, and therefore, the current drilling speed V of the rotary drilling rig needs to be determined according to the current drilling speed V of the rotary drilling rigDrillCurrent power head rotation speed VRotating shaftThe current torque T and the current pressurizing pressure F, the hardness of the formation material of the current working formation is obtained, step S203.
Step S203: according to the current drilling speed V of the rotary drilling rigDrillCurrent power head rotation speed VRotating shaftAcquiring a first hardness with the highest matching degree in a third working parameter database according to the current torque T and the current pressurizing pressure F, wherein the first hardness is the hardness of the stratum material of the current working stratum; wherein the third working parameter database comprises a plurality of groups of working parameters and a plurality of hardnesses, wherein one group of working parameters (drilling speed V)DrillRotating speed V of power headRotating shaftTorque T and pressing pressure F) corresponds to a hardness.
Step S204: according to the first hardness, obtaining a first working parameter with the highest matching degree with the first hardness from a fourth working parameter database; the first operating parameter includes: first drilling speed V11First power head rotating speed V11A first torque T11And a first pressurization pressure F11。
Wherein the fourth working parameter database comprises a plurality of groups of working parameters and a plurality of hardnesses, wherein one group of working parameters (drilling speed V)DrillRotating speed V of power headRotating shaftTorque T and pressing pressure F) corresponds to a hardness.
Step S205: and regulating and controlling the current working parameter of the rotary drilling rig to be a first working parameter. Namely, the drilling speed of the rotary drilling rig is adjusted to be a first drilling speed V11Adjusting the rotating speed of the power head of the rotary drilling rig to be a first rotating speed V of the power head11Adjusting the torque of the rotary drilling rig to be a first torque T11And adjusting the pressurizing pressure of the rotary drilling rig to be a first pressurizing pressure F11。
Step S206: according to the current drilling speed VDrillCurrent power head rotation speed VRotating shaftUpdating a third working parameter database with the current torque T, the current pressurizing pressure F and the first hardness;
step S207: according to the first hardness and the first drilling speed V11First power head rotation speed V11A first torque T11And a first pressurization pressure F11Updating the fourth operating parameter database.
The working parameters of the rotary drilling rig can be adjusted in real time in an adaptive manner through the steps S201 to S207, and when the working parameters of the rotary drilling rig are adjusted, the working parameters of the rotary drilling rig during working are taken into consideration, so that the deviation caused by factors such as a drilling tool and a machine is reduced, the optimal working parameters of the rotary drilling rig can be adjusted in real time, and the working efficiency of the rotary drilling rig is improved.
As a second aspect of the present application, fig. 9 is a schematic structural diagram of an automatic drilling controller of a rotary drilling rig provided in the present application, and as shown in fig. 9, the automatic drilling controller of the rotary drilling rig includes:
the working parameter acquiring unit 10 is used for acquiring the current working parameters of the rotary drilling rig in the drilling work;
the stratum type obtaining unit 20 is configured to obtain a current working stratum type of the rotary drilling rig according to the current working parameter when an absolute value of a working parameter change value between a previous working parameter adjacent to the current working parameter and the current working parameter is greater than or equal to a preset working parameter change value;
a regulated working parameter obtaining unit 30, configured to obtain a preset working parameter corresponding to the current working formation type according to the current working formation type; and
and the parameter regulating and controlling unit 40 is used for regulating and controlling the current working parameters of the rotary drilling rig to be preset working parameters.
The automatic drilling side controller of the rotary drilling rig provided by the application obtains the current working parameters of the rotary drilling rig in real time, then determines the current working stratum type of the rotary drilling rig in which the current working is located according to the change of the current working parameters, then regulates and controls the working parameters of the rotary drilling rig according to the current working stratum type, regulates and controls the working parameters of the rotary drilling rig adaptively when the working stratum type is changed, and takes the working parameters of the rotary drilling rig in working into consideration when the working parameters of the rotary drilling rig are regulated and controlled, namely, the deviation caused by factors such as a drilling tool, a machine and the like is reduced, so that the optimal working parameters of the rotary drilling rig can be regulated and controlled in real time, and the working efficiency of the rotary drilling rig is improved.
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 10. Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 10, the electronic device 600 includes one or more processors 601 and memory 602.
The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.
Memory 601 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer readable storage medium, and the processor 601 may execute the program information to implement the automatic drilling method of the rotary drilling rig according to the embodiments of the present application described above or other desired functions.
In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 603 may include, for example, a keyboard, a mouse, and the like.
The output device 604 can output various kinds of information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.
Of course, for simplicity, only some of the components of the electronic device 600 relevant to the present application are shown in fig. 10, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.
In addition to the above methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the automatic drilling method of a rotary drilling rig according to various embodiments of the present application described in the present specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, an embodiment of the present application may also be 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 automatic drilling method 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. An automatic drilling method of a rotary drilling rig is characterized by comprising the following steps:
acquiring current working parameters of the rotary drilling rig in drilling work;
when the absolute value of the working parameter variation value between the last working parameter adjacent to the current working parameter and the current working parameter is larger than or equal to a preset working parameter variation value, acquiring the current working stratum type of the rotary drilling rig according to the current working parameter;
acquiring preset working parameters corresponding to the current working stratum type according to the current working stratum type; and
and regulating and controlling the current working parameters of the rotary drilling rig to be preset working parameters.
2. The automatic drilling method of the rotary drilling rig according to claim 1, wherein the step of obtaining the current working stratum type of the rotary drilling rig according to the current working parameters comprises the steps of:
acquiring physical parameters of stratum substances of a current working stratum of the rotary drilling rig according to the current working parameters;
acquiring preset working parameters corresponding to the current working stratum type according to the current working stratum type, wherein the preset working parameters comprise:
and acquiring preset working parameters corresponding to the physical parameters of the stratum materials of the current working stratum according to the physical parameters of the stratum materials of the current working stratum.
3. The automatic drilling method of the rotary drilling rig according to claim 1, wherein the step of regulating and controlling the current working parameters of the rotary drilling rig to be preset working parameters comprises the following steps:
acquiring a preset power parameter corresponding to the preset working parameter according to the preset working parameter; and
and regulating and controlling the current power parameter of the rotary drilling rig to be the preset power parameter so as to regulate and control the current working parameter of the rotary drilling rig to be the preset working parameter.
4. The automatic drilling method of a rotary drilling rig according to claim 1,
acquiring the current working stratum type of the rotary drilling rig according to the current working parameters, wherein the method comprises the following steps:
according to the current working parameters, obtaining a first working stratum type with the highest matching degree with the current working parameters from a first working parameter database, wherein the first working stratum type is the current working stratum type;
the acquiring of the preset working parameters corresponding to the current working stratum type according to the current working stratum type comprises:
according to the type of the first working stratum, obtaining a first working parameter with the highest matching degree with the type of the first working stratum from a second working parameter database;
and the first working parameter is a preset working parameter corresponding to the type of the current working stratum.
5. The automatic drilling method of the rotary drilling rig according to claim 4, wherein after the current working parameters of the rotary drilling rig are regulated to be the preset working parameters, the automatic drilling method of the rotary drilling rig further comprises:
updating the first working parameter database according to the current working parameters and the first working stratum type; and
and updating the second working parameter database according to the first working stratum type and the first working parameters.
6. The automatic drilling method of the rotary drilling rig according to claim 1, further comprising:
acquiring current drilling result data of the rotary drilling rig;
and when the current drilling result parameters of the rotary drilling rig correspond to preset result data, generating information for completing a drilling process.
7. The automatic drilling method of the rotary drilling rig according to claim 6, wherein the current drilling result parameters comprise: the single bucket drilling depth and the current drilling depth in the current drilling bucket;
when the current drilling result parameter of the rotary drilling rig corresponds to preset result data, generating information for completing a drilling process, wherein the information comprises the following steps:
when the single-bucket drilling depth in the current drilling bucket of the rotary drilling rig corresponds to the preset single-bucket drilling depth, generating information for completing a drilling process; or
And when the current drilling depth of the rotary drilling rig corresponds to the preset drilling depth, generating information for completing a drilling process.
8. An automatic drilling controller of a rotary drilling rig is characterized by comprising:
the working parameter acquiring unit is used for acquiring the current working parameters of the rotary drilling rig in the drilling work;
the stratum type obtaining unit is used for obtaining the current working stratum type of the rotary drilling rig according to the current working parameter when the absolute value of the working parameter change value between the last working parameter adjacent to the current working parameter and the current working parameter is larger than or equal to a preset working parameter change value;
the regulating and controlling working parameter obtaining unit is used for obtaining preset working parameters corresponding to the current working stratum type according to the current working stratum type; and
and the parameter regulating and controlling unit is used for regulating and controlling the current working parameters of the rotary drilling rig to be preset working parameters.
9. An electronic device, characterized in that the electronic device comprises:
a processor; and
a memory for storing the processor executable information;
the processor is used for executing the automatic drilling method of the rotary drilling rig according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the automatic drilling method of the rotary drilling rig according to any one of the claims 1 to 7.
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