CN112885064B - Sight distance remote control operation system of airborne multi-drill rig - Google Patents
Sight distance remote control operation system of airborne multi-drill rig Download PDFInfo
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- CN112885064B CN112885064B CN202110032805.4A CN202110032805A CN112885064B CN 112885064 B CN112885064 B CN 112885064B CN 202110032805 A CN202110032805 A CN 202110032805A CN 112885064 B CN112885064 B CN 112885064B
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- 238000005553 drilling Methods 0.000 claims abstract description 101
- 238000004873 anchoring Methods 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004092 self-diagnosis Methods 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 5
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- 206010063385 Intellectualisation Diseases 0.000 abstract description 4
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- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 101100194816 Caenorhabditis elegans rig-3 gene Proteins 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
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Abstract
The application provides a sight distance remote control operation system of a plurality of airborne drilling rigs. The system comprises: and the remote control receivers are respectively arranged on the plurality of drilling rigs and correspond to each other one by one according to the drilling rig numbers. Wherein, a plurality of drilling rigs are arranged at the two sides and the front end of the onboard platform of the anchoring and protecting equipment; the first remote control transmitter is connected with the remote control receiver on at least one drilling rig on the airborne side of the anchor and protection equipment to form a first control local area network, and the first remote control transmitter controls the corresponding drilling rig through the remote control receiver in the first control local area network; and the second remote control transmitter is connected with the remote control receiver on at least one drilling rig on the other side of the machine-mounted anchor and protection equipment to form a second control local area network, and the second remote control transmitter controls the corresponding drilling rig through the remote control receiver in the second control local area network. The system can greatly improve the working efficiency and realize the goals of intellectualization and humanization reduction.
Description
Technical Field
The application relates to the technical field of control of underground development equipment of a coal mine, in particular to a sight distance remote control operation system of airborne multiple drilling rigs.
Background
With the continuous development of new processes, new materials and new technologies, the mechanization and automation degree of the equipment for tunneling and transporting on the working face is higher and higher, and some equipment not only has the functions of tunneling, transporting and crushing, but also has the function of bolting. According to different geological conditions, different drilling rigs are configured on the equipment. The drilling and bolting processes of the drill frame are controlled by a hydraulic system. In the related technology, the drilling rig is basically a pure mechanical operation mode of manually operating the hydraulic handle, and the drilling rig can work only by manually pulling the hydraulic handle in the anchoring and protecting process, so that the labor intensity of workers is high, and the working efficiency is low.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
To this end, it is an object of the present application to provide a line-of-sight teleoperated system with multiple rigs on board. The system can greatly improve the working efficiency and realize the goals of intellectualization and humanization reduction.
To achieve the above object, an embodiment of an aspect of the present application provides a line-of-sight teleoperated system for airborne multiple drilling rigs, including:
the remote control receivers are respectively arranged on the drilling rigs, wherein the drilling rigs are arranged at the two sides and the front end of the anchor and protection type equipment airborne platform;
The first remote control transmitter is connected with a remote control receiver on at least one drilling rig on one side of the anchor and protection type equipment airborne platform to form a first control local area network, and the first remote control transmitter controls the corresponding drilling rig through the remote control receiver in the first control local area network;
and the second remote control transmitter is connected with the remote control receiver on at least one drilling rig on the other side of the anchor and protection type equipment airborne platform to form a second control local area network, and the second remote control transmitter controls the corresponding drilling rig through the remote control receiver in the second control local area network.
In some embodiments, the first remote control transmitter and the remote control receiver in the first control local area network perform signal transmission by wireless transmission; and signal transmission is carried out between the second remote control transmitter and the remote control receiver in the second control local area network in a wireless transmission mode, wherein wireless signals between the first control local area network and the second control local area network are distinguished through frequency bands.
In some embodiments, each of the drilling rigs is provided with a solenoid valve control box; and the remote control receiver on each drilling rig is arranged in the corresponding electromagnetic valve control box.
Optionally, the solenoid valve control box is a distributed solenoid valve control box.
In some embodiments, the first remote control transmitter comprises a housing, a remote control receiver identification control, a spin functionality control, and a feed functionality control located on the housing; wherein the remote control receiver identification control is to identify a uniqueness of a remote control receiver located within the first control area network.
In some embodiments, the second remote control transmitter comprises a housing, a remote control receiver identification control, a spin functionality control, and a feed functionality control located on the housing; wherein the remote control receiver identification control is to identify a uniqueness of a remote control receiver located within the second control area network.
In some embodiments, each drilling rig is provided with an operation panel of an electro-hydraulic control system, wherein the operation panel is provided with a drill clamping function control, a side shifting function control, a swinging function control, a front-back swinging function control and a support column function control.
In some embodiments of the present application, the electro-hydraulic control system is specifically configured to: when a starting enabling signal aiming at the electromagnetic valve is received, determining an initial opening parameter of the electromagnetic valve according to a pre-established empirical model; when the electromagnetic valve acts based on the initial opening parameter, a setting signal acquired by a detection unit in real time is acquired; taking the setting signal acquired in real time as a reference variable, calculating a control parameter suitable for controlling the electromagnetic valve under the actual working condition in real time, and adjusting the opening of the electromagnetic valve according to the control parameter; and correcting the opening parameters of the electromagnetic valve by taking the pressure signal of the hydraulic system as a feedback signal.
In some embodiments, the number of remote control receivers located within said first controlled area network is at most 3; the number of remote control receivers located in the second control area network is at most 3.
In some embodiments, the on-board multi-rig line-of-sight teleoperated system further comprises:
and the self-diagnosis device is used for judging the feeding speed of anchoring operation based on the pressure signal of the hydraulic system, the torque signal of the drill rig and the rotating speed signal of the drill box on the drill rig, which are acquired by the detection unit in real time, and pre-estimating the possible fault point when the system has a fault.
According to the sight distance remote control operation system of the airborne multi-drilling rig, the remote control receiver is respectively arranged on each drilling rig, and the first remote control transmitter is connected with the remote control receiver on the drilling rig on the airborne side of the anchor and protection equipment to form a first control local area network, so that the first remote control transmitter controls the corresponding drilling rig through the remote control receiver in the first control local area network; and the second remote control transmitter is connected with the remote control receiver on the drill rig on the other side of the machine of the anchor and protection equipment to form a second control local area network, so that the second remote control transmitter controls the corresponding drill rig through the remote control receiver in the second control local area network. Therefore, the operation of multiple drilling rigs in the corresponding control local area network can be controlled simultaneously by one operator by utilizing the remote control transmitter, the working efficiency is greatly improved, and the aims of intellectualization and humanization reduction are achieved. In addition, by adding a vision distance remote control operation system in the anchor protection operation system, an operator can remotely control the drill rig within the vision distance range, and the original mechanical operation mode is replaced.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a line-of-sight remote control system for airborne multiple drilling rigs according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a first remote control transmitter according to an embodiment of the present application;
fig. 3 is a schematic diagram of an adaptive control state of the electro-hydraulic control system according to the embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a line-of-sight teleoperation system of an onboard multi-derrick according to an embodiment of the present application with reference to the drawings.
Fig. 1 is a schematic structural diagram of a line-of-sight remote control system for airborne multiple drilling rigs according to an embodiment of the present disclosure. As shown in fig. 1, the on-board multi-boom line-of-sight teleoperated system 100 may include: a plurality of remote control receivers 101, a first remote control transmitter 102 and a second remote control transmitter 103.
The remote control receivers 101 can be respectively arranged on a plurality of drilling rigs, and correspond to each other one by one according to the drilling rig numbers, wherein the drilling rigs are arranged on the two sides and the front end of the onboard platform of the anchoring and protecting equipment. The first remote control transmitter 102 is connected with the remote control receiver 101 on at least one drilling rig on one side of the anchor and maintenance type equipment airborne platform to form a first control local area network, and the first remote control transmitter 102 controls the corresponding drilling rig through the remote control receiver in the first control local area network. And the second remote control transmitter 103 is connected with the remote control receiver 101 on at least one drilling rig on the other side of the anchor and protection type equipment airborne platform to form a second control local area network, and the second remote control transmitter 103 controls the corresponding drilling rig through the remote control receiver in the second control local area network.
In the embodiment of the present application, signal transmission is performed between the first remote control transmitter 102 and the remote control receiver 101 in the first control lan by a wireless transmission method; the second remote control transmitter 103 performs signal transmission with the remote control receiver 101 in the second control lan by wireless transmission. The wireless signals between the first control local area network and the second control local area network are distinguished through frequency bands, so that the wireless signals between the two control local area networks cannot form mutual interference.
It should be noted that the anchoring and protecting equipment is equipped with a plurality of drilling rigs, which are generally arranged at the two sides and the front end of the equipment, and different numbers of drilling rigs, such as 2 drilling rigs, 4 drilling rigs and 6 drilling rig anchoring and protecting equipment, are selected according to different geological conditions and equipment supporting structures. In the embodiment of the application, a remote control receiver is respectively arranged on the drilling rigs on two sides of the anchoring and protecting equipment. The remote control receiver on the drilling rig on each side of the anchoring and protecting equipment machine forms a control local area network corresponding to one remote control transmitter. The remote control receiver is the same as the wireless channel of the remote control transmitter in the corresponding control local area network, and each remote control receiver in each control local area network can correspond to an identification number so as to be used for identifying the uniqueness of the remote control receiver. The wireless channel between different control lans may be different in order to avoid mutual interference of the remote control transmitters. Therefore, the anchoring and protecting equipment only needs two operators, one operator operates the left drilling rig, and the other operator operates the right drilling rig. Two operators respectively hold a miniature remote control transmitter to carry out auxiliary operation on the drilling rig.
In some embodiments, each drilling rig is provided with a solenoid valve control box; wherein, the remote control receiver on each drilling rig is arranged in the corresponding electromagnetic valve control box. Alternatively, the solenoid valve control box may be a distributed solenoid valve control box.
In some embodiments of the present application, as shown in fig. 2, the first remote control transmitter includes a housing 102a, a remote control receiver identification control 102b located on the housing 102a, a spin functionality control 102c, and a feed functionality control 102 d. Wherein the remote control receiver identification control 102b is used to identify the uniqueness of a remote control receiver located within the first control area network. As one example, the spin functionality controls 102c may include a spin low speed control and a spin high speed control; the feed functionality controls 102d may include a feed low speed control, a feed tell control, and a feed down control.
As an example, assuming that the number of drilling rigs located at one side of the anchor and maintenance equipment machine is 3, i.e. drilling rigs 1, 2 and 3, respectively, as shown in fig. 2, the first remote control transmitter 102 may include a remote control receiver identification "1 #" control corresponding to the drilling rig 1, a remote control receiver identification "2 #" control corresponding to the drilling rig 2, and a remote control receiver identification "3 #" control corresponding to the drilling rig 3. As shown in fig. 2, the first remote control transmitter 102 may further include a spin low control, a spin high control, a feed low control, a feed high control, a feed down control, a start control, an emergency stop control, an auxiliary control, and a backup control. In addition, the first remote control transmitter may further include a power switch through which power is supplied and removed.
In this example, since the remote control receiver on each drilling rig located in the same control area network has a unique identifier, such as 1#, 2#, and 3# receivers, the operator operates the drilling rigs located in the same control area network as follows: assuming that the drilling rig corresponding to the 1# receiver is to be controlled, the remote control receiver identifier "1 #" control can be pressed at this time, then the starting control is pressed, so that the drilling rig 1 corresponding to the remote control receiver identifier "1 #" automatically runs, and when an operator can press the "low-speed rotation" control or the "low-speed feeding" control once (repeatedly pressing the invalid control unless pressing the "high-speed" gear) in the automatic running process of the drilling rig 1, the drilling rig can keep the low-speed rotation and the low-speed feeding until the operation flow is finished. If the drilling rig 2 is to be controlled, the remote control receiver identification 2# control is pressed, and then other function controls are pressed to realize the control of the drilling rig 2. That is, if it is desired to control which drilling rig in the current control lan, the remote control receiver identifier "1 #" control corresponding to the drilling rig may be pressed down first, and then other functional controls are selected to implement corresponding control of the drilling rig.
It should be noted that, in the embodiment of the present application, the second remote control transmitter includes a housing, and a remote control receiver identification control, a rotation function control, and a feeding function control that are located on the housing; wherein the remote control receiver identification control is for identifying the uniqueness of a remote control receiver located within a second control area network. The structure of the second remote control transmitter is similar to that of the first remote control transmitter, and is not described herein again. Therefore, the auxiliary control of the drill rig in the second control local area network can be realized through the second remote control transmitter.
In the embodiment of the application, each drilling rig is provided with an operation panel of an electro-hydraulic control system, wherein the operation panel is provided with a drill rod clamping function control, a side shifting function control, a swinging function control, a front-back swinging function control and a support column function control. That is to say, each drilling frame is integrated with a local electro-hydraulic control system, and the electro-hydraulic control system can control valve blocks on the drilling frame, such as clamping, lateral movement, swinging, front-back swinging, supporting columns, feeding, rotating and the like. The electro-hydraulic control system is characterized in that functional controls such as a drill rod clamping, lateral moving, swinging, front-back swinging and supporting columns are arranged on an operation panel of the electro-hydraulic control system, and the operation panel can be responsible for the angle and position of the drilling rig and the clamping of a drill rod.
The function arranged on the operation panel can be understood to supplement the vision remote control operation in the electro-hydraulic control system in real time, and the coexistence of the redundancy control mode taking the vision remote control operation as a main control mode and taking the operation panel as an auxiliary control mode is realized. The remote control transmitter collects core actions in anchoring operation, such as feeding, rotating and other full-automatic flows, angle adjustment and swinging actions of the whole drilling rig are not designed, namely the operation panel is designed for pre-preparation work of anchoring operation, and after the preparation work is finished, a plurality of drilling rigs of the remote control transmitter can be simultaneously operated. Therefore, after the pre-preparation work of anchoring and protecting operation is completed through the operation panel, the operator can simultaneously control the drilling rigs in the corresponding control local area network through the corresponding remote control transmitter in the visible range, so that the operator can remotely control the drilling rigs in the sight distance range, and the original mechanical operation mode is replaced.
In order to further improve the working environment of the anchor protection worker and improve the support efficiency and safety, optionally, in some embodiments of the present application, the electro-hydraulic control system may be configured to: when a starting enabling signal aiming at the electromagnetic valve is received, determining an initial opening parameter of the electromagnetic valve according to a pre-established empirical model; when the electromagnetic valve acts based on the initial opening parameter, a setting signal acquired by a detection unit in real time is acquired; taking the setting signal acquired in real time as a reference variable, calculating a control parameter of the control electromagnetic valve suitable for the actual working condition in real time, and adjusting the opening of the electromagnetic valve according to the control parameter; and correcting the opening parameters of the electromagnetic valve by taking the pressure signal of the hydraulic system as a feedback signal so as to finally realize the self-adaptive control of drilling and anchoring operations of the drill boom.
In some embodiments, the tuning signal may include, but is not limited to, one or more of a displacement signal, a rotational speed signal, a proximity switch signal, a torque signal, and the like. As one example, the tuning signals may include a displacement signal, a rotational speed signal, a proximity switch signal, and a torque signal. The displacement signal is a distance signal from the bottommost part of the track to the up-and-down sliding of the drill boom and the drill box part along the track; the rotating speed signal refers to a real-time rotating speed signal of the drilling box; the approach switch signal is a switch signal for judging whether the sliding position of the drill boom drill box reaches the top end of the track; the torque signal refers to a real-time torque signal of the drill boom.
It should be noted that in some embodiments, the empirical model may be understood as a database of experience of operators of conventional mechanical anchor drilling systems. It can be understood that the complete operation of the conventional mechanical anchor drilling system mainly comprises two processes: drilling and anchoring. Therefore, the establishment of the empirical model is mainly based on that the whole process of drilling and anchoring of the manual complete operation anchor drilling system is used as a cycle, each cycle is taken as a group, real-time pressure parameters, real-time torque parameters, real-time rotating speed parameters, real-time displacement parameters and real-time proximity switch parameters of a plurality of groups of mechanical systems are recorded as basic data, opening parameters of all electromagnetic valves in the plurality of groups of mechanical systems are recorded, and the mapping relation between the basic data of the plurality of groups of mechanical systems and the opening parameters of all the electromagnetic valves is established to complete the establishment of the empirical model.
For example, as shown in fig. 3, when a start enable signal for each solenoid valve in a hydraulic system is received, an initial opening parameter of each solenoid valve may be planned by a pre-established empirical model, signals such as displacement, rotation speed, proximity switch, torque and the like acquired by a detection unit in real time are taken as reference variables, the reference variables are taken as references, optimal parameters of the control solenoid valve for adapting to actual working conditions are planned to output P and I, the opening parameter of each solenoid valve is controlled, and the opening parameter of each solenoid valve is corrected by taking a pressure signal of the hydraulic system as a feedback signal, so as to finally realize adaptive control of drilling and anchoring operations of a drill boom. Therefore, the operation environment of the anchor protection worker can be improved, the supporting efficiency and safety are improved, the anchoring and protection information of the equipment onboard drilling arm is provided for the digital mine, and the reliability and effectiveness of the anchoring and protection operation of the hydraulic system are improved.
Optionally, in this embodiment of the present application, the number of remote control receivers located in the first control lan is at most 3; the number of remote control receivers located in the second control area network is at most 3. It can be understood that, because it is the capacity limit that one worker controls three drilling rigs simultaneously, and the simultaneous control of more drilling rigs will appear to be a cause of the elbow, in order to enable an operator to control the drilling rigs in the same control lan simultaneously and realize effective control of the drilling rigs in the same control lan, the number of the remote control receivers in the same control lan can be set to be 3 at most.
In order to further improve the reliability of the anchoring operation system, in some embodiments of the present application, the on-board multi-drilling rig line-of-sight teleoperation system may further include: and a self-diagnosis device. The self-diagnosis device is used for judging the feeding speed of anchoring operation based on a pressure signal of a hydraulic system, a torque signal of a drill rig and a rotating speed signal of a drill box on the drill rig, which are acquired by the detection unit in real time, and predicting a fault occurrence possibility point when a system fault occurs. In the present embodiment, the detection unit may be composed of various sensors.
That is to say, the self-diagnosis device can automatically judge the feeding speed of the anchoring operation according to the pressure signal of the hydraulic system, the torque signal of the drill rig and the rotating speed signal of the drill box on the drill rig, which are acquired by the detection unit in real time, and meanwhile, when the system fails, the possible fault occurrence points are pre-estimated and effectively judged according to the fault diagnosis system, so that the anchoring operation system has the self-diagnosis function, and the reliability of the anchoring operation system can be further improved.
According to the sight distance remote control operation system of the airborne multi-drilling rig, the remote control receiver is respectively arranged on each drilling rig and connected with the remote control receiver on the airborne side of the anchor and protection equipment through the first remote control transmitter to form a first control local area network, so that the first remote control transmitter controls the corresponding drilling rig through the remote control receiver in the first control local area network; and the second remote control transmitter is connected with the remote control receiver on the drilling rig on the other side of the machine of the anchor and protection equipment to form a second control local area network, so that the second remote control transmitter controls the corresponding drilling rig through the remote control receiver in the second control local area network. Therefore, the operation of multiple drilling rigs in the corresponding control local area network can be controlled simultaneously by one operator by utilizing the remote control transmitter, the working efficiency is greatly improved, and the aims of intellectualization and humanization reduction are achieved. In addition, the vision distance remote control operation system is newly added in the anchor protection operation system, so that an operator can remotely control the drill rig in the vision distance range, and the original mechanical operation mode is replaced.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (8)
1. A line-of-sight teleoperated system for airborne multiple rigs, comprising:
the remote control receivers are respectively arranged on a plurality of drilling rigs, wherein the drilling rigs are arranged on the two sides and the front end of the onboard platform of the anchoring and protecting equipment;
The first remote control transmitter is connected with a remote control receiver on at least one drilling rig on one side of the anchor and protection type equipment airborne platform to form a first control local area network, and the first remote control transmitter controls the corresponding drilling rig through the remote control receiver in the first control local area network;
the second remote control transmitter is connected with the remote control receiver on at least one drilling rig on the other side of the anchor and protection type equipment airborne platform to form a second control local area network, and the second remote control transmitter controls the corresponding drilling rig through the remote control receiver in the second control local area network;
each drilling stand is provided with an operation panel of an electro-hydraulic control system, wherein the operation panel is provided with a drill clamping function control, a side shifting function control, a swinging function control, a front-back swinging function control and a support column function control; the operation panel is used for supplementing the sight distance remote control operation in the electro-hydraulic control system, and a redundant control mode with the sight distance remote control operation as a main mode and the operation panel as an auxiliary mode coexist;
the electro-hydraulic control system is specifically configured to:
when a starting enabling signal aiming at the electromagnetic valve is received, determining an initial opening parameter of the electromagnetic valve according to a pre-established empirical model;
When the electromagnetic valve acts based on the initial opening parameter, a setting signal acquired by a detection unit in real time is acquired;
taking the setting signal acquired in real time as a reference variable, calculating a control parameter suitable for controlling the electromagnetic valve under the actual working condition in real time, and adjusting the opening of the electromagnetic valve according to the control parameter;
and correcting the opening parameter of the electromagnetic valve by taking the pressure signal of the hydraulic system as a feedback signal.
2. The system of claim 1, wherein the first remote control transmitter transmits signals to the remote control receiver in the first control area network via wireless transmission; and signal transmission is carried out between the second remote control transmitter and the remote control receiver in the second control local area network in a wireless transmission mode, wherein wireless signals between the first control local area network and the second control local area network are distinguished through frequency bands.
3. The system of claim 1, wherein each of said rigs is provided with a solenoid valve control box; and the remote control receiver on each drilling rig is arranged in the corresponding electromagnetic valve control box.
4. The system of claim 3, wherein the solenoid valve control pod is a distributed solenoid valve control pod.
5. The system of claim 1, wherein the first remote control transmitter comprises a housing, a remote control receiver identification control, a spin functionality control, and a feed functionality control located on the housing; wherein the remote control receiver identification control is to identify a uniqueness of a remote control receiver located within the first control area network.
6. The system of claim 1, wherein the second remote control transmitter comprises a housing, a remote control receiver identification control, a spin functionality control, and a feed functionality control located on the housing; wherein the remote control receiver identification control is to identify a uniqueness of a remote control receiver located within the second control area network.
7. The system of claim 1, wherein the number of remote control receivers located within said first controlled area network is at most 3; the number of remote control receivers located in the second control area network is at most 3.
8. The system of any one of claims 1 to 7, further comprising:
And the self-diagnosis device is used for judging the feeding speed of anchoring operation based on the pressure signal of the hydraulic system, the torque signal of the drill rig and the rotating speed signal of the drill box on the drill rig, which are acquired by the detection unit in real time, and pre-estimating the possible fault point when the system has a fault.
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