CN114542049B - Drilling data measurement method and system of drilling machine and drilling machine - Google Patents
Drilling data measurement method and system of drilling machine and drilling machine Download PDFInfo
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- CN114542049B CN114542049B CN202210230058.XA CN202210230058A CN114542049B CN 114542049 B CN114542049 B CN 114542049B CN 202210230058 A CN202210230058 A CN 202210230058A CN 114542049 B CN114542049 B CN 114542049B
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- 238000005553 drilling Methods 0.000 title claims abstract description 235
- 238000000691 measurement method Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 56
- 238000005259 measurement Methods 0.000 claims abstract description 25
- 239000000428 dust Substances 0.000 claims abstract description 19
- 239000011435 rock Substances 0.000 claims description 36
- 230000008569 process Effects 0.000 claims description 25
- 238000004080 punching Methods 0.000 claims description 21
- 230000015572 biosynthetic process Effects 0.000 claims description 9
- 230000001186 cumulative effect Effects 0.000 claims description 8
- 238000005406 washing Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 238000005755 formation reaction Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 5
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- 238000012423 maintenance Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
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- 238000005457 optimization Methods 0.000 description 2
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- 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
- E21B47/00—Survey of boreholes or wells
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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
- E21B47/00—Survey of boreholes or wells
- E21B47/04—Measuring depth or liquid level
-
- 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
- E21B47/00—Survey of boreholes or wells
- E21B47/09—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
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- Earth Drilling (AREA)
Abstract
The invention discloses a drilling data measurement method and system of a drilling machine and the drilling machine, and belongs to the field of engineering machinery. Wherein the measurement method comprises obtaining drilling status parameters, the drilling status parameters comprising: ball valve status signal, turret status signal, encoder position signal, disassembly platform signal, dust collection DCT signal, sprocket radius, rig mode signal, and robot manual signal; measuring drilling data of a drilling machine according to the drilling state parameters, wherein the drilling data comprise drilling depth, drill bit position, single Kong Zuangan number and accumulated drilling number; and provides specific measurement methods for each borehole data. The measurement system comprises a data acquisition unit, a controller, a service platform, intelligent terminal equipment, a display screen and the like, and the provided measurement method is used for measuring drilling data. The drilling machine measures the borehole data using the provided methods and systems. The invention can accurately measure the drilling data and save the cost.
Description
Technical Field
The invention belongs to the field of engineering machinery, and relates to a drilling data measurement method and system of a drilling machine and the drilling machine.
Background
A system for acquiring drilling data currently in use with many rock drilling apparatuses, such as the PowerROC series of open air rock drilling apparatuses of the applicant, is shown in figure 1 and comprises: angle sensor, depth sensor, drilling data collector. And the function realization and display of the drilling machine are realized through a separate controller and display screen. Because the drilling machine data collector can only simply calculate the hole depth, the working state of the drilling machine can not be obtained. The defects existing in the measurement of drilling data by using the existing drilling data measurement method of the drilling machine are that: 1. the function of the existing hole drilling data collector can not completely meet the application requirements. For example, when the drilling machine washes holes, a situation occurs in which the calculated hole depth is greater than the actual hole depth. When the hole is formed, the calculated punching depth is smaller than the actual punching depth. 2. The hardware cost of the drilling data collector is high, and the algorithm has no open authority, so that the fault removal is not facilitated. 3. The drilling data can only be displayed in real time and can not be stored, so that the data can not be analyzed and utilized later, and the control algorithm of the whole machine is better optimized, and closed-loop control is realized. 4. The drilling data display system and the drilling machine control system are mutually independent, and communication and data transmission are not available, so that the communication fault is not easy to be checked, and the hardware fault is not easy to be checked.
Disclosure of Invention
Technical problems: the invention provides a drilling data measuring method and system of a drilling machine and the drilling machine, which are used for at least solving all or part of the problems.
The technical scheme is as follows: in a first aspect, the present invention provides a drilling data measurement method for a drilling machine, including:
obtaining drilling state parameters, wherein the drilling state parameters comprise: ball valve status signal, turret status signal, encoder position signal, disassembly platform signal, dust collection DCT signal, sprocket radius, rig mode signal, and robot manual signal;
Measuring drilling data of a drilling machine according to the drilling state parameters, wherein the drilling data comprise drilling depth, drill bit position, single Kong Zuangan number and accumulated drilling number; wherein, the punching depth is measured according to the ball valve state signal, the rotary head state signal, the encoder position signal, the dust collection DCT signal and the sprocket radius;
Measuring the position of the drill bit according to the ball valve state signal, the turret state signal, the encoder position signal, the disassembly platform signal and the dust collection DCT signal;
Measuring the number of single-hole drill rods according to the mechanical manual signal, the turret head state signal and the disassembly platform signal;
And measuring the accumulated drilling number according to the mode signal and the drilling depth of the drilling machine.
Preferably, the method for measuring the punching depth according to the ball valve state signal, the turret state signal, the encoder position signal, the dust collection DCT signal and the sprocket radius comprises the following steps:
normal formation perforation state, perforation depth is equal to initial Kong Shenjia movement;
The cavity state is used for judging the impact state according to the ball valve state signal, and if impact starts, the punching depth is equal to the current Kong Shenjia movement amount;
In the hole washing state, if the rotary head is judged to move upwards, the current hole depth is unchanged, and when the encoder position reaches the recorded deepest position and then continues to move downwards, the punching depth is equal to the current hole depth plus the movement amount;
In the rod replacing process, the state signal of the ball valve is closed, and the hole depth is kept unchanged;
when a hole is made, the current hole depth returns to the initial value of 0.
Preferably, the method for measuring the position of the drill bit according to the ball valve state signal, the turret state signal, the encoder position signal, the disassembly platform signal and the dust collection DCT signal comprises the following steps:
when the drilling machine normally drills holes and the drill bit moves downwards all the time, the position of the drill bit is equal to the current hole depth;
when the hole is washed, the position of the drill bit is equal to the moving amount of the actual position of the current encoder;
The position of the drill bit is equal to the depth of the hole when the connecting rod is connected, and the position is unchanged;
when the rod is disassembled, the bit position subtracts the moving amount;
when the drill begins to make a hole, the bit position is restored to an initial value of 0.
Preferably, the method for measuring the number of single-hole drill rods according to the mechanical manual operation signal, the rotary head state signal and the disassembly platform signal comprises the following steps:
setting the initial number of drill rods to 1;
If the connecting rod acts, adding 1 to the number of the drill rods; if the rod disassembling action occurs, the number of the drill rods is reduced by 1;
When the current hole is drilled, a hole is started to be drilled, and the number of drill rods returns to an initial value of 1.
Preferably, the method for measuring the accumulated drilling number according to the mode signal of the drilling machine comprises the following steps:
setting the initial value of the accumulated drilling number to be 1;
judging whether punching is finished or not, wherein the judging conditions are as follows: switching the drilling machine from a rock drilling mode to a walking mode, positioning the drilling machine to the next punching position, and switching the drilling machine from the walking mode to the rock drilling mode, wherein the depth of the last hole is more than 0.5 meter;
if the last hole is judged to be punched, the accumulated number of holes is increased by 1.
In a second aspect, a drilling data measurement system of a drilling machine is provided, and the drilling data measurement method of the drilling machine provided by the invention is used for measuring drilling data of the drilling machine, and includes:
A data acquisition unit configured to acquire borehole state parameters including: ball valve status signal, turret status signal, encoder position signal, disassembly platform signal, dust collection DCT signal, sprocket radius, rig mode signal;
A controller configured to measure drilling data of the drilling machine based on the drilling status parameters, the drilling data including a drilling depth, a bit position, a single Kong Zuangan number, and a cumulative number of drill holes.
Further, the measurement system further comprises an intelligent terminal device and a service platform, wherein the intelligent terminal device is configured to receive and store various drilling state parameters and measurement data sent by the controller, upload the received data to the service platform, receive control instructions sent by the service platform and send the instructions to the controller to realize remote control of the machine;
The service platform is configured to receive and store the drilling machine data uploaded by the intelligent terminal equipment, analyze the data and send a control instruction to the intelligent terminal equipment.
Further, the measurement system also includes a display screen configured for data display and human-machine interaction.
In a third aspect, the present invention provides a drilling machine comprising the proposed drilling data measurement system of the drilling machine and measuring drilling data using the provided drilling data measurement method of the drilling machine.
Compared with the prior art, the method and the device realize the algorithm of drilling data measurement under each working condition, accurately calculate the drilling data under each working condition, upload important data of the drilling machine to the service platform through the intelligent terminal equipment, issue instructions through the service platform, and realize remote control of the machine.
(1) The drilling data measuring method provided by the embodiment of the invention fully utilizes the signal of the drilling machine, is favorable for accurately counting the drilling data, saves the hardware cost, combines the drilling data with the working condition of the whole machine, and is convenient for operators to observe and troubleshoot.
(2) In the drilling data measurement system provided by the embodiment of the invention, a data collector in the existing system is omitted, the cost of the whole machine is reduced, the intelligent terminal equipment and the service platform are increased, the drilling data is stored on the platform through the CAN bus, the later development is facilitated, and the later analysis is performed by using the drilling data, so that the drilling machine control algorithm is better optimized.
The scheme of the invention is generally used for each machine type, saves development cost, is convenient for later maintenance, and reduces the hardware cost of the whole machine.
Drawings
FIG. 1 is a system block diagram of a prior art drilling rig drilling data acquisition;
FIG. 2 is a schematic diagram of the operation of the borehole;
FIG. 3 is a flow chart of a method of drilling data measurement for a drilling rig in an embodiment of the invention;
FIG. 4 is a flow chart of measuring hole depth in an embodiment of the invention;
FIG. 5 is a flow chart of measuring bit position in an embodiment of the invention;
FIG. 6 is a flow chart of measuring drill pipe number in an embodiment of the present invention;
FIG. 7 is a flow chart of measuring accumulated borehole count in an embodiment of the invention;
FIG. 8 is a block diagram of a measurement system as set forth in an embodiment of the invention;
FIG. 9 is a schematic diagram of display data of a display screen according to an embodiment of the present invention;
fig. 10 is a flowchart of a service platform transmitting data in an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples and the accompanying drawings.
Taking the drilling machine to drill holes by using two drill rods as an example, the actual working process and working condition of the drilling machine are described. Fig. 2 shows a schematic diagram of the working process and working conditions of the drilling machine in an embodiment of the invention. In combination with the illustration of fig. 2, the actual working process and working condition of the drilling machine are as follows: o (circle); 1 → o; 2 → o; 3 → o; 4 → o; 5 → o; 6 . wherein, O; 2 → o; 3 → o; 4 represents a hole washing process; o (circle); 5 represents a cavity; o (circle); 1 and o; 6 represents a normal punching process; the point A-B represents a first rod; B-C represents the second pole.
The actual punching working process comprises the following steps:
1. When the drill bit reaches the position A, a rock drilling mode is started, a ball valve is opened by using a rock drilling mode signal, blowing is started, the drilling machine starts to impact due to the fact that the impacter of the drilling machine is pneumatic, the ball valve is necessarily required to be opened, and the rising edge of the ball valve opening signal is obtained to indicate the starting of impact. When the drill bit reaches the position B, the first drill rod is ended.
The ball valve switch is arranged in the cab and needs to be manually controlled. The ball valve switch is deactivated when in the non-drilling mode and the drilling mode signal activates the ball valve switch when in the drilling mode. Moreover, not every time the rock drilling mode is started, the ball valve is opened for blowing, for example, the ball valve is not required to be started during testing. The drilling mode signal cannot be used to control the opening and closing of the ball valve.
2. In the actual working process, when the point B is reached, the first rod is knotted, and the holes are repeatedly washed up and down to remove scum. Therefore, the process of B, D, E and B represents the hole washing process.
3. After the hole washing is finished, the drill bit is at the point B, which indicates that the drilling of the first drill rod is finished, and the drill rod needs to be replaced when the drilling of the second drill rod is continued. The rod replacing process comprises the following steps: closing a ball valve, selecting a switch to enter a rod replacing mode, disassembling a platform to disassemble a rotary head, and connecting a rod. This process utilizes a change lever mode signal and a detach platform signal.
4. After the end of the extension rod, the second rod starts to be driven, namely starting from the point B. Switching the rod changing mode to a rock drilling mode, opening a ball valve, and starting to blow; repeating the rock drilling process; the section B-F is a cavity, and no rock exists in practice; the section F-C is the normal punching process.
When the drill bit reaches the position of the point C, the drilling is finished, then the drill rod is disassembled, after all the rods are disassembled, the rock drilling mode is switched to the walking mode, the drilling machine is moved to another position, then the drilling machine is positioned to the position of the next hole, and the steps are repeated to start to drill the next hole.
The invention first provides a method for measuring drilling data, as shown in fig. 3, which comprises the following steps:
Step S100: obtaining drilling state parameters, wherein the drilling state parameters comprise: ball valve status signal, turret status signal, encoder position signal, disassembly platform signal, dust collection DCT signal, sprocket radius, rig mode signal. More specifically, the ball valve status signals include a ball valve open signal and a ball valve close signal; the turret status signals include turret forward signals (drill pipe moving downward) and turret reverse signals (drill pipe moving upward); the manipulator signals comprise manipulator clamping signals, signals for moving the manipulator to a drill rod warehouse, signals for moving the manipulator to a rock drilling center and the like; the drilling machine mode signals comprise a drilling machine walking mode signal, a rock drilling mode signal and a rod changing mode signal.
Step S200: and measuring drilling data of the drilling machine according to the drilling state parameters, wherein the drilling data comprise drilling depth, bit position, single Kong Zuangan number and accumulated drilling number.
In the embodiment of the invention, the drilling data of the drilling machine to be measured comprises the drilling depth, the bit position, the single Kong Zuangan number and the accumulated drilling number, and the measuring process of each data is sequentially described in the embodiment.
When the punching depth is measured, the current hole depth represents the punching depth of the current hole, and when a hole starts to be punched, the hole depth is automatically cleared. The cumulative hole depth is the sum of all hole depth data and cannot be cleared. And the analysis of the working efficiency is convenient. The calculation of the depth of perforation includes several operating conditions: 1. normal formation perforation: the depth of the hole is equal to the initial depth of the hole plus the amount of movement. The shift amount is determined based on the difference between the sprocket radius, the encoder initial position, and the encoder final position, and specifically, the shift amount can be calculated according to the formula "2×3.14×sprocket radius× (encoder final position-encoder initial position)/encoder resolution".
2. Cavity condition: the method adopts the ball valve opening signal to indicate the starting impact state, and does not simply judge through the impact pressure, and the impact pressure in the cavity is far smaller than the impact pressure in the normal rock drilling process, so the method solves the cavity problem. In the method, in the case of a hole, the punching depth is equal to the current hole depth plus the movement amount.
3. Hole washing state: when the hole is washed, a ball valve signal needs to be opened, and if the rotary head is judged to move upwards, the current hole depth is unchanged; if the rotary head is judged to move downwards, when the encoder position reaches the recorded deepest position and then continues to move downwards, the hole depth is continuously increased, and the hole depth is the current hole depth plus the movement amount.
4. In the rod replacing process, the ball valve signal is closed, and the hole depth is kept unchanged.
5. When a hole is made, the current hole depth returns to the initial value of 0.
The signals needed for the above process include: ball valve status signal, turret status signal, encoder position signal, dust collection DCT signal, and sprocket radius.
Fig. 4 shows a logic flow of a method for measuring a depth of perforation in an embodiment of the present invention. Referring to fig. 4, the specific flow is as follows:
step S101: the current hole depth is initialized to 0 and then step S102 is performed.
Step S102: the current ball valve opening instant encoder position is recorded and then step S103 is performed.
Step S103: whether the drilling machine is in a rock drilling mode and whether the ball valve is opened is determined, and if the drilling machine is in the rock drilling mode and the ball valve is opened, step S104 is performed.
Step S104: judging the direction of the rotary head, if the rotary head moves upwards, keeping the current hole depth unchanged, and then executing step S106; if the turret head moves downward, step S105 is performed.
Step S105: and calculating the moving amount of the encoder, and when the encoder position reaches the recorded deepest position and then continues to move downwards, the hole depth is equal to the current hole depth plus the moving amount, and then executing step S106.
Step S106: the cumulative hole depth plus the movement amount, and then step S107 is performed.
Step S107: the drill begins to make a hole and the current hole depth returns to the initial value of 0.
Further, in the embodiment of the invention, a measuring method of the bit position is provided, so that an operator can accurately judge the bit position in the actual working process, and if the situation of drill sticking and the like occurs, the fault can be removed conveniently according to the bit position.
The measurement of the bit position is mainly divided into several different working conditions:
1. When the drilling machine is used for drilling normally and the drill bit moves downwards all the time, the position of the drill bit is equal to the current hole depth.
2. When washing holes, the bit position is equal to the moving amount of the actual position of the current encoder.
3. When the connecting rod is connected, the position of the drill bit is equal to the depth of the hole, and the position is unchanged.
4. When the rod is detached, the bit position is subtracted by the moving amount.
5. When the drill begins to make a hole, the bit position is restored to an initial value of 0.
The drill signals used in this process are: ball valve opening signal, rotary head forward rotation signal, rotary head reverse rotation signal, encoder position signal, sprocket radius, disassembly platform signal, dust collection DCT signal.
A specific flow of measuring the bit position of the present embodiment is shown in fig. 5. In connection with fig. 5, in measuring the bit position, it is performed as follows:
step S201: the bit position initial value is set to 0.
Step S202: judging whether the drilling machine is in the impact mode, if so, executing the step S203, otherwise, executing the step S204.
Step S203: judging the direction of the rotary head, if the rotary head moves downwards, the bit position is equal to the current hole depth, and then executing step S207.
Step S204: it is determined whether the turret head starts to move from rest, and if the turret head starts to move from rest, step S205 is executed.
Step S205: recording the current bit position; then step S206 is performed;
Step S206: whether the dust collection DCT mode and the lower disassembly platform are opened or not is determined, and if the dust collection DCT mode is opened and the lower disassembly platform is opened, the bit position minus the movement amount is performed, and then step S207 is performed.
Step S207: when the drill begins to make a hole, the bit position is restored to an initial value of 0.
Furthermore, the invention also provides a measuring method of the single-hole drill rod number. When the same layer is arranged and the same hole depth is needed to be punched on the same layer, an operator can simply judge the punching end position according to the number of drill rods in the hole on the display screen, and the operation is convenient. First, there will be an initial number of rods on the swivel, so the initial number of rods is 1. And secondly, judging that if the connecting rod action occurs, adding 1 to the number of the drill rods, and if the rod removing action occurs, subtracting 1 from the number of the drill rods. When the current hole is drilled, a hole is started to be drilled, and the number of drill rods returns to an initial value of 1. Wherein, the process of the connecting rod comprises the following steps: the mechanical arm clamps a drill rod, the drill rod moves to a rock drilling center from a drill rod warehouse, the rotary head rotates positively to connect the rotary head with the drill rod, the rotary head rotates positively to connect the drill rod with the drill rod below, and the disassembly platform is opened. The process of disassembling the rod comprises the following steps: the manipulator moves from the drill rod warehouse to the rock drilling center, clamps the drill rods, reverses the rotary head to disassemble the threads below the drill rods, reverses the rotary head to disassemble the connection between the rotary head and the drill rods, and moves to the drill rod warehouse. Therefore, the process of judging the disassembling rod is realized by collecting the clamping signals of the manipulator, the signals of the manipulator moving to the drill rod warehouse, the signals of the manipulator moving to the rock drilling center, the forward rotation signals of the rotary head, the reverse rotation signals of the rotary head and the disassembling platform signals.
Fig. 6 shows a flow of measuring the number of single hole drill rods in an embodiment. Referring to fig. 6, a specific process for measuring the number of single-hole drill rods includes:
Step S301: the number of drill rods is initialized to 1, and then step S302 is performed.
Step S302: it is determined whether the manipulator is clamped and moved from the rod magazine to the rock drilling centre, and if so, step S303 is performed.
Step S303: judging the movement direction of the rotary head, and executing step S304 if the rotary head moves downwards; if the turret head moves upward, the number of drill rods is reduced by 1, and then step S305 is performed.
Step S304: and judging whether the disassembly platform is opened, if so, adding 1 to the number of drill rods, and then executing step S305.
Step S305: a hole is started to be drilled and the number of drill rods is returned to the initial value of 1.
Further, in the embodiment of the invention, a method for measuring the accumulated drilling number is also provided, and when the accumulated drilling number is measured, the running mode signal of the drilling machine and the drilling mode signal of the drilling machine are required to be used. It should be noted that, under normal conditions, the punching depth is not less than 0.5 m. When one hole is tied off, the current hole depth is greater than 0.5 meters. Before a hole is drilled, the machine needs to be switched to a walking mode, then the drilling machine is positioned to the position of the next hole, then the drilling machine is switched to a rock drilling mode, and the drilling of the next hole is started. Thus, the last hole was judged to be tied, so the cumulative drilling number is increased by 1.
FIG. 7 shows a flow chart of the measurement of accumulated borehole count in an embodiment. Referring to fig. 7, a specific logic flow for measuring the cumulative number of boreholes includes:
step S401: setting the initial value of the accumulated drilling number to 1, and then executing step S402;
Step S402: judging whether the current hole depth is greater than 0.5m, if so, executing step S403;
Step S403: judging whether the drilling machine is switched from the walking mode to the rock drilling mode, and if the drilling machine is switched from the walking mode to the rock drilling mode, adding 1 to the accumulated drilling number.
Further, in an embodiment of the present invention, there is provided a drilling data measurement system of a drilling machine, as shown in fig. 8, the system including a data acquisition unit and a controller.
Wherein the data acquisition unit is configured for acquiring borehole state parameters including: ball valve status signal, turret status signal, encoder position signal, disassembly platform signal, dust collection DCT signal, sprocket radius, rig mode signal. The data acquisition unit is a variety of sensors on the rig, such as encoders, ball valves, etc., that can detect signals in real time and transmit the data back to the controller.
The controller is configured to measure drilling data of the drilling machine based on the drilling status parameters, the drilling data including a drilling depth, a bit position, a number of individual Kong Zuangan and a cumulative number of drill holes. The controller not only can realize the measurement operation, but also is a control core of the whole drilling machine, and can be used for controlling various operations of the drilling machine. The method for calculating various drilling data in the controller is the same as the steps of the method mentioned in the above embodiments, and will not be described here again. The controller may communicate using a CAN bus.
Further, the measurement system provided in the embodiment further includes a service platform and an intelligent terminal device, wherein the service platform is configured to store the drilling machine data, analyze the data, and send a control instruction to the intelligent terminal device; the intelligent terminal device is configured to store various borehole state parameters and measurement data, and to send control instructions to the controller.
Further, the measuring system in the embodiment further comprises a display screen, so that data display and man-machine interaction CAN be achieved, and the display screen CAN be in CAN communication, as shown in fig. 9.
With respect to existing systems, first the hardware includes: and hardware of the drilling data acquisition device is removed, so that the cost of the whole machine is reduced. The controller with CAN communication, a display screen, an angle meter and an encoder. And secondly, intelligent terminal equipment is added, so that the data of the whole machine can be uploaded to a platform through an MQTT protocol, and the storage and analysis of a large amount of data are facilitated. The method solves the problems that a large amount of data of the original system cannot be stored, drilling data cannot be combined with the whole machine control, and the like. In addition, the drilling machine operation data on the service platform are stored, and the data are used for analyzing the drilling machine operation condition subsequently and optimizing the drilling machine control strategy.
The service platform data storage optimization follow-up control logic is as follows:
As shown in fig. 10, the data communication between the service platform and the control system of the whole machine is realized through the intelligent terminal equipment. The functions which can be realized by doing so are as follows: 1. the intelligent terminal equipment can send the instruction to the intelligent terminal equipment on the service platform, and then the intelligent terminal equipment forwards the instruction to the control system of the drilling machine, so that the remote control of the drilling machine is realized. For example, a car locking instruction can be issued on a service platform, so that the speed and torsion limiting control of the whole machine is realized. 2. The data stored on the platform can be analyzed by selecting specific historical data for a certain period of time according to the requirement, so that the use condition of the machine can be analyzed conveniently, and the historical fault condition can be analyzed conveniently. For example, the engine may be difficult to start if cold weather is present, or under high altitude conditions. The historical data can be called to check whether the starting is difficult or not when the altitude is high or not, and the starting is normal or not when the altitude is high or not. The temperature is difficult to start, the temperature is normal, and the analysis is convenient. And facilitating subsequent design improvements. For example, when the temperature is high, the customer needs to be reminded of adding the preheating device for preheating. 3. The stored data is used for optimization of a subsequent rig control system. For example, the impact pressure is different in different rock formations, and the impact pressure when the rock formation is a medium rock formation and the impact pressure when the rock formation is a hard rock can be known by looking at the history of the impact pressure in the actual working process of the drilling machine. Based on the data from the recording analysis, the formation texture selection can be added to the display screen during subsequent design, and the customer can select the appropriate formation texture as required, thereby corresponding to different impact pressures. Therefore, the oil consumption can be effectively reduced, and the control system of the drilling machine is optimized.
Further, in an embodiment of the present invention, there is also provided a drilling machine, which may include the drilling data measurement system of the drilling machine provided by the present invention, and measure drilling data using the provided measurement method. The specific components of the system and the specific implementation of the method are not described herein.
The invention provides a novel drilling machine data acquisition method, which has the function of realizing accurate measurement of data such as current drilling depth, current bit position, current drill rod number, accumulated drilling depth, accumulated drilling number and the like under various working conditions. The problem of wash the hole appearing in the current system, drilling data inaccurate when the cavity is solved. The method program is fully integrated into the controller of the drilling machine, signals of the drilling machine are fully utilized, drilling data and drilling machine states are displayed on a display screen, and an operator can conveniently and well judge the actual working state of the drilling machine. For example, when the drill is stuck, an operator can better judge the actual position of the stuck drill through the position of the drill bit on the display screen, so that the follow-up fault removal is facilitated. After the data is uploaded to the service platform, historical data in the working process of the drilling machine can be saved. The historical data can be viewed and used later: 1. the maintenance condition is monitored, for example, the maintenance time of the rock drill is regulated by a host machine factory, and whether a customer maintains in time or not can be seen by checking historical data. 2. And (3) checking historical faults of the engine or the whole machine, fault codes and fault time according to the historical fault records, and judging the actual running condition of the engine or the whole machine. 3. And the drilling machine data is analyzed and utilized, so that a control algorithm is optimized, and the whole machine is better controlled. For example, the impact pressure value in the actual working of the rock drill can be known through checking analysis, and whether the texture of the working rock stratum is soft rock, hard rock or medium rock stratum can be judged. And then, according to the collected data, setting the impact pressure during working on the specific construction site, thereby saving oil consumption.
The above examples are only preferred embodiments of the present invention, it being noted that: it will be apparent to those skilled in the art that several modifications and equivalents can be made without departing from the principles of the invention, and such modifications and equivalents fall within the scope of the invention.
Claims (9)
1. A method of drilling data measurement for a drilling rig, comprising:
obtaining drilling state parameters, wherein the drilling state parameters comprise: ball valve status signal, turret status signal, encoder position signal, disassembly platform signal, dust collection DCT signal, sprocket radius, rig mode signal, and robot manual signal;
Measuring drilling data of a drilling machine according to the drilling state parameters, wherein the drilling data comprise drilling depth, drill bit position, single Kong Zuangan number and accumulated drilling number; wherein, the punching depth is measured according to the ball valve state signal, the rotary head state signal, the encoder position signal, the dust collection DCT signal and the sprocket radius;
Measuring the position of the drill bit according to the ball valve state signal, the turret state signal, the encoder position signal, the disassembly platform signal and the dust collection DCT signal;
Measuring the number of single-hole drill rods according to the mechanical manual signal, the turret head state signal and the disassembly platform signal;
And measuring the accumulated drilling number according to the mode signal and the drilling depth of the drilling machine.
2. The method of claim 1, wherein the method of measuring the depth of perforation from the ball valve status signal, the turret status signal, the encoder position signal, the dust collection DCT signal, and the sprocket radius comprises:
normal formation perforation state, perforation depth is equal to initial Kong Shenjia movement;
The cavity state is used for judging the impact state according to the ball valve state signal, and if impact starts, the punching depth is equal to the current Kong Shenjia movement amount;
In the hole washing state, if the rotary head is judged to move upwards, the current hole depth is unchanged, and when the encoder position reaches the recorded deepest position and then continues to move downwards, the punching depth is equal to the current hole depth plus the movement amount;
In the rod replacing process, the state signal of the ball valve is closed, and the hole depth is kept unchanged;
when a hole is made, the current hole depth returns to the initial value of 0.
3. The method of claim 1, wherein the method of measuring bit position based on the ball valve status signal, the turret status signal, the encoder position signal, the disassembly platform signal, the dust collection DCT signal comprises:
when the drilling machine normally drills holes and the drill bit moves downwards all the time, the position of the drill bit is equal to the current hole depth;
when the hole is washed, the position of the drill bit is equal to the moving amount of the actual position of the current encoder;
The position of the drill bit is equal to the depth of the hole when the connecting rod is connected, and the position is unchanged;
when the rod is disassembled, the bit position subtracts the moving amount;
when the drill begins to make a hole, the bit position is restored to an initial value of 0.
4. The method of claim 1, wherein the method of measuring the number of single hole drill rods based on the robot work signal, the turret status signal, and the disassembly platform signal comprises:
setting the initial number of drill rods to 1; if the connecting rod acts, adding 1 to the number of the drill rods;
if the rod disassembling action occurs, the number of the drill rods is reduced by 1;
When the current hole is drilled, a hole is started to be drilled, and the number of drill rods returns to an initial value of 1.
5. The method of claim 1, wherein the method of measuring the cumulative number of boreholes based on the mode signal of the drilling machine comprises:
setting the initial value of the accumulated drilling number to be 1;
judging whether punching is finished or not, wherein the judging conditions are as follows: switching the drilling machine from a rock drilling mode to a walking mode, positioning the drilling machine to the next punching position, and switching the drilling machine from the walking mode to the rock drilling mode, wherein the depth of the last hole is more than 0.5 meter;
if the last hole is judged to be punched, the accumulated number of holes is increased by 1.
6. Drilling data measurement system of a drilling machine, characterized in that drilling data of the drilling machine are measured by means of a drilling data measurement method of a drilling machine according to any one of claims 1-5, comprising:
a data acquisition unit configured to acquire borehole state parameters including: ball valve status signal, turret status signal, encoder position signal, disassembly platform signal, dust collection DCT signal, sprocket radius, rig mode signal;
A controller configured to measure drilling data of the drilling machine based on the drilling status parameters, the drilling data including a drilling depth, a bit position, a single Kong Zuangan number, and a cumulative number of drill holes.
7. The measurement system of claim 6, further comprising an intelligent terminal device and a service platform, wherein the intelligent terminal device is configured to accept and store various drilling status parameters and measurement data sent by the controller, upload the accepted data to the service platform, accept control instructions sent by the service platform, and send the instructions to the controller to realize remote control of the machine;
the service platform is configured to receive and store the drilling machine data uploaded by the intelligent terminal equipment, analyze the data and send control instructions to the intelligent terminal equipment.
8. The measurement system of claim 6, further comprising a display screen configured for data display and human-machine interaction.
9. Drilling data measurement system comprising a drilling machine according to any of claims 6-8, wherein drilling data is measured by means of a drilling data measurement method of a drilling machine according to any of claims 1-5.
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| CN110259432A (en) * | 2019-06-17 | 2019-09-20 | 中煤科工集团西安研究院有限公司 | A kind of fine detection device of mining drilling radar and method based on drilling machine push |
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| CN101886519A (en) * | 2010-07-19 | 2010-11-17 | 曾庆义 | Anchor rod drilling machine capable of monitoring working state of drill hole, and monitoring device thereof |
| CN104343441A (en) * | 2014-09-29 | 2015-02-11 | 中国地质大学（武汉） | Bottom drilling parameter transmission system for ultra-deep well |
| CN111379558B (en) * | 2020-04-29 | 2024-10-18 | 中国电建集团江西省电力设计院有限公司 | Drilling data intelligent measurement system and method for percussion drilling |
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| AU7217901A (en) * | 2000-09-29 | 2002-04-18 | J H Fletcher & Co, Inc | Enhanced computer control of in-situ drilling system |
| CN110259432A (en) * | 2019-06-17 | 2019-09-20 | 中煤科工集团西安研究院有限公司 | A kind of fine detection device of mining drilling radar and method based on drilling machine push |
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