System and method for correcting perpendicularity of formed hole of rotary drilling rig

Abstract

The invention discloses a rotary drilling rig pore-forming perpendicularity correction system and method. A first pulse sensor, a second pulse sensor, a signal receiver, a pressure sensor, the control end of a main coil floating electromagnetic valve and the control end of a power head automatic rotating electromagnetic valve are electrically connected with the input end of a controller. The first pulse sensor is used for acquiring information of a main winding motor; the second pulse sensor is used for acquiring power head motor information; the double-axis angle sensor is used for detecting attitude data of the X axis and the Y axis of the drill bit and is connected with the controller through the signal receiver; the pressure sensor is used for detecting pressure information of the power head; the main roll floating electromagnetic valve is used for controlling the drill rod to descend and stop descending due to dead weight; and the power head automatic rotating electromagnetic valve is used for controlling the drill bit to automatically rotate forwards and stop rotating forwards. According to the invention, the drilling verticality of the rotary drilling rig can be detected in real time, and correction is started when the verticality does not meet the requirement, so that adverse effects caused by subsequent detection are avoided.

Description

Technical Field

[0001] The invention relates to a system and method for correcting the verticality of a hole formed by a rotary drilling rig, and belongs to the technical field of drilling rigs. Background Art

[0002] Rotary drilling rig is a hole-forming machine used for cast-in-place pile construction in pile foundation engineering. It is widely used in the construction of pile foundations for roads, bridges, docks, high-rise buildings and other projects.

[0003] At present, domestic rotary drilling rigs are unable to achieve real-time detection of the verticality of pile holes. They completely rely on ultrasonic testing of the hole quality after the construction is completed. This is a post-test. When the drill hole deviates, it needs to be re-drilled for correction, and sometimes even waste holes will occur.

[0004] Therefore, those skilled in the art need to improve the existing rotary drilling rig to avoid the problem of borehole deviation. Summary of the invention

[0005] Purpose: In order to overcome the technical problem in the prior art that it is impossible to detect and correct the verticality of a pile hole in real time, the present invention provides a system and method for correcting the verticality of a hole formed by a rotary drilling rig.

[0006] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is:

[0007] In a first aspect, a rotary drilling rig hole verticality correction system includes: a controller.

[0008] The first pulse sensor and the second pulse sensor are both electrically connected to the input end of the controller, the signal receiver is connected to the second CAN port of the controller, the pressure sensor is electrically connected to the input end of the controller, the control end of the main volume floating solenoid valve is electrically connected to the input end of the controller, the control end of the power head automatic rotation solenoid valve is electrically connected to the input end of the controller, and the dual-axis angle sensor is connected to the controller through the signal receiver.

[0009] The first pulse sensor is used to obtain the main roll motor information.

[0010] The second pulse sensor is used to obtain the power head motor information.

[0011] The dual-axis angle sensor is used to detect the posture data of the drill bit on the X-axis and Y-axis.

[0012] The pressure sensor is used to detect the pressure information of the power head.

[0013] The main volume floating solenoid valve is used to control the lowering and stopping of the drill pipe by its own weight.

[0014] The power head automatic rotation solenoid valve is used to control the drill bit to automatically rotate forward and stop rotating forward.

[0015] As a preferred solution, it also includes a display, which is connected to the first CAN port of the controller.

[0016] As a preferred solution, when the drill bit starts drilling, the rotary power head places the dual-axis angle sensor flush with the drill mast.

[0017] In a second aspect, a verticality correction method of a rotary drilling rig drilling verticality correction system specifically includes:

[0018] Step 1: Obtain the pulse value of the main reel motor from the beginning to the end of each drilling.

[0019] Step 2: Obtain the pulse value of the power head motor from the beginning to the end of each drilling.

[0020] Step 3: Get the time nodes from the start to the end of each drilling.

[0021] Step 4: Obtain the X-axis offset value and Y-axis offset value of the drill bit at each sampling moment from the beginning to the end of each drilling.

[0022] Step 5: When the X-axis offset value or the Y-axis offset value of the drill bit at the sampling moment is greater than the verticality offset threshold, the time node corresponding to the sampling moment is obtained.

[0023] Step 6: According to the time node corresponding to the sampling moment, obtain the pulse value of the main roll motor corresponding to the time node.

[0024] Step 7: Calculate the corrected depth starting value of the drill bit based on the pulse value of the main reel motor.

[0025] Step 8: According to the correction depth starting value of the drill bit, the drill bit is lowered to the correction depth starting value, and a power head automatic rotation solenoid valve power-on command is issued to obtain the power head pressure information. When it is detected that the power head pressure value is less than the pressure threshold, a main volume floating solenoid valve power-on command is issued. When the drill rod is lowered to the distance of a single correction hole, a main volume floating solenoid valve power-off command is issued.

[0026] Step 9: When the drill bit is at the distance of the correction depth starting value plus the single correction hole, when it is detected that the power head pressure value is less than the pressure threshold, the main volume floating solenoid valve is energized and the main volume floating solenoid valve is de-energized. When the drill rod is lowered to the distance of the single correction hole, the main volume floating solenoid valve is de-energized and the main volume floating solenoid valve is de-energized.

[0027] Step 10: Repeat steps 5 to 9 until the drill bit descends to a depth equal to the drilling depth each time, and the hole correction is completed.

[0028] As a preferred solution, a method for obtaining the X-axis offset value and the Y-axis offset value of the drill bit at each sampling moment specifically includes:

[0029] Get the pulse value N2 of the power head motor, get the number of pulses n for one rotation of the power head, and calculate the number of rotations k of the power head, k=floor(N2 / n), floor means rounding down, k≥0.

[0030] When the pulse value N2=kn, record the dual-axis angle sensor's X-axis angle as x1, the Y-axis angle as y1, and the corresponding time node. At this time, the X-axis offset value of the hole verticality is x=x1, and the Y-axis offset value is y=y1.

[0031] When the pulse value N2=kn+ At n, record the dual-axis angle sensor's X-axis angle as x2, Y-axis angle as y2, and the corresponding time node. At this time, the X-axis offset value of the hole verticality is x=y2, and the Y-axis offset value is y=x2.

[0032] When the pulse value N2=kn+ At n, record the dual-axis angle sensor's X-axis angle as x3, Y-axis angle as y3, and the corresponding time node. At this time, the verticality of the hole is offset by an angle of x=-x3 in the X-axis direction and an angle of y=-y3 in the Y-axis direction.

[0033] When the pulse value N2=kn+ At n, record the dual-axis angle sensor's X-axis angle as x4, Y-axis angle as y4, and the corresponding time node. At this time, the verticality of the hole is offset by an angle of x=-y4 in the X-axis direction and an angle of y=-x4 in the Y-axis direction.

[0034] As a preferred solution, the calculation formula for the corrected depth starting value is as follows:

[0035] Correction depth starting value = pulse value of main roll motor ÷ number of teeth of main roll motor ÷ speed ratio of reducer.

[0036] As a preferred solution, the distance between the single correction holes is set to 2-5 cm.

[0037] As a preferred solution, it also includes: sending the X-axis deflection value, Y-axis deflection value of the drill bit at each sampling moment, the depth value of the drill bit, the rotation value of the power head, the time node, and the alarm information when the X-axis deflection value or the Y-axis deflection value is greater than the verticality offset threshold α to the display.

[0038] In a third aspect, a computer-readable storage medium stores a computer program, which, when executed by a processor, implements a verticality correction method for a rotary drilling rig drilling verticality correction system as described in any one of the second aspects.

[0039] According to a fourth aspect, a computer device comprises:

[0040] Memory, used to store instructions.

[0041] The processor is used to execute the instructions so that the computer device performs the operations of the verticality correction method of the drilling verticality correction system of a rotary drilling rig as described in any one of the second aspects.

[0042] Beneficial effect: The present invention provides a rotary drilling rig hole verticality correction system and method, which continuously detects the verticality of the hole during the drilling process and promptly triggers the correction mechanism after a deviation occurs, thereby solving the problem that the prior art cannot achieve real-time detection and correction of the verticality of the pile hole.

[0043] The present invention can detect the verticality of the drilling hole of the rotary drilling rig in real time, and start correction when the verticality does not meet the requirement, thereby avoiding the adverse effects caused by subsequent detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The present invention is a structural schematic diagram of a rotary drilling rig hole verticality correction system.

[0045] Figure 2 It is a structural schematic diagram of the initial position of the drill bit of the rotary drilling rig and the dual-axis angle sensor of the present invention.

[0046] Figure 3 It is a schematic diagram of the structure of the dual-axis angle sensor position when the drill bit rotates a quarter turn.

[0047] Figure 4 It is a structural schematic diagram of the position of the dual-axis angle sensor when the drill bit rotates one-half circle.

[0048] Figure 5 It is a structural diagram of the position of the dual-axis angle sensor when the drill bit rotates three-quarters of a circle.

[0049] The meanings of the reference numerals in the figure are: 1-controller, 2-display, 3-first pulse sensor, 4-main roll motor, 5-second pulse sensor, 6-power head motor, 7-signal receiver, 8-dual-axis angle sensor, 9-drill bit, 10-main roll floating solenoid valve, 11-power head automatic rotation solenoid valve, 12-pressure sensor, 13-power head valve frame, 14-drill pipe, 15-drill mast, 16-follow-up frame. DETAILED DESCRIPTION

[0050] The following is a clear and complete description of the technical solutions in the examples of the present invention in conjunction with the accompanying drawings in the examples of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present invention.

[0051] The present invention will be further described below in conjunction with specific embodiments.

[0052] Embodiment 1:

[0053] This embodiment introduces a rotary drilling rig hole verticality correction system. Figure 1 As shown, it includes: a controller 1, a display 2, a first pulse sensor 3, a second pulse sensor 5, a dual-axis angle sensor 8, a signal receiver 7, a pressure sensor 12, a main volume floating solenoid valve 10 and a power head automatic rotation solenoid valve 11.

[0054] The first pulse sensor 3 and the second pulse sensor 5 are both electrically connected to the input end of the controller 1, the display 2 is connected to the first CAN port of the controller 1, the signal receiver 7 is connected to the second CAN port of the controller 1, the pressure sensor 12 is electrically connected to the input end of the controller 1, the control end of the main volume floating solenoid valve 10 is electrically connected to the input end of the controller 1, the control end of the power head automatic rotation solenoid valve 11 is electrically connected to the input end of the controller 1, and the dual-axis angle sensor 8 is connected to the controller 1 through the signal receiver 7.

[0055] The first pulse sensor 3 is used to obtain the main roll motor information.

[0056] The second pulse sensor 5 is used to obtain the power head motor information.

[0057] The dual-axis angle sensor 8 is used to detect the posture data of the drill bit on the X-axis and Y-axis.

[0058] The pressure sensor 12 is used to detect the pressure information of the power head.

[0059] The main volume floating solenoid valve 10 is used to control the lowering and stopping of the drill pipe under its own weight.

[0060] The power head automatic rotation solenoid valve 11 is used to control the drill bit to automatically rotate forward and stop rotating forward.

[0061] Furthermore, the first pulse sensor 3 is installed on the main roll motor 4 .

[0062] Furthermore, the second pulse sensor 5 is installed on the power head motor 6 .

[0063] Furthermore, the dual-axis angle sensor 8 is mounted on the drill bit 9 .

[0064] Furthermore, the pressure sensor 12 is installed on the power head valve frame 13 .

[0065] Furthermore, the display 2 is used to display the X-axis and Y-axis posture data of the drill bit and the verticality of the drilling.

[0066] Embodiment 2:

[0067] This embodiment introduces a verticality correction method of a rotary drilling rig drilling verticality correction system, wherein one end of a follower frame 16 is mounted on a drill mast 15, and the other end of the follower frame 16 is connected to a power head valve frame 13, a drill rod 14 is arranged below the power head valve frame 13, and a drill bit 9 is arranged at the end of the drill rod 14, and the verticality correction method specifically includes:

[0068] Step 1: Obtain the pulse value of the main reel motor from the beginning to the end of each drilling.

[0069] Step 2: Obtain the pulse value of the power head motor from the beginning to the end of each drilling.

[0070] Step 3: Get the time nodes from the start to the end of each drilling.

[0071] Step 4: Obtain the X-axis offset value and Y-axis offset value of the drill bit at each sampling moment from the beginning to the end of each drilling.

[0072] Step 5: When the X-axis offset value or the Y-axis offset value of the drill bit at the sampling moment is greater than the verticality offset threshold, the time node corresponding to the sampling moment is obtained.

[0073] Step 6: According to the time node corresponding to the sampling moment, obtain the pulse value of the main roll motor corresponding to the time node.

[0074] Step 7: Calculate the corrected depth starting value of the drill bit based on the pulse value of the main reel motor.

[0075] Step 8: According to the correction depth starting value of the drill bit, the drill bit is lowered to the correction depth starting value, and a power head automatic rotation solenoid valve power-on command is issued to obtain the power head pressure information. When it is detected that the power head pressure value is less than the pressure threshold, a main volume floating solenoid valve power-on command is issued. When the drill rod is lowered to the distance of a single correction hole, a main volume floating solenoid valve power-off command is issued.

[0076] Step 9: When the drill bit is at the distance of the correction depth starting value plus the single correction hole, when it is detected that the power head pressure value is less than the pressure threshold, the main volume floating solenoid valve is energized and the main volume floating solenoid valve is de-energized. When the drill rod is lowered to the distance of the single correction hole, the main volume floating solenoid valve is de-energized and the main volume floating solenoid valve is de-energized.

[0077] Step 10: Repeat steps 5 to 9 until the drill bit descends to a depth equal to the drilling depth each time, and the hole correction is completed.

[0078] Furthermore, the method for obtaining the X-axis offset value and the Y-axis offset value of the drill bit at each sampling moment specifically includes:

[0079] Get the pulse value N2 of the power head motor, get the number of pulses n for one rotation of the power head, and calculate the number of rotations k of the power head, k=floor(N2 / n), floor means rounding down, k≥0.

[0080] When the pulse value N2=kn, record the dual-axis angle sensor's X-axis angle as x1, the Y-axis angle as y1, and the corresponding time node. At this time, the X-axis offset value of the hole verticality is x=x1, and the Y-axis offset value is y=y1. Figure 2 As shown, the dual-axis angle sensor is now at the starting position of one rotation of the drill bit.

[0081] When the pulse value N2=kn+ At n, record the angle of the dual-axis angle sensor in the X-axis direction as x2, the angle of the Y-axis direction as y2, and the corresponding time node. At this time, the X-axis offset value of the verticality of the hole is x=y2, and the Y-axis offset value is y=x2. Figure 3 As shown, the dual-axis angle sensor is in the state of drill bit rotation. Zhou's position.

[0082] When the pulse value N2=kn+ At n, record the angle of the dual-axis angle sensor in the X-axis direction as x3, the angle of the Y-axis direction as y3, and the corresponding time node. At this time, the verticality of the hole is offset in the X-axis direction by x=-x3, and in the Y-axis direction by y=-y3. Figure 4 As shown, the dual-axis angle sensor is in the state of drill bit rotation. Zhou's position.

[0083] When the pulse value N2=kn+ At n, record the angle of the dual-axis angle sensor in the X-axis direction as x4, the angle of the Y-axis direction as y4, and the corresponding time node. At this time, the verticality of the hole is offset by an angle of x=-y4 in the X-axis direction and an angle of y=-x4 in the Y-axis direction. Figure 5 As shown, the dual-axis angle sensor is in the state of drill bit rotation. Zhou's position.

[0084] Furthermore, the calculation formula of the correction depth starting value is as follows:

[0085] Correction depth starting value = pulse value of main roll motor ÷ number of teeth of main roll motor ÷ speed ratio of reducer.

[0086] Furthermore, the distance of the single correction hole is set to 2-5 cm.

[0087] Furthermore, the X-axis deflection value, Y-axis deflection value, depth value, rotation value of the drill head, time node, and alarm information when the X-axis deflection value or the Y-axis deflection value is greater than the verticality offset threshold α are sent to the display at each sampling moment.

[0088] Embodiment 3:

[0089] This embodiment introduces a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, a verticality correction method of a rotary drilling rig drilling verticality correction system as described in any one of Embodiment 2 is implemented.

[0090] Embodiment 4:

[0091] This embodiment introduces a computer device, including:

[0092] Memory, used to store instructions.

[0093] The processor is used to execute the instructions so that the computer device performs the operation of the verticality correction method of the drilling verticality correction system of a rotary drilling rig as described in any one of Example 2.

[0094] Embodiment 5:

[0095] This embodiment introduces the working process of a rotary drilling rig drilling verticality correction system. Taking the drilling depth of 10 meters as an example, the rotary drilling rig drills at a depth of 0.5-1m each time, specifically including:

[0096] During each drilling.

[0097] The pulse value N1 of the main roll motor is obtained by a first pulse sensor installed on the main roll motor.

[0098] The pulse value N2 of the power head motor is obtained by a second pulse sensor installed on the power head motor.

[0099] When the drill bit is at the starting drilling position, the rotating power head places the dual-axis angle sensor flush with the drill mast and performs zeroing operations on the display, including dual-axis angle sensor zeroing, depth zeroing, and power head rotation position zeroing. The dual-axis angle sensor uses the mast as a reference for the drill bit. The left-right angle deviation between the drill bit and the mast is defined as the Y-axis offset value, and the front-back angle deviation between the drill bit and the mast is defined as the X-axis offset value.

[0100] The number of pulses collected by the second pulse sensor corresponding to one rotation of the power head is n.

[0101] According to N1, the real-time position of the drill bit is calculated as L. The calculation formula of L is as follows:

[0102] L=N1 / number of teeth of main winding motor / speed ratio of reducer.

[0103] When L is the starting drilling position, the time node starts to be recorded, the main reel motor and the power head motor start to work, and start drilling downward. The dual-axis angle sensor starts to record the X-axis offset value and Y-axis offset value of the drill bit at each sampling moment.

[0104] When L is the drilling depth each time, the time node is stopped from being recorded, the power head motor stops working, and the main reel motor lifts the drill bit up to the hole to unload the soil. The controller starts recording the X-axis offset value and Y-axis offset value of the drill bit according to each sampling moment to judge the verticality offset. When the X-axis offset value or the Y-axis offset value is greater than the verticality offset threshold α, the hole verticality correction program will be enabled.

[0105] The controller obtains the pulse value corresponding to the time node according to the time node corresponding to the X-axis offset value or the Y-axis offset value greater than the verticality offset threshold α, and calculates the corrected depth starting value La of the drill bit according to the pulse value.

[0106] According to the correction depth starting value La, the controller lowers the drill rod to the correction depth starting value La, the power head automatic rotation solenoid valve is energized, the power head starts to drive the drill bit to automatically rotate forward, and the power head pressure information is detected in real time through the pressure sensor on the power head valve frame. When the power head rotation pressure P1 < Pa is detected, the main volume floating solenoid valve is energized, the drill rod is lowered by its own weight for a single correction hole distance of m, the main volume floating solenoid valve loses power, the drill rod stops being lowered, and the drill bit is lowered to the depth value Lb, Lb = La + m. Among them, Pa is the power head rotation pressure when the power head rotation cutting rock and soil load is less than the threshold value. m is 2-5cm. During the correction process of the verticality of the hole, the power head automatic rotation solenoid valve is always energized, so that the power head keeps cutting the rock and soil in the forward direction.

[0107] When the drill bit is at Lb, the power head rotation pressure P2 < Pa is detected, the main volume floating solenoid valve is energized, and the drill rod is lowered by its own weight. When the drill bit is lowered to the position Lc, Lc = Lb + m, the main volume floating solenoid valve loses power, and the drill rod stops being lowered.

[0108] The above-mentioned hole verticality correction program operation is cycled until the drill bit descends to a depth equal to the drilling depth each time, reaches the drilling depth position, and the hole correction is completed.

[0109] The rotary drilling rig enters the next drilling process. If no vertical deviation is detected when the drill bit is unloading soil, it enters the next drilling process. If vertical deviation is detected when the drill bit is unloading soil, the hole verticality correction procedure is repeated to complete the hole correction, and then enter the next drilling process, and the above operations are repeated until the drill bit completes the drilling depth, such as the drilling depth of 10m.

[0110] Furthermore, the dual-axis angle sensor starts recording the X-axis offset value and the Y-axis offset value of the drill bit at each sampling moment, specifically including:

[0111] Get the pulse value N2 of the power head motor, get the number of pulses n for one rotation of the power head, and calculate the number of rotations k of the power head, k=floor(N2 / n), k≥0.

[0112] When the pulse value N2=kn collected by the second pulse sensor, the dual-axis angle sensor is in the preset position, and the dual-axis angle sensor records the X-axis angle as x1, the Y-axis angle as y1, and the corresponding time node. At this time, the X-axis offset value of the verticality of the hole is x=x1, and the Y-axis offset value is y=y1.

[0113] When the pulse value collected by the second pulse sensor is N2=kn+ At n, the dual-axis angle sensor rotates a quarter of a turn, and the dual-axis angle sensor records the X-axis angle as x2, the Y-axis angle as y2, and the corresponding time node. At this time, the X-axis offset value of the hole verticality is x=y2, and the Y-axis offset value is y=x2.

[0114] When the pulse value collected by the second pulse sensor is N2=kn+ At n, the dual-axis angle sensor rotates half a circle, and the dual-axis angle sensor records the X-axis angle as x3, the Y-axis angle as y3, and the corresponding time node. At this time, the X-axis offset angle of the hole verticality is x=-x3, and the Y-axis offset angle is y=-y3.

[0115] When the pulse value collected by the second pulse sensor is N2=kn+ At n, the dual-axis angle sensor rotates three quarters of a circle, and records the dual-axis angle sensor's X-axis angle as x4, the Y-axis angle as y4, and the corresponding time node. At this time, the verticality of the hole is offset by an angle of x=-y4 in the X-axis direction, and an angle of y=-x4 in the Y-axis direction.

[0116] By setting the above sampling time, the accuracy of offset detection can be improved.

[0117] Furthermore, the pulse value N1 of the main roll motor corresponds to a time node in the controller.

[0118] Furthermore, the position of the drill bit is calculated by the pulse value N1 of the main reel motor corresponding to the time node.

[0119] Furthermore, when lifting the drill rod, the display is used to display the X-axis offset value, Y-axis offset value of the drill bit at each sampling moment of the dual-axis angle sensor, the depth value of the drill bit, the rotation value of the power head, the time node, and the alarm information when the X-axis offset value or the Y-axis offset value is greater than the verticality offset threshold α.

[0120] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0121] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0124] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A rotary drilling rig hole verticality correction system, comprising: The controller is characterized in that: the first pulse sensor and the second pulse sensor are both electrically connected to the input end of the controller, the signal receiver is connected to the second CAN port of the controller, the pressure sensor is electrically connected to the input end of the controller, the control end of the main volume floating solenoid valve is electrically connected to the input end of the controller, the control end of the power head automatic rotation solenoid valve is electrically connected to the input end of the controller, and the dual-axis angle sensor is connected to the controller through the signal receiver; The first pulse sensor is used to obtain the main roll motor information; The second pulse sensor is used to obtain the power head motor information; The dual-axis angle sensor is used to detect the attitude data of the drill bit on the X-axis and Y-axis; The pressure sensor is used to detect the pressure information of the power head; The main volume floating solenoid valve is used to control the lowering and stopping of the drill pipe by its own weight; The power head automatic rotation solenoid valve is used to control the drill bit to automatically rotate forward and stop rotating forward.

2. The rotary drilling rig hole verticality correction system according to claim 1, characterized in that: The device also includes a display connected to the first CAN port of the controller.

3. The rotary drilling rig hole verticality correction system according to claim 1, characterized in that: When the drill bit starts drilling, the rotating power head places the dual-axis angle sensor flush with the drill mast.

4. A verticality correction method for a rotary drilling rig hole verticality correction system, characterized in that: Specifically include: Step 1: Obtain the pulse value of the main reel motor from the beginning to the end of each drilling; Step 2: Obtain the pulse value of the power head motor from the beginning to the end of each drilling; Step 3: Get the time nodes from the start to the end of each drilling; Step 4: Obtain the X-axis offset value and Y-axis offset value of the drill bit at each sampling moment from the beginning to the end of each drilling; Step 5: When the X-axis offset value or the Y-axis offset value of the drill bit at the sampling moment is greater than the verticality offset threshold, the time node corresponding to the sampling moment is obtained; Step 6: According to the time node corresponding to the sampling moment, the pulse value of the main roll motor corresponding to the time node is obtained; Step 7: Calculate the corrected depth starting value of the drill bit according to the pulse value of the main reel motor; Step 8: According to the correction depth starting value of the drill bit, the drill bit is lowered to the correction depth starting value, a power head automatic rotation solenoid valve power-on command is issued, and the power head pressure information is obtained. When it is detected that the power head pressure value is less than the pressure threshold, a main volume floating solenoid valve power-on command is issued. When the drill rod is lowered to the distance of a single correction hole, a main volume floating solenoid valve power-off command is issued; Step 9: When the drill bit is at the distance of the correction depth starting value plus the single correction hole, when it is detected that the power head pressure value is less than the pressure threshold, the main volume floating solenoid valve is energized and the main volume floating solenoid valve is de-energized and the drill rod is lowered to the distance of the single correction hole. Step 10: Repeat steps 5 to 9 until the drill bit descends to a depth equal to the drilling depth each time, and the hole correction is completed.

5. The correction method of the rotary drilling rig hole verticality correction system according to claim 4 is characterized by: The method for obtaining the X-axis offset value and the Y-axis offset value of the drill bit at each sampling moment specifically includes: Get the pulse value N2 of the power head motor, get the number of pulses n of the power head rotating one circle, and calculate the number of rotations k of the power head, k=floor(N2 / n), floor means rounding down, k≥0; When the pulse value N2=kn, record the angle of the dual-axis angle sensor in the X-axis direction as x1, the angle of the Y-axis direction as y1, and the corresponding time node. At this time, the X-axis offset value of the verticality of the hole is x=x1, and the Y-axis offset value is y=y1; When the pulse value N2=kn+ At n, record the angle of the dual-axis angle sensor in the X-axis direction as x2, the angle of the Y-axis direction as y2, and the corresponding time node. At this time, the offset value of the verticality of the hole in the X-axis direction is x=y2, and the offset value in the Y-axis direction is y=x2; When the pulse value N2=kn+ At n, record the angle of the dual-axis angle sensor in the X-axis direction as x3, the angle of the Y-axis direction as y3, and the corresponding time node. At this time, the verticality of the hole is offset in the X-axis direction by an angle x=-x3, and in the Y-axis direction by an angle y=-y3; When the pulse value N2=kn+ At n, record the dual-axis angle sensor's X-axis angle as x4, Y-axis angle as y4, and the corresponding time node. At this time, the verticality of the hole is offset by an angle of x=-y4 in the X-axis direction and an angle of y=-x4 in the Y-axis direction.

6. The correction method of the rotary drilling rig hole verticality correction system according to claim 4 is characterized by: The calculation formula of the corrected depth starting value is as follows: Correction depth starting value = pulse value of main roll motor ÷ number of teeth of main roll motor ÷ speed ratio of reducer.

7. The correction method of the rotary drilling rig hole verticality correction system according to claim 4 is characterized by: The distance of the single correction hole is set to 2-5 cm.

8. The correction method of the rotary drilling rig hole verticality correction system according to claim 4 is characterized by: Also includes: Send the X-axis deflection value, Y-axis deflection value, depth value, rotation value of the power head, time node, and alarm information when the X-axis deflection value or the Y-axis deflection value is greater than the verticality offset threshold α of the drill bit at each sampling moment to the display.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, a verticality correction method of a rotary drilling rig drilling verticality correction system as described in any one of claims 4 to 8 is implemented.

10. A computer device, characterized in that: include: A memory for storing instructions; The processor is used to execute the instructions so that the computer device performs the operation of the verticality correction method of the drilling verticality correction system of a rotary drilling rig as described in any one of claims 4 to 8.

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