Dynamic coordinated control method and system for static sounding equipment, drilling equipment and ship

Abstract

The application relates to a dynamic cooperative control method and system of a static sounding device, a drilling device and a ship, which comprises the following steps: the static sounding device collects stratum parameters of strata at different depths in real time; a ship body posture monitoring device collects a real-time roll angle of the ship body; target drilling parameters are calculated according to the stratum parameters, the target drilling parameters comprising target drilling pressure and target rotating speed; the drilling device collects real-time drilling parameters, the real-time drilling parameters comprising real-time drilling pressure and real-time rotating speed; the drilling device is dynamically adjusted until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, and the real-time roll angle of the ship body is within a set safety threshold. The application constructs a multi-source data real-time fusion mechanism, dynamically cooperatively controls the stratum parameters obtained by the static sounding device, the drilling parameters obtained by the drilling device and the roll angle obtained by the ship body posture monitoring device, and integrates the static sounding device, the drilling device and the ship, so that the quality and efficiency of geological exploration are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of marine geotechnical engineering exploration technology, specifically to a dynamic collaborative control method and system for a static cone penetration test device, drilling equipment, and vessel. Background Technology

[0002] In high-precision geological surveys in complex shallow water areas such as intertidal zones and mudflats, especially in near-shore rail transit and port projects, reliable geological data is essential. Rail transit lines are long and geologically complex, with alternating layers of soft soil and sand, making it difficult to comprehensively understand the geological conditions using a single method. Port projects are located in a marine-land interaction environment, where the geology is affected by seawater erosion and ocean currents, resulting in complex stratigraphic characteristics and requiring high precision in geological surveys. During the construction of these projects, combined exploration using static cone penetration testing (PCT) and drilling equipment is necessary for accurately understanding geological conditions. PCT can quickly obtain continuous mechanical parameters of the strata, while drilling equipment can obtain core samples for direct analysis of the stratigraphic structure. The combined use of these two exploration methods allows for understanding the stratigraphic properties from different perspectives, providing comprehensive and accurate geological data for engineering design and construction.

[0003] In related technologies, static cone penetration testing (PCP) equipment differs from drilling equipment, and their relatively independent working principles lead to isolated data. The formation mechanical parameters (such as cone tip resistance and side friction resistance) obtained by PCP equipment cannot be synchronized and coordinated with the parameters (such as drill pressure and rotation speed) obtained by drilling equipment in real time. This makes it difficult to adjust drilling parameters in a timely manner according to formation changes during drilling, resulting in core recovery rates generally below 80%. Furthermore, the mismatch between drilling parameters and formation conditions easily leads to drill string jamming, affecting exploration efficiency and quality. On the other hand, affected by tidal fluctuations and wind and waves in shallow water areas, the ship's roll angle frequently exceeds the safety threshold, and the probe deflection angle exceeds 5°. Ship sway not only reduces the accuracy of exploration data but may also damage drilling equipment, resulting in low exploration efficiency and hindering the smooth progress of geological exploration work in shallow water areas such as the intertidal zone. Summary of the Invention

[0004] This application provides a dynamic collaborative control method and system for a static cone penetration test (PCT) device, drilling equipment, and vessel, aiming to solve the technical problems in related technologies where the system composed of the PCT device, drilling equipment, and vessel cannot dynamically coordinate, resulting in data isolation, low core recovery rate, and low exploration efficiency.

[0005] This application provides a dynamic coordinated control method for a static cone penetration test device, drilling equipment, and a vessel, which includes the following steps: The static cone penetration test (PCT) equipment collects formation parameters at various depths in real time, while the ship attitude monitoring equipment collects the ship's real-time roll angle. The formation parameters include cone tip drag. Side friction resistance pore water pressure ; The target drilling parameters, including the target drilling pressure, are calculated based on the formation parameters. and target speed ; Drilling equipment collects real-time drilling parameters, including real-time drilling pressure. and real-time rotation speed ; The drilling equipment is dynamically adjusted until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold.

[0006] In one embodiment, calculating the target drilling parameters based on the formation parameters includes: The calculation formula is: ; ; in, This is the drill pressure correction factor. This is the speed correction factor. This is the formation correction factor. This is the pore water pressure correction factor. This is the drill bit size factor. The diameter of the drill bit. To design the core recovery rate.

[0007] In one implementation, the steps for determining each coefficient are as follows: Collect drilling parameters and formation parameters for different types of strata; The parameters are fitted using the least squares method, and the coefficients are solved.

[0008] In one embodiment, the dynamic adjustment of the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, includes: Determine whether the difference between the target drilling parameters and the real-time drilling parameters exceeds the set error range; If so, the drilling equipment is dynamically adjusted to change the real-time drilling parameters until the difference between the target drilling parameters and the real-time drilling parameters is within the set error range; Determine whether the real-time roll angle of the hull exceeds a set safety threshold; If so, the drilling equipment is dynamically adjusted to change the real-time drilling parameters until the real-time roll angle of the hull is within the set safety threshold.

[0009] In one embodiment, the step of dynamically adjusting the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, further includes: Determine whether the core recovery rate meets the set standard; If not, the target rotation speed is dynamically adjusted until the core recovery rate reaches the set standard.

[0010] In one embodiment, the step of dynamically adjusting the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, further includes: Determine whether the real-time roll angle of the hull exceeds a set safety threshold; If so, water is injected into the hull using ballast water regulating equipment until the real-time roll angle of the hull is within the set safety threshold.

[0011] This application also provides a dynamic collaborative control system for a static cone penetration test (SPT) device, drilling equipment, and vessel, employing the dynamic collaborative control method for the SPT device, drilling equipment, and vessel as described in any of the preceding embodiments. The dynamic collaborative control system includes: Static cone penetration testing equipment collects formation parameters at various depths in real time. Ship attitude monitoring equipment collects the real-time roll angle of the ship; Drilling equipment to collect real-time drilling parameters; The edge computing device receives parameter data transmitted from the static cone penetration test device, the hull attitude monitoring device, and the drilling equipment. It calculates the target drilling parameters based on the formation parameters and sends a dynamic adjustment command to the drilling equipment so that the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold.

[0012] In one embodiment, the dynamic cooperative control system further includes: Ballast water regulating equipment injects water into the hull according to the instructions of the edge computing device until the real-time roll angle of the hull is within a set safety threshold.

[0013] In one embodiment, the ballast water regulating device includes multiple independent ballast tanks and hydraulic valve groups located within the hull, through which water is injected into the ballast tanks on the low side.

[0014] In one embodiment, the hull attitude monitoring device includes a three-axis accelerometer and a BeiDou positioning module to monitor the hull's attitude changes and position information.

[0015] The beneficial effects of the technical solutions provided in this application include: This application provides a dynamic collaborative control method and system for a static cone penetration test (CPPT) device, drilling equipment, and vessel. By comparing the difference between the target drilling parameters (theoretical optimal value) calculated based on formation parameters and the real-time drilling parameters, the drilling equipment is dynamically adjusted to adaptively adjust the drilling parameters. This ensures that formation changes match the drilling parameters, effectively improving core recovery rate and solving the problem of isolated data that cannot be used collaboratively. Simultaneously, it ensures that the vessel's roll angle remains within a set safety threshold, maintaining hull level and reducing environmental disturbances. This solves the problem of probe deflection caused by hull swaying, improving exploration efficiency. By constructing a multi-source data real-time fusion mechanism, the formation parameters acquired by the CPPT device, the drilling parameters acquired by the drilling equipment, and the roll angle acquired by the vessel attitude monitoring equipment are dynamically and collaboratively controlled. This creates a three-in-one collaborative control system integrating the CPPT device, drilling equipment, and vessel, thereby achieving intelligent optimization of drill pressure and rotation speed and hull stability control. This significantly improves the quality and efficiency of geological exploration and substantially reduces exploration costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the steps of a dynamic coordinated control method for a static cone penetration test device, drilling equipment, and vessel in one embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the dynamic collaborative control system of the static cone penetration test equipment, drilling equipment, and ship in one embodiment of the present invention.

[0019] In the diagram: 1. Static detection equipment; 2. Ship attitude monitoring equipment; 3. Drilling equipment; 4. Edge computing equipment; 5. Ballast water regulation equipment; 6. Human-computer interaction terminal. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0021] This application provides a dynamic collaborative control method and system for a static cone penetration test (PCT) device, drilling equipment, and vessel, which is particularly suitable for complex shallow water areas such as intertidal zones and mudflats. The aim is to solve the technical problems in related technologies where the system composed of a static cone penetration test device, drilling equipment, and vessel cannot dynamically coordinate, resulting in data isolation, low core recovery rate, and low exploration efficiency.

[0022] Static cone penetration testing (CPT) is an in-situ soil testing method that uses a cone probe to uniformly penetrate the soil layer, measuring parameters such as penetration resistance and sidewall friction in real time to quickly assess soil mechanical properties and stratigraphic distribution. CPT equipment includes a probe equipped with sensors, a probe rod that transmits penetration force and data, a hydraulic propulsion device that provides a constant penetration speed, and a data acquisition instrument that stores parameter data in real time. Its working principle is that the hydraulic propulsion device uniformly presses a standard cone probe into the soil, while the sensors record in real time: cone tip resistance (reflecting soil shear strength), sidewall friction (assessing soil-structure interaction), and pore water pressure (used to analyze saturated soil permeability). Static cone penetration testing is efficient, allows for continuous data acquisition, is undisturbed, and integrates multiple parameters.

[0023] Drilling technology is an engineering technique that uses mechanical means to drill holes into the ground to obtain soil and rock samples, explore geological structures, or extract resources. Its core objective is to reveal underground information, serving fields such as energy development, engineering construction, and scientific exploration. Drilling equipment includes drilling rigs equipped with sensors and drill string assemblies.

[0024] like Figure 1 and Figure 2 As shown, where, Figure 1 This is a flowchart illustrating the steps of a dynamic coordinated control method for a static cone penetration test device, drilling equipment, and vessel in one embodiment of the present invention. Figure 2 This is a schematic diagram of the dynamic collaborative control system of the static cone penetration test equipment, drilling equipment, and ship in one embodiment of the present invention.

[0025] This embodiment provides a dynamic coordinated control method for a static cone penetration test device, drilling equipment, and vessel, which includes the following steps: Step S1: The static cone penetration test (PCT) equipment collects formation parameters at various depths in real time, and the ship attitude monitoring equipment collects the ship's real-time roll angle. The formation parameters include cone tip drag. Side friction resistance pore water pressure ; Step S2: Calculate the target drilling parameters based on the formation parameters, including the target drilling pressure. and target speed ; Step S3: The drilling equipment collects real-time drilling parameters, including real-time drilling pressure. and real-time rotation speed ; Step S4: Dynamically adjust the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within the set error range, while the real-time roll angle of the hull is within the set safety threshold.

[0026] This embodiment provides a dynamic collaborative control method for a static cone penetration test (SPT) device, drilling equipment, and vessel. By comparing the difference between the target drilling parameters (theoretical optimal value) calculated based on formation parameters and the real-time drilling parameters, the drilling equipment is dynamically adjusted to adaptively adjust the drilling parameters. This ensures that formation changes match the drilling parameters, effectively improving core recovery rate and solving the problem of isolated data that cannot be used collaboratively. Simultaneously, it ensures that the vessel's roll angle remains within a set safety threshold, maintaining hull level and reducing environmental disturbances. This solves the problem of probe deflection caused by hull swaying, improving exploration efficiency. By constructing a multi-source data real-time fusion mechanism, the formation parameters acquired by the SPT device, the drilling parameters acquired by the drilling equipment, and the roll angle acquired by the vessel attitude monitoring equipment are dynamically and collaboratively controlled. This creates a three-in-one collaborative control system for the SPT device, drilling equipment, and vessel, enabling intelligent optimization of drill pressure and rotation speed and control of vessel stability. This significantly improves the quality and efficiency of geological exploration and substantially reduces exploration costs.

[0027] In one embodiment, step S2, calculating the target drilling parameters based on formation parameters, includes: The calculation formula is: ; ; in, This is the drill pressure correction factor. This is the speed correction factor. This is the formation correction factor. This is the pore water pressure correction factor. This is the drill bit size factor. The diameter of the drill bit. To design the core recovery rate.

[0028] The above scheme takes into account theories such as soil strength theory, effective stress principle, and drill bit mechanical model, and couples the parameters related to rotation speed and drilling pressure together in a nonlinear manner to describe the complex interrelationships between the parameters in the actual drilling process. This links the formation parameters and drilling parameters together, calculates the target drilling parameters through the formation parameters, drives the optimization of drilling parameters, and realizes the dynamic mapping between formation parameters and drilling behavior.

[0029] In one embodiment, the steps for determining each coefficient are as follows: Collect drilling parameters and formation parameters for different types of strata; The parameters are fitted using the least squares method, and the coefficients are solved.

[0030] Specifically, drilling and formation parameters of different types of strata (such as clay, sand, and soft rock) in the region and for similar projects are collected, covering various drill bit diameters. and the corresponding cone tip resistance Side friction resistance pore water pressure Data such as actual drilling pressure and rotation speed; parameter fitting based on the least squares method to solve for each coefficient. , , , , .

[0031] In one embodiment, step S4, dynamically adjusting the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, includes: Step S41: Determine whether the difference between the target drilling parameters and the real-time drilling parameters exceeds the set error range.

[0032] Specifically, the error range can be set according to the actual situation, such as ±5%.

[0033] Step S42: If yes, then dynamically adjust the drilling equipment to change the real-time drilling parameters until the difference between the target drilling parameters and the real-time drilling parameters is within the set error range.

[0034] Specifically, when dynamically adjusting drilling equipment, the drilling pressure and rotation speed can be increased or decreased accordingly through pressurization devices and power and speed change devices until the difference between the target drilling parameters and the real-time drilling parameters is within the set error range.

[0035] Step S43: Determine whether the real-time roll angle of the hull exceeds the set safety threshold.

[0036] Specifically, the safety threshold is set as follows: Where A is a constant, the value of which is related to the site environment, equipment performance, and operator skill level. Safety thresholds for each depth are obtained based on the formation parameters of each stratum. In this embodiment, the safety threshold for the roll angle is inversely proportional to the cone tip resistance; the greater the cone tip resistance, the smaller the safety threshold for the roll angle, allowing for adjustment of the hull attitude and establishing a dynamic coordination mechanism to prevent the probe from deflecting or breaking due to hull rolling under adverse conditions of high force.

[0037] Step S44: If yes, dynamically adjust the drilling equipment to change the real-time drilling parameters until the real-time roll angle of the hull is within the set safety threshold.

[0038] Specifically, by dynamically adjusting the drilling equipment to change the real-time roll angle of the hull, the hull attitude is adjusted. For example, when the real-time roll angle of the hull exceeds the set safety threshold, the drilling pressure is simultaneously limited to 80% of the current calculated value. This prevents the probe from deflecting or breaking due to hull swaying under adverse conditions of high stress, ensuring the stability of the drilling equipment and probe, and reducing the exploration errors and equipment damage risks caused by hull swaying.

[0039] The above scheme is used to determine stability and, based on the results, to adaptively adjust drilling parameters and level the hull, thereby achieving dynamic coordinated control among the static cone penetration test equipment, drilling equipment, and the vessel.

[0040] In one embodiment, step S4, dynamically adjusting the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, further includes: Step S46: Determine whether the core recovery rate has reached the set standard; Step S47: If not, dynamically adjust the target rotation speed until the core recovery rate reaches the set standard.

[0041] The above scheme allows for adaptive dynamic adjustment of drilling parameters using drilling equipment, taking into account the actual situation of core recovery rate for secondary optimization until the core recovery rate meets the requirements.

[0042] In one embodiment, dynamically adjusting the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, further includes: Step S43: Determine whether the real-time roll angle of the hull exceeds the set safety threshold; Step S45: If so, water is injected into the hull through the ballast water regulating device until the real-time roll angle of the hull is within the set safety threshold.

[0043] The above scheme enables closed-loop control of hull stability, and the ballast water distribution is rapidly adjusted by ballast water regulation equipment to achieve rapid and stable control of the hull attitude.

[0044] like Figure 2 As shown, this embodiment also provides a dynamic collaborative control system for a static cone penetration test device, drilling equipment, and vessel. Applying the above-described dynamic collaborative control method, the dynamic collaborative control system includes: Static cone penetration test equipment 1, which collects formation parameters at various depths in real time; Ship attitude monitoring device 2 collects the real-time roll angle of the ship; Drilling equipment 3 collects real-time drilling parameters; Edge computing device 4 receives parameter data transmitted from static cone penetration testing device 1, hull attitude monitoring device 2 and drilling device 3, calculates target drilling parameters based on formation parameters, and sends dynamic adjustment commands to drilling device 3 to ensure that the difference between the target drilling parameters and real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold.

[0045] The static cone penetration test equipment 1 and the drilling equipment 3 use high-resolution, high-reliability sensors to construct an array, and accurately collect corresponding parameters at a high sampling frequency of ≥100Hz to ensure the acquisition of detailed and accurate formation mechanical parameters.

[0046] In one embodiment, the hull attitude monitoring device 2 includes a three-axis accelerometer and a Beidou positioning module to monitor the hull attitude changes and position information in real time and accurately, providing reliable data for hull stability control. The device has a data redundancy storage function to prevent data loss due to communication failure.

[0047] The static cone penetration test device 1, the hull attitude monitoring device 2, and the drilling device 3, with the help of a stable and reliable data acquisition and transmission module, quickly and accurately transmit the acquired data to the edge computing device 4 via wireless or wired communication, and store it securely.

[0048] Edge computing device 4 is installed on the ship and has a built-in high-performance collaborative controller. Based on the advanced OPC UA protocol, it achieves efficient fusion and in-depth analysis of multi-source data, quickly and accurately optimizing and adjusting drilling parameters and ship attitude, and generating control commands through a fuzzy PID algorithm. Drilling equipment 3 has a drilling rig control unit, which realizes automated drill rod delivery and real-time monitoring of drilling torque. It also has intelligent control functions, which can preliminarily determine the formation based on changes in parameters such as torque and drill pressure during the drilling process; and precisely adjust drilling parameters according to the dynamic adjustment commands issued by edge computing device 4.

[0049] In one embodiment, the dynamic cooperative control system further includes: Ballast water regulating device 5 injects water into the hull according to the instructions of edge computing device 4 until the real-time roll angle of the hull is within the set safety threshold.

[0050] In one embodiment, the ballast water regulating device 5 includes multiple independent ballast tanks and hydraulic valve groups located within the hull. Water is injected into the ballast tanks on the lower side via the hydraulic valve groups. Based on instructions from the edge computing device 4, the ballast water distribution is rapidly adjusted to achieve rapid and stable control of the ship's attitude.

[0051] The dynamic collaborative control system also includes a visual human-computer interaction terminal 6, which displays CPT curves, drilling parameters, hull attitude, etc. in real time and supports manual intervention and parameter calibration.

[0052] The following provides a detailed description of the survey process for a certain rail transit project's tidal flat area.

[0053] Project Overview The rail transit section in a certain area is located in a tidal flat area with a maximum tide depth of about 2 meters. The overburden mainly consists of Holocene silt, silty soil, soft plastic to plastic clayey soil, and slightly dense to medium dense sand layers, with minimal geological undulation. During the detailed exploration, 5 static cone penetration tests and 18 boreholes were evenly distributed along the line.

[0054] During the exploration, static cone penetration testing was first conducted, with the static cone penetration equipment collecting cone tip resistance data at various depths in real time. Side friction resistance pore water pressure Based on parameters such as these, and combined with preliminary feasibility study and preliminary exploration data, the distribution of each soil layer can be basically understood.

[0055] Target drilling parameters are calculated based on formation parameters, including target drilling pressure. and target speed .

[0056] Specifically, the calculation formula is as follows: ; .

[0057] The steps for determining each coefficient are as follows: Ten sets of formation parameters and drilling parameters for different drill bit diameters and formations are collected and shown in Table 1. Parameters were fitted using the least squares method to obtain the final parameters. =0.3, =8, =0.5、 =1.2, =0.4.

[0058] Table 1. Ten sets of formation parameters and drilling parameters for different drill bit diameters and formations.

[0059] The drilling equipment reached a certain cohesive soil layer, and the static cone penetration test equipment collected the following formation parameters in real time: cone tip resistance. =1.2MPa, side friction resistance =25kPa, pore water pressure =50kPa; Drill bit diameter =110mm (alloy drill bit), expected core recovery rate Take 0.9.

[0060] Calculate target drilling pressure and target speed ; ; .

[0061] Dynamically adjust the drilling equipment to bring the real-time drilling parameters of the equipment to the target drilling parameters.

[0062] Monitoring was conducted 30 minutes after the operation. =2.6°, threshold = 2.38°, triggering the injection of 0.054m into the port ballast tank. 3 Seawater, and limit drilling pressure to 15.5 kN. After the temperature was restored to 2°, the drilling pressure was restored to the target drilling pressure, and the actual core recovery rate reached 95%.

[0063] The method provided in this application reduces the drilling time per borehole from 12 hours to 10 hours, improving work efficiency by 20%, as the drilling equipment can select reasonable and matching drilling parameters for the formation. Furthermore, the core recovery rate increases from 78% to over 93%, and the probe deflection angle is controlled within 2°, improving core quality through coordinated control. Additionally, the ship's rolling accident rate is reduced to 0, ensuring stable and safe ship attitude, further improving work efficiency. Overall energy consumption is reduced from 18.5 kWh / hole to 12.2 kWh / hole, meeting green environmental protection requirements.

[0064] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0065] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0067] The above are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A dynamic coordinated control method for a static cone penetration test (CPPT) device, drilling equipment, and vessel, characterized in that, It includes the following steps: The static cone penetration test (PCT) equipment collects formation parameters at various depths in real time, while the ship attitude monitoring equipment collects the ship's real-time roll angle. The formation parameters include cone tip drag. Side friction resistance pore water pressure ; The target drilling parameters, including the target drilling pressure, are calculated based on the formation parameters. and target speed ; The calculation formula is: ; ； in, This is the drill pressure correction factor. This is the speed correction factor. This is the formation correction factor. This is the pore water pressure correction factor. This is the drill bit size factor. The diameter of the drill bit. To design the core recovery rate; Drilling equipment collects real-time drilling parameters, including real-time drilling pressure. and real-time rotation speed ; The drilling equipment is dynamically adjusted until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold.

2. The dynamic coordinated control method for the static cone penetration test equipment, drilling equipment, and vessel as described in claim 1, characterized in that, The steps for determining each coefficient are as follows: Collect drilling parameters and formation parameters for different types of strata; The parameters are fitted using the least squares method, and the coefficients are solved.

3. The dynamic coordinated control method for the static cone penetration test equipment, drilling equipment, and vessel as described in claim 1, characterized in that, The dynamic adjustment of the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, includes: Determine whether the difference between the target drilling parameters and the real-time drilling parameters exceeds the set error range; If so, the drilling equipment is dynamically adjusted to change the real-time drilling parameters until the difference between the target drilling parameters and the real-time drilling parameters is within the set error range; Determine whether the real-time roll angle of the hull exceeds a set safety threshold; If so, the drilling equipment is dynamically adjusted to change the real-time drilling parameters until the real-time roll angle of the hull is within the set safety threshold.

4. The dynamic coordinated control method for the static cone penetration test equipment, drilling equipment, and vessel as described in claim 3, characterized in that, The dynamic adjustment of the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, also includes: Determine whether the core recovery rate meets the set standard; If not, the target rotation speed is dynamically adjusted until the core recovery rate reaches the set standard.

5. The dynamic coordinated control method for the static cone penetration test equipment, drilling equipment, and vessel as described in claim 3, characterized in that, The dynamic adjustment of the drilling equipment until the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold, also includes: Determine whether the real-time roll angle of the hull exceeds a set safety threshold; If so, water is injected into the hull using ballast water regulating equipment until the real-time roll angle of the hull is within the set safety threshold.

6. A dynamic collaborative control system for a static cone penetration test device, drilling equipment, and vessel, characterized in that, The dynamic coordinated control method for the static cone penetration test equipment, drilling equipment, and vessel as described in any one of claims 1 to 5, wherein the dynamic coordinated control system comprises: Static cone penetration testing equipment collects formation parameters at various depths in real time. Ship attitude monitoring equipment collects the real-time roll angle of the ship; Drilling equipment to collect real-time drilling parameters; The edge computing device receives parameter data transmitted from the static cone penetration test device, the hull attitude monitoring device, and the drilling equipment. It calculates the target drilling parameters based on the formation parameters and sends a dynamic adjustment command to the drilling equipment so that the difference between the target drilling parameters and the real-time drilling parameters is within a set error range, while the real-time roll angle of the hull is within a set safety threshold.

7. The dynamic coordinated control system for the static cone penetration test equipment, drilling equipment, and vessel as described in claim 6, characterized in that, The dynamic collaborative control system also includes: Ballast water regulating equipment injects water into the hull according to the instructions of the edge computing device until the real-time roll angle of the hull is within a set safety threshold.

8. The dynamic coordinated control system for the static cone penetration test equipment, drilling equipment, and vessel as described in claim 7, characterized in that, The ballast water regulating equipment includes multiple independent ballast tanks and hydraulic valve groups located within the hull, through which water is injected into the ballast tanks on the low side.

9. The dynamic coordinated control system for the static cone penetration test equipment, drilling equipment, and vessel as described in claim 6, characterized in that, The ship attitude monitoring equipment includes a three-axis accelerometer and a Beidou positioning module to monitor the ship's attitude changes and position information.

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