Drilling rig control system

Abstract

This invention relates to the field of drilling rig control technology, solving the problem of sudden changes in drilling rig action when switching remote controls. The drilling rig control system includes a controller 4, a wired remote control 6, and a wireless remote control 5. The controller 4 receives commands from either the wireless remote control 5 or the wired remote control 6, and executes control over the traveling mechanism 440, the attitude mechanism 470, and the working mechanism 480. The controller 4 includes a mode control module 42, which sets the mode for receiving remote controls. In wireless remote control mode, the controller 4 receives commands from the wireless remote control 5; in wired remote control mode, it receives commands from the wired remote control 6. In wireless remote control mode, when the mode control module 42 detects that the wired remote control 6 is online, it enters a switching mode. At this time, the wireless remote control 5 is disabled, and the wired remote control 6 is initialized. After the actions of the traveling mechanism, attitude mechanism, and working mechanism stop, the system switches back to wired remote control mode. Therefore, the drilling rig will not experience sudden changes in action due to remote control switching.

Description

Technical Field

[0001] This invention relates to a control system for drilling rigs used in tunnel and other engineering construction, and more particularly to a drilling rig control system controlled by a remote controller. Background Technology

[0002] During tunnel construction, various drilling operations are required, including advanced geological forecasting, pipe roof support, anchor drilling, grouting reinforcement, and emergency rescue. Due to the confined space inside tunnels, the use of drilling rigs is subject to many restrictions. In addition, the overall size of the drilling rig cab is large, taking up a lot of space and narrowing the operator's field of vision, resulting in difficulties in operation and low construction efficiency. To address these issues, the inventors of this application have developed a drilling rig suitable for operation in confined spaces.

[0003] To reduce the size of the drilling rig, the operator's cab at the front was eliminated, and the rig is now controlled by a remote control. This not only makes the equipment smaller but also allows operators to work from outside the rig, providing a wider field of vision and facilitating coordination with other equipment. For ease of operation and safety, the remote controls are redundant, with both wired and wireless remotes available for switching as needed. In case of remote control failure, a backup remote can be used, improving the reliability and safety of the drilling rig.

[0004] However, during use, it was found that simple switching of the remote control during drilling rig operation can easily cause sudden changes in the rig's movements. The wireless and wired remote controls are two independent control systems, each with different states, such as the positions of operating handles and switches. For example, if the track is being moved backward using the remote control, and the switched remote control is not in the backward position, this difference in state between the two remote controls will be reflected in the track's movement, causing the track to move rapidly forward or backward. Such sudden changes in movement during operation can easily lead to collisions between the drilling rig and surrounding equipment, and the drive mechanism can also be damaged due to excessive stress.

[0005] The purpose of this invention is to solve the problem of sudden changes in drilling rig operation during remote control switching, and to provide a drilling rig control system with a safety mechanism that can keep the drilling rig operating stably during remote control switching and prevent sudden changes in operation. Summary of the Invention

[0006] The technical solution of this invention is a drilling rig control system for controlling the operation of a drilling rig. It is characterized by comprising a controller, a wired remote controller, and a wireless remote controller. The controller includes a travel control module and a mode control module. The travel control module controls the travel mechanism of the drilling rig according to instructions from the wired or wireless remote controller, enabling the drilling rig to move forward, backward, and turn. The mode control module sets corresponding remote control modes based on the online status of the wired or wireless remote controller, including a wired remote control mode, a wireless remote control mode, and a switching mode. In the wired remote control mode, the travel control module receives instructions from the wired remote controller and controls the travel mechanism of the drilling rig.

[0007] In wireless remote control mode, the walking control module receives instructions from the wireless remote controller and controls the walking mechanism of the drilling rig. In wireless remote control mode, when the mode control module detects that the wired remote controller is online, it enters the switching mode. In the switching mode, the wireless remote controller is blocked, the wired remote controller is initialized, and after successful initialization, it switches to the wired remote control mode.

[0008] Therefore, when using a wireless remote control, if a wired remote control is plugged in or activated, the system automatically switches to the wired remote control. During the switching process, the wired remote control is first initialized, and the system switches to the wired remote control after successful initialization. This ensures that the wired remote control starts sending commands from its initial state, avoiding the uncertainty of commands sent by the wired remote control and preventing sudden changes in the movement of the walking mechanism.

[0009] Preferably, in the switching mode, the walking control module further controls the walking mechanism to gradually decelerate from its current operating state to a stop.

[0010] Therefore, a wired remote control can send commands to start the walking mechanism when it is stopped, thus providing operational reliability.

[0011] Preferably, the walking control module controls the walking mechanism to linearly decelerate from its current operating state to a stop at a certain speed.

[0012] Therefore, it enables the walking mechanism to smoothly reduce speed.

[0013] Preferably, in wireless remote control mode, when the mode control module detects that the wired remote control is online, it detects the operating status of the walking mechanism, and when the operating status meets the set conditions, it enters the switching mode.

[0014] Because the conditions for entering the switching mode are set, you can directly switch to operating states that are not significantly affected by remote control switching (such as low speed) as needed.

[0015] Preferably, the setting conditions include the walking speed of the walking mechanism reaching a set speed.

[0016] Preferably, the controller further includes an attitude control module, which controls the attitude mechanism of the drilling rig according to the instructions of the wired remote controller or the wireless remote controller. In the wireless remote control mode, when the mode control module detects that the wired remote controller is online, it detects the operating status of the attitude mechanism, and when the operating status meets the set conditions, it enters the switching mode.

[0017] Preferably, the traveling mechanism of the drilling rig includes tracks and a driving mechanism for the tracks; the attitude mechanism of the drilling rig includes any one or more combinations of the main boom, boom head, boom head compensating arm, propulsion beam, and propulsion compensating beam, as well as a driving mechanism.

[0018] Preferably, the remote control mode set by the mode control module also includes a safety mode. When the mode control module detects that the wired or wireless remote control is disconnected in the wired or wireless remote control mode, it enters the safety mode. In the safety mode, the walking control module controls the walking mechanism to gradually decelerate from the current running state to a stop.

[0019] Therefore, the drilling rig can automatically stop operating if the remote control is disconnected.

[0020] Preferably, the mode control module detects whether the wired or wireless remote control is online by detecting the heartbeat signal of the wired or wireless remote control.

[0021] Preferably, the mode control module disconnects the wired or wireless remote control if it does not detect a heartbeat signal within a set time.

[0022] Therefore, after a disconnection, there is a buffer time to restore online status, preventing the drilling equipment from frequently entering a stopped state due to a brief disconnection, thus improving the stability and anti-interference capability of the drilling rig. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the drilling rig control system modules; Figure 2 This is an explanatory diagram of the attitude mechanism; Figure 3 This is an explanatory diagram of the walking mechanism; Figure 4 This is an explanatory diagram of the operating mechanism; Figure 5 Flowchart for setting the controller's power-on mode; Figure 6 This is a flowchart illustrating the remote control switching process. Figure 7A flowchart illustrating the situation when a wireless remote control disconnects. Figure 8 This is a flowchart illustrating the scenario where a wired remote control disconnects. Figure 9 This is a schematic diagram of the overall structure of the drilling rig used as an example. Figure 10 This is a schematic diagram of the folding amplitude transformer of the drilling rig as an example. Figure 11 This is a diagram illustrating the external structure of a wireless remote control. Figure 12 This is a diagram illustrating the external structure of a wired remote control. Figure 13 This is the control flowchart for the left track; Figure 14 Here is the control flowchart for the right track; Figure 15 A flowchart of the main boom lifting and lowering control process; Figure 16 Flowchart of main boom side swing control; Figure 17 Here is a flowchart of the boom head raising and lowering control process; Figure 18 Here is the flowchart for the arm head side swing control; Figure 19 Here is the flowchart for boom tilt control; Figure 20 Flowchart of boom head compensation boom extension control; Figure 21 To advance the beam rotation control flowchart; Figure 22 To advance the beam tilt control flowchart; Figure 23 To advance the control flowchart of the expansion and contraction of the compensation beam. Detailed Implementation

[0024] The drilling rig control system of this invention is used to control the drilling rig to perform drilling operations, including controlling the movement of the drilling rig, the raising and lowering of the boom, and the drilling operation itself. Figure 1 As shown, the drilling rig control system includes a controller 4, a wireless remote controller 5, a wired remote controller 6, and an industrial computer 7. The controller 4 receives commands from the wireless remote controller 5 or the wired remote controller 6 to control the drilling rig's traveling mechanism 440, attitude mechanism 470, and working mechanism 480. It includes a traveling control module 44, an attitude control module 47, a working control module 48, a mode control module 42, a display module 45, a storage module 46, and a receiver 8.

[0025] The wired remote controller 6 connects to the controller 4 and sends commands via a pluggable cable, while the wireless remote controller 5 connects to the controller 4 and sends commands via a receiver 8. The controller 4 is connected to the industrial computer 7 via a CAN bus.

[0026] The mode control module 42 sets the corresponding control mode according to the online status of the wireless remote controller 5 and the wired remote controller 6, including wired remote control mode, wireless remote control mode, switching mode, and safety mode. In wired remote control mode, the travel control module 44, attitude control module 47, and operation control module 48 receive instructions from the wired remote controller 6, and the wireless remote controller 5 is disabled. In wireless remote control mode, the travel control module 44, attitude control module 47, and operation control module 48 receive instructions from the wireless remote controller 5, and the wired remote controller 6 is disabled. The switching mode serves as a transition from wireless remote control mode to wired remote control mode. In the switching mode, the wireless remote controller 5 is disabled, the wired remote controller 6 is initialized, and the drilling rig is in a stopped state. The safety mode is used to handle situations where the wired remote controller 6 or the wireless remote controller 5 is disconnected, and the drilling rig is in a stopped state.

[0027] The attitude mechanism 470 includes, for example, the main boom 23, boom head 26, boom head compensating boom 27, propulsion beam 3, and propulsion compensating beam 32, etc. (see Figure 2 The traveling mechanism 440 includes, for example, left and right tracks 12, cable reels, etc. (see...) Figure 3 The working mechanism 480 includes, for example, a power head 34, a winch 16, an inner clamp, an outer clamp, etc. (see...) Figure 4 In the following embodiments, the switching of the remote control, etc., will be described in detail in conjunction with the main boom 23, boom head 26, boom head compensation boom 27, propulsion beam 3, propulsion compensation beam 32, and track 12.

[0028] The following flowchart illustrates the functions of the mode control module.

[0029] First, let's explain the mode settings when the controller is powered on.

[0030] like Figure 5 As shown, when controller 4 is powered on, in step S1, mode control module 42 checks whether wireless remote control 5 is online. If wireless remote control 5 is online, proceed to step S2 to check whether wired remote control 6 is online. If wired remote control 6 is offline, proceed to step S3 to initialize wireless remote control 5, putting it into its initial state. The initial state includes the operation switches, handles, and buttons on wireless remote control 5 being in their initial positions, preventing wireless remote control 5 from sending commands. In step S4, mode control module 42 checks whether the initialization was successful (S4). If the initialization is successful, it enters wireless remote control mode.

[0031] The detection method for the online status of wireless remote control 5 and wired remote control 6 can be, for example, by detecting the heartbeat signal of wireless remote control 5 and wired remote control 6.

[0032] In wireless remote control mode, the walking control module 44, the posture control module 47, and the operation control module 48 receive instructions from the wireless remote controller 5 and control the walking mechanism 440, the posture mechanism 470, and the operation mechanism 480.

[0033] If the wireless remote controller 5 is offline or fails to initialize, proceed to step S5. The mode control module 42 checks if the wired remote controller 6 is online. If the wired remote controller 6 is offline, return to step S1 to check if the wireless remote controller 5 is online again. In steps S2 and S5, if the wired remote controller 6 is detected to be online, proceed to step S6 to initialize the wired remote controller 6, bringing it to its initial state.

[0034] Similar to the wireless remote controller 5, the initial state includes the operation switches, handles, and buttons on the wired remote controller 6 being in their initial positions, and the wired remote controller 6 not issuing any commands. In step S7, the mode control module 42 checks whether the initialization was successful. If the initialization is successful, it enters the wired remote control mode.

[0035] In wired remote control mode, the walking control module 44, the posture control module 47, and the operation control module 48 receive instructions from the wired remote controller 6 to control the walking mechanism 440, the posture mechanism 470, and the operation mechanism 480.

[0036] Therefore, when controller 4 is powered on, if both wireless remote controller 5 and wired remote controller 6 are online simultaneously, the wired remote controller 6, which has reliable communication and is less prone to disconnection, will be used first, while wireless remote controller 5 will be disabled. If only wireless remote controller 5 or wired remote controller 6 is online, the respective online remote controller will be used. That is, only one of wired remote controller 6 and wireless remote controller 5 can be used at a time, avoiding the possibility of them being used interchangeably and ensuring that the drilling rig has a defined operating status.

[0037] In wireless remote control mode, the user inserts a cable into the interface of the wired remote controller 6 to connect it to the controller 4 or activates the wired remote controller 6. Once the mode control module 42 detects that the wired remote controller 6 is online, it enters the switching mode. In switching mode, the wireless remote controller 5 is disabled, and the wired remote controller 6 is initialized. By setting the switching mode, sudden changes in the drilling rig's operation caused by remote controller switching can be avoided.

[0038] The following is Figure 6 The flowchart is used as an example to explain the process of switching remote controls.

[0039] In wireless remote control mode, step S20: the mode control module 42 checks if the wired remote control 6 is online. If the wired remote control 6 is online, proceed to step S21, where the wireless remote control 5 is blocked, and commands sent by the wireless remote control 5 cannot be received. Step S22: Initialize the wired remote control 6. Step S23: the mode control module 42 checks if the initialization is successful. If successful, proceed to step S26; otherwise, proceed to step S24, where the blocking of the wireless remote control 5 is lifted. Step S25: the display module 45 displays "Switching Failed" on the industrial computer 7's display screen to indicate to the user that the switching was unsuccessful.

[0040] In step S26, the mode control module 42 records the current operating status of the equipment, namely the current operating status of the walking mechanism 440, the posture mechanism 470, and the working mechanism 480, in the storage module 46. In step S27, the display module 45 displays a "Confirm wired remote control connection" prompt on the display screen of the industrial control computer 7, and the user confirms it on the industrial control computer 7.

[0041] After receiving the confirmation signal, the mode control module 42 proceeds to step S28, detecting the device operating status recorded in the storage module 46, namely the current operating status of the walking mechanism 440, the posture mechanism 470, and the working mechanism 480, and executing the corresponding stop operation according to different operating statuses. That is, when the working mechanism 480 is in the working state, proceed to step S29 to stop the action of the working mechanism 480; when the walking mechanism 440 is in the walking state, proceed to step S30 to gradually decelerate the walking mechanism 440 to stop; when the posture mechanism 470 is in the running state (posture state), proceed to step S31 to gradually decelerate the posture mechanism 470 to stop. After the working mechanism 480, the walking mechanism 440, and the posture mechanism 470 stop operating, proceed to step S32 to switch to wired remote control mode, thereby completing the remote control switching.

[0042] Since the working mechanism 480, traveling mechanism 440, and attitude mechanism 470 are in a stopped state when the remote control is switched, and the connected wired remote control 6 is in an initial state, the drilling rig will not experience sudden changes in action due to the switch of the remote control.

[0043] During the process of controlling the drilling rig with wireless remote control 5 or wired remote control 6, if the connection is lost due to remote control failure or other reasons, the drilling rig will not be able to receive instructions. In order to avoid accidents caused by the drilling rig losing control, this application sets a safety mode. That is, when the mode control module 42 detects the connection loss, it enters the safety mode. In the safety mode, the operation of the drilling rig is stopped.

[0044] The following flowchart illustrates the safe mode.

[0045] First, let's explain the disconnection issue of the wireless remote control in wireless remote control mode. For example... Figure 7 As shown, In wireless remote control mode, in step S40, the mode control module 42 detects the online status of the wireless remote control 5. In step S41, it determines whether the wireless remote control 5 is disconnected. If disconnected, proceed to step S42, where the mode control module 42 enters safe mode. If not disconnected, return to step S40 and repeat the detection of the online status of the wireless remote control 5.

[0046] After the mode control module 42 enters the safe mode, in step S43, the mode control module 42 records the current operating status of the equipment, that is, records the current operating status of the walking mechanism 440, the posture mechanism 470, and the working mechanism 480 in the storage module 46. In step S44, the mode control module 42 detects the recorded current operating status of the walking mechanism 440, the posture mechanism 470, and the working mechanism 480.

[0047] If the working mechanism 480 is in working state, proceed to step S47 to stop the operation of the working mechanism 480; if the traveling mechanism 440 is in traveling state, proceed to step S45 to gradually decelerate the traveling mechanism 440 to a stop; if the posture mechanism 470 is in running state (posture posture), proceed to step S46 to gradually decelerate the posture mechanism 470 to a stop. Then proceed to step S48, where the display module 45 displays the current operating status on the industrial control computer 7's screen and triggers an alarm.

[0048] Therefore, when using the wireless remote control 5 to control the drilling rig, if a disconnection occurs, the drilling rig will automatically stop operating, and the drilling rig will not cause an accident due to loss of control.

[0049] In wired remote control mode, if the wired remote control disconnects, it also enters safety mode. The entire control process is the same as... Figure 7 Same. That is, as... Figure 8 As shown, in wired remote control mode, in step S40', the mode control module 42 detects the online status of the wired remote control 6; in step S41', it determines whether the wired remote control 6 is disconnected. If disconnected, proceed to step S42', and the mode control module 42 enters safe mode. If not disconnected, return to step S40' and repeat the detection of the online status of the wired remote control 6.

[0050] After entering the safe mode, in step S43', the mode control module 42 records the current operating status of the equipment, that is, records the current operating status of the walking mechanism 440, the posture mechanism 470, and the working mechanism 480 in the storage module 46. In step S44', the mode control module 42 detects the recorded current operating status of the walking mechanism 440, the posture mechanism 470, and the working mechanism 480. If the working mechanism 480 is in working state, proceed to step S47' to stop the operation of the working mechanism 480; if the traveling mechanism 440 is in traveling state, proceed to step S45' to gradually decelerate the traveling mechanism 440 to a stop; if the posture mechanism 470 is in running state (posture posture), proceed to step S46' to gradually decelerate the posture mechanism 470 to a stop. Then proceed to step S48', the display module 45 displays the current operating status on the display screen of the industrial control computer 7, and an alarm is triggered.

[0051] Therefore, when using the wired remote control 6 to control the drilling rig, if the wire is disconnected, the drilling rig will automatically stop running and will not cause an accident due to loss of control.

[0052] The online status of the wireless remote controller 5 and the wired remote controller 6 can be detected by checking their heartbeat signals. Alternatively, a 3-second buffer time can be set; if no heartbeat signal is detected within 3 seconds, the connection is disconnected. This short disconnection allows time for recovery, preventing repeated entry into safety mode due to interference and other factors, thus avoiding interruptions to the drilling rig's operation and improving system stability and reliability.

[0053] The present application will be described below through examples.

[0054] like Figure 9 As shown, the drilling rig, as the controlled object, adopts a cab-less structure, meaning that the entire operation and control of the drilling rig is performed by remote control. The drilling rig 1 includes a chassis 11 and a folding luffing device 2. Tracks 12 are installed on the left and right sides of the bottom of the chassis 11 for driving the drilling rig 1 forward and backward and for turning. The folding luffing device 2 is mounted on the front side of the chassis 11 via a base 21 and can rotate left and right. The folding luffing device 2 has multiple rotatable arms and hydraulic cylinders for driving; it is normally folded together and unfolded during operation to lift the propulsion beam 3 for drilling and other operations. A power head 34 and a winch 16 are installed on the rear side of the propulsion beam 3.

[0055] The protective cover 13 on the upper part of the vehicle body 11 houses a power system (not shown) including an engine, electric motor, and hydraulic pump assembly for driving the tracks 12, as well as a booster water pump and other equipment. A control cabinet 14 is located on the side of the vehicle body 11. An operating cabinet 15 is located on the right side of the front end of the vehicle body 11, and the operating cabinet 15 is equipped with display instruments, control buttons, and adjustment switches. A cable reel (not shown) is also installed on the vehicle body 11 to provide power to the drilling rig 1; the cable can be automatically wound, retrieved, or unwound.

[0056] The following is a brief description of the folding amplitude converter 2.

[0057] like Figure 10As shown, the folding luffing device 2 includes a main boom mounting base 22, a main boom 23, a swing arm mechanism 24, a connecting piece 253, a boom head mounting base 25, a boom head 26, a boom head compensating arm 27, and a slewing mechanism 28, as well as a main boom swing cylinder 221, a main boom pitch cylinder 231, a swing arm mechanism pitch cylinder 241, a swing arm cylinder 251, a boom head pitch cylinder 261, a boom head compensating arm telescopic cylinder 271, and a push beam tilting cylinder 281, etc.

[0058] The main boom mounting base 22 is mounted on the base 21 at the center of the front end of the vehicle body 11 via a vertically extending pin, and can rotate left and right around the pin. One end of the main boom swing cylinder 221 is rotatably connected to the main boom mounting base 22, and the other end is rotatably connected to the base 21, used to drive the main boom mounting base 22 to rotate left and right. The main boom 23 is elongated, extending in the front-to-back direction, and its rear end is rotatably connected to the main boom mounting base 22 via a pin extending in the left-to-right direction. The front end of the main boom 23 can rotate up and down around the pin.

[0059] One end of the boom pitch cylinder 231 is rotatably connected to the boom mounting base 22, and the other end is rotatably connected to the boom 23, which is used to drive the boom 23 to rotate in the up and down direction.

[0060] There are two boom pitch cylinders 231, which are located on the left and right sides of the boom 23 respectively.

[0061] The swing arm mechanism 24 is triangular in shape, with the apex pointing forward. The swing arm mechanism 24 is rotatably connected to the front end of the main arm 23 via a pin extending in the left-right direction, and the swing arm mechanism 24 can rotate in the up-down direction around the pin.

[0062] The tilt cylinder 241 of the swing arm mechanism is located above the main arm 23. One end is rotatably connected to the top of the main arm 23, and the other end is rotatably connected to the swing arm mechanism 24. It is used to drive the swing arm mechanism 24 to rotate in the up and down direction. The maximum downward rotation angle of the swing arm mechanism 24 is 135°.

[0063] The arm head mounting base 25 is rotatably connected to the swing arm mechanism 24 via a vertically extending pin, allowing the arm head mounting base 25 to rotate left and right around the pin.

[0064] The swing arm cylinders 251 are a pair, respectively located on the left and right sides. One end of the left swing arm cylinder 251 is connected to the left side of the arm head mounting seat 25 via a connector 253, and the other end is connected to the left side of the swing arm mechanism 24. One end of the right swing arm cylinder 251 is connected to the right side of the arm head mounting seat 25 via a connector 253, and the other end is connected to the right side of the swing arm mechanism 24. Through the telescopic cooperation of the left and right swing arm cylinders 251, the arm head mounting seat 25 can be driven to swing to the left or right by a maximum angle of 90°.

[0065] The boom head 26 is a square strip structure with a hollow interior, forming a space to accommodate the boom head compensation boom telescopic cylinder 271. A slide rail 262 is provided at the top of the boom head 26, and the extension direction of the slide rail 262 is the same as the extension direction of the boom head 26.

[0066] One end of the arm head 26 is rotatably connected to the arm head mounting base 25 via a pin extending in the left-right direction, and the other end can rotate up and down around the pin.

[0067] The two ends of the boom head pitch cylinder 261 are rotatably connected to the boom head 26 and the boom head mounting base 25, respectively, and are used to drive the boom head 26 to rotate in the up and down direction around the pin. The maximum angle of rotation of the boom head 26 in the up and down direction is 15°.

[0068] There are two boom head pitch cylinders 261, which are located on the left and right sides of the boom head 26 respectively.

[0069] The arm head compensation arm 27 is slidably mounted on the slide rail 262.

[0070] The boom head compensating arm telescopic cylinder 271 is located inside the boom head 26, with one end connected to the inner wall of the boom head 26 and the other end connected to the end of the boom head compensating arm 27, and is used to drive the boom head compensating arm 27 to slide along the slide rail 262 in the front and back direction.

[0071] The bottom of the slewing mechanism 28 is connected to the front end of the arm head compensating arm 27 via a pin extending in the left and right direction. The upper part of the slewing mechanism 28 is provided with a push beam 3. The slewing mechanism 28 is mainly used to control the push beam 3 to rotate ±180°.

[0072] The two ends of the push beam tilting cylinder 281 are connected to the boom head compensating arm 27 and the slewing mechanism 28 respectively, and are used to drive the slewing mechanism 28 to rotate along the pin in the up and down direction. The maximum angle of rotation of the slewing mechanism 28 in the up and down direction is 110°.

[0073] The propulsion beam 3 consists of a lower rail 31, a propulsion compensation beam 32, a propulsion beam telescopic cylinder 33, and a power head 34. The lower rail 31 is connected to the slewing mechanism 28 and is used to support the entire propulsion beam 3.

[0074] The propulsion compensation beam 32 is mounted on the lower track 31 and is used to support equipment such as the power head 34. The propulsion compensation beam 32 can slide along the lower track 31 in the front-back direction.

[0075] One end of the propulsion beam telescopic cylinder 33 is connected to the lower rail 31, and the other end is connected to the propulsion compensation beam 32, which is used to drive the propulsion compensation beam 32 to slide along the lower rail 31 in the front-back direction.

[0076] The power head 34 is mounted on the propulsion compensation beam 32 and can move back and forth along the propulsion compensation beam 32 for drilling operations.

[0077] By rotating each arm of the folding luffing device 2 up and down and left and right, the position and angle of the propulsion beam 3 can be adjusted, making the working range of the propulsion beam 3 larger and the operation more flexible. The position and angle required for drilling operations can be met without moving the vehicle body 11.

[0078] The winch 16 is used to retrieve the core retriever and cable that have been fed into the borehole, as well as the core retriever that has been caught by the core retriever.

[0079] First, let's explain the remote control for drilling rig 1. For example... Figure 11 As shown, the wireless remote controller 5 is a handheld remote controller, and its surface is equipped with a display screen 1001, a left handle 1002, a right handle 1003, a three-position switch 1004, a left handle 1005, a right handle 1006, a main arm left swing button 1007, a main arm right swing button 1008, a water pump speed control button 1009, a power head fast / slow speed switching button 1010, a power head rotation handle 1011, a power head forward / backward handle 1012, a power head movement button 1013, and a power head impact button 1014, etc.

[0080] Wired remote control and such Figure 12 As shown. The wired remote control 6, except for having a wired interface for connecting to the controller 4, has the same functions, buttons, handle, switches, etc., as the wireless remote control 5. For convenience... Figure 12 The buttons, handle, and switches of the wired remote control 6 are similar to those of the other two remote controls. Figure 11 Use the same symbols in the same way, and add a suffix "'" to distinguish them.

[0081] After the controller 4 is powered on, the mode control module 42 monitors the heartbeat signals of the wireless remote controller 5 and the wired remote controller 6 in real time to determine whether they are online. If the wired remote controller 6 is online, or if both the wired remote controller 6 and the wireless remote controller 5 are online simultaneously, the wired remote controller 6 is initialized and enters wired remote control mode. If only the wireless remote controller 5 is online, the wireless remote controller 5 is initialized and enters wireless remote control mode. (See Appendix) Figure 5 illustrate).

[0082] The following explanation will use the control of the crawler 12, main boom 23, boom head 26, boom head compensating boom 27, propulsion beam 3, and propulsion compensating beam 32 of drilling rig 1 as an example to illustrate the switching of remote control.

[0083] Left track forward and backward

[0084] like Figure 13As shown, the walking control module 44 determines whether the remote control mode set by the mode control module 42 is a wireless remote control mode or a wired remote control mode (step S70). In the wireless remote control mode, it switches to the wireless remote control 5 (step S71) and the walking control module 44 receives the command from the wireless remote control 5. Conversely, in the wired remote control mode, it switches to the wired remote control 6 (step S71') and receives the command from the wired remote control 6.

[0085] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to put it in the walking position (step S72). When the track 12 moves forward, the user pushes the left handle 1002 in the Y+ direction on the wireless remote control 5 (step S73). At this time, the walking control module 44 controls the opening of the left track walking forward solenoid valve synchronously according to the push of the left handle 1002 (step S74). Under the action of hydraulic pressure, the left track motor rotates forward (step S75), driving the left track, that is, the track 12 on the left side of the drilling rig, to move forward (step S75). The pushing angle of the handle is 0-60°. The larger the pushing angle, the higher the speed of the left track motor and the greater the forward speed of the track 12.

[0086] When track 12 moves backward, the user pushes the left handle 1002 in the Y- direction on the wireless remote controller 5 (step S76). At this time, the travel control module 44 synchronously controls the opening of the left track travel reversing solenoid valve according to the push of the left handle 1002 (step S77). Under the action of hydraulic pressure, the left track motor reverses (step S78), driving track 12 to move backward. The pushing angle of the handle is 0-60°. The larger the pushing angle, the higher the speed of the left track motor and the greater the backward speed of track 12.

[0087] Right track forward and backward

[0088] The forward and backward control process of the right track (track 12 on the right side of the drilling rig) is the same as that of the left track. That is, except that the operating handle is changed from the left handle 1002 (1002') to the right handle 1003 (1003'), everything else is the same. Figure 14 This is the control flowchart for the right track. The specific control process is explained above and will not be repeated here.

[0089] When in wireless remote control mode, for example, when track 12 moves forward or backward at a speed of 1.2 km / h or higher (below 1.2 km / h is considered a stop), the mode control module 42 detects the insertion and activation of the wired remote controller 6. The industrial control computer 7 displays the message "Track is running, wired remote controller inserted, please confirm," and the mode control module 42 enters the switching mode. At this time, the wireless remote controller 5 is disabled, and the walking control module 44 does not receive commands from the wireless remote controller 5. Simultaneously, the wired remote controller 6 is initialized.

[0090] After successful initialization, the travel control module 44 controls the opening of the left track forward (reverse) solenoid valve and the right track forward (reverse) solenoid valve to decrease from the current opening to 0 at a speed of 400 / s, causing the left and right track motors to gradually decelerate from their current speeds to a stop. Then, the mode control module 42 switches to wired remote control mode, and the travel control module 44 receives commands from the wired remote controller 6 to control the track 12 to move forward and backward.

[0091] Therefore, there will be no sudden change in the walking action of track 12 due to switching of the remote control.

[0092] In this embodiment, when the opening degree of the left track forward (reverse) solenoid valve and the right track forward (reverse) solenoid valve is 1000, the track 12 moves forward or backward at a speed of 1.2 km / h. When the opening degree of the left track forward (reverse) solenoid valve and the right track forward (reverse) solenoid valve decreases from 1000 to 0 at a speed of 400 / s, the track 12 gradually stops moving forward and backward at an acceleration of -0.13 m / s, taking into account the switching time and the deceleration of the track 12.

[0093] When the track 12 is traveling at a speed of 1.2 km / h or higher in either wired or wireless remote control mode, if the mode control module 42 does not detect a heartbeat signal from the wired remote controller 6 or the wireless remote controller 5 within 3 seconds, it assumes the remote controller is disconnected and enters a safety mode. In safety mode, the travel control module 44 controls the opening of the left and right track forward (reverse) solenoid valves to decrease from their current opening to 0 at a speed of, for example, 400 / s. After the track 12 stops moving forward and backward, the industrial control computer 7 displays the current operating status and issues an alarm.

[0094] Main boom raising and lowering

[0095] like Figure 15 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S200). In the wireless remote control mode, it switches to the wireless remote control 5 (step S210) and receives the instructions from the wireless remote control 5. Otherwise, it switches to the wired remote control 6 and receives the instructions from the wired remote control 6 (step S210').

[0096] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to place it in the attitude position (step S220). When the main boom 23 rises, the user pushes the left handle 1002 in the Y+ direction on wireless remote control 5 (step S230). At this time, the attitude control module 47 synchronously controls the opening degree of the positive solenoid valve of the main boom pitch cylinder 231 according to the push of the left handle 1002 (step S240). The attitude control module 47 determines whether the opening speed is >250 / S (step S245). If it is >250 / S, the opening speed is increased by 250 / S (step S250) to limit the opening speed change to be too fast and the main boom 23 rising too fast. Under hydraulic action, the main boom pitch cylinder 231 extends (step S255), pushing the main boom 23 to rise.

[0097] The operation of the main boom 23 during descent is the same as during ascent, except that the left handle 1002 is operated in reverse. Please refer to the above instructions for details, which will not be repeated here.

[0098] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0099] When the main boom 23 is in wireless remote control mode and ascends at a speed of 10 m / s or higher, the mode control module 42 detects the connection of the wired remote controller 6 and enters the switching mode. In the switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the opening of the positive solenoid valve of the main boom pitch cylinder to decrease from an opening of 1000 to 0 at a speed of 400 m / s, causing the main boom 23 to linearly decelerate from ascent to a stop. Afterwards, the mode control module 42 enters the wired remote control mode.

[0100] For example, similar to switching from wireless remote control mode to wired remote control mode, it is also possible to switch from wired remote control mode to wireless remote control mode. In this case, the wireless remote control 5 is initialized, and the main arm 23 is linearly decelerated from rising to a stop before the mode control module 42 enters the wired remote control mode.

[0101] Similarly, when the main arm 23 descends at a certain speed, the mode control module 42 detects the connection of the wired remote controller 6 or the wireless remote controller 5. The mode control module 42 enters the switching mode, initializes the connected wired remote controller 6 and wireless remote controller 5, and then linearly decelerates the main arm 23 to a stop. After that, the mode control module 42 enters the wired remote control mode or the wireless remote control mode.

[0102] When in wired or wireless remote control mode, if the mode control module 42 does not detect a heartbeat signal from the wired remote controller 6 or the wireless remote controller 5 within, for example, 3 seconds, it assumes the remote controller is disconnected and enters a safety mode. In safety mode, the attitude control module 47 controls the main arm 23 to gradually decelerate to a stop, and the industrial control computer 7 displays the current operating status and issues an alarm.

[0103] Therefore, there will be no sudden change in the movement of the main arm 23 due to the switching of the remote control.

[0104] Main arm left and right swing

[0105] like Figure 16 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S300). When it is in wireless remote control mode, it switches to wireless remote control 5 (step S310) and receives the instructions from wireless remote control 5. Otherwise, it switches to wired remote control 6 and receives the instructions from wired remote control 6 (step S310').

[0106] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to put it in the posture position (step S320). When the main arm 23 swings to the left, the user presses the main arm swing left button 1007 on the wireless remote control 5 (step S330). The main arm swing left solenoid valve is energized (step S340), and the main arm swing cylinder 221 extends (step S350), pushing the main arm 23 to swing to the left.

[0107] When the main arm 23 swings to the right, the user presses the main arm right swing button 1008 on the wireless remote control 5 (step S360), the main arm right swing solenoid valve is energized (step S370), the main arm swing cylinder 221 retracts (step S380), and the main arm 23 is pulled to swing to the right.

[0108] The operation after switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0109] Similar to the upward movement of the main boom, when the main boom 23 swings left or right, the mode control module 42 detects the connection of the wired remote controller 6 and enters the switching mode. In the switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the main boom swing cylinder 221 to gradually decelerate the main boom 2 to a stop. Afterwards, the mode control module 42 enters the wired remote control mode.

[0110] When in wired or wireless remote control mode, if the mode control module 42 does not detect a heartbeat signal from the wired remote controller 6 or the wireless remote controller 5 within, for example, 3 seconds, it assumes the remote controller is disconnected and enters a safety mode. In safety mode, the attitude control module 47 controls the main boom swing cylinder 221 to reduce the speed of the main boom 23 to a stop. Afterwards, the industrial control computer 7 displays the current operating status and issues an alarm.

[0111] Therefore, there will be no sudden change in the movement of the main arm 23 due to the switching of the remote control.

[0112] Arm head rise and fall

[0113] like Figure 17 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S400). When it is in wireless remote control mode, it switches to wireless remote control 5 (step S410) and receives the instructions from wireless remote control 5. Otherwise, it switches to wired remote control 6 and receives the instructions from wired remote control 6 (step S410').

[0114] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to place it in the attitude position (step S420). When the boom head 26 rises, the user pushes the second left handle 1005 in the Y+ direction on wireless remote control 5 (step S430). At this time, the attitude control module 47 synchronously controls the opening degree of the boom head pitch forward solenoid valve according to the push of the second left handle 1005 (step S440). The attitude control module 47 determines whether the opening speed is >250 / S (step S445). If it is >250 / S, the opening degree is increased by 250 / S (step S450) to limit the opening speed change to be too fast and the boom head 26 rising too fast. Under hydraulic action, the boom head pitch cylinder 261 extends (step S455), pushing the boom head 26 to rise.

[0115] The operation of the boom head 26 during descent is the same as during ascent, except that the left second handle 1005 is operated in reverse. Please refer to the above instructions for details, which will not be repeated here.

[0116] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0117] In wireless remote control mode, when the mode control module 42 detects the connection of the wired remote controller 6, it enters the switching mode. In the switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the opening of the arm head pitch forward solenoid valve, causing the arm head 26 to decelerate to a stop. Afterwards, the mode control module 42 enters the wired remote control mode.

[0118] When in wired remote control mode, if the mode control module 42 does not detect a heartbeat signal from the wired remote controller 6 within, for example, 3 seconds, it assumes the remote controller is disconnected and enters safety mode. In safety mode, the attitude control module 47 controls the opening of the boom head pitch forward solenoid valve, causing the boom head 26 to decelerate to a stop. The industrial control computer 7 then displays the current operating status and issues an alarm.

[0119] Therefore, there will be no sudden change in the movement of the arm head 26 due to switching of the remote control.

[0120] Arm swing to the left and right

[0121] like Figure 18 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S500). When it is in wireless remote control mode, it switches to wireless remote control 5 (step S510) and receives the instructions from wireless remote control 5. Otherwise, it switches to wired remote control 6 and receives the instructions from wired remote control 6 (step S510').

[0122] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to place it in the posture position (step S520). When the arm head 26 swings to the left, the user pushes the left handle 1002 in the X- direction on the wireless remote control 5 (step S530). At this time, the posture control module 47 synchronously controls the opening degree of the arm head swing positive solenoid valve according to the push of the left handle 1002 (step S540). The posture control module 47 determines whether the opening speed is >250 / S (step S545). If it is >250 / S, the opening degree is increased by 250 / S (step S550) to limit the opening speed change to be too fast and the left swing speed of the arm head 26 to be too large. Then, under the action of hydraulic pressure, the left swing arm cylinder extends and the right swing arm cylinder retracts, pushing the arm head 26 to swing to the left.

[0123] The operation of the arm head 26 when swinging to the right is the same as when swinging to the left, except that the left handle 1002 is operated in the opposite direction. Please refer to the above instructions for details, which will not be repeated here.

[0124] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0125] Similarly, in wireless remote control mode, when the mode control module 42 detects the connection of the wired remote controller 6, it enters the switching mode. In the switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the opening of the solenoid valve, causing the arm head 26 to decelerate to a stop. Afterwards, the mode control module 42 enters the wired remote control mode and receives commands from the wired remote controller 6.

[0126] Similarly, when in wired or wireless remote control mode, if the mode control module 42 does not detect a heartbeat signal from the wired remote controller 6 or the wireless remote controller 5 within, for example, 3 seconds, it assumes the remote controller is disconnected and the mode control module 42 enters a safety mode. In safety mode, the attitude control module 47 controls the opening of the solenoid valve to decelerate the boom head to a stop. The industrial control computer 7 then displays the current operating status and issues an alarm.

[0127] Forward and backward tilt of the arm

[0128] like Figure 19 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S600). In the wireless remote control mode, it switches to the wireless remote controller 5 (step S610) and receives the instructions from the wireless remote controller 5. Otherwise, it switches to the wired remote control mode and receives the instructions from the wired remote controller 6 (step S610').

[0129] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to place it in the posture position (step S620). When the arm head 26 tilts forward, the user pushes the left second handle 1005 in the X- direction on wireless remote control 5 (step S630). At this time, the posture control module 47 synchronously controls the opening degree of the arm head tilting positive solenoid valve according to the push of the left second handle 1005 (step S640). The posture control module 47 determines whether the opening speed is >250 / S (step S645). If it is >250 / S, the opening degree is increased by 250 / S (step S650) to limit the opening speed change to be too fast and the forward tilting speed of the arm head 26 to be too large. Under hydraulic action, the tilting cylinder 241 of the swing arm mechanism extends, pushing the arm head 26 forward (step S655).

[0130] The operation when the arm head is tilted backward is the same as when it is tilted forward, except that the second left handle 1005 is operated in the opposite direction. Please refer to the instructions above for details, which will not be repeated here.

[0131] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0132] Similarly, when in wireless remote control mode, if the mode control module 42 detects the wired remote control 6 being connected, it enters switching mode. In switching mode, the wired remote control 6 is initialized, and the wireless remote control 5 is disabled. The attitude control module 47 controls the opening of the solenoid valve, causing the arm head 26 to decelerate to a stop. Afterwards, the mode control module 42 enters wired remote control mode.

[0133] Similarly, when in wired or wireless remote control mode, if the mode control module 42 does not detect a heartbeat signal from the wired remote control 6 or the wireless remote control 5 within, for example, 3 seconds, it assumes the remote control is disconnected and enters a safety mode. In safety mode, the attitude control module 47 controls the opening of the solenoid valve, causing the arm head 26 to decelerate to a stop. The industrial control computer 7 then displays the current operating status and issues an alarm.

[0134] Arm head compensation arm forward and backward

[0135] like Figure 20 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S700). When it is in wireless remote control mode, it switches to wireless remote control 5 (step S710) and receives the instructions from wireless remote control 5. Otherwise, it switches to wired remote control 6 and receives the instructions from wired remote control 6 (step S710').

[0136] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to place it in the posture position (step S720). When the arm head compensation arm 27 moves forward, the user pushes the right handle 1006 in the Y+ direction on wireless remote control 5 (step S730). At this time, the posture control module 47 synchronously controls the opening degree of the forward solenoid valve of the arm head compensation arm according to the push of the right handle 1006 (step S740). The posture control module 47 determines whether the opening speed is >250 / S (step S745). If it is >250 / S, the opening degree is increased by 250 / S (step S750) to limit the opening speed change to be too fast and avoid the arm head compensation arm 27 from having too high a speed. Under hydraulic action, the arm head compensation arm telescopic cylinder 271 extends (step S755), pushing the arm head compensation arm 27 forward.

[0137] The operation of the arm head compensator arm 27 when it is retracting is the same as when it is forward, except that the right handle 1006 is operated in reverse. Please refer to the above instructions for details, which will not be repeated here.

[0138] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0139] In wireless remote control mode, when the mode control module 42 detects the connection of the wired remote controller 6, it enters the switching mode. In the switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the opening of the solenoid valve, causing the arm head compensation arm 27 to decelerate to a stop. Afterwards, the mode control module 42 enters the wired remote control mode and receives commands from the wired remote controller 6.

[0140] When in wired or wireless remote control mode, if the mode control module 42 does not detect a heartbeat signal from the wired remote controller 6 or the wireless remote controller 5 within, for example, 3 seconds, it assumes the remote controller is disconnected and enters a safety mode. In safety mode, the attitude control module 47 controls the opening of the solenoid valve, causing the arm head compensation arm 27 to decelerate to a stop. The industrial control computer 7 then displays the current operating status and issues an alarm.

[0141] Propel the beam to turn left and right.

[0142] like Figure 21 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S800). When it is in wireless remote control mode, it switches to wireless remote control 5 (step S810) and receives the instructions from wireless remote control 5. Otherwise, it switches to wired remote control 6 and receives the instructions from wired remote control 6 (step S810').

[0143] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to put it in the attitude position (step S820). When the push beam 3 turns left, the user pushes the right handle 1006 in the X- direction on wireless remote control 5 (step S830). At this time, the attitude control module 47 synchronously controls the opening degree of the push beam rotation forward solenoid valve according to the push of the right handle 1006 (step S840). The attitude control module 47 determines whether the opening speed is >250 / S (step S845). If it is >250 / S, the opening degree is increased by 250 / S (step S850) to limit the opening speed change to be too fast and avoid the speed of the push beam 3 being too high. Then, under the action of hydraulic pressure, the rotary motor turns left (step S855), pushing the push beam 3 to turn left.

[0144] The operation for turning the propulsion beam 3 to the right is the same as for turning it to the left, except that the right handle 1006 is operated in the reverse direction. Please refer to the above instructions for details, which will not be repeated here.

[0145] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0146] Similarly, when the mode control module 42 is in wireless remote control mode, it detects the connection of the wired remote controller 6 and enters switching mode. In switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the opening of the solenoid valve, causing the propulsion beam 3 to decelerate to a stop. Afterwards, the mode control module 42 enters wireless remote control mode.

[0147] Similarly, when the mode control module 42 is in wired or wireless remote control mode, for example, if it does not detect a heartbeat signal from the wired remote control 6 or the wireless remote control 5 within 3 seconds, it assumes that the remote control is disconnected and the mode control module 42 enters a safety mode. In safety mode, the attitude control module 47 controls the opening of the forward rotation solenoid valve of the propulsion beam, causing the propulsion beam 3 to decelerate to a stop. The industrial control computer 7 then displays the current operating status and issues an alarm prompt.

[0148] Advance beam forward and backward tilt

[0149] like Figure 22 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S900). When it is in wireless remote control mode, it switches to wireless remote control 5 (step S910) and receives the instructions from wireless remote control 5. Otherwise, it switches to wired remote control 6 and receives the instructions from wired remote control 6 (step S910').

[0150] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to place it in the attitude position (step S920). When the push beam 3 tilts forward, the user pushes the right second handle 1003 in the X- direction on wireless remote control 5 (step S930). At this time, the attitude control module 47 synchronously controls the opening degree of the push beam tilting positive solenoid valve according to the push of the right second handle 1003 (step 940). The attitude control module 47 determines whether the opening speed is >250 / S (step S945). If it is >250 / S, the opening degree is increased by 250 / S (step S950) to limit the opening speed change to be too fast and avoid the push beam 3 tilting forward too much. Under hydraulic action, the push beam tilting cylinder 281 extends (step S955), pushing the push beam 3 to tilt forward.

[0151] The operation of tilting the propulsion beam 3 backward is the same as that of tilting forward, except that the second right handle 1003 is operated in the reverse direction. Please refer to the above instructions for details, which will not be repeated here.

[0152] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0153] Similarly, when the mode control module 42 is in wireless remote control mode, it detects the connection of the wired remote controller 6 and enters switching mode. In switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the opening of the forward (reverse) tilt solenoid valve of the propulsion beam, causing the propulsion beam 3 to decelerate to a stop. Afterwards, the mode control module 42 enters wired remote control mode.

[0154] Similarly, when the mode control module 42 is in wired or wireless remote control mode, for example, if it does not detect a heartbeat signal from the wired remote control 6 or the wireless remote control 5 within 3 seconds, it assumes that the remote control is disconnected and the mode control module 42 enters a safety mode. In the safety mode, the attitude control module 47 controls the opening of the forward (reverse) tilt solenoid valve of the propulsion beam, causing the propulsion beam 3 to decelerate to a stop.

[0155] Promoting the forward and backward movement of the compensation beam

[0156] like Figure 23 As shown, the attitude control module 47 determines the remote control mode set by the mode control module 42 (step S50). In the wireless remote control mode, it switches to the wireless remote control 5 (step S51) and receives the instructions from the wireless remote control 5. Otherwise, it switches to the wired remote control 6 and receives the instructions from the wired remote control 6 (step S51').

[0157] When switching to wireless remote control 5, the user operates the three-position switch 1004 in wireless remote control 5 to place it in the attitude position (step S52). When the compensating beam 32 moves forward, the user pushes the second right handle 1003 in the Y+ direction on wireless remote control 5 (step S53). At this time, the attitude control module 47 synchronously controls the opening degree of the forward solenoid valve of the propulsion compensation according to the push of the second right handle 1003 (step S54). The attitude control module 47 determines whether the opening speed is >250 / S (step S55). If it is >250 / S, the opening degree is increased by 250 / S (step S56) to limit the change of opening speed too fast and avoid excessive forward speed of the compensating beam 32. Under hydraulic action, the compensating cylinder 33 of the propulsion beam extends (step S57) to push the compensating beam 32 forward.

[0158] The operation of pushing the compensation beam 32 backward is the same as that of moving it forward, except that the second right handle 1003 is operated in reverse. Please refer to the above instructions for details, which will not be repeated here.

[0159] The operation when switching to wired remote control 6 is the same as that of wireless remote control 5. Please refer to the instructions above for details, which will not be repeated here.

[0160] Similarly, when the mode control module 42 is in wireless remote control mode, it detects the connection of the wired remote controller 6 and enters switching mode. In switching mode, the wired remote controller 6 is initialized, and the wireless remote controller 5 is disabled. The attitude control module 47 controls the opening of the propulsion compensation positive solenoid valve, causing the propulsion compensation beam 32 to gradually decelerate to a stop. Afterwards, the mode control module 42 enters wired remote control mode.

[0161] When the mode control module 42 is in wired or wireless remote control mode, for example, if it does not detect a heartbeat signal from the wired remote control 6 or the wireless remote control 5 within 3 seconds, it assumes that the remote control is disconnected and the mode control module 42 enters a safety mode. In safety mode, the attitude control module 47 controls the opening of the propulsion compensation positive solenoid valve, causing the propulsion compensation beam 32 to gradually decelerate to a stop.

[0162] The embodiments of this application have been described above. As can be seen from the above, when using a remote control, if it is necessary to switch from the wireless remote control 5 to the wired remote control 6, simply inserting or activating the wired remote control 6 will automatically switch the connection. Furthermore, during the switching process, the wired remote control 6 is initialized, and the equipment on the drilling rig is changed from a running state to a stopped state, ensuring that the wired remote control 6 starts sending commands from its initial state. This avoids the uncertainty of commands sent by the wired remote control 6 and prevents sudden changes in the drilling rig's operation.

[0163] In the event of a remote control disconnection, the drilling rig will automatically stop operating. Furthermore, due to the buffer period after a disconnection, if the connection is restored, the remote control will resume operation, preventing the drilling rig's traveling mechanism from returning to a stopped state due to a brief disconnection. This improves the drilling rig's stability and anti-interference capabilities.

[0164] It should be noted that the above embodiments are illustrative of the present invention and not restrictive of the present invention, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims.

Claims

1. A drilling rig control system, used to control the operation of a drilling rig, characterized in that, Includes controller (4), wired remote control (6), and wireless remote control (5). The controller (4) includes a walking control module (44) and a mode control module (42). The walking control module (44) controls the walking mechanism (440) of the drilling rig according to the instructions of the wired remote controller (6) or the wireless remote controller (5), so that the drilling rig can move forward, backward and turn. The mode control module (42) sets the corresponding remote control mode according to the online status of the wired remote controller (6) and the wireless remote controller (5), including wired remote control mode, wireless remote control mode, and switching mode. In wired remote control mode, the walking control module (44) receives instructions from the wired remote controller (6) and controls the walking mechanism (440) of the drilling rig. In wireless remote control mode, the walking control module (44) receives instructions from the wireless remote controller (5) and controls the walking mechanism (440) of the drilling rig. In wireless remote control mode, when the mode control module (42) detects that the wired remote control (6) is online, it enters the switching mode. In the switching mode, the wireless remote control (5) is blocked, the wired remote control (6) is initialized, and after successful initialization, it switches to the wired remote control mode.

2. The drilling rig control system according to claim 1, characterized in that, In the switching mode, the walking control module (44) also controls the walking mechanism (440) to gradually decelerate from the current running state to a stop.

3. The drilling rig control system according to claim 2, characterized in that, The walking control module (44) controls the walking mechanism (440) to linearly decelerate from its current operating state to a stop at a certain speed.

4. The drilling rig control system according to claim 3, characterized in that, In wireless remote control mode, when the mode control module (42) detects that the wired remote controller (6) is online, it detects the operating status of the walking mechanism. When the operating status meets the set conditions, it enters the switching mode.

5. The drilling rig control system according to claim 4, characterized in that, The set conditions include the walking speed of the walking mechanism (440) reaching a set speed.

6. The drilling rig control system according to claim 5, characterized in that, The controller (4) also includes an attitude control module (47). The attitude control module (47) controls the attitude mechanism (470) of the drilling rig according to the instructions of the wired remote controller (6) or the wireless remote controller (5). In wireless remote control mode, when the mode control module (42) detects that the wired remote controller (6) is online, it detects the operating status of the attitude mechanism (470), and when the operating status meets the set conditions, it enters the switching mode.

7. The drilling rig control system according to claim 6, characterized in that, The traveling mechanism (440) of the drilling rig includes tracks (12) and a driving mechanism for the tracks (12); The attitude mechanism (470) of the drilling rig includes any one or more combinations of the main boom (23), boom head (26), boom head compensation arm (27), propulsion beam (3), propulsion compensation beam (32), and drive mechanism.

8. The drilling rig control system according to any one of claims 1 to 7, characterized in that, The remote control modes set by the mode control module (42) also include a safety mode. When the mode control module (42) detects a disconnection in either the wired remote control (6) or the wireless remote control (5) in either the wired or wireless remote control mode, it enters a safe mode. In safe mode, the walking control module (44) controls the walking mechanism (440) to gradually decelerate from the current running state to a stop.

9. The drilling rig control system according to claim 8, characterized in that, The mode control module (42) detects whether the wired remote controller (6) or the wireless remote controller (5) is online by detecting the heartbeat signal of the wired remote controller (6) or the wireless remote controller (5).

10. The drilling rig control system according to claim 9, characterized in that, The mode control module (42) disconnects the wired remote controller (6) or the wireless remote controller (5) if it does not detect the heartbeat signal within a set time.

Images