Automatic synchronization control system and control method thereof

Abstract

The present invention relates to an automatic synchronous control system and a control method thereof, including an online control system, which controls the drilling rig and the hosting machine to maintain synchronous operation, and includes a synchronous monitoring module and a control center; a PLC controller, which receives instructions from the control center to control the operation of the drilling rig motor and the hosting machine motor; a remote communication control module, which performs remote data transmission with the control center, and the synchronous monitoring module monitors the on and off of the remote data transmission; a sensor, which converts the operating data of the drilling rig and the hosting machine into electrical signals, and then transmits them to the control centers of the drilling rig and the hosting machine respectively; the control centers of the drilling rig and the hosting machine maintain synchronous linkage under the control of the control center of the online control system, and the control center of the hosting machine transmits data to the control center of the drilling rig through the remote communication control module. The present invention solves the problem of difficulty in connecting two machines.

Description

Technical Field

[0001] The present invention relates to the technical field of synchronous control, and in particular to an automatic synchronous control system and a control method thereof. Background Art

[0002] In the process of trenchless construction, the pipe dragging machine and the horizontal directional drilling machine are often required to work together synchronously. However, because the pipe dragging machine and the horizontal directional drilling machine belong to different control systems, the cooperation of the two machines requires close cooperation between the pipe dragging machine operator and the drilling machine operator. If there is any carelessness, it will cause operational failure, which will increase the uncertainty in the construction and may cause construction errors or delays.

[0003] Therefore, it is urgent to propose a new technical solution to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art and provide an automatic synchronization control system. The specific technical solution is as follows:

[0005] An automatic synchronous control system, comprising:

[0006] An online control system, which is configured to control the drilling rig and the hosting machine to maintain synchronous operation, and the online control system includes a synchronous monitoring module, a control center and a remote communication control module;

[0007] A PLC controller, which is configured to receive instructions from the control center to control the operation of the drilling rig motor and the hosting machine motor;

[0008] The remote communication control module performs remote data transmission with the control center, and the synchronous monitoring module monitors the on and off of the remote data transmission;

[0009] Sensors are configured to convert the operating data of the drilling rig and the hosting machine into electrical signals, and then transmit them to the control centers of the drilling rig and the hosting machine respectively;

[0010] The control centers of the drilling rig and the hosting machine maintain synchronous linkage under the control of the control center of the online control system. The control center of the hosting machine transmits data to the control center of the drilling rig through the remote communication control module, and the synchronous monitoring module monitors and controls the on and off of the online control system.

[0011] The above technical solution further includes an electric control handle, which is configured to control the connection status between the PLC controller and the control center of the online control system.

[0012] Furthermore, it also includes an electronically controlled proportional pump, which is electrically connected to the PLC controller.

[0013] Furthermore, the electronically controlled proportional pump performs self-regulation according to the instructions issued by the PLC controller to maintain synchronous linkage between the drilling rig and the hosting machine.

[0014] Furthermore, it also includes a display, which receives control information from the online control system and outputs the control information to form a human-computer interaction mode with the operator.

[0015] The present invention also provides an automatic synchronization control method, comprising the following steps:

[0016] S1: The online control system sends out instructions through the control center. After receiving the instructions, the PLC controller controls the drilling rig and the hosting machine to operate simultaneously according to the instructions.

[0017] S2: The sensors convert the operating parameters of the drilling rig and the hosting machine into electrical signals and transmit them to the control centers of the drilling rig and the hosting machine respectively;

[0018] S3: The control center of the hosting machine sends the received signal to the remote communication control module, and the remote communication control module transmits the received electrical signal to the control center of the online control system, and the control center of the online control system adjusts the drilling rig and the hosting machine respectively according to the received electrical signal;

[0019] S4: If the control center of the online control system detects that the drilling rig and the hosting machine are running synchronously, the control center sends a command to the PLC controller to keep the drilling rig and the hosting machine running continuously.

[0020] Furthermore, for step S3, the control center of the online control system processes the received signal and sends out an adjustment signal to control and adjust the drilling rig and the hosting machine to run synchronously.

[0021] Furthermore, the control center of the online control system transmits the adjustment signal to the PLC controller. After receiving the signal, the PLC controller adjusts the electric proportional pump according to the adjustment signal. The electric proportional pump controls the operating parameters of the drilling rig and the hosting machine respectively.

[0022] Furthermore, the control center of the online control system transmits the received adjustment signal to the remote communication control module, and the remote communication control module transmits the adjustment signal to the control center of the drilling rig.

[0023] Furthermore, when the remote communication control module transmits the received electrical signal to the control center of the online control system, the synchronous monitoring module monitors the on-off of the signal transmission process in real time;

[0024] Furthermore, when the synchronization monitoring module detects that the signal transmission process is abnormal or interrupted, it feeds back an electrical signal to the control center, and the control center of the online control system controls the drilling rig and the hosting machine to exit the synchronous operation mode.

[0025] Furthermore, the online control system inputs the electrical signal in the control process into the display, and the display converts the electrical signal into a visual signal output to form a human-computer interaction mode;

[0026] Furthermore, the electric control handle controls the start and stop of the PLC controller.

[0027] The present invention has the following beneficial effects:

[0028] 1. The automatic synchronous control system of the present invention solves the data interaction problem between the two control systems and provides a data sharing and synchronization path for the synchronous operation of the two machines;

[0029] 2. The automatic synchronous control system of the present invention solves the problem of master-slave following control during the operation of the two machines. The control center issues instructions to the PLC controller and uses the electronically controlled proportional pump to synchronously adjust the two machines. In practical applications, the operating parameters of one of the two machines can be manually set as a reference to adjust the operating parameters of the other, so as to ensure that the two machines enter a synchronous linkage state. This process solves the problem of master-slave following control;

[0030] 3. The automatic synchronous control system of the present invention replaces the situation in the prior art where the synchronous operation of two machines requires close cooperation of the operators of the two machines. The control system is used to perform synchronous linkage control of the two machines. Such control is more accurate, with fewer uncertainties, thus promoting construction automation.

[0031] 4. The remote communication control module involving the data interaction communication module between two machines in the automatic synchronous control system of the present invention is applicable to all remote control systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 This is a principle flow chart of the automatic synchronization control system of the present invention;

[0034] Figure 2 It is a system control flow chart of the two-machine automatic online system in an embodiment of the present invention;

[0035] Figure 3 It is a system control flow chart of the pipe pusher speed following system in an embodiment of the present invention.

[0036] Among them: 1-online control system, 11-synchronous monitoring module, 12-control center of online control system, 2-drilling rig, 21-control center of drilling rig, 3-hosting machine, 31-control center of hosting machine, 4-PLC controller, 41-electric control handle, 5-remote communication control module, 6-sensor, 7-electrically controlled proportional pump, 8-display. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Example

[0041] The gist of the present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0042] Figure 1 This is a principle flow chart of the automatic synchronization control system of the present invention; Figure 2 It is a system control flow chart of the two-machine automatic online system in an embodiment of the present invention; Figure 3 It is a system control flow chart of the pipe pusher speed following system in an embodiment of the present invention.

[0043] See also Figure 1 , this embodiment provides an automatic synchronization control system, including:

[0044] An online control system 1, which is configured to control the drilling rig 2 and the hosting machine 3 to maintain synchronous operation, and the online control system 1 includes a synchronous monitoring module 11, a control center 12 and a remote communication control module 5;

[0045] A PLC controller 4, which is configured to receive instructions from the control center 12 to control the operation of the motors of the drilling rig 2 and the hosting machine 3;

[0046] The remote communication control module 5 performs remote data transmission with the control center 12, and the synchronization monitoring module 11 monitors the on and off of the remote data transmission;

[0047] A sensor 6, which is configured to convert the operating data of the drilling rig 2 and the hosting machine 3 into electrical signals, and then transmit the electrical signals to the control centers of the drilling rig 2 and the hosting machine 3 respectively;

[0048] The control centers of the drilling rig 2 and the hosting machine 3 maintain synchronous linkage under the control of the control center 12 of the online control system. The control center 31 of the hosting machine transmits data to the control center 21 of the drilling rig through the remote communication control module 5. The synchronous monitoring module 11 monitors and controls the on and off of the online control system 1.

[0049] Furthermore, it also includes an electric control handle 41, which is configured to control the connection status between the PLC controller 4 and the control center 12 of the online control system.

[0050] Furthermore, it also includes an electronically controlled proportional pump 7, which is electrically connected to the PLC controller 4.

[0051] Furthermore, the electronically controlled proportional pump 7 performs self-regulation according to the instructions issued by the PLC controller 4 to keep the drilling rig 2 and the hosting machine 3 in synchronous linkage.

[0052] Furthermore, it also includes a display 8, which receives control information from the online control system 1 and outputs the control information to form a human-computer interaction mode with the operator.

[0053] The present invention also provides an automatic synchronization control method, comprising the following steps:

[0054] S1: The online control system 1 sends a command through the control center 12. After receiving the command, the PLC controller 4 controls the drilling rig 2 and the hosting machine 3 to operate simultaneously according to the command. At this time, the two machines enter the operating state. At this time, the operating states of the two machines may not be synchronized;

[0055] S2: The sensor 6 converts the operating parameters of the drilling rig 2 and the hosting machine 3 into electrical signals and transmits them to the control centers of the drilling rig 2 and the hosting machine 3. The sensor is used to present the operating status between the two machines in a digital form, so as to facilitate the control center 12 of the online module to process; the control center 12 can detect whether the two machines are running synchronously, and if not, send an adjustment signal to the two machines or one of the two machines;

[0056] S3: The control center 31 of the hosting machine sends the received signal to the remote communication control module 5, and the remote communication control module 5 transmits the received electrical signal to the control center 12 of the online control system. The control center 12 of the online control system adjusts the drilling rig 2 and the hosting machine 3 respectively according to the received electrical signal. Assuming that the control center 12 sets the drilling rig as a reference for synchronous linkage, the operating parameters of the other machine are adjusted according to this reference. The operating parameters of the two machines can also be adjusted at the same time. When both machines are adjusted to the set operating parameters, the intervention is stopped;

[0057] S4: If the control center 12 of the online control system detects that the drilling rig 2 and the hosting machine 3 are running synchronously, the control center 12 sends a command to the PLC controller 4 to keep the drilling rig 2 and the hosting machine 3 running continuously.

[0058] Furthermore, for step S3, the control center 12 of the online control system processes the received signal and sends out an adjustment signal to control and adjust the drilling rig 2 and the hosting machine 3 to run synchronously.

[0059] Furthermore, the control center 12 of the online control system transmits the adjustment signal to the PLC controller 4. After receiving the signal, the PLC controller 4 adjusts the electronically controlled proportional pump 7 according to the adjustment signal. The electronically controlled proportional pump 7 controls the operating parameters of the drilling rig 2 and the hosting machine 3 respectively.

[0060] Furthermore, the control center 12 of the online control system transmits the received adjustment signal to the remote communication control module 5, and the remote communication control module 5 transmits the adjustment signal to the control center 21 of the drilling rig.

[0061] Furthermore, when the remote communication control module 5 transmits the received electrical signal to the control center 12 of the online control system, the synchronization monitoring module 11 monitors the on-off of the signal transmission process in real time;

[0062] Furthermore, when the synchronization monitoring module 11 detects that the signal transmission process is abnormal or interrupted, it feeds back the electrical signal to the control center, and the control center 12 of the online control system controls the drilling rig 2 and the hosting machine 3 to exit the synchronous operation mode.

[0063] Furthermore, the online control system 1 inputs the electrical signal in the control process into the display 8, and the display 8 converts the electrical signal into a visual signal output to form a human-computer interaction mode;

[0064] Furthermore, the electric control handle 41 controls the start and stop of the PLC controller 4. Figure 2 , is a system control flow chart of the automatic online system of two machines. When the two machines enter the online mode, the synchronization monitoring module 11 is used to monitor whether the data transmission of the two machines is normal (that is, whether the heartbeats of the two machines are normal). If the heartbeats of the two machines are normal, then the monitoring data interaction is normal (whether the transmitted data is the same). If it is normal (that is, the transmitted data is consistent), the connection is successful; if the heartbeats of the two machines are abnormal, the connection fails; if the heartbeats of the two machines are normal but the monitoring data interaction is abnormal, the connection fails.

[0065] See also Figure 3 , is the system control flow chart of the pipe pusher speed following system. When the drilling rig is set as a reference and the operating parameters of the pipe pusher are adjusted, during the control process, the pipe pusher following mode is entered to detect whether the pipe pusher speed follows. If the pipe pusher speed does not follow, the pipe pusher operating state is adjusted and the detection of whether the pipe pusher speed follows continues. If the pipe pusher speed follows, the pipe pusher speed is detected to be consistent with the drilling rig speed. If the pipe pusher speed is lower in comparison, the pipe pusher speed is adjusted to make it consistent with the drilling rig speed. Regardless of whether the speed of the pipe pusher is too high or too low compared with the drilling rig, it must be adjusted to make its speed consistent with the drilling rig speed. When the speeds are consistent, the speeds are maintained.

[0066] The control method of the present invention comprises the following steps during specific operation:

[0067] 1. If Figure 1 As shown, when the drilling rig is working, when the two machines are in the synchronous operation control mode, the control system transmits data through its own control center and the remote communication module to realize remote data transmission and achieve data sharing between the two machines. In order to prevent the loss of communication between the two machines, the data interaction between the two machines is equipped with a heartbeat monitoring function (synchronous monitoring module). When the heartbeat function (data transmission process) is abnormal or interrupted, the two machines exit the synchronous operation mode, and the hosting machine and the horizontal directional drilling rig stop working at the same time.

[0068] 2. If Figure 2 As shown in the figure, when the drilling rig is working, the driller needs to switch the pipe pusher to the follow mode. After the mode is switched, the system automatically sets the horizontal directional drilling rig as the main control system, and the pipe pusher follows the horizontal directional drilling rig; the main control functions of the pipe pusher are released to the horizontal directional drilling rig control. When the pipe pusher following speed is lower than the speed of the drilling rig, the drilling rig will increase the following speed of the pipe pusher by PID. If the pipe pusher following speed is higher than the speed of the drilling rig, the drilling rig will decrease the following speed of the pipe pusher by PID.

[0069] The automatic synchronous control system and control method of the present invention solves the data interaction problem between the control systems of the two machines and provides a data sharing and synchronization path for the synchronous operation of the two machines.

[0070] The automatic synchronous control system of the present invention solves the problem of master-slave following control during the operation of the two machines. The control center issues instructions to the PLC controller and uses the electronically controlled proportional pump to synchronously adjust the two machines. In practical applications, the operating parameters of one of the two machines can be manually set as a reference to adjust the operating parameters of the other, thereby ensuring that the two machines enter a synchronous linkage state. This process solves the problem of master-slave following control.

[0071] The remote communication control module involving the data interaction communication module between two machines in the automatic synchronous control system of the present invention is applicable to all remote control systems.

[0072] In summary, the automatic synchronous control system of the present invention replaces the situation in the prior art where the synchronous operation of two machines requires close cooperation between the operators of the two machines, and uses the control system to perform synchronous linkage control of the two machines. Such control is more precise, reduces uncertainties, and promotes construction automation.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0074] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify and vary the above embodiments within the scope of the present invention.

Claims

1. An automatic synchronization control method, characterized in that: The steps include: S1: The online control system (1) sends a command through the control center (12), and the PLC controller (4) receives the command and controls the drilling rig (2) and the hosting machine (3) to operate simultaneously according to the command; S2: The sensor (6) converts the operating parameters of the drilling rig (2) and the hosting machine (3) into electrical signals and transmits them to the control centers of the drilling rig (2) and the hosting machine (3); S3: The control center (31) of the hosting machine sends the received signal to the remote communication control module (5), and the remote communication control module (5) transmits the received electrical signal to the control center (12) of the online control system, and the control center (12) of the online control system processes the received signal and sends out an adjustment signal to control and adjust the drilling rig (2) and the hosting machine (3) to run synchronously; S4: If the control center (12) of the online control system detects that the drilling rig (2) and the hosting machine (3) are running synchronously, the control center (12) sends a command to the PLC controller (4) to keep the drilling rig (2) and the hosting machine (3) running continuously. In step S3, the control center (12) of the online control system transmits the received adjustment signal to the remote communication control module (5), and the remote communication control module (5) transmits the adjustment signal to the control center (21) of the drilling rig.

2. The automatic synchronization control method according to claim 1, characterized in that: The control center (12) of the online control system transmits the adjustment signal to the PLC controller (4). After receiving the signal, the PLC controller (4) adjusts the electric proportional pump (7) according to the adjustment signal. The electric proportional pump (7) controls the operating parameters of the drilling rig (2) and the hosting machine (3) respectively.

3. The automatic synchronization control method according to claim 1, characterized in that: When the remote communication control module (5) transmits the received electrical signal to the control center (12) of the online control system, the synchronous monitoring module (11) monitors the on and off of the signal transmission process in real time; When the synchronization monitoring module (11) detects that the signal transmission process is abnormal or interrupted, it feeds back an electrical signal to the control center, and the control center (12) of the online control system controls the drilling rig (2) and the hosting machine (3) to exit the synchronous operation mode.

4. The automatic synchronization control method according to claim 1, characterized in that: The online control system (1) inputs the electrical signal in the control process into the display (8), and the display (8) converts the electrical signal into a visual signal output to form a human-computer interaction mode; the electric control handle (41) controls the start and stop of the PLC controller (4).

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