An emergency stop control system, control method and storage medium for a rotary drilling rig

Abstract

The present application provides an emergency stop control system, control method and storage medium for a rotary drilling rig, which solves the technical problem in the prior art that when the remote control technology is used to remotely control the operation of the rotary drilling rig, the remote control signal is lost, the drilling rig controller or the remote control signal receiving device fails, and the remote emergency stop cannot be performed remotely. In the emergency stop control system for the rotary drilling rig provided by the present application, signals are transmitted between the main controller and the remote control receiver by wired and wireless methods. When an abnormality occurs in the signal transmission between the main controller or the remote control receiver, the controller or the remote control receiver generates an emergency stop signal, and the emergency stop signal is transmitted to the engine controller, so that the rotary drilling rig stops working. That is, during the emergency stop process of the remote-controlled rotary drilling rig, the main controller and the remote control receiver both participate in the completion of the emergency stop function of the remote-controlled rotary drilling rig. Regardless of whether the remote control receiver or the main controller fails, remote emergency stop can still be achieved.

Description

Technical Field

[0001] This application relates to the field of construction machinery, and particularly to an emergency stop control system, a control method, and a storage medium for a rotary drilling rig. Background Art

[0002] A rotary drilling rig is a construction machine suitable for hole-forming operations in building foundation projects. It is mainly suitable for construction in soil layers such as sandy soil, cohesive soil, and silty soil, and is widely used in various foundation construction operations such as cast-in-place piles, diaphragm walls, and foundation reinforcement. It generally adopts a hydraulic crawler telescopic chassis, a self-raising and foldable drill mast, a telescopic drill pipe, with vertical automatic detection and adjustment, digital display of hole depth, etc. The whole machine operation generally adopts hydraulic pilot control and load sensing, with the characteristics of light and comfortable operation.

[0003] In the prior art, the rotary drilling rigs all adopt manual control of the hydraulic handle to reach the drilling position. The working hours are long, the machine operator is very laborious, the labor intensity is high, and the accuracy is not high and the efficiency is low. For this reason, remote control technology is used in the prior art to remotely control the operation of the rotary drilling rig. Currently, a remote control receiving and transmitting device is used to transmit the emergency stop signal. The remote control emergency stop switch is connected to the remote control transmitting device, the remote control receiving device is connected to the rig controller, or is connected to the controller through the emergency stop circuit of the host, so as to achieve the emergency stop function. However, during the entire remote control process, once the remote control signal of the rotary drilling rig is lost, the emergency stop signal will be lost and the machine cannot be remotely emergency stopped; in addition, the rig controller does not participate in the completion of the emergency stop function of the rotary drilling rig. Once the remote control signal receiving device fails, it will cause the inability to remotely emergency stop; and the remote control signal receiving device does not participate in the completion of the emergency stop function of the rotary drilling rig, and only responsible for transmitting the emergency stop signal, which is completed by the rig controller. If the controller fails, it will cause the inability to remotely emergency stop. That is, when using remote control technology to remotely control the operation of the rotary drilling rig in the current situation, when the remote control signal is lost, or the rig controller or the remote control signal receiving device fails, it is impossible to remotely emergency stop. Summary of the Invention

[0004] In view of this, this application provides an emergency stop control system, a control method, and a storage medium for a rotary drilling rig, which solves the technical problem that when using remote control technology to remotely control the operation of the rotary drilling rig in the prior art, it is impossible to remotely emergency stop when the remote control signal is lost, or the rig controller or the remote control signal receiving device fails.

[0005] To make the purpose, technical means, and advantages of this application clearer, the following further details this application with reference to the accompanying drawings.

[0006] According to one aspect of this application, this application provides an emergency stop control system for a rotary drilling rig, including:

[0007] An engine controller, the engine controller includes an emergency stop signal input terminal; a main controller;

[0008] A remote control receiver, the main controller is electrically connected to the remote control receiver, and the main controller is also wirelessly communicatively connected to the remote control receiver; and an emergency stop control circuit, one end of the emergency stop control circuit is electrically connected to the main controller and the remote control receiver respectively, and the other end of the emergency stop control circuit is electrically connected to the emergency stop signal input terminal; wherein, when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver and / or the main controller generate an emergency stop signal; the emergency stop control circuit is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller.

[0009] In a possible implementation manner, the emergency stop control circuit includes a normally open relay.

[0010] In a possible implementation manner, the normally open relay includes: a coil, one end of the coil is electrically connected to the output terminal of the main controller; a first contact, the first contact is electrically connected to the output terminal of the remote control receiver; and a second contact, the second contact is electrically connected to the emergency stop signal input terminal.

[0011] In a possible implementation manner, the normally open relay includes: a coil, one end of the coil is electrically connected to the output terminal of the remote control receiver; a first contact, the first contact is electrically connected to the output terminal of the main controller; and a second contact, the second contact is electrically connected to the emergency stop signal input terminal.

[0012] In a possible implementation manner, the emergency stop control system of the rotary drilling rig further includes:

[0013] A remote control transmitter, the remote control transmitter is wirelessly communicatively connected to the remote control receiver.

[0014] As a second aspect of the present application, the present application provides an emergency stop control method for a rotary drilling rig, including: when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal; the emergency stop control circuit receives the emergency stop signal transmitted by the remote control receiver and is turned on under the action of the emergency stop signal; and

[0015] The engine controller receives the emergency stop signal and controls the rotary drilling rig to stop working according to the emergency stop signal.

[0016] In a possible implementation, the preset transmission rule includes: the wired signal transmitted between the remote control receiver and the main controller corresponds to the wireless signal; wherein, when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal, including: when the first wired judgment signal transmitted by the main controller received by the remote control receiver does not correspond to the first wireless judgment signal, the remote control receiver generates an emergency stop signal; and / or, when the second wired judgment signal transmitted by the remote control receiver received by the main controller does not correspond to the second wireless judgment signal, the main controller generates an emergency stop signal.

[0017] In a possible implementation, the preset transmission rule includes: when the remote control receiver and the main controller transmit signals through wireless communication connection, the packet loss rate is less than the preset packet loss rate;

[0018] Wherein, when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal, including: when the first packet loss rate when the remote control receiver receives the first wireless judgment signal transmitted by the main controller is greater than or equal to the preset packet loss rate, the remote control receiver generates an emergency stop signal; and / or, when the second packet loss rate when the main controller receives the second wireless judgment signal transmitted by the remote control receiver is greater than or equal to the preset packet loss rate, the main controller generates an emergency stop signal.

[0019] In a possible implementation, the preset transmission rule includes: the first hardware fault detection result of the main controller and the second hardware fault detection result of the remote control receiver are both none;

[0020] Wherein, when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal, including: when the main controller determines that the second hardware fault detection result received from the remote control receiver is yes, the main controller generates an emergency stop signal; and / or, when the remote control receiver determines that the first hardware fault detection result received from the main controller is yes, the remote control receiver generates an emergency stop signal.

[0021] As a third aspect of the present application, the present application provides a computer-readable storage medium, and the storage medium stores a computer program, and the computer program is used to execute the emergency stop control method of the rotary drilling rig described above.

[0022] The emergency stop control system of the rotary drilling rig provided by this application realizes the transmission of judgment signals between the main controller and the remote control receiver in two ways: wired and wireless, that is, the judgment signal is transmitted in two ways: wired and wireless. When the rotary drilling rig is remotely controlled, when the transmission rules between the remote control receiver and the main controller do not correspond to the preset rules during signal transmission, it indicates that there is an abnormality in the signal transmission between the main controller and the remote control receiver. Therefore, the main controller or the remote control receiver generates an emergency stop signal, and the emergency stop control circuit is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller, and the engine controller controls the rotary drilling rig to stop working according to the emergency stop signal. That is, during the emergency stop of the remotely controlled rotary drilling rig, both the main controller and the remote control receiver participate in the completion of the emergency stop function of the remotely controlled rotary drilling rig. When a failure occurs in either the remote control receiver or the main controller, remote emergency shutdown can still be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure shows the working principle diagram of an emergency stop control system of a rotary drilling rig provided by this application;

[0024] Figure 2 The figure shows the working principle diagram of another emergency stop control system of a rotary drilling rig provided by this application;

[0025] Figure 3 The figure shows the working principle diagram of another emergency stop control system of a rotary drilling rig provided by this application;

[0026] Figure 4 The figure shows the working principle diagram of another emergency stop control system of a rotary drilling rig provided by this application;

[0027] Figure 5 The figure shows the flow diagram of an emergency stop control method for a rotary drilling rig provided by this application;

[0028] Figure 6 The figure shows the flow diagram of another emergency stop control method for a rotary drilling rig provided by this application;

[0029] Figure 7 The figure shows the flow diagram of another emergency stop control method for a rotary drilling rig provided by this application;

[0030] Figure 8 The figure shows the flow diagram of another emergency stop control method for a rotary drilling rig provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] In the description of this application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back, top, bottom...) are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0032] In addition, referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase appearing at various positions in the specification does not necessarily refer to the corresponding embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0033] As described above, neither the main controller nor the remote control receiver in the prior art participates in direct remote control. During the operation of the rotary drilling rig, when the judgment signal generated by the main controller according to the working state of the rotary drilling rig is a signal to stop the operation of the rotary drilling rig, if the remote control receiver fails, the judgment signal cannot be transmitted to the remote control receiver, and thus the rotary drilling rig cannot be remotely controlled to stop, which may cause huge losses. Similarly, when the remote control receiver receives a signal to stop the operation of the rotary drilling rig, when the main controller fails, the main controller cannot receive the signal to stop the operation of the rotary drilling rig either, and thus cannot control the rotary drilling rig to stop, resulting in the failure of remote control. Therefore, the present application provides an emergency stop control system for a rotary drilling rig. The main controller and the remote control receiver transmit the judgment signal in two ways: wired and wireless, that is, the judgment signal is transmitted in two ways: wired and wireless. When remotely controlling the operation of the rotary drilling rig, when the transmission rule between the remote control receiver and the main controller does not correspond to the preset rule during signal transmission, it indicates that an abnormality has occurred in the signal transmission between the main controller and the remote control receiver. Therefore, the main controller or the remote control receiver generates an emergency stop signal, and the emergency stop control circuit is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller, and the engine controller controls the rotary drilling rig to stop working according to the emergency stop signal. That is, during the emergency stop of the remotely controlled rotary drilling rig, both the main controller and the remote control receiver participate in the completion of the emergency stop function of the remotely controlled rotary drilling rig. Whether the remote control receiver or the main controller fails, remote emergency shutdown can still be achieved.

[0034] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0035] Figure 1 The working principle diagram of the emergency stop control system for the rotary drilling rig provided by the present application is shown as Figure 1 shown. The emergency stop control system for the rotary drilling rig includes a remote control transmitter 5, a remote control emergency stop switch K2, an engine controller 1, a main controller 2, a remote control receiver 3, and an emergency stop control circuit 4.

[0036] Among them, the engine controller 1 includes an emergency stop signal input terminal; one end of the emergency stop control circuit 4 is electrically connected to the main controller 2 and the remote control receiver 3 respectively, and the other end of the emergency stop control circuit 4 is electrically connected to the emergency stop signal input terminal.

[0037] The remote control transmitter 5 is wirelessly connected to the remote control receiver 3. The remote emergency stop switch K2 is connected to the input end of the remote control transmitter 5, and the other end of the remote emergency stop switch K2 is connected to the remote control 24V power supply.

[0038] The main controller 2 is electrically connected to the remote control receiver 3 to enable the mutual transmission of judgment signals between the main controller 2 and the remote control receiver 3 in a wired transmission manner. Specifically, as Figure 1 shown, the main controller 2 includes a first judgment signal input end, a first judgment signal output end, and a power supply end, where the power supply end is connected to the 24V power supply of the rotary drilling rig; the remote control receiver 3 includes a second judgment signal input end, a second judgment signal output end, and a power supply end, where the power supply end is connected to the 24V power supply of the rotary drilling rig; among them, the first judgment signal output end of the main controller 2 is electrically connected to the second judgment signal input end of the remote control receiver 3, and the first judgment signal input end of the main controller 2 is electrically connected to the second judgment signal output end of the remote control receiver 3 to achieve the electrical connection between the main controller 2 and the remote control receiver 3.

[0039] The main controller 2 is also wirelessly connected to the remote control receiver 3 to enable the mutual transmission of judgment signals between the main controller 2 and the remote control receiver 3 in a wireless transmission manner. That is, the first judgment signal generated by the main controller 2 can be divided into a first wired judgment signal and a first wireless judgment signal, and the second judgment signal generated by the remote control receiver 3 can be divided into a second wired judgment signal and a second wireless judgment signal. Among them, the first wired judgment signal and the second wired judgment signal can be mutually transmitted through the electrical connection between the main controller 2 and the remote control receiver 3; the first wireless judgment signal and the second wireless judgment signal can be mutually transmitted through the wireless communication connection between the main controller 2 and the remote control receiver 3.

[0040] Among them, when the signal transmission rule between the remote control receiver 3 and the main controller 2 does not correspond to the preset transmission rule, the remote control receiver 3 or the main controller 2 generates an emergency stop signal; that is, when the transmission of the judgment signal between the remote control receiver 3 and the main controller 2 is abnormal, then the remote control receiver 3 or the main controller 2 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal to transmit the emergency stop signal to the engine controller 1, so that the engine controller 1 controls the engine to stop working, that is, the rotary drilling rig stops.

[0041] When the signal transmission rule between the remote control receiver 3 and the main controller 2 corresponds to the preset transmission rule, it indicates that both the remote control receiver 3 and the main controller 2 of the rotary drilling rig are working properly. Only the judgment signals transmitted between the main controller 2 and the remote control receiver 3 are needed to determine whether the rotary drilling rig needs to stop. For example, when both the main controller 2 and the remote control receiver 3 are working properly, when the judgment signal transmitted between the main controller 2 and the remote control receiver 3 is at a low level, it indicates that the rotary drilling rig needs to be stopped immediately. Then, the emergency stop control circuit 4 is turned on according to the judgment signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig stops. When the judgment signal transmitted between the main controller 2 and the remote control receiver 3 is at a high level, it indicates that the rotary drilling rig does not need to be stopped immediately. Therefore, the emergency stop control circuit is disconnected, and then the rotary drilling rig will continue to work properly.

[0042] For the emergency stop control system of the rotary drilling rig provided by this application, the judgment signal is transmitted between the main controller 2 and the remote control receiver 3 in two ways: wired and wireless, that is, the judgment signal is transmitted in two ways: wired and wireless. When the rotary drilling rig is being remotely controlled, when the transmission rule between the remote control receiver 3 and the main controller 2 during signal transmission does not correspond to the preset rule, it indicates that an abnormality has occurred in the signal transmission between the main controller 2 and the remote control receiver 3. Therefore, the main controller 2 or the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1. The engine controller 1 controls the rotary drilling rig to stop working according to the emergency stop signal. That is, during the emergency stop process of the remotely controlled rotary drilling rig, both the main controller and the remote control receiver participate in the completion of the emergency stop function of the rotary drilling rig. Whether the remote control receiver or the main controller fails, remote emergency stop can still be achieved.

[0043] Specifically, the wireless communication connection method between the main controller 2 and the remote control receiver 3 can be: the main controller and the remote control receiver 3 are connected through a CAN bus to achieve wireless communication connection between the main controller 2 and the remote control receiver 3.

[0044] Specifically, when the signal transmission rule between the remote control receiver 3 and the main controller 2 does not correspond to the preset transmission rule, and the remote control receiver 3 or the main controller 2 generates an emergency stop signal, it may include the following 6 cases:

[0045] (1) When the preset transmission rule includes that the wired signal and the wireless signal transmitted between the remote control receiver 3 and the main controller 2 correspond to each other, then when the remote control receiver 3 receives that the first wired judgment signal and the first wireless judgment signal transmitted by the main controller do not correspond to each other. For example, the first wired judgment signal is at a high level and the first wireless judgment signal is at a low level. Since both the first wired judgment signal and the first wireless judgment signal are transmitted by the first judgment signal through two transmission methods of wired and wireless, therefore, the first wireless judgment signal and the first wired judgment signal should correspond to each other. Therefore, when the remote control receiver 3 receives that the first wired judgment signal and the first wireless judgment signal transmitted by the main controller do not correspond to each other, it indicates that the main controller 2 has an abnormality or is disconnected. Therefore, the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig stops. That is, when the main controller 2 has an abnormality, the remote control receiver 3 actively generates an emergency stop signal.

[0046] (2) Similarly, when the preset transmission rule includes that the wired signal and the wireless signal transmitted between the remote control receiver 3 and the main controller 2 correspond to each other, then when the main controller 2 receives that the second wired judgment signal and the second wireless judgment signal transmitted by the remote control receiver 3 do not correspond to each other. For example, the second wired judgment signal is at a high level and the second wireless judgment signal is at a low level. Since both the second wired judgment signal and the second wireless judgment signal are transmitted by the second judgment signal through two transmission methods of wired and wireless, therefore, the second wireless judgment signal and the second wired judgment signal should correspond to each other. Therefore, when the main controller 2 receives that the second wired judgment signal and the second wireless judgment signal transmitted by the remote control receiver 3 do not correspond to each other, it indicates that the remote control receiver 3 has an abnormality or is disconnected. Therefore, the main controller 2 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig stops. That is, when the remote control receiver 3 has an abnormality, the main controller 2 actively generates an emergency stop signal.

[0047] (3) When the preset transmission rule includes that the packet loss rate when the remote control receiver 3 and the main controller 2 transmit signals through a wireless communication connection is less than the preset packet loss rate; that is, when the remote control receiver 3 and the main controller 2 transmit signals wirelessly, the signal packet loss rate must be less than the preset packet loss rate. Therefore, when the first packet loss rate when the remote control receiver 3 receives the first wireless judgment signal transmitted by the main controller 2 is greater than or equal to the preset packet loss rate, it indicates that the main controller 2 has a relatively large packet loss rate when transmitting the first wireless judgment signal to the remote control receiver 3, that is, an abnormality occurs in the process of the main controller 2 transmitting the wireless signal. Therefore, the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down. That is, when an abnormality occurs in the process of the main controller 2 transmitting the wireless signal, the remote control receiver 3 actively generates an emergency stop signal.

[0048] (4) When the preset transmission rule includes that the packet loss rate when the remote control receiver 3 and the main controller 2 transmit signals through a wireless communication connection is less than the preset packet loss rate; that is, when the remote control receiver 3 and the main controller 2 transmit signals wirelessly, the signal packet loss rate must be less than the preset packet loss rate. Therefore, when the second packet loss rate when the main controller 2 receives the second wireless judgment signal transmitted by the remote control receiver 3 is greater than or equal to the preset packet loss rate, it indicates that the remote control receiver 3 has a relatively large packet loss rate when transmitting the second wireless judgment signal to the main controller 2, that is, an abnormality occurs in the process of the remote control receiver 3 transmitting the wireless signal. Therefore, the main controller 2 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down. That is, when an abnormality occurs in the process of the remote control receiver 3 transmitting the wireless signal, the main controller 2 actively generates an emergency stop signal.

[0049] (5) When the preset transmission rule includes that both the first hardware fault detection result of the main controller 2 and the second hardware fault detection result of the remote control receiver 3 are none; that is, when both the first hardware detection result of the main controller 2 and the second hardware fault detection result of the remote control receiver 3 are none, it means that there are no faults in the hardware of both the main controller 2 and the remote control receiver 3.

[0050] When the main controller 2 receives that the second hardware fault detection result of the remote control receiver 3 is yes, that is, the hardware of the remote control receiver 3 has a fault, then the remote control receiver 3 will not work properly. At this time, the main controller 2 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, enabling the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down. That is, when the hardware of the remote control receiver 3 has a fault, the main controller 2 actively generates an emergency stop signal.

[0051] (6) When the preset transmission rule includes: the first hardware fault detection result of the main controller 2 and the second hardware fault detection result of the remote control receiver 3 are both no; that is, when the first hardware detection result of the main controller 2 and the second hardware fault detection result of the remote control receiver 3 are both no, that is, the hardware of both the main controller 2 and the remote control receiver 3 has no fault.

[0052] When the remote control receiver 3 receives that the first hardware fault detection result of the main controller 2 is yes, that is, the hardware of the main controller 2 has a fault, then the main controller 2 will not work properly. At this time, the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, enabling the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down. That is, when the hardware of the main controller 2 has a fault, the remote control receiver 3 actively generates an emergency stop signal.

[0053] In a possible implementation manner, Figure 2 The following shows the working principle diagram of another emergency stop control system of a rotary drilling rig provided by this application. As Figure 2 shown, the emergency stop control system of this rotary drilling rig further includes: a main machine emergency stop switch K1. One end of the main machine emergency stop switch K1 is electrically connected to the output end of the emergency stop control circuit 4, and the other end of the main machine emergency stop switch K1 is electrically connected to the emergency stop signal input end of the engine controller 1.

[0054] Specifically, the main machine emergency stop switch K1 can be a normally open main machine emergency stop switch K1. When the main machine emergency stop switch K1 is a normally open main machine emergency stop switch K1, the normally open main machine emergency stop switch K1 is also turned on under the action of the emergency stop signal. For example, when the emergency stop signal is at a low level, the normally open main machine emergency stop switch K1 closes at the low level, enabling the emergency stop signal to be transmitted to the engine controller 1, enabling the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down.

[0055] In addition, the main machine emergency stop switch K1 can also be a normally closed main machine emergency stop switch K1. As Figure 2As shown in the figure, when the host emergency stop switch K1 is a normally closed host emergency stop switch K1, the emergency stop signal can be transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down.

[0056] In a possible implementation, Figure 3 As shown in the figure, this is the working principle diagram of another emergency stop control system for a rotary drilling rig provided by the present application. Figure 3 As shown in the figure, the normally open relay includes: a coil, one end of the coil is electrically connected to the first judgment signal output terminal; a first contact N1, the first contact N1 is electrically connected to the second judgment signal output terminal; and a second contact N2, the second contact N2 is electrically connected to the emergency stop signal input terminal. The other end of the coil is grounded or connected to the negative pole of the power supply. When the remote control receiver 3 outputs an emergency stop signal, the first contact N1 and the second contact N2 are closed, causing the emergency stop signal to be transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down. When the main controller 2 outputs an emergency stop signal, for example, when the emergency stop signal is at a low level, the coil is turned on, causing the first contact N1 and the second contact N2 to be closed, causing the emergency stop signal to be transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down.

[0057] In a possible implementation, Figure 4 As shown in the figure, this is the working principle diagram of another emergency stop control system for a rotary drilling rig provided by the present application. Figure 4 As shown in the figure, the normally open relay includes: a coil, one end of the coil is electrically connected to the second judgment signal output terminal of the remote control receiver 3; a first contact N1, the first contact N1 is electrically connected to the first judgment signal output terminal of the main controller 2; and a second contact N2, the second contact N2 is electrically connected to the emergency stop signal input terminal. The other end of the coil is grounded or connected to the negative pole of the power supply. When the main controller 2 outputs an emergency stop signal, the first contact N1 and the second contact N2 are closed, causing the emergency stop signal to be transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down. When the remote control receiver 3 outputs an emergency stop signal, for example, when the emergency stop signal is at a low level, the coil is turned on, causing the first contact N1 and the second contact N2 to be closed, causing the emergency stop signal to be transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down.

[0058] As another aspect of the present application, the present application also provides an emergency stop control method for a rotary drilling rig. Figure 5 As shown in the figure, this is the schematic flowchart of an emergency stop control method for a rotary drilling rig provided by the present application. Figure 5 As shown in the figure, the emergency stop control method for the rotary drilling rig includes the following steps:

[0059] Step S101: The remote control receiver 3 and the main controller 2 respectively determine whether the signal transmission rules between the remote control receiver 3 and the main controller 2 correspond to the preset transmission rules;

[0060] When the signal transmission rules between the remote control receiver 3 and the main controller 2 do not correspond to the preset transmission rules, that is, an abnormality occurs in the transmission of the judgment signal between the remote control receiver 3 and the main controller 2, then the remote control receiver 3 or the main controller 2 generates an emergency stop signal, that is, execute step S102:

[0061] Step S102: The remote control receiver 3 or the main controller 2 generates an emergency stop signal;

[0062] Step S103: The emergency stop control circuit 4 receives the emergency stop signal transmitted by the remote control receiver 3 and conducts under the action of the emergency stop signal; and

[0063] Step S104: The engine controller 1 receives the emergency stop signal and controls the rotary drilling rig to stop working.

[0064] For the emergency stop control method of the rotary drilling rig provided by this application, when the transmission rules between the remote control receiver 3 and the main controller 2 during signal transmission do not correspond to the preset rules, it means that an abnormality has occurred in the signal transmission between the main controller 2 and the remote control receiver 3. Therefore, the main controller 2 or the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 conducts under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the rotary drilling rig to stop working according to the emergency stop signal. That is, during the emergency stop of the remotely controlled rotary drilling rig, both the main controller and the remote control receiver participate in the completion of the emergency stop function of the remotely controlled rotary drilling rig. Whether the remote control receiver or the main controller fails, remote emergency shutdown can still be achieved.

[0065] Specifically, when the signal transmission rules between the remote control receiver 3 and the main controller 2 do not correspond to the preset transmission rules, and the remote control receiver 3 or the main controller 2 generates an emergency stop signal, it may include the following three situations:

[0066] (1). Figure 6 The figure shows a schematic flow chart of another emergency stop control method of the rotary drilling rig provided by this application. As Figure 6 shown, the preset transmission rules in step S101 include: the wired signal and the wireless signal transmitted between the remote control receiver 3 and the main controller 2 correspond to each other;

[0067] Specifically, step S101 includes:

[0068] Step S1011: The remote control receiver 3 determines whether the first wired judgment signal and the first wireless judgment signal transmitted by the main controller 2 correspond to each other;

[0069] When the remote control receiver 3 determines that the first wired judgment signal and the first wireless judgment signal do not correspond to each other. For example, when the first wired judgment signal is at a high level and the first wireless judgment signal is at a low level, since both the first wired judgment signal and the first wireless judgment signal are transmitted by the first judgment signal through two transmission methods of wired and wireless, therefore, the first wireless judgment signal and the first wired judgment signal should correspond to each other. Therefore, when the remote control receiver 3 receives that the first wired judgment signal and the first wireless judgment signal transmitted by the master controller do not correspond to each other, it indicates that the main controller 2 has an abnormality or is disconnected. Therefore, the remote control receiver 3 generates an emergency stop signal. That is, step S102 specifically includes:

[0070] Step S1021: The remote control receiver 3 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down, and then step S103 and subsequent steps are executed. That is, when the main controller 2 has an abnormality, the remote control receiver 3 actively generates an emergency stop signal.

[0071] Similarly, as Figure 6 shown, that is, when the remote control receiver 3 has an abnormality, the main controller 2 actively generates an emergency stop signal. Specifically:

[0072] Step S101 specifically further includes:

[0073] Step S1012: The main controller 2 determines whether the second wired judgment signal and the second wireless judgment signal transmitted by the remote control receiver 3 correspond to each other;

[0074] When the main controller 2 determines that the second wired judgment signal and the second wireless judgment signal do not correspond to each other. For example, when the second wired judgment signal is at a high level and the second wireless judgment signal is at a low level, since both the second wired judgment signal and the second wireless judgment signal are transmitted by the second judgment signal through two transmission methods of wired and wireless, therefore, the second wireless judgment signal and the second wired judgment signal should correspond to each other. Therefore, when the main controller 2 detects that the second wired judgment signal and the second wireless judgment signal transmitted by the remote control receiver 3 do not correspond to each other, it indicates that the remote control receiver 3 has an abnormality or is disconnected. Therefore, the main controller 2 actively generates an emergency stop signal. That is, step S102 specifically includes:

[0075] Step S1022: The main controller 2 generates an emergency stop signal. The main controller 2 transmits the emergency stop signal to the emergency stop control circuit 4. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down, and steps S103 and subsequent steps are executed. That is, when the remote control receiver 3 malfunctions, the main controller 2 actively generates an emergency stop signal.

[0076] (2) Figure 7 The figure shows a schematic flowchart of another emergency stop control method for a rotary drilling rig provided by the present application. As Figure 7 shown, the preset transmission rule in step S101 includes: when the remote control receiver 3 and the main controller 2 transmit signals through a wireless communication connection, the packet loss rate is less than the preset packet loss rate; that is, when the remote control receiver 3 and the main controller 2 transmit signals wirelessly, the signal packet loss rate must be less than the preset packet loss rate.

[0077] Specifically, step S101 includes:

[0078] Step S1013: The remote control receiver 3 determines whether the first packet loss rate when receiving the first wireless judgment signal transmitted by the main controller 2 is greater than or equal to the preset packet loss rate; that is, when the remote control receiver 3 receives the first wireless judgment signal transmitted by the main controller 2, whether the first wireless judgment signal will have a continuous packet loss phenomenon. When the first packet loss rate when the remote control receiver 3 determines to receive the first wireless judgment signal transmitted by the main controller 2 is greater than or equal to the preset packet loss rate, it means that when the main controller 2 transmits the first wireless judgment signal to the remote control receiver 3, the packet loss rate is large and there is a continuous packet loss phenomenon. Therefore, it can be shown that the main controller 2 has an abnormality in the process of transmitting wireless signals. At this time, the remote control receiver 3 generates an emergency stop signal. Specifically, step S102 includes:

[0079] Step S1021: The remote control receiver 3 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig shuts down, and steps S103 and subsequent steps are executed. That is, when the main controller 2 has an abnormality in the process of transmitting wireless signals, the remote control receiver 3 actively generates an emergency stop signal.

[0080] Similarly, when the remote control receiver 3 malfunctions, the main controller 2 actively generates an emergency stop signal. Specifically:

[0081] Step S101 specifically further includes:

[0082] Step S1024: The main controller 2 determines whether the second packet loss rate when receiving the second wireless judgment signal transmitted by the remote control receiver 3 is greater than or equal to the preset packet loss rate; that is, when the main controller 2 receives the second wireless judgment signal transmitted by the remote control receiver 3, whether there is a phenomenon of continuous packet loss of the second wireless judgment signal. When the second packet loss rate when the main controller 2 determines to receive the second wireless judgment signal transmitted by the remote control receiver 3 is greater than or equal to the preset packet loss rate, it means that when the remote control receiver 3 transmits the second wireless judgment signal to the main controller 2, the packet loss rate is relatively large and there is a phenomenon of continuous packet loss. Therefore, it can be shown that there is an abnormality in the process of the remote control receiver 3 transmitting the wireless signal. At this time, the main controller 2 generates an emergency stop signal. That is, step S102 specifically includes:

[0083] Step S1022: The main controller 2 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, so that the engine controller 1 controls the engine to stop working, that is, the rotary drilling rig stops, that is, step S103 and subsequent steps are executed. That is, when there is an abnormality in the process of the main controller 2 transmitting the wireless signal, the remote control receiver 3 actively generates an emergency stop signal.

[0084] (Three), Figure 8 The figure shows a schematic flow chart of another emergency stop control method for a rotary drilling rig provided by the present application. As Figure 8 shown, the preset transmission rule in step S101 includes: both the first hardware failure detection result of the main controller 2 and the second hardware failure detection result of the remote control receiver 3 are none; that is, when both the first hardware detection result of the main controller 2 and the second hardware failure detection result of the remote control receiver 3 are none, it means that there are no faults in the hardware of both the main controller 2 and the remote control receiver 3.

[0085] Specifically, step S101 includes:

[0086] Step S1015: The remote control receiver 3 determines whether the first hardware failure detection result of the main controller 2 received is yes. When the remote control receiver 3 receives that the first hardware failure detection result of the main controller 2 is yes, that is, there is a fault in the hardware of the main controller 2, then the main controller 2 will not be able to work properly. At this time, the remote control receiver 3 generates an emergency stop signal. That is, step S102 includes: Step S1021: The remote control receiver 3 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, so that the engine controller 1 controls the engine to stop working, that is, the rotary drilling rig stops, that is, step S103 and subsequent steps are executed. That is, when there is a fault in the hardware of the main controller 2, the remote control receiver 3 actively generates an emergency stop signal.

[0087] Similarly, when a hardware failure occurs in the remote control receiver 3, the main controller 2 actively generates an emergency stop signal. The specific steps S101 include:

[0088] Step S1016: The main controller 2 determines whether the second hardware failure detection result of the remote control receiver 3 received is yes. When the main controller 2 receives a yes for the second hardware failure detection result of the remote control receiver 3, that is, when a hardware failure has occurred in the remote control receiver 3, then the remote control receiver 3 will not be able to work properly. At this time, the main controller 2 generates an emergency stop signal. That is, step S102 includes: Step S1022: The main controller 2 generates an emergency stop signal. The emergency stop control circuit 4 is turned on under the action of the emergency stop signal so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig stops, that is, step S103 and subsequent steps are executed. That is, when a hardware failure occurs in the main controller 2, the remote control receiver 3 actively generates an emergency stop signal.

[0089] In the above steps S1011 - S1016, when the judgment results are: the remote control receiver 3 judges that the first wired judgment signal transmitted by the main controller 2 corresponds to the first wireless judgment signal; the main controller 2 judges that the second wired judgment signal transmitted by the remote control receiver 3 corresponds to the second wireless judgment signal; the first packet loss rate when the remote control receiver 3 judges the first wireless judgment signal transmitted by the main controller 2 is less than the preset packet loss rate; the second packet loss rate when the main controller 2 judges the second wireless judgment signal transmitted by the main controller 2 is less than the preset packet loss rate; the remote control receiver 3 judges that the first hardware failure detection result of the main controller 2 received is no; the main controller 2 judges that the first hardware failure detection result of the main controller 2 received is no; it shows that both the remote control receiver 3 and the main controller 2 of the rotary drilling rig are working properly, and only the judgment signals transmitted between the main controller 2 and the remote control receiver 3 are needed to determine whether the rotary drilling rig needs to stop. For example, when both the main controller 2 and the remote control receiver 3 are working properly, when the judgment signals transmitted between the main controller 2 and the remote control receiver 3 are at a low level, it means that the rotary drilling rig needs to be normally stopped. Then the emergency stop control circuit 4 is turned on according to the judgment signal so that the emergency stop signal is transmitted to the engine controller 1, causing the engine controller 1 to control the engine to stop working, that is, the rotary drilling rig stops. When the judgment signals transmitted between the main controller 2 and the remote control receiver 3 are at a high level, it means that the rotary drilling rig does not need to be normally stopped. Therefore, the stop control circuit is disconnected, and then the rotary drilling rig will continue to work properly.

[0090] As a third aspect of the present application, the present application provides a rotary drilling rig, including: the emergency stop control system of the rotary drilling rig described above. The rotary drilling rig provided by the present application controls the emergency stop of the rotary drilling rig through the emergency stop control system of the rotary drilling rig. Since the emergency stop control system of the rotary drilling rig realizes the transmission of judgment signals between the main controller 2 and the remote control receiver 3 in two ways, namely wired and wireless, that is, the judgment signals are transmitted in two ways, wired and wireless. When in the process of remotely controlling the rotary drilling rig, when the transmission rules between the remote control receiver 3 and the main controller 2 during signal transmission do not correspond to the preset rules, it indicates that an abnormality has occurred in the signal transmission between the main controller 2 and the remote control receiver 3. Therefore, the main controller 2 or the remote control receiver 3 generates an emergency stop signal, and the emergency stop control circuit 4 is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller 1, and the engine controller 1 controls the rotary drilling rig to stop working according to the emergency stop signal. That is, during the emergency stop of the remotely controlled rotary drilling rig, both the main controller and the remote control receiver participate in the completion of the emergency stop function of the remotely controlled rotary drilling rig. Whether the remote control receiver or the main controller fails, remote emergency shutdown can still be achieved.

[0091] As a fourth aspect of the present application, the present application further provides a computer-readable storage medium, on which computer program information is stored. When the computer program information is run by a processor, the processor executes the steps in the emergency stop control method of the rotary drilling rig according to various embodiments of the present application in this specification.

[0092] The computer-readable storage medium may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0093] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purpose of illustration and easy understanding, rather than limitations. The above details do not limit the present application to necessarily adopt the above specific details to implement.

[0094] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any way. Words such as "comprising," "including," "having," etc. are open-ended terms that mean "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0095] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0096] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0097] The above are only the preferred embodiments of the creation of this application and are not intended to limit the creation of this application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the creation of this application shall be included within the protection scope of the creation of this application.

Claims

1. An emergency stop control system for a rotary drilling rig, characterized in that, it includes: An engine controller, the engine controller includes an emergency stop signal input terminal; A main controller; A remote control receiver, the main controller is electrically connected to the remote control receiver, and the main controller is also wirelessly communicatively connected to the remote control receiver; and An emergency stop control circuit, one end of the emergency stop control circuit is electrically connected to the main controller and the remote control receiver respectively, and the other end of the emergency stop control circuit is electrically connected to the emergency stop signal input terminal; Wherein, when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver and / or the main controller generate an emergency stop signal; Wherein, the preset transmission rule includes: the wired signal and the wireless signal transmitted between the remote control receiver and the main controller correspond to each other; When the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal, including: When the first wired judgment signal transmitted by the main controller received by the remote control receiver does not correspond to the first wireless judgment signal, the remote control receiver generates an emergency stop signal; and / or When the second wired judgment signal transmitted by the remote control receiver received by the main controller does not correspond to the second wireless judgment signal, the main controller generates an emergency stop signal; The emergency stop control circuit is turned on under the action of the emergency stop signal, so that the emergency stop signal is transmitted to the engine controller.

2. The emergency stop control system for a rotary drilling rig according to claim 1, characterized in that, The emergency stop control circuit includes a normally open relay.

3. The emergency stop control system for a rotary drilling rig according to claim 2, characterized in that, The normally open relay includes: A coil, one end of the coil is electrically connected to the output terminal of the main controller; A first contact, the first contact is electrically connected to the output terminal of the remote control receiver; and A second contact, the second contact is electrically connected to the emergency stop signal input terminal.

4. The emergency stop control system for a rotary drilling rig according to claim 2, characterized in that, The normally open relay includes: A coil, one end of the coil is electrically connected to the output terminal of the remote control receiver; A first contact, the first contact is electrically connected to the output terminal of the main controller; and A second contact, the second contact is electrically connected to the emergency stop signal input terminal.

5. The emergency stop control system for a rotary drilling rig according to claim 1, characterized in that, It further includes: A remote control transmitter, the remote control transmitter is wirelessly communicatively connected to the remote control receiver.

6. An emergency stop control method for a rotary drilling rig, characterized in that, it includes: When the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal; Wherein, the preset transmission rule includes: the wired signal and the wireless signal transmitted between the remote control receiver and the main controller correspond to each other; When the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal, including: When the first wired judgment signal transmitted by the main controller received by the remote control receiver does not correspond to the first wireless judgment signal, the remote control receiver generates an emergency stop signal; and / or When the second wired judgment signal transmitted by the remote control receiver received by the main controller does not correspond to the second wireless judgment signal, the main controller generates an emergency stop signal; The emergency stop control circuit receives the emergency stop signal transmitted by the remote control receiver and conducts under the action of the emergency stop signal; and The engine controller receives the emergency stop signal and controls the rotary drilling rig to stop working according to the emergency stop signal.

7. The emergency stop control method of the rotary drilling rig according to claim 6, characterized in that the preset transmission rule further includes: the packet loss rate when the remote control receiver and the main controller transmit signals through wireless communication connection is less than the preset packet loss rate; wherein, when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal, further including: When the first packet loss rate when the remote control receiver receives the first wireless judgment signal transmitted by the main controller is greater than or equal to the preset packet loss rate, the remote control receiver generates an emergency stop signal; and / or When the second packet loss rate when the main controller receives the second wireless judgment signal transmitted by the remote control receiver is greater than or equal to the preset packet loss rate, the main controller generates an emergency stop signal.

8. The emergency stop control method of the rotary drilling rig according to claim 6, characterized in that the preset transmission rule further includes: the first hardware fault detection result of the main controller and the second hardware fault detection result of the remote control receiver are both none; wherein, when the signal transmission rule between the remote control receiver and the main controller does not correspond to the preset transmission rule, the remote control receiver or the main controller generates an emergency stop signal, further including: When the main controller judges that the second hardware fault detection result received from the remote control receiver is yes, the main controller generates an emergency stop signal; and / or When the remote control receiver judges that the first hardware fault detection result received from the main controller is yes, the remote control receiver generates an emergency stop signal.

9. A computer-readable storage medium, characterized in that the storage medium stores a computer program, and the computer program is used to execute the emergency stop control method of the rotary drilling rig according to any one of claims 6-8 above.

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