Drilling rig control method, apparatus, system, and drilling rig

Abstract

The present application relates to the technical field of working machine, provide a kind of drilling rig control method, device, system and drilling rig, wherein method includes: the actual power of motor in the driving power head of drilling rig is determined based on the current torque and current speed of motor;When the actual power of motor is greater than maximum allowable power, the maximum allowable speed of motor is determined based on maximum allowable power and the current torque of motor, and the corresponding relationship of the angle of handle and the speed of motor is updated, the maximum angle of handle corresponds to the maximum allowable speed of motor in corresponding relationship;The target speed of motor corresponding to the current angle of handle is determined based on corresponding relationship, and the motor is controlled based on the target speed of motor.Such, it is solved that the inaccuracy of handle control when the motor in drilling rig works with constant power leads to the reduction of drilling rig construction efficiency, reliability and work quality, and the problem that drilling rig life is affected, realizes the improvement of drilling rig construction efficiency, life, reliability and work quality.

Description

Technical Field

[0001] This invention relates to the field of work machinery technology, and in particular to a drilling rig control method, device, system, and drilling rig. Background Technology

[0002] A drilling rig is a type of drilling machinery that can be used for drilling and mining resources such as coalbed methane, shale gas, shallow oil, geothermal energy, and groundwater. It can also be used for drilling mine recharge holes, rescue holes, exploration holes, geophysical exploration holes, etc.

[0003] A drilling rig's drilling device can include a drill bit, drill string, power head, and feed device. The power head outputs rotational power to drive the drill string and drill bit to rotate; the feed device moves the power head up and down. During drilling, the resistance to rotary drilling varies due to differences in the physical properties of the soil layer, such as hardness, water content, and composition. The power head can be driven by a motor. In existing technology, the motor's speed is controlled by a handle. When the motor operates at constant power, as the resistance to rotary drilling changes, the constant power determines that the motor's maximum permissible speed also changes. When the resistance to rotary drilling is high, if the handle angle is also large, it may exceed the motor's maximum permissible speed. This problem cannot be effectively solved by the operator's skill and experience, as operator skill levels vary, and judgment and operation based on operator feel are inaccurate. This leads to a decrease in drilling rig efficiency, reliability, and work quality, and also affects the rig's lifespan. Summary of the Invention

[0004] This invention provides a drilling rig control method, device, system, and drilling rig to solve the defects in the prior art where inaccurate handle control when the motor in the drilling rig operates at constant power leads to a decrease in drilling rig construction efficiency, reliability, and work quality, and also affects the lifespan of the drilling rig. This invention improves the drilling rig construction efficiency, lifespan, reliability, and work quality.

[0005] This invention provides a drilling rig control method, comprising:

[0006] The actual power of the motor is determined based on the current torque and current speed of the motor driving the power head in the drilling rig;

[0007] When the actual power of the motor is greater than the maximum allowable power, the maximum allowable speed of the motor is determined based on the maximum allowable power and the current torque of the motor, and the correspondence between the handle angle and the motor speed is updated, wherein the maximum angle of the handle corresponds to the maximum allowable speed of the motor.

[0008] Based on the correspondence, the target rotational speed of the motor corresponding to the current angle of the handle is determined, and the motor is controlled based on the target rotational speed of the motor.

[0009] According to a drilling rig control method provided by the present invention, before determining the actual power of the motor based on the current torque and current rotational speed of the motor driving the power head in the drilling rig, the method further includes:

[0010] The current operating pressure and current displacement of the motor are detected, and the current torque of the motor is determined based on the current operating pressure and current displacement of the motor.

[0011] The current speed and current displacement of the hydraulic pump that powers the motor are detected, and the current speed of the motor is determined based on the current displacement of the motor and the current speed and current displacement of the hydraulic pump.

[0012] According to a drilling rig control method provided by the present invention, determining the current torque of the motor based on the current operating pressure and current displacement of the motor includes:

[0013] The current torque of the motor is obtained based on the product of the motor's current operating pressure and current displacement.

[0014] Determining the current speed of the motor based on the current displacement of the motor and the current speed and current displacement of the hydraulic pump includes:

[0015] The current speed of the motor is obtained by the ratio of the product of the current speed and current displacement of the hydraulic pump to the current displacement of the motor.

[0016] According to a drilling rig control method provided by the present invention, before determining the actual power of the motor based on the current torque and current rotational speed of the motor driving the power head in the drilling rig, the method further includes:

[0017] Obtain the position information of the lifting cylinder for the catwalk of the drill rod on the drilling rig;

[0018] Based on the position information of the lifting cylinder, the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head are determined.

[0019] The lifting cylinder and the feed cylinder are controlled based on their target strokes to achieve docking of the power head with the drill pipe.

[0020] According to a drilling rig control method provided by the present invention, determining the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head based on the position information of the lifting cylinder includes:

[0021] The angle and height of the drill pipe are determined based on the position information of the lifting cylinder;

[0022] The angle at which the power head tilts is determined based on the angle of the drill pipe.

[0023] The target stroke of the lifting cylinder is determined based on the angle at which the power head is raised.

[0024] The target stroke of the feed cylinder is determined based on the height of the drill pipe.

[0025] According to a drilling rig control method provided by the present invention, the position information of the lifting cylinder is one of the angle of the drill rod, the stroke of the lifting cylinder, and the angle of the lifting cylinder.

[0026] The present invention also provides a drilling rig control device, comprising:

[0027] The actual power determination module is used to determine the actual power of the motor based on the current torque and current speed of the motor driving the power head in the drilling rig.

[0028] The correspondence update module is used to determine the maximum allowable speed of the motor based on the maximum allowable power and the current torque of the motor when the actual power of the motor is greater than the maximum allowable power, and update the correspondence between the handle angle and the motor speed, wherein the maximum angle of the handle corresponds to the determined maximum allowable speed of the motor in the correspondence.

[0029] The motor control module is used to determine the target rotational speed of the motor corresponding to the current angle of the handle based on the correspondence, and to control the motor based on the target rotational speed of the motor.

[0030] The present invention also provides a drilling rig control system, comprising:

[0031] The drilling rig includes a power head, a motor that drives the power head, and a drilling rig control device as described above.

[0032] A drilling rig control system according to the present invention further includes:

[0033] A hydraulic pump is used to power the motor;

[0034] A pressure sensor is used to detect the current operating pressure of the motor;

[0035] A speed sensor is used to detect the current speed of the hydraulic pump.

[0036] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the drilling rig control method described above.

[0037] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the drilling rig control method as described above.

[0038] The present invention also provides a drilling rig for performing any of the drilling rig control methods described above, or including any of the drilling rig control devices described above, or including any of the drilling rig control systems described above, or including any of the electronic devices described above, or including any of the non-transitory computer-readable storage media described above.

[0039] The drilling rig control method provided by this invention can determine the actual power of the motor based on its current torque and current speed. When the actual power of the motor is greater than the maximum allowable power, the maximum allowable speed of the motor can be determined based on the maximum allowable power and the current torque of the motor. The correspondence between the handle angle and the motor speed is updated, where the maximum handle angle corresponds to the maximum allowable speed of the motor. This allows for real-time matching of the correspondence between the maximum handle angle and the maximum allowable speed of the motor. Based on this correspondence, the target speed of the motor corresponding to the current handle angle is determined, and the motor is controlled based on the target speed. This limits the maximum allowable speed of the motor, assists the operator in manipulating the handle, and prevents the operator from exceeding the maximum allowable power when manipulating the handle. This improves the drilling rig's construction efficiency, lifespan, reliability, and work quality. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is one of the flowcharts of the drilling rig control method provided by the present invention;

[0042] Figure 2 This is a schematic diagram illustrating an application scenario of the drilling rig control method provided by the present invention;

[0043] Figure 3 This is the second flowchart of the drilling rig control method provided by the present invention;

[0044] Figure 4 This is a schematic diagram of the drilling rig control device provided by the present invention;

[0045] Figure 5 This is a schematic diagram of the drilling rig control system provided by the present invention;

[0046] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention;

[0047] Figure label:

[0048] 201: Base; 202: Ramp; 203: Lifting cylinder;

[0049] 204: Drill pipe; 205: Power head; 206: Power head mount;

[0050] 501: Motor; 502: Drilling rig control device. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0052] The following is combined Figures 1 to 3 The drilling rig control method of the present invention is described.

[0053] This embodiment provides a drilling rig control method, such as... Figure 1 As shown, it includes at least the following steps:

[0054] Step 101: Determine the actual power of the motor based on the current torque and current speed of the motor driving the power head in the drilling rig.

[0055] Step 102: When the actual power of the motor is greater than the maximum allowable power, determine the maximum allowable speed of the motor based on the maximum allowable power and the current torque of the motor, and update the correspondence between the handle angle and the motor speed. In this correspondence, the maximum angle of the handle corresponds to the maximum allowable speed of the motor.

[0056] Step 103: Based on the above correspondence, determine the target speed of the motor corresponding to the current angle of the handle, and control the motor based on the target speed of the motor.

[0057] In practical applications, the power head in a drilling rig outputs rotational power to drive the drill string and drill bit to rotate, thereby achieving the drilling action. The power head is driven by a motor, and the motor's torque can characterize the motor's load, while the motor's working pressure can characterize the motor's torque. When the rotational resistance of the drill bit increases, the motor's working pressure also increases. Due to differences in the physical properties of soil layers, such as hardness, water content, and composition, the resistance to rotary drilling also varies, and correspondingly, the motor's working pressure also varies.

[0058] The motor can be powered by a hydraulic pump. When the motor operates at constant power, changes in the resistance of rotary drilling dictate a change in the motor's maximum permissible speed. That is, as the resistance of rotary drilling increases, the corresponding maximum permissible speed of the motor decreases to maintain constant power. In related technologies, the motor speed is controlled by a handle. Generally, the maximum permissible speed of the motor corresponding to the maximum calibrated handle angle is fixed and does not change with variations in the resistance of rotary drilling. When the resistance of rotary drilling is high, if the handle angle is also large, it may exceed the motor's maximum permissible speed, leading to inaccurate control.

[0059] The torque of the motor reflects the resistance during rotary drilling. In this embodiment, the actual power of the motor can be determined based on its current torque and current speed. When the actual power exceeds the maximum allowable power, the maximum allowable speed can be determined based on the maximum allowable power and the current torque. The correspondence between the handle angle and the motor speed is then updated, where the maximum handle angle corresponds to the maximum allowable speed. This allows for real-time matching of the maximum handle angle and the maximum allowable speed. Based on this correspondence, the target speed of the motor corresponding to the current handle angle is determined, and the motor is controlled based on this target speed. This limits the maximum allowable speed of the motor, assists the operator in manipulating the handle, and prevents the operator from exceeding the maximum allowable power, thereby improving the drilling rig's efficiency, lifespan, reliability, and work quality. Furthermore, the improved work quality of the drilling rig effectively protects oil and gas wells.

[0060] The maximum allowable power is the set constant power.

[0061] The target speed of the motor can be determined from the updated correspondence between the handle's angle and the motor's speed, which corresponds to the motor's speed at the current handle angle. The correspondence between the handle's angle and the motor's speed can be expressed as:

[0062] A s / A smax =V m / V mmax (1)

[0063] Among them, A s Indicates the angle of the handle, A smax V represents the maximum angle of the handle. m V represents the motor's rotational speed. mmax This indicates the maximum permissible speed of the motor.

[0064] In implementation, a detection component can be set up, which may include a first angle sensor for detecting the current angle A of the handle. r , when A s=A r At that time, the motor speed V can be obtained through the above correspondence. m , which serves as the target speed for the motor.

[0065] When the actual power of the motor is less than or equal to the maximum allowable power, since the maximum allowable power is not exceeded, the correspondence between the handle angle and the motor speed does not need to be updated. The target speed of the motor can be determined based on the existing correspondence between the handle angle and the motor speed.

[0066] The drilling rig control method provided in this embodiment can be executed by a control unit. The control unit may include a single controller within the drilling rig, referred to as a centralized controller. The control unit may also include multiple controllers within the drilling rig, referred to as a distributed controller. The control unit may further include a remote controller that communicates remotely with the drilling rig.

[0067] When the control unit controls the motor based on the target speed, specifically, it can generate a first control signal based on the target speed and output the first control signal to a first actuator that adjusts the motor speed. The motor speed is related to the displacement, and the first actuator may include a motor displacement control device.

[0068] In an exemplary embodiment, before determining the actual power of the motor based on the current torque and current rotational speed of the motor driving the power head in the drilling rig, the method further includes:

[0069] The current operating pressure and displacement of the motor are detected, and the current torque of the motor is determined based on the current operating pressure and displacement of the motor.

[0070] The current speed and displacement of the hydraulic pump that powers the motor are detected, and the current speed of the motor is determined based on the current displacement of the motor and the current speed and displacement of the hydraulic pump.

[0071] The motor's operating pressure is the input pressure during actual motor operation. As mentioned earlier, the motor's operating pressure characterizes its torque. Based on this, the aforementioned detection components can include a pressure sensor. The pressure sensor detects the motor's current operating pressure, and the control unit can determine the motor's current torque based on the current operating pressure and current displacement, thus accurately obtaining the motor's current torque. The motor's current displacement can be obtained through the current in the motor's variable displacement mechanism.

[0072] Specifically, determining the current torque of a motor based on its current operating pressure and current displacement can include: obtaining the current torque of the motor by multiplying its current operating pressure and current displacement.

[0073] For example, the current torque T of the motor can be obtained using the following formula. r :

[0074] T r =k1×D mr ×P r (2)

[0075] Among them, D mr Indicates the current displacement of the motor; P r This represents the current operating pressure of the motor; k1 is a constant.

[0076] The larger the displacement of the motor, the greater the torque of the motor. In this embodiment, the current torque of the motor can be obtained quickly and accurately by multiplying the current working pressure of the motor and the current displacement.

[0077] The motor is powered by a hydraulic pump, and its speed is related to the hydraulic pump. Therefore, in implementation, the detection component can also include a speed sensor to detect the current speed of the hydraulic pump. The control unit can determine the current speed of the motor based on its current displacement, as well as the current speed and displacement of the hydraulic pump, thus accurately obtaining the current speed of the motor. The current displacement of the hydraulic pump can be obtained through the current of the hydraulic pump's variable displacement mechanism.

[0078] Specifically, determining the current motor speed based on the current displacement of the motor and the current speed and displacement of the hydraulic pump can include: obtaining the current motor speed based on the ratio of the product of the current speed and displacement of the hydraulic pump to the current displacement of the motor.

[0079] For example, the current speed V of the motor can be obtained using the following formula. mr :

[0080] V mr =k2×D b ×n b / D mr (3)

[0081] Among them, D b Indicates the current displacement of the hydraulic pump; n b Indicates the current speed of the hydraulic pump; D mr This indicates the current displacement of the motor; k2 is a constant.

[0082] The motor is powered by a hydraulic pump. Therefore, the motor speed is related to the displacement and speed of the hydraulic pump. Since the motor speed is determined by the motor displacement, under a certain flow rate, the larger the motor displacement, the smaller the motor speed. Therefore, in this embodiment, the current motor speed can be obtained quickly and accurately by the ratio of the product of the current hydraulic pump speed and current displacement to the current motor displacement.

[0083] In an exemplary embodiment, determining the actual power of the motor based on the current torque and current rotational speed of the motor driving the power head in the drilling rig may specifically include: determining the actual power of the motor based on the current torque T of the motor. r and the current speed V of the motor mr The product of these two values ​​gives the actual power W of the motor. r The actual power of a motor is directly proportional to its speed and torque. Therefore, in this embodiment, the actual power of the motor can be accurately obtained by multiplying the current torque and the current speed of the motor.

[0084] In practical applications, a drill string can include a single drill rod or multiple drill rods connected in series. The power head of the drilling rig can be docked with the drill rod. During the docking process, the power head can be tilted up to a certain angle (i.e., the tilting angle), then the power head is adjusted to the appropriate position, and finally docked with the drill rod.

[0085] The angle at which the power head is tilted up allows the axis of the power head to be parallel to the axis of the drill pipe. The appropriate position of the power head allows the axis of the power head to coincide with the axis of the drill pipe, facilitating docking.

[0086] When the drill string consists of multiple drill rods connected in series, during drilling operations, after one drill rod is lowered into position, the power head needs to connect to the next drill rod. The process of connecting the power head to the next drill rod may include: disengaging the power head from the previous drill rod, raising the power head to a certain angle, adjusting the power head to the appropriate position, and engaging the power head with the next drill rod.

[0087] When the power head connects with the drill pipe, the drill pipe can be lifted to a certain angle by the catwalk.

[0088] In traditional solutions, the position and tilting angle of the power head are manually operated, as is the catwalk. This requires a high level of experience and skill from the operators, resulting in low efficiency and necessitating two operators. To address this issue, the drilling rig control method of this embodiment may further include the following step before determining the actual power of the motor based on its current torque and speed:

[0089] Obtain the position information of the lifting cylinder of the catwalk for the drill pipe on the drilling rig;

[0090] Based on the position information of the lifting cylinder, the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head are determined.

[0091] The lifting cylinder and the feed cylinder are controlled based on their target strokes to achieve docking between the power head and the drill pipe.

[0092] For example, such as Figure 2In the illustrated application scenario, the catwalk may include a base 201, a ramp 202, and a lifting cylinder 203. One end of the ramp 202 is hinged to a first preset position M1 of the base 201. A second preset position M2 in the middle of the ramp 202 is also hinged to a third preset position M3 of the base 201 via the lifting cylinder 203. The drill rod 204 can be placed on the ramp 202. The lifting cylinder 203 extends and retracts to raise or lower the ramp 202, thereby adjusting the height and angle of the drill rod 204. The drilling rig includes a power head and a guide rail. The power head 205 is mounted on the guide rail via a power head seat 206, allowing it to slide on the guide rail. One end of the power head 205 is hinged to a first hinge point M4 of the power head seat 206. The second hinge point M5 on the power head 205 is hinged to the third hinge point M6 of the power head seat 206 via the tilting cylinder 207. The tilting cylinder 207 can drive the power head 205 to rotate along the first hinge point M4 by extension and retraction, so that the power head 205 tilts up or down. The drilling rig also includes a feed cylinder for the power head, which can change the height of the power head by extension and retraction.

[0093] The specific implementation of the catwalk and drilling rig structure can be found in relevant technologies, and will not be elaborated here.

[0094] During implementation, after the catwalk lifts the drill pipe to a certain height using the lifting cylinder, the tilting cylinder needs to be used to adjust the tilting angle of the power head so that the axis of the power head is parallel to the axis of the drill pipe. Furthermore, the feed cylinder is used to adjust the power head to a suitable position so that the axis of the power head is aligned with the drill pipe axis. Figure 2 (Illustrated by dashed lines) The axis of the power head coincides with that of the drill pipe, facilitating docking. Based on this, the geometric relationship between the lifting cylinder and the power head can be used to adjust the power head, thereby achieving automatic docking between the power head and the drill pipe. Specifically, based on the position information of the lifting cylinder, the target strokes of the lifting cylinder and the feed cylinder of the power head can be determined. Then, based on the target strokes of the lifting cylinder and the feed cylinder, the lifting cylinder and the feed cylinder are controlled to achieve docking of the power head and the drill pipe. In this way, the coordinated action of the power head and the catwalk is achieved, thereby realizing automatic docking of the drill pipe, improving the working efficiency and automation level of the drilling rig.

[0095] In implementation, the control unit can generate a second control signal based on the target stroke of the lifting cylinder and send it to the second actuator. The second actuator controls the stroke of the lifting cylinder according to the second control signal. The control unit can generate a third control signal based on the target stroke of the feed cylinder and send it to the third actuator. The third actuator controls the stroke of the feed cylinder according to the third control signal. The second and third actuators can be electro-hydraulic valves or electro-hydraulic pumps.

[0096] In an exemplary embodiment, the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head are determined based on the position information of the lifting cylinder, such as... Figure 3 As shown, it may include:

[0097] Step 301: Determine the angle and height of the drill pipe based on the position information of the lifting cylinder.

[0098] The position information of the lifting cylinder can be varied. For example, the position information of the lifting cylinder can be one of the following: the angle of the drill pipe, the stroke of the lifting cylinder, and the angle of the lifting cylinder.

[0099] When the position information of the lifting cylinder is the angle of the drill pipe, the detection component can also include a second angle sensor to detect the angle of the drill pipe. In this way, the position information of the lifting cylinder can be directly used as the angle of the drill pipe, making it more convenient and faster.

[0100] When the position information of the lifting cylinder is the angle of the lifting cylinder, the detection component may also include a third angle sensor installed on the lifting cylinder, which is used to detect the angle of the lifting cylinder. The angle of the drill rod can be solved using trigonometric functions based on the angle of the lifting cylinder, the length between the first preset position M1 and the second preset position M2, and the length between the first preset position M1 and the third preset position M3.

[0101] When the position information of the lifting cylinder is the stroke of the lifting cylinder, the detection component may also include a stroke sensor, which is used to detect the stroke of the lifting cylinder. Based on the stroke of the lifting cylinder, the length between the third preset position M3 and the second preset position M2 can be obtained. Based on the length between the third preset position M3 and the second preset position M2, the length between the first preset position M1 and the second preset position M2, and the length between the first preset position M1 and the third preset position M3, the angle of the drill pipe is solved using trigonometric functions.

[0102] Of course, other methods can also be used to solve for the angle of the drill pipe, which will not be listed here.

[0103] For example, the angle of the drill pipe can be the angle between the drill pipe and the vertical direction, or it can be the angle between the drill pipe and the horizontal direction.

[0104] The height of the drill pipe can be determined based on its angle and length.

[0105] Step 302: Determine the angle at which the power head lifts based on the angle of the drill pipe.

[0106] For example, the angle at which the power head tilts can be the angle at which the power head tilts relative to the vertical direction. When the angle of the drill pipe is the angle between the drill pipe and the vertical direction, the angle at which the power head tilts can be equal to the angle of the drill pipe.

[0107] Step 303: Determine the target stroke of the lifting cylinder based on the angle at which the power head is lifted.

[0108] For example, with Figure 2 For example, based on the angle A1 of the power head lifting, the length b1 between the first hinge point M4 and the second hinge point M5, and the length c1 between the first hinge point M4 and the third hinge point M6, trigonometric functions can be used to solve for the target stroke S1 of the lifting cylinder between the second hinge point M5 and the third hinge point M6. For example, the cosine theorem can be used to solve it.

[0109] Step 304: Determine the target stroke of the feed cylinder based on the height of the drill pipe.

[0110] For example, the height of the drill pipe = the target stroke of the feed cylinder + c2, where c2 is a preset constant.

[0111] In this embodiment, by using the position information of the lifting cylinder, the angle and height of the drill pipe, the angle at which the power head is raised, the target stroke of the lifting cylinder, and the target stroke of the feed cylinder, the target stroke of the lifting cylinder can be accurately obtained. This allows the power head to be accurately adjusted so that it can automatically dock with the drill pipe.

[0112] The drilling rig control device provided by the present invention is described below. The drilling rig control device described below can be referred to in correspondence with the drilling rig control method described above.

[0113] This embodiment provides a drilling rig control device, such as... Figure 4 As shown, it includes:

[0114] The actual power determination module 401 is used to determine the actual power of the motor based on the current torque and current speed of the motor driving the power head in the drilling rig.

[0115] The correspondence update module 402 is used to determine the maximum allowable speed of the motor based on the maximum allowable power and the current torque of the motor when the actual power of the motor is greater than the maximum allowable power, and update the correspondence between the handle angle and the motor speed. In the correspondence, the maximum angle of the handle corresponds to the maximum allowable speed of the motor.

[0116] The motor control module 403 is used to determine the target speed of the motor corresponding to the current angle of the handle based on the correspondence, and to control the motor based on the target speed of the motor.

[0117] In an exemplary embodiment, the drilling rig control device further includes a detection module, a torque determination module, and a rotational speed determination module;

[0118] The detection module is used to detect the motor's current operating pressure and current displacement.

[0119] The torque determination module is used to determine the current torque of the motor based on the motor's current operating pressure and current displacement.

[0120] The detection module is also used to detect the current speed and current displacement of the hydraulic pump that powers the motor;

[0121] The speed determination module is used to determine the current speed of the motor based on the current displacement of the motor and the current speed and displacement of the hydraulic pump.

[0122] In an exemplary embodiment, the torque determination module is specifically used for:

[0123] The current torque of the motor is obtained by multiplying the current operating pressure and the current displacement of the motor.

[0124] The speed determination module is specifically used for:

[0125] The current speed of the motor is obtained by dividing the product of the current speed and displacement of the hydraulic pump by the current displacement of the motor.

[0126] In an exemplary embodiment, the drilling rig control device further includes a docking module;

[0127] The docking module is used to: acquire the position information of the lifting cylinder of the catwalk for the drill pipe on the drilling rig; determine the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head based on the position information of the lifting cylinder; and control the lifting cylinder and the feed cylinder based on the target stroke of the lifting cylinder and the target stroke of the feed cylinder to realize the docking of the power head and the drill pipe.

[0128] In an exemplary embodiment, the docking module is specifically used for:

[0129] The angle and height of the drill pipe are determined based on the position information of the lifting cylinder;

[0130] The angle at which the power head lifts is determined based on the angle of the drill pipe.

[0131] The target stroke of the lifting cylinder is determined based on the angle at which the power head lifts.

[0132] The target stroke of the feed cylinder is determined based on the height of the drill pipe.

[0133] In an exemplary embodiment, the position information of the lifting cylinder is one of the following: the angle of the drill pipe, the stroke of the lifting cylinder, and the angle of the lifting cylinder.

[0134] The drilling rig control system provided by the present invention is described below. The drilling rig control system described below can be referred to in correspondence with the drilling rig control method described above.

[0135] This embodiment provides a drilling rig control system, such as Figure 5 As shown, it includes:

[0136] The drilling rig includes a power head 205, a motor 501 that drives the power head 205, and a drilling rig control device 502 provided in any of the above embodiments.

[0137] In an exemplary embodiment, the drilling rig control system may further include:

[0138] A hydraulic pump is used to power a motor.

[0139] A pressure sensor is used to detect the current operating pressure of the motor;

[0140] A speed sensor is used to detect the current speed of the hydraulic pump.

[0141] In an exemplary embodiment, the drilling rig control system may further include:

[0142] The second angle sensor is used to detect the angle of the drill pipe.

[0143] In an exemplary embodiment, the drilling rig control system may further include:

[0144] The third angle sensor is used to detect the angle of the lifting cylinder.

[0145] The specific implementation of the drilling rig control device 502 can be referred to in the various embodiments of the drilling rig control method described above, and will not be repeated here.

[0146] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a drilling rig control method, which includes:

[0147] The actual power of the motor is determined based on the current torque and current speed of the motor driving the power head in the drilling rig;

[0148] When the actual power of the motor is greater than the maximum allowable power, the maximum allowable speed of the motor is determined based on the maximum allowable power and the current torque of the motor, and the correspondence between the handle angle and the motor speed is updated. In the correspondence, the maximum angle of the handle corresponds to the maximum allowable speed of the motor.

[0149] Based on the correspondence, the target speed of the motor corresponding to the current angle of the handle is determined, and the motor is controlled based on the target speed of the motor.

[0150] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0151] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, and when the program instructions are executed by a computer, the computer is able to execute the drilling rig control method provided by the above methods, the method including:

[0152] The actual power of the motor is determined based on the current torque and current speed of the motor driving the power head in the drilling rig;

[0153] When the actual power of the motor is greater than the maximum allowable power, the maximum allowable speed of the motor is determined based on the maximum allowable power and the current torque of the motor, and the correspondence between the handle angle and the motor speed is updated. In the correspondence, the maximum angle of the handle corresponds to the maximum allowable speed of the motor.

[0154] Based on the correspondence, the target speed of the motor corresponding to the current angle of the handle is determined, and the motor is controlled based on the target speed of the motor.

[0155] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the drilling rig control methods provided above, the method comprising:

[0156] The actual power of the motor is determined based on the current torque and current speed of the motor driving the power head in the drilling rig;

[0157] When the actual power of the motor is greater than the maximum allowable power, the maximum allowable speed of the motor is determined based on the maximum allowable power and the current torque of the motor, and the correspondence between the handle angle and the motor speed is updated. In the correspondence, the maximum angle of the handle corresponds to the maximum allowable speed of the motor.

[0158] Based on the correspondence, the target speed of the motor corresponding to the current angle of the handle is determined, and the motor is controlled based on the target speed of the motor.

[0159] The present invention also provides a drilling rig for executing the drilling rig control method provided in any of the above embodiments, or including the drilling rig control system provided in any of the above embodiments, or including the drilling rig control device provided in any of the above embodiments, or including the electronic equipment provided in any of the above embodiments, or including the computer program product provided in any of the above embodiments, or including the non-transitory computer-readable storage medium provided in any of the above embodiments.

[0160] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drilling rig control method, characterized in that, include: Obtain the position information of the lifting cylinder of the catwalk on the drill rod of the drilling rig; Based on the position information of the lifting cylinder, the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head that drives the drill string and drill bit to rotate in the drilling rig are determined. The lifting cylinder and the feed cylinder are controlled based on the target stroke of the lifting cylinder and the target stroke of the feed cylinder to achieve the docking of the power head with the drill pipe; The current working pressure and current displacement of the motor driving the power head in the drilling rig are detected, and the current torque of the motor is obtained based on the product of the current working pressure and current displacement of the motor. The current speed and current displacement of the hydraulic pump that powers the motor are detected, and the current speed of the motor is obtained based on the ratio of the product of the current speed and current displacement of the hydraulic pump to the current displacement of the motor. The actual power of the motor is determined based on the current torque and current speed of the motor driving the power head in the drilling rig; When the actual power of the motor is greater than the maximum allowable power, the maximum allowable speed of the motor is determined based on the maximum allowable power and the current torque of the motor, and the correspondence between the handle angle and the motor speed is updated to A. s / A smax =V m / V mmax In the formula, A s Indicates the angle of the handle, A smax V represents the maximum angle of the handle. m V represents the motor's rotational speed. mmax This indicates the maximum permissible speed of the motor, and in the correspondence, the maximum angle of the handle corresponds to the maximum permissible speed of the motor. Based on the correspondence, the target rotational speed of the motor corresponding to the current angle of the handle is determined, and the motor is controlled based on the target rotational speed of the motor.

2. The drilling rig control method according to claim 1, characterized in that, The step of determining the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head based on the position information of the lifting cylinder includes: The angle and height of the drill pipe are determined based on the position information of the lifting cylinder; The angle at which the power head tilts is determined based on the angle of the drill pipe. The target stroke of the lifting cylinder is determined based on the angle at which the power head is raised. The target stroke of the feed cylinder is determined based on the height of the drill pipe.

3. The drilling rig control method according to claim 1, characterized in that, The position information of the lifting cylinder is one of the following: the angle of the drill pipe, the stroke of the lifting cylinder, and the angle of the lifting cylinder.

4. A drilling rig control device, characterized in that, For performing the drilling rig control method according to any one of claims 1 to 3, the drilling rig control device comprises: The actual power determination module is used to determine the actual power of the motor based on the current torque and current speed of the motor driving the power head in the drilling rig. The correspondence update module is used to determine the maximum allowable speed of the motor based on the maximum allowable power and the current torque of the motor when the actual power of the motor is greater than the maximum allowable power, and update the correspondence between the handle angle and the motor speed, wherein the maximum angle of the handle corresponds to the maximum allowable speed of the motor. A motor control module is used to determine the target rotational speed of the motor corresponding to the current angle of the handle based on the correspondence, and to control the motor based on the target rotational speed of the motor; Before determining the actual power of the motor based on the current torque and current speed of the motor driving the power head in the drilling rig, the method further includes: Obtain the position information of the lifting cylinder of the catwalk on the drill rod of the drilling rig; based on the position information of the lifting cylinder, determine the target stroke of the lifting cylinder and the target stroke of the feed cylinder of the power head; control the lifting cylinder and the feed cylinder based on the target stroke of the lifting cylinder and the target stroke of the feed cylinder to realize the docking of the power head with the drill rod; The current operating pressure and current displacement of the motor are detected, and the current torque of the motor is determined based on the current operating pressure and current displacement of the motor; the current speed and current displacement of the hydraulic pump that powers the motor are detected, and the current speed of the motor is determined based on the current displacement of the motor and the current speed and current displacement of the hydraulic pump.

5. A drilling rig control system, characterized in that, include: The power head in the drilling rig, the motor that drives the power head, and the drilling rig control device as described in claim 4.

6. The drilling rig control system according to claim 5, characterized in that, Also includes: A hydraulic pump is used to power the motor; A pressure sensor is used to detect the current operating pressure of the motor; A speed sensor is used to detect the current speed of the hydraulic pump.

7. A drilling rig, characterized in that, The drilling rig is used to perform the drilling rig control method as described in any one of claims 1 to 3, or includes the drilling rig control device as described in claim 4, or includes the drilling rig control system as described in claim 5 or 6.

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