Horizontal directional drilling control method, device and storage medium

Abstract

The application discloses a horizontal directional drilling control method and device and a storage medium. The method comprises the following steps: reducing the output torque of a rotating driving device, so that the drill pipe is decelerated from a rotating state to a locked-rotating state; locking the drill pipe by a brake and recording the output torque in the current state; controlling the locking force of the brake, so that the drill pipe rotates circumferentially at a preset speed and reversely drags each first driving motor in the rotating driving device; and converting the electric energy generated by the reverse dragging of each first driving motor into heat energy by the brake resistor controller. The rotating speed of the drill pipe during the reverse dragging and rebounding can be accurately controlled by the cooperation of the brake, the brake resistor controller and the rotating driving device, so that the impact of the rebounding of the drill pipe on the rotating driving device is reduced, the rotating driving device is prevented from being damaged and the service life of the rotating driving device is effectively prolonged.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control, specifically to a horizontal directional drilling control method, device, and storage medium. Background Technology

[0002] Horizontal directional drilling (HDD) is a type of construction machinery used to lay various underground utilities (pipelines, cables, etc.) without excavating the ground surface. It is widely used in the construction of flexible pipelines for water supply, electricity, telecommunications, natural gas, coal gas, and oil. HDD rigs are suitable for sandy soil, clay, and other soil conditions. HDD does not obstruct traffic, damage green spaces or vegetation, or disrupt the normal lives and work of residents. It solves the problems of traditional excavation construction, which disrupts residents' lives, damages traffic, affects the environment, and negatively impacts the foundations of surrounding buildings.

[0003] Horizontal directional drilling includes two working states: drilling and pipe pulling (pulling back the cable from the opposite side). Because multiple drill rod sections need to be connected during operation, the length of which may exceed several kilometers, the drill rod will undergo certain deformation in both working states, and springback will occur during unloading.

[0004] During drilling, the drill rod undergoes rotational deformation and springback. Multiple drill rods (several kilometers in length) are connected during drilling, and each rod deforms during rotation, resulting in a significant cumulative deformation and springback. During pipe pulling, the drill rod undergoes axial elastic deformation (similar to a tension spring) and springs back when released.

[0005] Drill pipe rebound can generate a strong impact on the drive unit, which may damage the drive unit. How to effectively control the deformation and rebound of the drill pipe has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] In view of the above problems, this application provides a horizontal directional drilling control method to solve the technical problem that the large impact of the drill rod's elastic rebound easily damages the drive device.

[0007] To achieve the above objectives, the inventors provide a horizontal directional drilling control method. The horizontal directional drill includes: a brake, a rotary drive device, and a braking resistor controller.

[0008] The brake is used to lock the drill pipe;

[0009] The rotary drive device is used to drive the drill rod to rotate circumferentially for drilling. The rotary drive device includes two or more first drive motors, and each first drive motor is connected to the drill rod in a transmission connection.

[0010] The method includes an unloading and gate release step:

[0011] Reduce the output torque of the rotary drive device to decelerate the drill rod from a rotating state to a stalled state;

[0012] The drill pipe is locked by a brake, and the output torque in the current state is recorded;

[0013] Control the locking force of the brake so that the drill rod rebounds and rotates circumferentially at a preset speed, and drags each of the first drive motors in the rotary drive device in the opposite direction;

[0014] The braking resistor controller converts the electrical energy generated by the reverse drag of each of the first drive motors into heat energy.

[0015] Furthermore, controlling the locking force of the brake to cause the drill pipe to spring back and rotate circumferentially at a preset speed includes the following steps:

[0016] Reduce the locking force of the brake to allow the drill pipe to spring back and rotate circumferentially;

[0017] The rotational speed of the first drive motor being dragged in reverse is detected, and the locking force of the brake is adjusted with reference to the preset speed so that the rotational speed being dragged in reverse is equal to or tends toward the preset speed.

[0018] Furthermore, the preset speed is less than or equal to the maximum reverse drag speed of the first drive motor.

[0019] Furthermore, the method includes the step of: determining whether the reverse drag speed of the first drive motor is zero, and if so, controlling the brake to lock the drill rod.

[0020] Furthermore, it also includes a loaded gate release step:

[0021] The stall torque of the drill pipe is recorded, and the drill pipe is locked by a brake.

[0022] Release the rotation drive torque and increase or decrease the length of the drill pipe;

[0023] Control the rotational drive torque to increase to the stall torque;

[0024] Release the brake to allow the rotary drive to drive the drill rod to rotate and drill a hole.

[0025] To solve the above-mentioned technical problems, the present invention also provides another technical solution:

[0026] A horizontal directional drilling control device includes: a controller, a brake, a rotary drive device, and a braking resistor controller;

[0027] The brake is used to lock the drill pipe;

[0028] The rotary drive device is used to drive the drill rod to rotate circumferentially for drilling, and includes two or more first drive motors, each of which is connected to the drill rod in a transmission connection.

[0029] The controller is used to reduce the output torque of the rotary drive device to decelerate the drill rod from a rotating state to a stalled state; and to control the brake to lock the drill rod, and record the output torque in the current state;

[0030] The controller is also used to control the locking force of the brake so that the drill rod rebounds and rotates circumferentially at a preset speed and drags each of the first drive motors in the rotary drive device in reverse; and to control the brake resistor controller to start so as to convert the electrical energy generated by the reverse drag of each of the first drive motors into heat energy.

[0031] Furthermore, the controller is also used to control the locking force of the brake so that the drill rod springs back and rotates circumferentially at a preset speed, including:

[0032] Reduce the locking force of the brake to allow the drill pipe to spring back and rotate circumferentially;

[0033] The rotational speed of the first drive motor being dragged in reverse is detected, and the locking force of the brake is adjusted with reference to the preset speed so that the rotational speed being dragged in reverse is equal to or tends toward the preset speed.

[0034] Furthermore, the controller is also used to control the release of the drill pipe under load, including:

[0035] The stall torque of the drill pipe is recorded, and the drill pipe is locked by a brake.

[0036] Release the rotation drive torque and increase or decrease the length of the drill pipe;

[0037] Control the rotational drive torque to increase to the stall torque;

[0038] Release the brake to allow the rotary drive to drive the drill rod to rotate and drill a hole.

[0039] The present invention also provides another technical solution:

[0040] A computer-readable storage medium storing a computer program, which, when executed, performs the horizontal directional drilling control method described in any of the above technical solutions.

[0041] Unlike existing technologies, the rotary drive device of the above-mentioned technical solution is equipped with multiple first drive motors, which can provide strong driving torque and generate strong anti-drag resistance. Furthermore, by cooperating with the brake, braking resistor controller and rotary drive device, the rotational speed of drill rod rebound and anti-drag can be accurately controlled, thereby reducing the impact of drill rod rebound on rotary drive device, avoiding damage to rotary drive device, and effectively extending the service life of rotary drive device.

[0042] In some embodiments, the brake, in conjunction with the rotary drive device, can control the release of the brake while the drill pipe is under load, thereby increasing or decreasing the length of the drill pipe and preventing reverse rotation caused by elastic deformation of the drill pipe.

[0043] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0044] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of the present invention and other related contents, and should not be considered as limitations on this application.

[0045] In the accompanying drawings of the instruction manual:

[0046] Figure 1 This is a block diagram of the horizontal directional drilling control device module as described in a specific embodiment;

[0047] Figure 2 This is a schematic diagram showing the position distribution of the drill rod drive motor in a specific embodiment;

[0048] Figure 3 The electrical control schematic diagram of the horizontal directional drilling control device described in the specific implementation embodiment is shown below.

[0049] Figure 4 A flowchart of the horizontal directional drilling control method described in a specific embodiment;

[0050] Figure 5 A schematic diagram of the computer-readable storage medium described in a specific embodiment;

[0051] Figure 6 This is a control flowchart for various working conditions of horizontal directional drilling as described in the specific implementation method;

[0052] The reference numerals used in the above figures are explained as follows:

[0053] 100. Controller; 200. Computer-readable storage medium;

[0054] 10. Rotary drive device; 11. First main motor; 12. First slave motor;

[0055] 20. Push-pull drive device; 21. Second main motor; 22. Second slave motor;

[0056] 30. Braking resistor controller;

[0057] 40. Drill pipe;

[0058] 50. Brake; Detailed Implementation

[0059] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0060] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0061] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0062] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0063] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0064] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0065] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0066] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0067] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0068] Please see Figures 1 to 6This embodiment provides a horizontal directional drilling control method, apparatus, and storage medium. The horizontal directional drilling control method and apparatus are applied to a horizontal directional drill to drive the drill rod 40 to rotate and pull, thereby achieving horizontal directional drilling. They also control the deformation and springback of the drill rod 40 during operation to prevent the drill rod from impacting the rotating drive device.

[0069] Horizontal directional drilling includes a drilling rig system, which is the main body for drilling and pullback operations. The drilling rig system consists of a main drilling rig, a rotary table, etc. The main drilling rig is mounted on the drilling rig frame and is used to complete drilling and pullback operations. The rotary table is mounted at the front end of the main drilling rig and is used to connect the drill rod 40. By changing the rotation direction, output speed, and torque of the rotary table, the requirements of different operating conditions can be met.

[0070] like Figure 1 and Figure 2 As shown, the horizontal directional drilling control device includes: a controller 100, a brake 50, a rotary drive device 10, and a braking resistor controller 30. The brake 50 is used to lock the drill rod 40.

[0071] The rotary drive device 10 is used to drive the drill rod to rotate circumferentially for drilling. The rotary drive device 10 includes two or more first drive motors, and each first drive motor is connected to the drill rod in a transmission manner.

[0072] The controller 100 is used to reduce the output torque of the rotary drive device to decelerate the drill rod 40 from a rotating state to a stalled state; and to control the brake to lock the drill rod, and record the output torque in the current state; the controller is also used to control the locking force of the brake to make the drill rod rebound and rotate circumferentially at a preset speed, and reverse-drive each of the first drive motors in the rotary drive device; and to control the brake resistor controller to start, so as to convert the electrical energy generated by the reverse-drive of each of the first drive motors into heat energy.

[0073] The rotary drive device 10 drives the rotary table to rotate, thereby driving the drill rod to circumferentially connect to the borehole. The horizontal directional drilling control device also includes a push-pull drive device 20, which drives the drilling rig host to push and pull along the drill rod axially on the drilling rig frame, thereby driving the drill rod axially through the drilling rig host. The push-pull drive device 20 includes a second main motor 21 and two or more second slave motors 22. The second main motor 21 and the second slave motors together drive the drilling rig host to push and pull along the drill rod axially on the drilling rig frame. When drilling horizontally, the horizontal directional drill first installs a smaller diameter drill bit at the end of the drill rod 40. The rotary drive device 10 drives the drill rod to rotate, and the push-pull drive device 20 simultaneously pushes the drill rod 40 forward. When the hole is drilled from one end to the other along a preset trajectory, a larger drill bit is replaced and pulled back by the push-pull drive device 20 to enlarge the original borehole diameter, and cables, pipes, etc. are pulled back through the enlarged borehole along with the drill bit.

[0074] The horizontal directional drilling machine has a brake 50 at the front end of the rotary table to lock the drill rod. The locking force of the brake 50 is controllable, so that the drill rod can be completely locked and not moved, or the locking force is small enough to allow the drill rod to rotate at a preset speed.

[0075] like Figure 2 and Figure 3 As shown, Figure 3 The electrical schematic diagram of the horizontal directional drilling drive device shows that the first drive motor includes a first main motor 11 and multiple first slave motors 12. Both the first main motor 11 and the first slave motors 12 are connected to the drill rod via gears. When the rotary drive device 10 drives the drill rod to rotate, the first main motor 11 is configured to perform closed-loop control based on a preset rotational speed to drive the drill rod to rotate circumferentially. Each first slave motor 12 is configured to perform closed-loop control based on the output torque of the first main motor 11, so that the output torque of each first slave motor is equal to or approaches the output torque of the first main motor. When the drill rod 40 springs back and rotates, both the first main motor 11 and the first slave motors are dragged back and rotated by the drill rod 40.

[0076] When the drill rod is driven by the rotary drive device 10 to rotate and drill, the driving torque of the rotary drive device 10 is greater than the stall torque of the drill rod (i.e., the minimum torque required to prevent the drill rod from springing back and rotating during drilling). Therefore, the rotary drive device 10 drives the drill rod 40 to rotate. When the horizontal directional drilling machine stops or the drill rod is replaced, the drill rod needs to be unloaded. At this time, it is necessary to release the elastic potential energy generated by the elastic deformation of the drill rod during drilling.

[0077] In this embodiment, the controller first reduces the output torque of the rotary drive device 10 to keep the drill rod in a stalled state; then, it locks the drill rod 40 with a brake to prevent a sudden increase in the drill rod's rebound speed when the output torque of the rotary drive device 10 decreases. In the above embodiment, the rotary drive device is equipped with multiple first drive motors, thus providing strong driving torque and generating strong anti-drag resistance. Furthermore, by cooperating with the brake, braking resistor controller, and rotary drive device, the speed of the drill rod's rebound can be accurately controlled, thereby reducing the impact of the drill rod's rebound on the rotary drive device, preventing damage to the rotary drive device, and effectively extending the service life of the rotary drive device.

[0078] In one embodiment, the controller is further configured to control the locking force of the brake to cause the drill rod to spring back and rotate circumferentially at a preset speed, including:

[0079] Reduce the locking force of the brake to allow the drill pipe to spring back and rotate circumferentially;

[0080] The rotational speed of the first drive motor being dragged in reverse is detected, and the locking force of the brake is adjusted with reference to the preset speed so that the rotational speed being dragged in reverse is equal to or tends toward the preset speed.

[0081] In this embodiment, the preset speed is less than or equal to the maximum allowable reverse drag speed of the first main motor 11. The controller 100 reduces the locking force of the brake, causing the drill rod 40 to circumferentially rebound and rotate at a preset speed (rebound rotation refers to the rotation of the drill rod caused by the release of its own elastic potential energy), thereby gradually releasing the elastic potential energy of the drill rod 40 and finally converting it into heat through the braking resistor controller.

[0082] In one embodiment, the controller is further configured to control the release of the drill pipe under load, including:

[0083] The stall torque of the drill pipe is recorded, and the drill pipe is locked by a brake.

[0084] Release the rotation drive torque and increase or decrease the length of the drill pipe;

[0085] Control the rotational drive torque to increase to the stall torque;

[0086] Release the brake to allow the rotary drive to drive the drill rod to rotate and drill a hole.

[0087] The drill rod 40 is driven by a rotary table. A rotary drive device applies a rotational drive torque to the rotary table, which in turn drives the drill rod 40. The drill rod 40 is formed by connecting multiple sections of steel pipe of a certain length end to end. A drill bit is set at the front end of the first section of the drill rod 40. In this embodiment, the drill rod is locked by a brake, and then the first drive motor of the rotary drive device is unloaded (i.e., the rotational drive torque is released). Then, the number of drill rod sections is increased or decreased to increase or decrease the length of the drill rod. After the length of the drill rod is adjusted, the rotational drive torque of the rotary drive device is increased to the stall torque, and finally the brake is released so that the rotary drive device drives the drill rod to rotate and drill. This embodiment can effectively avoid the reverse impact caused by the elastic deformation of the drill rod when adjusting the drill rod length.

[0088] like Figure 4 As shown, in one embodiment, a horizontal directional drilling control method is provided. The horizontal directional drill is the type described in the above embodiments. The horizontal directional drill includes: a brake, a rotary drive device, and a braking resistor controller. The brake is used to lock the drill rod; the rotary drive device is used to drive the drill rod to rotate circumferentially to drill a hole. The rotary drive device includes two or more first drive motors, each of which is drively connected to the drill rod.

[0089] The method includes an unloading and gate release step:

[0090] S401. Reduce the output torque of the rotary drive device to decelerate the drill rod from a rotating state to a stalled state;

[0091] S402. Lock the drill pipe using the brake and record the output torque in the current state;

[0092] S403. Control the locking force of the brake so that the drill rod rebounds and rotates circumferentially at a preset speed, and drags each of the first drive motors in the rotary drive device in the opposite direction.

[0093] S404. The electrical energy generated by the reverse drag of each of the first drive motors is converted into heat energy through the braking resistor controller.

[0094] In the above embodiments, the rotary drive device is equipped with multiple first drive motors, which can provide strong driving torque and generate strong anti-drag resistance. Furthermore, by cooperating with the brake, braking resistor controller and rotary drive device, the rotational speed of the drill rod rebounding and dragging can be accurately controlled, thereby reducing the impact of the drill rod rebound on the rotary drive device, avoiding damage to the rotary drive device, and effectively extending the service life of the rotary drive device.

[0095] In one embodiment, controlling the locking force of the brake to cause the drill pipe to spring back and rotate circumferentially at a preset speed includes the following steps:

[0096] Reduce the locking force of the brake to allow the drill pipe to spring back and rotate circumferentially;

[0097] The rotational speed of the first drive motor being dragged in reverse is detected, and the locking force of the brake is adjusted with reference to the preset speed so that the rotational speed being dragged in reverse is equal to or tends toward the preset speed.

[0098] The preset speed is less than or equal to the maximum reverse drag speed of the first drive motor.

[0099] In one embodiment, the horizontal directional drilling control method further includes the step of: determining whether the reverse drag speed of the first drive motor is zero, and if so, controlling the brake to lock the drill rod.

[0100] In one embodiment, the horizontal directional drilling control method further includes a loaded gate release step:

[0101] The stall torque of the drill pipe is recorded, and the drill pipe is locked by a brake.

[0102] Release the rotation drive torque and increase or decrease the length of the drill pipe;

[0103] Control the rotational drive torque to increase to the stall torque;

[0104] Release the brake to allow the rotary drive to drive the drill rod to rotate and drill a hole.

[0105] like Figure 5 As shown, in one embodiment, a computer-readable storage medium 200 is provided, which stores a computer program that, when run, executes the horizontal directional drilling control method described in any of the above embodiments.

[0106] like Figure 6 The diagram shown is a control flowchart for each working condition of the above-mentioned horizontal directional drilling in one embodiment.

[0107] 1. Under driving conditions, the first master motor performs PID control based on the target rotation speed required for rotation, and the first slave motor performs torque following. The second master motor performs PID control based on the target pushing speed required for pushing, and the second slave motor performs torque following.

[0108] When the target speed is 0, the controller needs to record the current stall torque (i.e. the rotational torque required to keep the drill rod from rotating), and then control the brake 50 to lock the drill pipe to perform a load relief operation to prevent each motor from being dragged by the load. When drilling is restarted, the total output torque of each motor needs to be restored to the stall torque recorded last time, and then the brake release operation is performed to realize the motor's load start condition.

[0109] 2. Under braking conditions, the braking resistor controller is activated to absorb the braking force generated during the unloading process of the unit.

[0110] 3. During the springback braking condition (i.e., when the drill pipe is being pulled back, it will be stretched and undergo elastic deformation), if the brake is released directly, the drill pipe will generate a huge springback force. Since the braking resistor cannot absorb the braking energy quickly, it will cause the power supply to be damaged by overvoltage. To prevent springback impact, the controller first needs to control the speed of the drill pipe to a stall state (0 speed), then limit the rotation of each motor to a permissible reverse speed to slowly regulate the unloading torque, preventing the instantaneous braking torque from being too large and damaging the brake controller. Then, the brake control absorbs the springback energy. When both the braking torque and the motor speed drop to 0, the unloading is completed and the brake holding operation is performed.

[0111] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A method for controlling horizontal directional drilling, characterized in that, The horizontal directional drill includes: a brake, a rotary drive device, and a braking resistor controller; The brake is used to lock the drill pipe; The rotary drive device is used to drive the drill rod to rotate circumferentially for drilling. The rotary drive device includes two or more first drive motors, and each first drive motor is connected to the drill rod in a transmission connection. The method includes an unloading and gate release step: Reduce the output torque of the rotary drive device to decelerate the drill rod from a rotating state to a stalled state; The drill pipe is locked by a brake, and the output torque in the current state is recorded; Control the locking force of the brake so that the drill rod rebounds and rotates circumferentially at a preset speed, and drags each of the first drive motors in the rotary drive device in the opposite direction; The braking resistor controller converts the electrical energy generated by the reverse drag of each of the first drive motors into heat energy. The step of controlling the locking force of the brake to cause the drill rod to spring back and rotate circumferentially at a preset speed includes the following steps: Reduce the locking force of the brake to allow the drill pipe to spring back and rotate circumferentially; The rotational speed of the first drive motor being dragged in reverse is detected, and the locking force of the brake is adjusted with reference to the preset speed so that the rotational speed being dragged in reverse is equal to or tends toward the preset speed.

2. The horizontal directional drilling control method according to claim 1, characterized in that, The preset speed is less than or equal to the maximum reverse drag speed of the first drive motor.

3. The horizontal directional drilling control method according to claim 1, characterized in that, It also includes the step of: determining whether the reverse drag speed of the first drive motor is zero, and if so, controlling the brake to lock the drill rod.

4. The horizontal directional drilling control method according to claim 1, characterized in that, It also includes the on-load release procedure: The stall torque of the drill pipe is recorded, and the drill pipe is locked by a brake. Release the rotation drive torque and increase or decrease the length of the drill pipe; Control the rotational drive torque to increase to the stall torque; Release the brake to allow the rotary drive to drive the drill rod to rotate and drill a hole.

5. A horizontal directional drilling control device, characterized in that, include: Controller, brake, rotary drive and braking resistor controller; The brake is used to lock the drill pipe; The rotary drive device is used to drive the drill rod to rotate circumferentially for drilling, and includes two or more first drive motors, each of which is connected to the drill rod in a transmission connection. The controller is used to reduce the output torque of the rotary drive device to decelerate the drill rod from a rotating state to a stalled state; and to control the brake to lock the drill rod, and record the output torque in the current state; The controller is also used to control the locking force of the brake so that the drill rod rebounds and rotates circumferentially at a preset speed and drags each of the first drive motors in the rotary drive device in reverse; and to control the brake resistor controller to start so as to convert the electrical energy generated by the reverse drag of each of the first drive motors into heat energy. The controller is also used to control the locking force of the brake, so that the drill rod springs back and rotates circumferentially at a preset speed, including: Reduce the locking force of the brake to allow the drill pipe to spring back and rotate circumferentially; The rotational speed of the first drive motor being dragged in reverse is detected, and the locking force of the brake is adjusted with reference to the preset speed so that the rotational speed being dragged in reverse is equal to or tends toward the preset speed.

6. The horizontal directional drilling control device according to claim 5, characterized in that, The controller is also used to control the release of the drill pipe under load, including: The stall torque of the drill pipe is recorded, and the drill pipe is locked by a brake. Release the rotation drive torque and increase or decrease the length of the drill pipe; Control the rotational drive torque to increase to the stall torque; Release the brake to allow the rotary drive to drive the drill rod to rotate and drill a hole.

7. A computer-readable storage medium storing a computer program, characterized in that, When the program is run, it executes the horizontal directional drilling control method according to any one of claims 1 to 4.

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