A method and system for speed regulation of a horizontal directional drilling machine

Abstract

The present application relates to the technical field of rig speed regulation, and particularly relates to a horizontal directional drilling rig speed regulation method and system, the method comprising: obtaining and calculating historical drilling data to obtain a historical drill bit feeding speed average and a historical drill bit rotating speed average as an initial drill bit feeding speed and an initial drill bit rotating speed; determining whether to make a one-time adjustment to the initial drill bit feeding speed and the initial drill bit rotating speed; after determining whether to make a one-time adjustment, presetting a horizontal directional drilling rig operation adjustment cycle length, collecting operation data of the horizontal directional drilling rig at the beginning of each horizontal directional drilling rig operation adjustment cycle length, and determining whether to make a two-time adjustment to the initial drill bit feeding speed and the initial drill bit rotating speed according to the operation data. The present application realizes dynamic speed adjustment by continuously recording and analyzing operation data, and the horizontal directional drilling rig can better adapt to different geological conditions and engineering requirements.

Description

Technical Field

[0001] This invention relates to the field of drilling rig speed adjustment technology, and more specifically, to a method and system for adjusting the speed of a horizontal directional drilling rig. Background Technology

[0002] Horizontal directional drilling rigs are mainly used to lay pipelines or cables underground without extensive excavation, thereby avoiding ground damage, reducing environmental impact, improving project efficiency, and ensuring pipeline quality. This technology is widely used in urban construction, infrastructure construction, and pipeline engineering.

[0003] During the operation of a horizontal directional drilling rig, the pipeline must be pushed into the ground at the correct depth and direction to meet design requirements. Speed ​​adjustment can ensure accurate pipeline laying.

[0004] Properly adjusting the speed of a horizontal directional drilling rig can help reduce adverse environmental impacts. Excessive drilling speed can cause vibration and noise, disturbing the surrounding ecosystem and community. Slowing down the speed can reduce these impacts and meet environmental protection requirements.

[0005] Manual speed control suffers from a number of drawbacks, including insufficient precision, reliance on operator skills, slow response time, and difficulty in providing detailed data. Therefore, achieving dynamic speed adjustment of horizontal directional drilling rigs has become a new trend in technological development. Summary of the Invention

[0006] In view of this, the present invention proposes a method and system for adjusting the speed of a horizontal directional drilling rig, mainly to solve the problem of how to dynamically adjust the speed of a horizontal directional drilling rig.

[0007] In one aspect, the present invention proposes a method for adjusting the speed of a horizontal directional drilling rig, the method comprising:

[0008] Obtain historical drilling data for a preset number of complete drilling cycles of a horizontal directional drilling rig;

[0009] Historical drilling data includes: historical drill bit feed rate and historical drill bit rotation speed;

[0010] The average historical drill bit feed rate and the average historical drill bit rotation rate are calculated based on historical drilling data. The average historical drill bit feed rate is used as the initial drill bit feed rate, and the average historical drill bit rotation rate is used as the initial drill bit rotation rate.

[0011] Determine whether to adjust the initial drill bit feed rate and initial drill bit rotation speed based on historical drilling data;

[0012] Once it is determined whether to adjust the initial drill bit feed rate and initial drill bit rotation speed once, the operation adjustment cycle of the horizontal directional drilling rig is preset. At the beginning of each operation adjustment cycle, the operation data of the horizontal directional drilling rig is collected, and the operation data is used to determine whether to adjust the initial drill bit feed rate and initial drill bit rotation speed a second time.

[0013] In some embodiments of this application, when determining whether to adjust the initial drill bit feed rate and the initial drill bit rotation speed based on historical drilling data, the following steps are included:

[0014] Based on the historical drilling data within a preset number of historical complete drilling cycles, the ratio between the historical drill bit feed rate and the historical drill bit rotation rate within each historical complete drilling cycle is calculated, and the average value is calculated based on the ratio between the historical drill bit feed rate and the historical drill bit rotation rate within each historical complete drilling cycle to obtain the first speed ratio Ca.

[0015] Let the average initial drill bit feed rate be denoted as Aa, and the average initial drill bit rotation speed be denoted as Ba;

[0016] The second speed ratio Cb is obtained by calculating the ratio between the initial average drill bit feed rate Aa and the initial average drill bit rotation speed Ba, where Cb = Ba / Aa.

[0017] Calculate the speed ratio difference C between the first speed ratio Ca and the second speed ratio Cb;

[0018] Pre-set the maximum threshold Cmax for the speed ratio difference;

[0019] When |C| > Cmax, it is determined that the initial drill bit feed rate and the initial drill bit rotation speed need to be adjusted once.

[0020] When |C|≤Cmax, it is determined that no adjustment is needed to the initial drill bit feed rate and the initial drill bit rotation speed. The average value of the initial drill bit feed rate Aa is used as the first adjustment drill bit feed rate Ab, and the average value of the initial drill bit rotation speed Ba is used as the first adjustment drill bit rotation speed Bb.

[0021] In some embodiments of this application, when it is determined that an adjustment needs to be made to the initial drill bit feed rate and the initial drill bit rotation speed, the following steps are included:

[0022] A first preset speed ratio difference threshold C1, a second preset speed ratio difference threshold C2, a third preset speed ratio difference threshold C3, and a fourth preset speed ratio difference threshold C4 are preset, and C1 > C2 > C3 > C4 > Cmax; a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3, and a fourth preset adjustment coefficient c4 are preset, and 0.8 < c1 < c2 < 0.9 < c3 < c4 < 1;

[0023] When |C|≤C4, the fourth preset adjustment coefficient c4 is selected to adjust the average initial drill bit feed rate Aa. The adjusted average initial drill bit feed rate is Aa*c4.

[0024] When C4<|C|≤C3, the third preset adjustment coefficient c3 is selected to adjust the average initial drill bit feed rate Aa. The adjusted average initial drill bit feed rate is Aa*c3.

[0025] When C3 < |C| ≤ C2, the second preset adjustment coefficient c2 is selected to adjust the average initial drill bit feed rate Aa. The adjusted average initial drill bit feed rate is Aa*c2.

[0026] When C2<|C|≤C1, the first preset adjustment coefficient c1 is selected to adjust the initial average drill bit feed rate Aa. The adjusted initial average drill bit feed rate is Aa*c1.

[0027] After selecting the i-th preset adjustment coefficient ci to adjust the initial average drill bit feed rate Aa, i = 1, 2, 3, 4, and obtaining the adjusted initial average drill bit feed rate Aa*ci, the adjusted initial average drill bit feed rate Aa*ci is used as the first adjustment of the drill bit feed rate Ab.

[0028] The first-adjustment drill bit rotation speed Bb is calculated based on the first speed ratio Ca and the first-adjustment drill bit feed speed Ab, where Bb = Ca * Ab.

[0029] In some embodiments of this application, when collecting the operating data of the horizontal directional drilling rig during its operation adjustment cycle, and determining whether to perform a secondary adjustment to the initial drill bit feed rate and initial drill bit rotation speed based on the operating data, the process includes:

[0030] Operating data includes: hydraulic oil temperature, hydraulic oil pressure, and hydraulic oil flow rate of the horizontal directional drilling rig's hydraulic oil system;

[0031] Obtain the hydraulic oil flow rate F0, L / min, of the hydraulic oil system of the horizontal directional drilling rig;

[0032] Pre-set the maximum hydraulic oil flow rate threshold Fmax and the minimum hydraulic oil flow rate threshold Fmin;

[0033] When F0 > Fmax or F0 < Fmin, it is determined that the initial drill bit feed rate and the initial drill bit rotation speed should be adjusted a second time.

[0034] When Fmax≥F0≥Fmin, it is determined that the initial drill bit feed rate and initial drill bit rotation rate will not be adjusted again.

[0035] In some embodiments of this application, determining whether to make a secondary adjustment to the initial drill bit feed rate and the initial drill bit rotation speed includes:

[0036] Pre-set the secondary judgment adjustment coefficient X0;

[0037] Obtain the hydraulic oil pressure D0 of the horizontal directional drilling rig's hydraulic oil system;

[0038] A first preset hydraulic oil pressure threshold D1, a second preset hydraulic oil pressure threshold D2, a third preset hydraulic oil pressure threshold D3, and a fourth preset hydraulic oil pressure threshold D4 are preset, and D1 > D2 > D3 > D4; a first preset adjustment coefficient d1, a second preset adjustment coefficient d2, a third preset adjustment coefficient d3, and a fourth preset adjustment coefficient d4 are preset, and 1.1 > d1 > d2 > 1 > d3 > d4 > 0.9;

[0039] When D0≥D1, the first preset adjustment coefficient d1 is selected to adjust the secondary judgment adjustment coefficient X0, and the adjusted secondary judgment adjustment coefficient is X0*d1;

[0040] When D1>D0≥D2, the second preset adjustment coefficient d2 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0*d2.

[0041] When D2>D0≥D3, the third preset adjustment coefficient d3 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0*d3.

[0042] When D3>D0≥D4, the fourth preset adjustment coefficient d4 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0*d4.

[0043] In some embodiments of this application, after adjusting the secondary judgment adjustment coefficient X0 by selecting the i-th preset adjustment coefficient di, i = 1, 2, 3, 4, and obtaining the adjusted secondary judgment adjustment coefficient as X0*di, the method further includes:

[0044] Obtain the hydraulic oil temperature E0 of the horizontal directional drilling rig's hydraulic oil system;

[0045] The first preset hydraulic oil temperature threshold E1, the second preset hydraulic oil temperature threshold E2, the third preset hydraulic oil temperature threshold E3, and the fourth preset hydraulic oil temperature threshold E4 are preset, and E1 > E2 > E3 > E4; the first preset adjustment coefficient e1, the second preset adjustment coefficient e2, the third preset adjustment coefficient e3, and the fourth preset adjustment coefficient e4 are preset, and 1.1 > e1 > e2 > 1 > e3 > e4 > 0.9;

[0046] When E0≥E1, the first preset adjustment coefficient e1 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient after the second adjustment is X0*di*e1.

[0047] When E1>E0≥E2, the second preset adjustment coefficient e2 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient after the second adjustment is X0*di*e2.

[0048] When E2>E0≥E3, the third preset adjustment coefficient e3 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient after the second adjustment is X0*di*e3.

[0049] When E3>E0≥E4, the fourth preset adjustment coefficient e4 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient is X0*di*e4.

[0050] In some embodiments of this application, after selecting the i-th preset adjustment coefficient ei to perform a secondary adjustment on the adjusted secondary judgment adjustment coefficient X0*di, i = 1, 2, 3, 4, and obtaining the secondary judgment adjustment coefficient X0*di*ei after secondary adjustment, the method further includes:

[0051] The adjustment coefficient X0*di*ei after the second adjustment is taken as the final adjustment coefficient Xa of the second adjustment.

[0052] The first preset secondary judgment final adjustment coefficient threshold X1, the second preset secondary judgment final adjustment coefficient threshold X2, the third preset secondary judgment final adjustment coefficient threshold X3, and the fourth preset secondary judgment final adjustment coefficient threshold X4 are preset, and X1 > X2 > X3 > X4; the first preset adjustment coefficient x1, the second preset adjustment coefficient x2, the third preset adjustment coefficient x3, and the fourth preset adjustment coefficient x4 are preset, and 0.9 < x1 < x2 < 1 < x3 < x4 < 1.1;

[0053] When Xa≥X1, the first preset adjustment coefficient x1 is selected to adjust the first adjustment drill bit feed rate Ab. The adjusted first adjustment drill bit feed rate is Ab*x1.

[0054] When X1>Xa≥X2, the second preset adjustment coefficient x2 is selected to adjust the first adjustment drill bit feed speed Ab. The adjusted first adjustment drill bit feed speed is Ab*x2.

[0055] When X2>Xa≥X3, the third preset adjustment coefficient x3 is selected to adjust the first adjustment drill bit feed rate Ab. The adjusted first adjustment drill bit feed rate is Ab*x4.

[0056] When X3>Xa≥X4, the fourth preset adjustment coefficient x4 is selected to adjust the first adjustment drill bit feed rate Ab. The adjusted first adjustment drill bit feed rate is Ab*x4.

[0057] In some embodiments of this application, after selecting the i-th preset adjustment coefficient xi to adjust the primary adjustment drill bit feed rate Ab, i = 1, 2, 3, 4, and obtaining the adjusted primary adjustment drill bit feed rate as Ab*xi, the method further includes:

[0058] The adjusted first-stage drill bit feed rate Ab*xi is used as the second-stage drill bit feed rate Ac;

[0059] The secondary adjustment drill bit rotation speed Bc is calculated based on the first speed ratio Ca and the secondary adjustment drill bit feed speed Ac, where Bc = Ca * Ac.

[0060] In another aspect, the present invention proposes a speed adjustment system for a horizontal directional drilling rig, the system comprising:

[0061] The data acquisition unit is used to acquire historical drilling data of a preset number of complete historical drilling cycles of the horizontal directional drilling rig.

[0062] Historical drilling data includes: historical drill bit feed rate and historical drill bit rotation speed;

[0063] The processing unit is used to calculate the average historical drill bit feed rate and the average historical drill bit rotation speed based on historical drilling data, and to use the average historical drill bit feed rate as the initial drill bit feed rate and the average historical drill bit rotation speed as the initial drill bit rotation speed.

[0064] The adjustment unit is used to determine whether to adjust the initial drill bit feed rate and the initial drill bit rotation speed based on historical drilling data.

[0065] Once it is determined whether to adjust the initial drill bit feed rate and initial drill bit rotation speed once, the operation adjustment cycle of the horizontal directional drilling rig is preset. At the beginning of each operation adjustment cycle, the operation data of the horizontal directional drilling rig is collected, and the operation data is used to determine whether to adjust the initial drill bit feed rate and initial drill bit rotation speed a second time.

[0066] In some embodiments of this application, the operating data includes: hydraulic oil temperature, hydraulic oil pressure, and hydraulic oil flow rate of the horizontal directional drilling rig hydraulic oil system.

[0067] Compared with existing technologies, this invention offers the following advantages: Firstly, it continuously collects operational data of the horizontal directional drilling rig throughout a complete historical drilling cycle, including historical drill bit feed rate and historical drill bit rotation rate. Based on this historical data, it calculates the average of these historical feed and rotation rates, using them as initial feed and rotation rates. Simultaneously, based on the evaluation results of historical data, it determines whether a one-time adjustment is necessary. The preset operational adjustment cycle for the horizontal directional drilling rig—i.e., how often a speed adjustment is performed—can be set according to project requirements and geological conditions. At the beginning of each operational adjustment cycle, operational data is collected, and the need for a secondary speed adjustment is determined based on this data. This invention, through continuous recording and analysis of operational data, helps establish more accurate project records, quality control, and subsequent analysis, improving project traceability and quality management. By achieving dynamic speed adjustment, the horizontal directional drilling rig can better adapt to different geological conditions and project requirements, improving project efficiency, quality, and safety, reducing costs, and providing more data support to ensure successful project completion. Attached Figure Description

[0068] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. In the drawings:

[0069] Figure 1 A flowchart of a method for adjusting the speed of a horizontal directional drilling rig is provided as an embodiment of the present invention;

[0070] Figure 2 This is a functional block diagram of a horizontal directional drilling rig speed adjustment system provided in an embodiment of the present invention. Detailed Implementation

[0071] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0072] See Figure 1 As shown in the figure, this embodiment provides a method for adjusting the speed of a horizontal directional drilling rig, the method comprising:

[0073] S101: Obtain historical drilling data for a preset number of complete drilling cycles of a horizontal directional drilling rig;

[0074] Historical drilling data includes: historical drill bit feed rate and historical drill bit rotation speed;

[0075] S102: Calculate the average historical drill bit feed rate and the average historical drill bit rotation speed based on historical drilling data, and use the average historical drill bit feed rate as the initial drill bit feed rate and the average historical drill bit rotation speed as the initial drill bit rotation speed.

[0076] S103: Determine whether to adjust the initial drill bit feed rate and initial drill bit rotation speed based on historical drilling data;

[0077] S104: After determining whether to adjust the initial drill bit feed rate and initial drill bit rotation speed once, preset the operation adjustment cycle time of the horizontal directional drilling rig. At the beginning of each horizontal directional drilling rig operation adjustment cycle time, collect the operation data of the horizontal directional drilling rig, and determine whether to adjust the initial drill bit feed rate and initial drill bit rotation speed a second time based on the operation data.

[0078] It is understandable that the real-time dynamic speed adjustment in this embodiment can keep the drilling process highly efficient, which helps to reduce unnecessary pauses and waiting time, improve the overall efficiency of the project, and ensure the accurate laying of pipelines by adjusting the drill bit feed speed and rotation speed according to the actual situation, thereby improving the quality and reliability of the project and avoiding drill bit wear, equipment failure and repetitive work caused by unnecessary speeds that are too fast or too slow, thus reducing maintenance costs and the overall cost of the project.

[0079] In one specific embodiment of this application, when determining whether to adjust the initial drill bit feed rate and the initial drill bit rotation speed based on historical drilling data, the method includes:

[0080] Based on the historical drilling data within a preset number of historical complete drilling cycles, the ratio between the historical drill bit feed rate and the historical drill bit rotation rate within each historical complete drilling cycle is calculated, and the average value is calculated based on the ratio between the historical drill bit feed rate and the historical drill bit rotation rate within each historical complete drilling cycle to obtain the first speed ratio Ca.

[0081] Let the average initial drill bit feed rate be denoted as Aa, and the average initial drill bit rotation speed be denoted as Ba;

[0082] The second speed ratio Cb is obtained by calculating the ratio between the initial average drill bit feed rate Aa and the initial average drill bit rotation speed Ba, where Cb = Ba / Aa.

[0083] Calculate the speed ratio difference C between the first speed ratio Ca and the second speed ratio Cb;

[0084] Pre-set the maximum threshold Cmax for the speed ratio difference;

[0085] When |C| > Cmax, it is determined that the initial drill bit feed rate and the initial drill bit rotation speed need to be adjusted once.

[0086] When |C|≤Cmax, it is determined that no adjustment is needed to the initial drill bit feed rate and the initial drill bit rotation speed. The average value of the initial drill bit feed rate Aa is used as the first adjustment drill bit feed rate Ab, and the average value of the initial drill bit rotation speed Ba is used as the first adjustment drill bit rotation speed Bb.

[0087] Understandably, collecting and recording historical drilling data within a complete historical drilling cycle, including the drill bit's feed rate and rotational speed, and calculating the ratio between the drill bit's feed rate and rotational speed within each complete historical drilling cycle represents the relationship between feed rate and rotational speed in each cycle. Using the initial average drill bit feed rate Aa and the initial average drill bit rotational speed Ba, a second speed ratio is calculated, representing the relationship between feed rate and rotational speed in the initial state. The speed ratio difference C between the first speed ratio Ca and the second speed ratio Cb determines whether speed adjustment is needed. By monitoring and adjusting the drill bit's feed rate and rotational speed to ensure they maintain a certain proportional relationship based on historical data, and making appropriate adjustments when exceeding thresholds to maintain stable operation, it helps improve the efficiency and safety of drilling operations.

[0088] In one specific embodiment of this application, when it is determined that an adjustment needs to be made to the initial drill bit feed rate and the initial drill bit rotation speed, the following steps are included:

[0089] A first preset speed ratio difference threshold C1, a second preset speed ratio difference threshold C2, a third preset speed ratio difference threshold C3, and a fourth preset speed ratio difference threshold C4 are preset, and C1 > C2 > C3 > C4 > Cmax; a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3, and a fourth preset adjustment coefficient c4 are preset, and 0.8 < c1 < c2 < 0.9 < c3 < c4 < 1;

[0090] When |C|≤C4, the fourth preset adjustment coefficient c4 is selected to adjust the average initial drill bit feed rate Aa. The adjusted average initial drill bit feed rate is Aa*c4.

[0091] When C4<|C|≤C3, the third preset adjustment coefficient c3 is selected to adjust the average initial drill bit feed rate Aa. The adjusted average initial drill bit feed rate is Aa*c3.

[0092] When C3 < |C| ≤ C2, the second preset adjustment coefficient c2 is selected to adjust the average initial drill bit feed rate Aa. The adjusted average initial drill bit feed rate is Aa*c2.

[0093] When C2<|C|≤C1, the first preset adjustment coefficient c1 is selected to adjust the initial average drill bit feed rate Aa. The adjusted initial average drill bit feed rate is Aa*c1.

[0094] After selecting the i-th preset adjustment coefficient ci to adjust the initial average drill bit feed rate Aa, i = 1, 2, 3, 4, and obtaining the adjusted initial average drill bit feed rate Aa*ci, the adjusted initial average drill bit feed rate Aa*ci is used as the first adjustment of the drill bit feed rate Ab.

[0095] The first-adjustment drill bit rotation speed Bb is calculated based on the first speed ratio Ca and the first-adjustment drill bit feed speed Ab, where Bb = Ca * Ab.

[0096] It is understood that in this embodiment, by comparing the speed ratio difference C with the value in the threshold matrix C0, the corresponding preset adjustment coefficient is selected according to different situations to adjust the speed, so as to ensure that the feed speed and rotation speed of the drill bit maintain a certain proportional relationship based on historical data. This can help optimize the drilling operation and make it more efficient and stable.

[0097] In one specific embodiment of this application, when collecting the operating data of the horizontal directional drilling rig during its operation adjustment cycle, and determining whether to perform a secondary adjustment to the initial drill bit feed rate and initial drill bit rotation rate based on the operating data, the process includes:

[0098] Operating data includes: hydraulic oil temperature, hydraulic oil pressure, and hydraulic oil flow rate of the horizontal directional drilling rig's hydraulic oil system;

[0099] Obtain the hydraulic oil flow rate F0, L / min, of the hydraulic oil system of the horizontal directional drilling rig;

[0100] Pre-set the maximum hydraulic oil flow rate threshold Fmax and the minimum hydraulic oil flow rate threshold Fmin;

[0101] When F0 > Fmax or F0 < Fmin, it is determined that the initial drill bit feed rate and the initial drill bit rotation speed should be adjusted a second time.

[0102] When Fmax≥F0≥Fmin, it is determined that the initial drill bit feed rate and initial drill bit rotation rate will not be adjusted again.

[0103] It is understood that in this embodiment, the hydraulic oil flow rate F0 is compared with the preset hydraulic oil flow rate threshold. The stability of the horizontal directional drilling rig is determined based on whether the hydraulic oil flow rate is within the preset threshold range. If it is within the preset threshold range, the operation is stable and no secondary adjustment is required.

[0104] In one specific embodiment of this application, determining whether to make a secondary adjustment to the initial drill bit feed rate and the initial drill bit rotation speed includes:

[0105] Pre-set the secondary judgment adjustment coefficient X0;

[0106] Obtain the hydraulic oil pressure D0 of the horizontal directional drilling rig's hydraulic oil system;

[0107] A first preset hydraulic oil pressure threshold D1, a second preset hydraulic oil pressure threshold D2, a third preset hydraulic oil pressure threshold D3, and a fourth preset hydraulic oil pressure threshold D4 are preset, and D1 > D2 > D3 > D4; a first preset adjustment coefficient d1, a second preset adjustment coefficient d2, a third preset adjustment coefficient d3, and a fourth preset adjustment coefficient d4 are preset, and 1.1 > d1 > d2 > 1 > d3 > d4 > 0.9;

[0108] When D0≥D1, the first preset adjustment coefficient d1 is selected to adjust the secondary judgment adjustment coefficient X0, and the adjusted secondary judgment adjustment coefficient is X0*d1;

[0109] When D1>D0≥D2, the second preset adjustment coefficient d2 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0*d2.

[0110] When D2>D0≥D3, the third preset adjustment coefficient d3 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0*d3.

[0111] When D3>D0≥D4, the fourth preset adjustment coefficient d4 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0*d4.

[0112] In one specific embodiment of this application, after selecting the i-th preset adjustment coefficient di to adjust the secondary judgment adjustment coefficient X0, i = 1, 2, 3, 4, and obtaining the adjusted secondary judgment adjustment coefficient as X0*di, the method further includes:

[0113] Obtain the hydraulic oil temperature E0 of the horizontal directional drilling rig's hydraulic oil system;

[0114] The first preset hydraulic oil temperature threshold E1, the second preset hydraulic oil temperature threshold E2, the third preset hydraulic oil temperature threshold E3, and the fourth preset hydraulic oil temperature threshold E4 are preset, and E1 > E2 > E3 > E4; the first preset adjustment coefficient e1, the second preset adjustment coefficient e2, the third preset adjustment coefficient e3, and the fourth preset adjustment coefficient e4 are preset, and 1.1 > e1 > e2 > 1 > e3 > e4 > 0.9;

[0115] When E0≥E1, the first preset adjustment coefficient e1 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient after the second adjustment is X0*di*e1.

[0116] When E1>E0≥E2, the second preset adjustment coefficient e2 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient after the second adjustment is X0*di*e2.

[0117] When E2>E0≥E3, the third preset adjustment coefficient e3 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient after the second adjustment is X0*di*e3.

[0118] When E3>E0≥E4, the fourth preset adjustment coefficient e4 is selected to perform a second adjustment on the adjusted secondary judgment adjustment coefficient X0*di. The adjusted secondary judgment adjustment coefficient is X0*di*e4.

[0119] It is understood that in this embodiment, by selecting an appropriate preset adjustment coefficient based on different hydraulic oil pressure and temperature conditions, a secondary judgment adjustment coefficient is made to better control the operation of the horizontal directional drilling rig, thereby ensuring stability and efficiency under various environmental conditions. This comprehensive control strategy can improve machine performance and safety.

[0120] In one specific embodiment of this application, after selecting the i-th preset adjustment coefficient ei to perform a secondary adjustment on the adjusted secondary judgment adjustment coefficient X0*di, i = 1, 2, 3, 4, and obtaining the secondary judgment adjustment coefficient X0*di*ei after secondary adjustment, the method further includes:

[0121] The adjustment coefficient X0*di*ei after the second adjustment is taken as the final adjustment coefficient Xa of the second adjustment.

[0122] The first preset secondary judgment final adjustment coefficient threshold X1, the second preset secondary judgment final adjustment coefficient threshold X2, the third preset secondary judgment final adjustment coefficient threshold X3, and the fourth preset secondary judgment final adjustment coefficient threshold X4 are preset, and X1 > X2 > X3 > X4; the first preset adjustment coefficient x1, the second preset adjustment coefficient x2, the third preset adjustment coefficient x3, and the fourth preset adjustment coefficient x4 are preset, and 0.9 < x1 < x2 < 1 < x3 < x4 < 1.1;

[0123] When Xa≥X1, the first preset adjustment coefficient x1 is selected to adjust the first adjustment drill bit feed rate Ab. The adjusted first adjustment drill bit feed rate is Ab*x1.

[0124] When X1>Xa≥X2, the second preset adjustment coefficient x2 is selected to adjust the first adjustment drill bit feed speed Ab. The adjusted first adjustment drill bit feed speed is Ab*x2.

[0125] When X2>Xa≥X3, the third preset adjustment coefficient x3 is selected to adjust the first adjustment drill bit feed rate Ab. The adjusted first adjustment drill bit feed rate is Ab*x4.

[0126] When X3>Xa≥X4, the fourth preset adjustment coefficient x4 is selected to adjust the first adjustment drill bit feed rate Ab. The adjusted first adjustment drill bit feed rate is Ab*x4.

[0127] In one specific embodiment of this application, after selecting the i-th preset adjustment coefficient xi to adjust the primary adjustment drill bit feed rate Ab, i = 1, 2, 3, 4, and obtaining the adjusted primary adjustment drill bit feed rate as Ab*xi, the method further includes:

[0128] The adjusted first-stage drill bit feed rate Ab*xi is used as the second-stage drill bit feed rate Ac;

[0129] The secondary adjustment drill bit rotation speed Bc is calculated based on the first speed ratio Ca and the secondary adjustment drill bit feed speed Ac, where Bc = Ca * Ac.

[0130] It is understood that in this embodiment, the final adjustment coefficient Xa after the second adjustment is calculated based on the influence of hydraulic oil pressure and hydraulic oil temperature. This is a result that comprehensively considers hydraulic oil pressure and hydraulic oil temperature. The final adjustment coefficient Xa after the second adjustment is compared with the value in the threshold matrix X of the final adjustment coefficient after the second adjustment. According to different situations, the corresponding preset adjustment coefficient is selected for the first adjustment, and the second adjustment of the drill bit feed speed Ac and the second adjustment of the drill bit rotation speed Bc are obtained. Optimizing the feed speed and rotation speed of the drill bit helps to maintain the stability and efficiency of operation under different environmental conditions.

[0131] Combination Figure 2 As shown, in another aspect, the present invention proposes a speed adjustment system for a horizontal directional drilling rig, the system comprising:

[0132] The data acquisition unit is used to acquire historical drilling data of a preset number of complete historical drilling cycles of the horizontal directional drilling rig.

[0133] Historical drilling data includes: historical drill bit feed rate and historical drill bit rotation speed;

[0134] The processing unit is used to calculate the average historical drill bit feed rate and the average historical drill bit rotation speed based on historical drilling data, and to use the average historical drill bit feed rate as the initial drill bit feed rate and the average historical drill bit rotation speed as the initial drill bit rotation speed.

[0135] The adjustment unit is used to determine whether to adjust the initial drill bit feed rate and the initial drill bit rotation speed based on historical drilling data.

[0136] Once it is determined whether to adjust the initial drill bit feed rate and initial drill bit rotation speed once, the operation adjustment cycle of the horizontal directional drilling rig is preset. At the beginning of each operation adjustment cycle, the operation data of the horizontal directional drilling rig is collected, and the operation data is used to determine whether to adjust the initial drill bit feed rate and initial drill bit rotation speed a second time.

[0137] In one specific embodiment of this application, the operating data includes: hydraulic oil temperature, hydraulic oil pressure, and hydraulic oil flow rate of the horizontal directional drilling rig hydraulic oil system.

[0138] It is understood that this embodiment, by continuously recording and analyzing operational data, helps to establish more accurate engineering records, quality control, and subsequent analysis, thereby improving the traceability and quality management level of the project. By realizing dynamic speed adjustment, the horizontal directional drilling rig can better adapt to different geological conditions and engineering needs, improve engineering efficiency, quality, and safety, reduce costs, and provide more data support to ensure the successful completion of the project.

[0139] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0141] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0142] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0143] 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 it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for adjusting the speed of a horizontal directional drilling rig, characterized in that, include: Obtain historical drilling data for a preset number of complete drilling cycles of a horizontal directional drilling rig; The historical drilling data includes: historical drill bit feed rate and historical drill bit rotation speed; The average historical drill bit feed rate and the average historical drill bit rotation rate are calculated based on the historical drilling data. The average historical drill bit feed rate is used as the initial drill bit feed rate, and the average historical drill bit rotation rate is used as the initial drill bit rotation rate. Based on the historical drilling data, determine whether to adjust the initial drill bit feed rate and the initial drill bit rotation speed; Once it is determined whether to adjust the initial drill bit feed rate and initial drill bit rotation speed once, a preset horizontal directional drilling rig operation adjustment cycle duration is established. At the beginning of each horizontal directional drilling rig operation adjustment cycle duration, the operation data of the horizontal directional drilling rig is collected, and based on the operation data, it is determined whether to adjust the initial drill bit feed rate and initial drill bit rotation speed a second time. When determining whether to adjust the initial drill bit feed rate and initial drill bit rotation speed based on the historical drilling data, the following steps are included: Based on the historical drilling data within a preset number of historical complete drilling cycles, the ratio between the historical drill bit feed rate and the historical drill bit rotation rate within each historical complete drilling cycle is calculated, and the average value is calculated based on the ratio between the historical drill bit feed rate and the historical drill bit rotation rate within each historical complete drilling cycle to obtain the first speed ratio Ca. Let the average initial drill bit feed rate be denoted as Aa, and the average initial drill bit rotation speed be denoted as Ba; The second speed ratio Cb is obtained by calculating the ratio between the initial average drill bit feed rate Aa and the initial average drill bit rotation speed Ba, where Cb = Ba / Aa. Calculate the speed ratio difference C between the first speed ratio Ca and the second speed ratio Cb; Pre-set the maximum threshold Cmax for the speed ratio difference; When |C| > Cmax, it is determined that the initial drill bit feed rate and the initial drill bit rotation speed need to be adjusted once. When |C|≤Cmax, it is determined that no adjustment is needed to the initial drill bit feed rate and the initial drill bit rotation speed. The average value of the initial drill bit feed rate Aa is used as the first adjustment drill bit feed rate Ab, and the average value of the initial drill bit rotation speed Ba is used as the first adjustment drill bit rotation speed Bb. When collecting operational data of the horizontal directional drilling rig during its operational adjustment cycle, and determining whether to perform secondary adjustments to the initial drill bit feed rate and initial drill bit rotation rate based on the operational data, the process includes: The operational data includes: hydraulic oil temperature, hydraulic oil pressure, and hydraulic oil flow rate of the horizontal directional drilling rig's hydraulic oil system. Obtain the hydraulic oil flow rate F0, L / min, of the hydraulic oil system of the horizontal directional drilling rig; Pre-set the maximum hydraulic oil flow rate threshold Fmax and the minimum hydraulic oil flow rate threshold Fmin; When F0 > Fmax or F0 < Fmin, it is determined that the initial drill bit feed rate and the initial drill bit rotation rate should be adjusted a second time. When Fmax≥F0≥Fmin, it is determined that the initial drill bit feed rate and initial drill bit rotation rate will not be adjusted again.

2. The method for adjusting the speed of a horizontal directional drilling rig according to claim 1, characterized in that, When it is determined that an adjustment to the initial drill bit feed rate and the initial drill bit rotation rate is required, the following applies: A first preset speed ratio difference threshold C1, a second preset speed ratio difference threshold C2, a third preset speed ratio difference threshold C3, and a fourth preset speed ratio difference threshold C4 are preset, and C1 > C2 > C3 > C4 > Cmax; a first preset adjustment coefficient c1, a second preset adjustment coefficient c2, a third preset adjustment coefficient c3, and a fourth preset adjustment coefficient c4 are preset, and 0.8 < c1 < c2 < 0.9 < c3 < c4 < 1; When |C|≤C4, the fourth preset adjustment coefficient c4 is selected to adjust the initial average drill bit feed rate Aa. The adjusted initial average drill bit feed rate is Aa. c4; When C4 < |C| ≤ C3, the third preset adjustment coefficient c3 is selected to adjust the initial average drill bit feed rate Aa. The adjusted initial average drill bit feed rate is Aa. c3; When C3 < |C| ≤ C2, the second preset adjustment coefficient c2 is selected to adjust the initial average drill bit feed rate Aa. The adjusted initial average drill bit feed rate is Aa. c2; When C2 < |C| ≤ C1, the first preset adjustment coefficient c1 is selected to adjust the initial average drill bit feed rate Aa, and the adjusted initial average drill bit feed rate is Aa. c1; The initial average drill bit feed rate Aa is adjusted by selecting the i-th preset adjustment coefficient ci, where i = 1, 2, 3, 4, to obtain the adjusted initial average drill bit feed rate Aa. After ci, the adjusted average initial drill bit feed rate Aa ci is used to adjust the drill bit feed rate Ab. Calculate the primary adjustment drill bit rotational speed Bb based on the first speed ratio Ca and the primary adjustment drill bit feed speed Ab, where Bb = Ca. Ab.

3. The method for adjusting the speed of a horizontal directional drilling rig according to claim 2, characterized in that, When determining whether to make a secondary adjustment to the initial drill bit feed rate and initial drill bit rotation speed, the following are included: Pre-set the secondary judgment adjustment coefficient X0; Obtain the hydraulic oil pressure D0 of the horizontal directional drilling rig's hydraulic oil system; A first preset hydraulic oil pressure threshold D1, a second preset hydraulic oil pressure threshold D2, a third preset hydraulic oil pressure threshold D3, and a fourth preset hydraulic oil pressure threshold D4 are preset, and D1 > D2 > D3 > D4; a first preset adjustment coefficient d1, a second preset adjustment coefficient d2, a third preset adjustment coefficient d3, and a fourth preset adjustment coefficient d4 are preset, and 1.1 > d1 > d2 > 1 > d3 > d4 > 0.9; When D0≥D1, the first preset adjustment coefficient d1 is selected to adjust the secondary judgment adjustment coefficient X0, and the adjusted secondary judgment adjustment coefficient is X0. d1; When D1>D0≥D2, the second preset adjustment coefficient d2 is selected to adjust the secondary judgment adjustment coefficient X0, and the adjusted secondary judgment adjustment coefficient is X0. d2; When D2>D0≥D3, the third preset adjustment coefficient d3 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0. d3; When D3 > D0 ≥ D4, the fourth preset adjustment coefficient d4 is selected to adjust the secondary judgment adjustment coefficient X0. The adjusted secondary judgment adjustment coefficient is X0. d4.

4. The method for adjusting the speed of a horizontal directional drilling rig according to claim 3, characterized in that, The secondary judgment adjustment coefficient X0 is adjusted by selecting the i-th preset adjustment coefficient di, where i = 1, 2, 3, 4, to obtain the adjusted secondary judgment adjustment coefficient X0. Following di, it also includes: Obtain the hydraulic oil temperature E0 of the horizontal directional drilling rig's hydraulic oil system; The first preset hydraulic oil temperature threshold E1, the second preset hydraulic oil temperature threshold E2, the third preset hydraulic oil temperature threshold E3, and the fourth preset hydraulic oil temperature threshold E4 are preset, and E1 > E2 > E3 > E4; the first preset adjustment coefficient e1, the second preset adjustment coefficient e2, the third preset adjustment coefficient e3, and the fourth preset adjustment coefficient e4 are preset, and 1.1 > e1 > e2 > 1 > e3 > e4 > 0.9; When E0≥E1, the first preset adjustment coefficient e1 is selected to adjust the adjusted secondary judgment coefficient X0. di undergoes a second adjustment, and the adjustment coefficient for the second judgment after the second adjustment is X0. di e1; When E1 > E0 ≥ E2, the second preset adjustment coefficient e2 is selected to adjust the adjusted secondary judgment adjustment coefficient X0. di undergoes a second adjustment, and the adjustment coefficient for the second judgment after the second adjustment is X0. di e2; When E2>E0≥E3, the third preset adjustment coefficient e3 is selected to adjust the adjusted secondary judgment adjustment coefficient X0. di undergoes a second adjustment, and the adjustment coefficient for the second judgment after the second adjustment is X0. di e3; When E3 > E0 ≥ E4, the fourth preset adjustment coefficient e4 is selected to adjust the adjusted secondary judgment adjustment coefficient X0. di undergoes a second adjustment, and the adjustment coefficient for the second judgment after the second adjustment is X0. di e4.

5. The method for adjusting the speed of a horizontal directional drilling rig according to claim 4, characterized in that, After selecting the i-th preset adjustment coefficient ei, perform a secondary judgment on the adjusted adjustment coefficient X0. di is adjusted a second time, i=1, 2, 3, 4, to obtain the second-order adjustment coefficient X0. di Following ei, it also includes: The second-order adjustment coefficient X0 after the second adjustment. di ei serves as the final adjustment coefficient Xa in the secondary judgment; The first preset secondary judgment final adjustment coefficient threshold X1, the second preset secondary judgment final adjustment coefficient threshold X2, the third preset secondary judgment final adjustment coefficient threshold X3, and the fourth preset secondary judgment final adjustment coefficient threshold X4 are preset, and X1 > X2 > X3 > X4; the first preset adjustment coefficient x1, the second preset adjustment coefficient x2, the third preset adjustment coefficient x3, and the fourth preset adjustment coefficient x4 are preset, and 0.9 < x1 < x2 < 1 < x3 < x4 < 1.1; When Xa≥X1, the first preset adjustment coefficient x1 is selected to adjust the primary feed rate Ab. The adjusted primary feed rate is Ab. x1; When X1 > Xa ≥ X2, the second preset adjustment coefficient x2 is selected to adjust the primary adjustment drill bit feed rate Ab. The adjusted primary adjustment drill bit feed rate is Ab. x2; When X2 > Xa ≥ X3, the third preset adjustment coefficient x3 is selected to adjust the primary adjustment drill bit feed rate Ab. The adjusted primary adjustment drill bit feed rate is Ab. x4; When X3 > Xa ≥ X4, the fourth preset adjustment coefficient x4 is selected to adjust the primary adjustment drill bit feed rate Ab. The adjusted primary adjustment drill bit feed rate is Ab. x4.

6. The method for adjusting the speed of a horizontal directional drilling rig according to claim 5, characterized in that, The drill bit feed rate Ab is adjusted by selecting the i-th preset adjustment coefficient xi, where i = 1, 2, 3, 4, to obtain the adjusted drill bit feed rate Ab. Following xi, it also includes: The adjusted drill bit feed rate Ab xi serves as a secondary adjustment for the drill bit feed rate Ac; The secondary adjustment drill bit rotational speed Bc is calculated based on the first speed ratio Ca and the secondary adjustment drill bit feed speed Ac, where Bc = Ca. Ac.

7. A speed adjustment system for a horizontal directional drilling rig, characterized in that, The method for adjusting the speed of a horizontal directional drilling rig as described in any one of claims 1-6 includes: The data acquisition unit is used to acquire historical drilling data of a preset number of complete historical drilling cycles of the horizontal directional drilling rig. The historical drilling data includes: historical drill bit feed rate and historical drill bit rotation speed; The processing unit is used to calculate the average historical drill bit feed rate and the average historical drill bit rotation rate based on the historical drilling data, and to use the average historical drill bit feed rate as the initial drill bit feed rate and the average historical drill bit rotation rate as the initial drill bit rotation rate. An adjustment unit is used to determine, based on the historical drilling data, whether to adjust the initial drill bit feed rate and the initial drill bit rotation speed once. Once it is determined whether to adjust the initial drill bit feed rate and initial drill bit rotation speed once, a preset horizontal directional drilling rig operation adjustment cycle duration is established. At the beginning of each horizontal directional drilling rig operation adjustment cycle duration, the operation data of the horizontal directional drilling rig is collected, and based on the operation data, it is determined whether to adjust the initial drill bit feed rate and initial drill bit rotation speed a second time.

8. The horizontal directional drilling rig speed adjustment system according to claim 7, characterized in that, The operational data includes: hydraulic oil temperature, hydraulic oil pressure, and hydraulic oil flow rate of the horizontal directional drilling rig's hydraulic oil system.

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