Control method, device, system of a drilling rig and rotary drilling rig

Abstract

The disclosure provides a control method, device and system of a drilling machine and a rotary drilling machine, and relates to the technical field of mechanical control. The control method of the drilling machine comprises the following steps: determining the demand pressure of a power head on a drill rod, wherein the demand pressure matches the current working condition; determining the demand force of a pressurizing cylinder on the power head according to the demand pressure of the power head on the drill rod and the gravity of the power head; determining the actual force of the pressurizing cylinder on the power head; and in the case that the difference between the demand force and the actual force exceeds a threshold range, adjusting at least one of the hydraulic pressure of the rod cavity of the pressurizing cylinder and the hydraulic pressure of the rodless cavity of the pressurizing cylinder until the difference between the demand force and the actual force does not exceed the threshold range. Through the above method, the pressure of the power head on the drill rod can be adjusted according to the demand, the drilling demand in various working conditions can be met, and the drilling effect can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of mechanical control technology, and in particular to a control method, device, system, and rotary drilling rig for a drilling machine. Background Technology

[0002] A rotary drilling rig is a type of engineering machinery used for drilling operations. Its working device mainly includes a power head, drill rod, hydraulic system, and mast. The pressure cylinder in the hydraulic system is fixed to the mast. The pressure cylinder drives the power head to move up and down, transmitting pressure to the drill rod through the power head.

[0003] In some hydraulic cylinders, the rodless chamber is at the top, and in others, it is at the bottom. Taking the case where the rodless chamber is at the bottom as an example, when the piston rod of the hydraulic cylinder extends, the power head descends; when the piston rod retracts, the power head rises.

[0004] Typically, a balance valve is used to assist the pressurizing cylinder in pressurizing the power head. For example, a balance valve can be installed in the rodless chamber of the pressurizing cylinder. The functions of the balance valve usually include: first, locking the weight of the power head when pressurization is not required, preventing the power head from falling on its own; second, maintaining smooth propulsion when the power head moves downward.

[0005] In related technologies, the force exerted by the power head on the drill pipe is fixed and cannot meet the drilling requirements under different working conditions, resulting in poor drilling performance. Summary of the Invention

[0006] This disclosure provides a method, apparatus, system, and rotary drilling rig for controlling a drilling rig.

[0007] According to a first aspect of this disclosure, a control method for a drilling rig is proposed, comprising: determining the required pressure of a power head on a drill pipe, wherein the required pressure is matched to the current operating conditions; determining the required force of a pressure cylinder on the power head based on the required pressure of the power head on the drill pipe and the gravity of the power head; determining the actual force of the pressure cylinder on the power head; and, if the difference between the required force and the actual force exceeds a threshold range, adjusting at least one of the hydraulic pressure in the rod chamber of the pressure cylinder and the hydraulic pressure in the rodless chamber of the pressure cylinder until the difference between the required force and the actual force does not exceed the threshold range.

[0008] In some embodiments, determining the required pressure of the power head on the drill pipe includes: acquiring current operating condition information; and determining the required pressure of the power head on the drill pipe based on the current operating condition information and a pre-set mapping relationship between operating conditions and required pressure.

[0009] In some embodiments, the current working condition information includes at least one of the geological conditions for the current operation and the currently selected construction operation mode.

[0010] In some embodiments, determining the required pressure of the power head on the drill pipe includes: determining the required pressure of the power head on the drill pipe based on a user-inputted required pressure setting instruction.

[0011] In some embodiments, determining the required force of the pressurizing cylinder on the power head based on the required pressure of the power head on the drill pipe and the weight of the power head includes: determining the type of the required force of the pressurizing cylinder on the power head; and if the type of the required force is tension, taking the difference between the weight of the power head and the required pressure of the power head on the drill pipe as the required force of the pressurizing cylinder on the power head.

[0012] In some embodiments, determining the actual force exerted by the pressurizing cylinder on the power head includes: acquiring the measured value of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the measured value of the hydraulic pressure in the rodless chamber of the pressurizing cylinder; and determining the actual force exerted by the pressurizing cylinder on the power head based on the measured values ​​of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the measured values ​​of the hydraulic pressure in the rodless chamber of the pressurizing cylinder.

[0013] In some embodiments, adjusting at least one of the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber includes: sending a control command to a first flow regulating device to control the balance valve to open at a specified opening degree, thereby adjusting the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber. The first flow regulating device is disposed in a first hydraulic oil line connected to the pilot port of the balance valve, and the specified opening degree is greater than 0 and less than an opening threshold.

[0014] In some embodiments, the control method for the drilling rig further includes: controlling the balance valve to close via the first flow regulating device when the difference between the required force and the actual force does not exceed a threshold range.

[0015] In some embodiments, the first flow regulating device includes an electro-proportional relief valve, or the first flow regulating device includes a fixed relief valve and a switching valve.

[0016] In some embodiments, adjusting at least one of the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber includes: sending a control command to the second flow regulating device to regulate the hydraulic pressure in the rod chamber via the second flow regulating device, the second flow regulating device being disposed in a second hydraulic oil line located between the rod chamber of the pressurizing cylinder and the port of the balance valve.

[0017] In some embodiments, the second flow regulating device is an overflow valve.

[0018] According to a second aspect of this disclosure, a control device for a drilling rig is provided, comprising: a first determining module configured to determine the required pressure of a power head on a drill rod, wherein the required pressure matches the current operating conditions; a second determining module configured to determine the required force of a pressurizing cylinder on the power head based on the required pressure of the power head on the drill rod and the gravity of the power head; a third determining module configured to determine the actual force of the pressurizing cylinder on the power head; and an adjusting module configured to, when the difference between the required force and the actual force exceeds a threshold range, adjust at least one of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the hydraulic pressure in the rodless chamber of the pressurizing cylinder until the difference between the required force and the actual force does not exceed the threshold range.

[0019] According to a third aspect of this disclosure, a control device for a drilling rig is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the drilling rig control method as described above based on instructions stored in the memory.

[0020] According to a fourth aspect of this disclosure, a control system for a drilling rig is provided, comprising: a control device for the drilling rig as described above; and a pressure sensor configured to measure the hydraulic pressure in the rod chamber of a pressurizing cylinder of the drilling rig and the hydraulic pressure in the rodless chamber of the pressurizing cylinder, wherein the measured values ​​of the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber are used to determine the actual force exerted by the pressurizing cylinder on the power head.

[0021] In some embodiments, the control system of the drilling rig further includes: a first flow regulating device, disposed on a first hydraulic oil line connected to the pilot port of the balance valve, for regulating the hydraulic pressure of the rod chamber and the hydraulic pressure of the rodless chamber under the control of the control device of the drilling rig.

[0022] In some embodiments, the control system of the drilling rig further includes: a second flow regulating device disposed on a second hydraulic oil line located between the rod chamber of the pressurized oil cylinder and the port of the balance valve, for regulating the hydraulic pressure of the rod chamber under the control of the control device.

[0023] According to a fifth aspect of this disclosure, a rotary drilling rig is provided, comprising: a control system for the drilling rig as described above.

[0024] According to a sixth aspect of this disclosure, a computer-storeable medium is provided having computer program instructions stored thereon, which, when executed by a processor, implement the control method for the drilling rig as described above.

[0025] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0026] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0027] This disclosure can be more clearly understood with reference to the accompanying drawings and the following detailed description.

[0028] Figure 1 This is a schematic diagram of a portion of the structure of a drilling rig in related technologies.

[0029] Figure 2 This is a schematic diagram of the hydraulic principle of a drilling rig in related technologies.

[0030] Figure 3 This is a flowchart illustrating a drilling rig control method according to some embodiments of the present disclosure.

[0031] Figure 4 This is a schematic diagram of the control principle of a drilling rig according to some embodiments of the present disclosure.

[0032] Figure 5 This is a schematic diagram of the control principle of a drilling rig according to other embodiments of the present disclosure.

[0033] Figure 6 This is a schematic diagram of the control principle of a drilling rig according to some embodiments of the present disclosure.

[0034] Figure 7 This is a schematic structural block diagram of a control device for a drilling rig according to some embodiments of the present disclosure.

[0035] Figure 8 This is a schematic structural block diagram of the control system of a drilling rig according to some embodiments of the present disclosure.

[0036] Figure 9 This is a schematic diagram of the structure of a control device for a drilling rig according to other embodiments of the present disclosure.

[0037] Figure 10 This is a schematic diagram of the structure of a computer system according to some embodiments of the present disclosure. Detailed Implementation

[0038] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0039] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0040] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0041] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0042] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0044] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0045] In related technologies, the force exerted on the drill rod by the pressure cylinder is fixed, which is difficult to meet the drilling requirements under different working conditions, resulting in poor drilling effect.

[0046] In view of this, this disclosure proposes a control method, device, system and drilling rig that can adjust the pressure of the power head acting on the drill rod for different working conditions, meet the drilling requirements under various working conditions and improve the drilling effect.

[0047] Figure 1 This is a schematic diagram of a portion of the structure of a drilling rig in related technologies. For example... Figure 1 As shown, in some embodiments, the drilling rig includes a pressurized hydraulic cylinder 11, a mast 12, a drill rod 15, and a power head 16.

[0048] The mast 12 is hinged to the drilling rig body 18 via a pin 17. The upper fixing point 20 of the large cavity of the pressurizing cylinder 11 is fixed to the mast 12, and the lower fixing point 21 of the small cavity of the pressurizing cylinder 11 is fixed to the power head 16. Under the thrust or pull of the pressurizing cylinder 11, the power head 16 can slide on the mast slide rail 14 in the up-down direction. Simultaneously, the drill rod 15 is fitted inside the power head 16 and can slide inside the power head 16, with pressure applied between it and the power head 16 via the power head drill rod force application step 19.

[0049] In some embodiments, the force exerted by the pressure cylinder on the power head is a tensile force. In these embodiments, the power head is subjected to three forces: gravity G, the tensile force F1 exerted by the pressure cylinder on the power head, and the supporting force F2 exerted by the drill pipe on the power head. Under the action of these three forces, the power head remains in equilibrium. The magnitude of the supporting force exerted by the drill pipe on the power head is equal to the magnitude of the pressure exerted by the power head on the drill pipe. Therefore, the smaller F1 is, the larger F2 is, resulting in a greater force exerted by the power head on the drill pipe. Thus, the key to meeting the required force exerted by the power head on the drill pipe under different operating conditions lies in adjusting the magnitude of F1.

[0050] Figure 2 This is a schematic diagram illustrating the hydraulic principle of a drilling rig in related technologies. For example... Figure 2 As shown, the pressurizing cylinder 11 is connected to the balance valve 13. Specifically, port C2 of the balance valve 13 is connected to the rod chamber of the pressurizing cylinder 11 via the second hydraulic circuit 222. Port C1 of the balance valve 13 is connected to the rodless chamber of the pressurizing cylinder 11 via the third hydraulic circuit 221.

[0051] The pilot port V1 of the balance valve 13 is connected to the first hydraulic circuit 223. An overflow valve 23 is provided on the first hydraulic circuit 223. Furthermore, the first hydraulic circuit 223 is connected to the directional valve 24, which is sequentially connected to the pump 25 and the oil tank 26.

[0052] In some embodiments, the force exerted by the pressure cylinder on the power head is a tensile force F1, which satisfies F1=Pc2*S2-Pv1*S1. Where Pc2 is the hydraulic pressure in the rod chamber of the pressure cylinder (referred to as hydraulic pressure), S2 is the area of ​​the rod chamber of the pressure cylinder, Pv1 is the hydraulic pressure in the rodless chamber of the pressure cylinder, and S1 is the area of ​​the rodless chamber of the pressure cylinder.

[0053] In other embodiments, the force exerted by the pressurizing cylinder on the power head is a thrust, F1, which satisfies F1 = Pv1*S1 - Pc2*S2. Here, Pc2 is the liquid pressure in the rod chamber of the pressurizing cylinder, S2 is the area of ​​the rod chamber, Pv1 is the liquid pressure in the rodless chamber, and S1 is the area of ​​the rodless chamber.

[0054] Normally, S2 and S1 are fixed values. Therefore, the key to controlling F1 lies in controlling Pc2 and Pv1.

[0055] Figure 3 This is a schematic flowchart illustrating a drilling rig control method according to some embodiments of the present disclosure. Figure 3 As shown, the control method for the drilling rig includes steps S301 to S304.

[0056] In step S301, the required pressure of the power head on the drill pipe is determined.

[0057] In some embodiments, the drilling rig control method is performed by the drilling rig control device.

[0058] In some embodiments, the drilling rig is a rotary drilling rig. The power head of the drilling rig demands pressure on the drill rod according to the current operating conditions.

[0059] In some embodiments, the required pressure of the power head on the drill pipe is determined by: acquiring current operating condition information; and determining the required pressure of the power head on the drill pipe on the drill rig based on the current operating condition information and a pre-set mapping relationship between operating conditions and required pressure.

[0060] In some embodiments, the current operating status information of the drilling rig includes the geological conditions information of the area to be worked on, and at least one of the currently selected construction operation modes. For example, the construction operation mode may be interlocking pile construction or large equipment small diameter pile construction. For example, the geological conditions information of the area to be worked on may include the stratum type, such as a pebble layer.

[0061] In some of the above embodiments, the required pressure of the power head on the drill pipe that matches the working conditions can be automatically and accurately determined, thereby helping to perform drilling operations more accurately and efficiently and improving the drilling operation results.

[0062] In some embodiments, the required pressure of the power head on the drill pipe is determined as follows: based on a user-inputted required pressure setting command, the required pressure of the power head on the drill pipe is determined. For example, the user sets the required pressure of the power head on the drill pipe through a human-machine interface. After the setting is completed, the control device of the drilling rig acquires the required pressure of the power head on the drill pipe.

[0063] In some of the above embodiments, the interaction between the drill rig control and the user can be improved through the above methods, and the required pressure of the power head on the drill pipe can be determined flexibly and accurately according to the user's instructions, thereby helping to carry out drilling operations more accurately and efficiently and improving the drilling operation effect.

[0064] In step S302, the required force of the pressurizing cylinder on the power head is determined based on the required pressure of the power head on the drill pipe and the weight of the power head.

[0065] In some embodiments, in step S302, the type of the force required by the pressurizing cylinder on the power head is first determined; if the type of the force required by the pressurizing cylinder on the power head is tension, the difference between the weight of the power head and the pressure required by the power head on the drill pipe is taken as the force required by the pressurizing cylinder on the power head.

[0066] In other embodiments, when the type of force required by the pressurizing cylinder on the power head is thrust, the difference between the pressure required by the power head on the drill pipe and the weight of the power head is used as the force required by the pressurizing cylinder on the power head.

[0067] In step S303, the actual force exerted by the pressurized hydraulic cylinder on the power head is determined.

[0068] In some embodiments, in step S303, the measured values ​​of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the measured values ​​of the hydraulic pressure in the rodless chamber of the pressurizing cylinder are obtained; based on the measured values ​​of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the measured values ​​of the hydraulic pressure in the rodless chamber of the pressurizing cylinder, the actual force exerted by the pressurizing cylinder on the power head is determined.

[0069] In some embodiments, such as Figure 4 As shown, the hydraulic pressure value in the hydraulic circuit between port C2 of the balance valve 13 and the rod chamber 112 of the pressurizing cylinder 11 is measured by a pressure sensor, thereby determining the measured value of the hydraulic pressure in the rod chamber 112 of the pressurizing cylinder; the hydraulic pressure value in the hydraulic circuit between port C1 of the balance valve 13 and the rodless chamber 111 of the pressurizing cylinder 11 is measured by a pressure sensor, thereby determining the measured value of the hydraulic pressure in the rodless chamber 111 of the pressurizing cylinder.

[0070] In step S304, if the difference between the required force and the actual force exceeds a threshold range, at least one of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the hydraulic pressure in the rodless chamber of the pressurizing cylinder is adjusted.

[0071] In some embodiments, in step S304, the hydraulic pressure in the rod chamber and the rodless chamber of the pressurizing cylinder are regulated. For example, a control command is sent to a first flow regulating device to control the balance valve 13 to open at a specified degree, thereby regulating the hydraulic pressure in the rod chamber and the rodless chamber. The first flow regulating device is located on a first hydraulic oil line connected to the pilot port of the balance valve. This specified opening degree is greater than 0 and less than an opening threshold.

[0072] In some of the above embodiments, the control method for the drilling rig may further include: closing the balance valve by means of a first flow regulating device when the difference between the required force and the actual force does not exceed a threshold range.

[0073] exist Figure 2 In the schematic diagram of the related technology shown, when the user controls the reversing valve to open, the pressure at the balance valve port V1 can usually fully open the balance valve, causing the pressure at the balance valve port C2 to drop sharply, making it difficult to regulate the pressure at the balance valve port C2.

[0074] Therefore, in some examples, such as Figure 4As shown, an electro-proportional relief valve 27 is provided on the first hydraulic oil circuit 223 connected to port V1 of the balance valve 13, so that when the difference between the required force and the actual force exceeds the threshold range, the balance valve 13 is controlled to open to a specified degree by controlling the change of the pressure at port V1.

[0075] For example, when the pressurizing cylinder applies a pulling force to the power head, if the actual pulling force of the pressurizing cylinder on the power head is greater than the required pulling force, and the difference between the two exceeds a threshold range, the current of the electro-proportional relief valve 27 can be adjusted to allow the pressure at port V1 of the balance valve to change stably within a certain range. This, in turn, causes a small opening in the passage between port C2 and port V2 of the balance valve. In this state, the hydraulic oil in port C2 of the balance valve can slowly flow away through port V2, thereby causing the pressure at port C2 to decrease slowly. This reduces the actual pulling force of the pressurizing cylinder on the power head, thus reducing the difference between the actual pulling force and the required pulling force. By using the above method, the pressure at port C2 of the balance valve becomes controllable, thereby achieving regulation of the force exerted by the pressurizing cylinder on the power head, meeting the drilling requirements under different working conditions, and improving drilling performance.

[0076] In some embodiments, the balancing valve 13 is a balancing valve with a first pilot ratio less than a first pilot ratio threshold. In these examples, considering that the opening pressure of port V1 of some balancing valves with small pilot ratios is significantly affected by the pressure at port C2, the control current of the electro-proportional relief valve is also significantly affected by the pressure at port C2. Therefore, the control current of the electro-proportional relief valve is determined as follows: the control current curve of the electro-proportional relief valve that opens the balancing valve to a specified opening degree under different load pressures is obtained; based on the current load pressure of the balancing valve and the control current curve, the required control current of the electro-proportional relief valve is determined.

[0077] For example, the control current curves of the electro-proportional relief valve under different load pressures (such as the pressure at port C2 of the balance valve) can be measured and stored through bench tests. Then, when executing the drilling rig's control method, the control current curve is retrieved from the storage module; based on the current load pressure and the control current curve, the required control current of the electro-proportional relief valve is determined.

[0078] In other embodiments, the balancing valve employs a second pilot ratio, where the second pilot ratio is greater than a second pilot ratio threshold, and the second pilot ratio threshold is greater than a first pilot ratio threshold. In these embodiments, the control current of the electro-proportional relief valve can be set by measuring the opening pressure of the balancing valve, thereby causing the balancing valve to open at a small degree.

[0079] In other examples, such as Figure 5As shown, a first flow regulating device is provided on the first hydraulic circuit 223 connected to the pilot port V1 of the balance valve 13. For example, the first flow regulating device includes a switching valve 29 and a fixed relief valve 30. In these embodiments, step S304 includes: sending a control command to the first flow regulating device to control the balance valve 13 to open at a specified opening degree, thereby regulating the hydraulic pressure in the rod chamber and the rodless chamber. The specified opening degree is greater than 0 and less than an opening threshold.

[0080] In practice, as drilling continues, the drill rod slides downwards as the ground support is removed, gradually reducing the weight of the power head portion supported by the drill rod. This causes the hydraulic pressure at port C2 of the pressurizing cylinder to gradually increase. In this situation, the hydraulic pressure at port C2 of the pressurizing cylinder can be adjusted according to the above process to achieve constant pressure drilling.

[0081] In some other embodiments, in step S304, the hydraulic pressure of the rod chamber of the pressurized cylinder is adjusted.

[0082] For example, such as Figure 6 As shown, a second flow regulating device, such as a relief valve 31, is provided on the second hydraulic circuit 222. In these examples, step S304 includes sending a control command to the second flow regulating device to regulate the hydraulic pressure in the rod chamber. Furthermore, in practical implementation, since the relief valve cannot maintain pressure, it is necessary to continuously replenish oil to the balance valve port V2 in order to maintain a stable pressure at the balance valve port C2.

[0083] In this embodiment, the above process allows for adjustment of the pressure exerted by the power head on the drill pipe under different working conditions, achieving constant pressure drilling control under various conditions, meeting drilling requirements under multiple conditions, and improving drilling performance. Furthermore, by controlling the balance valve to open and close at a specified degree, stable control of the drilling rig's pressure on the ground is achieved within a certain range.

[0084] Figure 7 This is a schematic structural block diagram of a control device for a drilling rig according to some embodiments of the present disclosure. Figure 7 As shown, the control device 70 of the drilling rig includes a first determining module 71, a second determining module 72, a third determining module 73, and an adjusting module 74.

[0085] The first determining module 71 is configured to determine the required pressure of the power head on the drill pipe on the drill rig. The required pressure of the power head on the drill pipe is matched with the current operating conditions.

[0086] In some embodiments, the first determining module 71 acquires the current working condition information; and determines the required pressure of the power head on the drill pipe based on the current working condition information and the pre-set mapping relationship between working condition and required pressure.

[0087] In some embodiments, the first determining module 71 determines the required pressure of the power head on the drill pipe based on the required pressure setting instruction input by the user.

[0088] The second determining module 72 is configured to determine the required force of the pressurizing cylinder on the power head based on the required pressure of the power head on the drill pipe and the gravity of the power head.

[0089] In some embodiments, when the type of the force required by the pressurizing cylinder on the power head is tension, the second determining module 72 takes the difference between the weight of the power head and the pressure required by the power head on the drill pipe as the force required by the pressurizing cylinder on the power head.

[0090] In other embodiments, when the type of the force required by the pressurizing cylinder on the power head is thrust, the second determining module 72 takes the difference between the pressure required by the power head on the drill pipe and the weight of the power head as the force required by the pressurizing cylinder on the power head.

[0091] The third determining module 73 is configured to determine the actual force exerted by the pressurized hydraulic cylinder on the power head.

[0092] In some embodiments, the third determining module 73 acquires the measured values ​​of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the measured values ​​of the hydraulic pressure in the rodless chamber of the pressurizing cylinder; and determines the actual force exerted by the pressurizing cylinder on the power head based on the measured values ​​of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the measured values ​​of the hydraulic pressure in the rodless chamber of the pressurizing cylinder.

[0093] The adjustment module 74 is configured to adjust at least one of the hydraulic pressure in the rod chamber of the pressure cylinder and the hydraulic pressure in the rodless chamber of the pressure cylinder when the difference between the demand force and the actual force of the pressure cylinder on the power head exceeds a threshold range, until the difference between the demand force and the actual force of the pressure cylinder on the power head does not exceed the threshold range.

[0094] In some embodiments, the regulating module 74 is configured to send a control command to the first flow regulating device to control the balance valve to open at a specified opening degree, thereby regulating the hydraulic pressure in the rod chamber and the rodless chamber. The first flow regulating device is located in a first hydraulic oil line connected to the pilot port of the balance valve. The specified opening degree is greater than 0 and less than an opening threshold.

[0095] In some examples, the first flow regulating device includes an electro-proportional relief valve, or the first flow regulating device includes a fixed relief valve and a switching valve.

[0096] In some of the above embodiments, the adjustment module 74 may also be configured to control the balance valve to close through the first flow adjustment device when the difference between the required force and the actual force does not exceed the threshold range.

[0097] In other embodiments, the regulating module 74 is configured to send control commands to a second flow regulating device to regulate the hydraulic pressure in the rod chamber. The second flow regulating device is located in a second hydraulic line between the rod chamber of the pressurized cylinder and the port of the balance valve.

[0098] In some examples, the second flow regulating device is an overflow valve.

[0099] In this embodiment, the above-mentioned device can adjust the pressure of the power head acting on the drill pipe for different working conditions, thereby achieving constant pressure drilling control under different working conditions, meeting drilling requirements under various working conditions, and improving drilling performance. Furthermore, by controlling the balance valve to open and close at a specified degree, stable control of the drilling rig's pressure on the ground is achieved within a certain range.

[0100] Figure 8 This is a schematic structural block diagram of the control system of a drilling rig according to some embodiments of the present disclosure. Figure 8 As shown, the control system 80 of the drilling rig includes the control device 81 of the drilling rig and the pressure sensor 82.

[0101] The control device 81 of the drilling rig is used to execute the control method of the drilling rig as described above.

[0102] Pressure sensor 82 is used to measure the hydraulic pressure in the rod chamber and the rodless chamber of the pressurizing cylinder of the drilling rig. The measured hydraulic pressure values ​​in the rod chamber and the rodless chamber are used to determine the actual force exerted by the pressurizing cylinder on the power head.

[0103] For example, in such Figures 4 to 6 A first pressure sensor is installed at port C2 of the balance valve 13 to measure the hydraulic pressure at port C2 and thereby determine the measured value of the hydraulic pressure in the rod chamber of the pressurizing cylinder. A second pressure sensor is installed at port V1 of the balance valve 13 to measure the hydraulic pressure at port V1 and thereby determine the measured value of the hydraulic pressure in the rodless chamber of the pressurizing cylinder.

[0104] In some embodiments, the control system 80 of the drilling rig further includes a first flow regulating device disposed in a first hydraulic oil line connected to the pilot port of the balance valve. The first flow regulating device is used to regulate the hydraulic pressure in the rod chamber and the rodless chamber under the control of the drilling rig's control device.

[0105] In some embodiments, the control system 80 of the drilling rig further includes a second flow regulating device disposed in a second hydraulic oil line located between the rod chamber of the pressurized oil cylinder and the port of the balance valve. The second flow regulating device is used to regulate the hydraulic pressure in the rod chamber under the control of the drilling rig's control device.

[0106] In this embodiment of the disclosure, the above system can adjust the pressure of the power head acting on the drill pipe for different working conditions, realize constant pressure drilling control under different working conditions, meet the drilling needs under various working conditions, and improve the drilling effect.

[0107] According to some embodiments of this disclosure, a rotary drilling rig is also proposed, including a control system for the drilling rig as described above.

[0108] Figure 9 This is a schematic diagram of the structure of a control device for a drilling rig according to other embodiments of the present disclosure.

[0109] like Figure 9 As shown, the control device 90 of the drilling rig includes a memory 91 and a processor 92 coupled to the memory 91. The memory 91 is used to store instructions for executing control methods for the drilling rig corresponding to embodiments thereof. The processor 92 is configured to execute control methods for the drilling rig in any of the embodiments thereof based on the instructions stored in the memory 91.

[0110] Figure 10 This is a schematic diagram of the structure of a computer system according to some embodiments of the present disclosure.

[0111] like Figure 10 As shown, the computer system 100 can be represented in the form of a general computing device. The computer system 100 includes a memory 101, a processor 102, and a bus 103 connecting different system components.

[0112] The memory 101 may include, for example, system memory, non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs. The system memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may store, for example, instructions for a corresponding embodiment of at least one drilling rig control method being executed. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0113] The processor 102 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistors, or other discrete hardware components. Correspondingly, each module, such as the first determining module, the second determining module, the third determining module, and the adjustment module, can be implemented by executing instructions from the central processing unit (CPU) memory to perform the corresponding steps, or by using dedicated circuitry to execute the corresponding steps.

[0114] Bus 103 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, and Peripheral Component Interconnect (PCI) bus.

[0115] The computer system 100 can be connected via a bus 103 to interfaces 104, 105, and 106, as well as to memory 101 and processor 102. Input / output interface 104 provides a connection interface for input / output devices such as monitors, mice, and keyboards. Network interface 105 provides a connection interface for various networked devices. Storage interface 106 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0116] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer-readable program instructions.

[0117] These computer-readable program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, such that execution of the instructions by the processor produces means for implementing the functions specified in one or more boxes of the flowchart and / or block diagram.

[0118] These computer-readable program instructions may also be stored in a computer-readable storage medium. These instructions cause a computer to work in a particular manner to produce an article of manufacture, including instructions that implement the functions specified in one or more boxes in a flowchart and / or block diagram.

[0119] This disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0120] The control method, device, system, and rotary drilling rig described in the above embodiments can adjust the pressure of the power head acting on the drill rod for different working conditions, achieve constant pressure drilling control under different working conditions, meet drilling requirements under various working conditions, and improve drilling effect.

[0121] The control methods, apparatus, systems, and rotary drilling rigs according to this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

Claims

1. A method for controlling a drilling rig, comprising: Determine the required pressure of the power head on the drill pipe, wherein the required pressure is matched with the current operating conditions; The required force of the pressurizing cylinder on the power head is determined based on the pressure required by the power head on the drill pipe and the weight of the power head. Determine the actual force exerted by the pressurized hydraulic cylinder on the power head; If the difference between the required force and the actual force exceeds a threshold range, at least one of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the hydraulic pressure in the rodless chamber of the pressurizing cylinder shall be adjusted until the difference between the required force and the actual force does not exceed the threshold range. Adjusting at least one of the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber includes: A control command is sent to the first flow regulating device to control the balance valve to open at a specified opening degree, thereby regulating the hydraulic pressure in the rod chamber and the rodless chamber. The first flow regulating device is installed in the first hydraulic oil line connected to the pilot port of the balance valve. The specified opening degree is greater than 0 and less than the opening degree threshold.

2. The drilling rig control method according to claim 1, wherein, The determination of the required pressure of the power head on the drill pipe on the drill rig includes: Obtain current operating condition information; Based on the current operating conditions and the pre-set mapping relationship between operating conditions and demand pressure, the demand pressure of the power head on the drill pipe is determined.

3. The drilling rig control method according to claim 2, wherein the current working condition information includes at least one of the geological conditions information of the current operation and the currently selected construction operation mode.

4. The drilling rig control method according to claim 1, wherein, The determination of the required pressure of the power head on the drill pipe on the drill rig includes: Based on the user-inputted pressure setting command, the required pressure of the power head on the drill pipe is determined.

5. The control method for the drilling rig according to claim 1, wherein, The step of determining the required force of the pressurizing cylinder on the power head based on the required pressure of the power head on the drill pipe and the weight of the power head includes: Determine the type of force required by the pressurizing cylinder for the power head; When the type of required force is tension, the difference between the weight of the power head and the required pressure of the power head on the drill pipe is taken as the required force of the pressurizing cylinder on the power head.

6. The control method for the drilling rig according to claim 1, wherein, Determining the actual force exerted by the pressurizing cylinder on the power head includes: The hydraulic pressure of the rod chamber of the pressurized cylinder and the hydraulic pressure of the rodless chamber of the pressurized cylinder are measured. The actual force exerted by the pressure cylinder on the power head is determined based on the measured hydraulic pressure values ​​of the rod chamber and the rodless chamber of the pressure cylinder.

7. The drilling rig control method according to claim 1 further includes: If the difference between the required force and the actual force does not exceed the threshold range, the balancing valve is closed by controlling the first flow regulating device.

8. The control method for the drilling rig according to claim 1 or 7, wherein, The first flow regulating device includes an electro-proportional relief valve, or the first flow regulating device includes a fixed relief valve and a switching valve.

9. The control method for the drilling rig according to claim 1, wherein, Adjusting at least one of the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber includes: A control command is sent to a second flow regulating device to regulate the hydraulic pressure in the rod chamber. The second flow regulating device is located in a second hydraulic oil circuit between the rod chamber of the pressurized cylinder and the port of the balance valve.

10. The control method for a drilling rig according to claim 9, wherein, The second flow regulating device is an overflow valve.

11. A control device for a drilling rig, comprising: The first determining module is configured to determine the required pressure of the power head on the drill pipe on the drill rig, wherein the required pressure is matched with the current working conditions; The second determining module is configured to determine the required force of the pressurizing cylinder on the power head based on the required pressure of the power head on the drill pipe and the gravity of the power head. The third determining module is configured to determine the actual force exerted by the pressurizing cylinder on the power head; The adjustment module is configured to adjust at least one of the hydraulic pressure in the rod chamber of the pressurizing cylinder and the hydraulic pressure in the rodless chamber of the pressurizing cylinder when the difference between the demand force and the actual force exceeds a threshold range, until the difference between the demand force and the actual force does not exceed the threshold range. The adjustment module adjusts at least one of the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber, including: A control command is sent to the first flow regulating device to control the balance valve to open at a specified opening degree, thereby regulating the hydraulic pressure in the rod chamber and the rodless chamber. The first flow regulating device is installed in the first hydraulic oil line connected to the pilot port of the balance valve. The specified opening degree is greater than 0 and less than the opening degree threshold.

12. A control device for a drilling rig, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the drilling rig control method as described in any one of claims 1 to 10 based on instructions stored in the memory.

13. A control system for a drilling rig, comprising: The control device for the drilling rig as described in claim 11 or 12; A pressure sensor is configured to measure the hydraulic pressure in the rod chamber of a pressurizing cylinder of a drilling rig, and the hydraulic pressure in the rodless chamber of the pressurizing cylinder, wherein the measured values ​​of the hydraulic pressure in the rod chamber and the hydraulic pressure in the rodless chamber are used to determine the actual force exerted by the pressurizing cylinder on the power head.

14. The control system of the drilling rig according to claim 13 further includes: The first flow regulating device is installed in the first hydraulic oil line connected to the pilot port of the balance valve, and is used to regulate the hydraulic pressure of the rod chamber and the rodless chamber under the control of the control device of the drilling rig.

15. The control system of the drilling rig according to claim 13, further comprising: The second flow regulating device is installed in the second hydraulic oil line located between the rod chamber of the pressurizing cylinder and the port of the balance valve, and is used to regulate the hydraulic pressure of the rod chamber under the control of the control device.

16. A rotary drilling rig, comprising: The control system of the drilling rig as described in any one of claims 13 to 14.

17. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the control method for a drilling rig as described in any one of claims 1 to 10.

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