Automatic loading and unloading method and device for drilling rig drill rods

Abstract

This application provides an automatic drilling rod loading and unloading method and apparatus for drilling rigs. The automatic drilling rod loading and unloading method includes: S1 collecting drill rod data of the target drill rod and power head data of the target drilling rig; S2 determining power head rotation parameters based on the drill rod data and the power head data; S3 responding to a drilling rod loading and unloading command, adjusting the position and orientation of the target drill rod, and controlling the rotation of the power head of the target drilling rig according to the power head rotation parameters to complete the loading and unloading of the target drill rod. By collecting relevant data on the power head of the target drilling rig and the target drill rod to be unloaded, and controlling the rotation of the power head based on the collected data results, automated drilling rod loading and unloading is achieved, which is beneficial for promoting the development of mining production towards less manpower and intelligence, and for the construction of intelligent mines.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drilling equipment operation method, in particular to a drilling rig drill rod automatic mounting and dismounting method. The present application also relates to a drilling rig drill rod automatic mounting and dismounting device, a computing device, and a computer readable storage medium. BACKGROUND

[0002] During drilling, the drilling rig needs to connect drill rods continuously to complete the drilling of the rated hole depth due to the limitation of the length of the drill rod; and after completing the drilling operation, the drill rod needs to be dismounted. The traditional way is to manually use tools to dismount and mount the drill rod, which is low in work efficiency and time-consuming and laborious. Moreover, due to the large size and high weight of the drilling rig components, manual mounting and dismounting of the drill rod will cause high labor intensity of the workers and seriously affect the mounting and dismounting efficiency of the drill rod, which is contrary to the current mainstream development direction of mine production towards less people and intelligence.

[0003] In addition, the mounting and dismounting standards of the traditional drilling rig drill rod are not uniform, especially in the process of connecting the power head and the drill rod, the connecting action of the power head has no standard, and long-time work will cause wear of the power head and the drill rod, resulting in loss. SUMMARY

[0004] Therefore, the present application provides a drilling rig drill rod automatic mounting and dismounting method to solve the technical defects in the prior art. The present application also provides a drilling rig drill rod automatic mounting and dismounting device, a computing device, and a computer readable storage medium.

[0005] According to a first aspect of the present application, a drilling rig drill rod automatic mounting and dismounting method is provided, comprising:

[0006] S1 collecting drill rod data of a target drill rod and power head data of a target drilling rig;

[0007] S2 determining a power head rotation parameter based on the drill rod data and the power head data;

[0008] S3 adjusting the pose of the target drill rod in response to a drill rod mounting and dismounting instruction, and controlling the rotation of the power head of the target drilling rig according to the power head rotation parameter to complete the mounting and dismounting of the target drill rod.

[0009] Optionally, when the target drill rod is connected or dismounted with the power head, the step S2 comprises:

[0010] determining top end thread start and end point information of the top end of the target drill rod according to the drill rod data;

[0011] determining sleeve thread start point information of the power head according to the power head data;

[0012] Based on the top-end thread start-stop point information and the sleeve thread start point information, the power head rotation parameter including a rotation direction and a rotation angle is determined according to the drill pipe connection instruction.

[0013] Optionally, when the target drill pipe is connected with the power head, the step S3 comprises:

[0014] In response to the drill pipe connection instruction, the target drill pipe is moved to a drilling area of the target drilling machine;

[0015] The target drill pipe is locked, and the power head is lowered to a preset docking position;

[0016] The rotation of the power head is controlled according to the power head rotation parameter until the power head is connected with the target drill pipe, and the target drill pipe is released.

[0017] Optionally, when the target drill pipe is disconnected from the power head, the step S3 comprises:

[0018] In response to the drill pipe connection instruction, the target drill pipe is locked;

[0019] The rotation of the power head is controlled according to the power head rotation parameter until the power head is separated from the target drill pipe;

[0020] The target drill pipe is released, the power head is lifted to a preset parking position, the target drill pipe is moved away from the drilling area of the target drilling machine, and the target drill pipe is stored.

[0021] Optionally, when the target drill pipe is connected with or disconnected from the adapter drill pipe mounted on the power head, the step S2 comprises:

[0022] According to the drill pipe data, top-end thread start-stop point information of a top end of the target drill pipe is determined;

[0023] The adapter drill pipe thread start-stop point information of a bottom end of the adapter drill pipe is collected;

[0024] Based on the top-end thread start-stop point information and the adapter drill pipe thread start-stop point information, the power head rotation parameter is determined according to the drill pipe connection instruction.

[0025] Optionally, when the target drill pipe is connected with the adapter drill pipe mounted on the power head, the step S3 comprises:

[0026] In response to the drill pipe connection instruction, the target drill pipe is locked;

[0027] The power head is lowered to a preset docking position;

[0028] controlling the rotation of the power head according to the power head rotation parameter until the target drill rod is connected with the adapter drill rod and the target drill rod is released.

[0029] Optionally, when the target drill rod is detached from the adapter drill rod mounted on the power head, the step S3 comprises:

[0030] locking the target drill rod in response to the drill rod attachment / detachment instruction;

[0031] controlling the rotation of the power head according to the power head rotation parameter until the target drill rod is detached from the adapter drill rod, the target drill rod is released, and the power head is lifted to a preset transfer position.

[0032] According to a second aspect of the embodiments of the present application, a drill rig drill rod automatic attachment / detachment device is provided, comprising:

[0033] a collection module configured to collect drill rod data of a target drill rod and power head data of a target drill rig;

[0034] a parameter determination module configured to determine a power head rotation parameter based on the drill rod data and the power head data;

[0035] a response module configured to adjust a pose of the target drill rod in response to a drill rod attachment / detachment instruction, and control the rotation of the power head of the target drill rig according to the power head rotation parameter to complete the attachment / detachment of the target drill rod.

[0036] According to a third aspect of the embodiments of the present application, a computing device is provided, comprising:

[0037] a memory and a processor;

[0038] the memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions to implement the steps of the drill rig drill rod automatic attachment / detachment method.

[0039] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores computer executable instructions, and the instructions are executed by a processor to implement the steps of the drill rig drill rod automatic attachment / detachment method.

[0040] According to a fifth aspect of the embodiments of the present application, a chip is provided, which stores a computer program, and the computer program is executed by the chip to implement the steps of the drill rig drill rod automatic attachment / detachment method.

[0041] The drilling rig drill rod automatic loading and unloading method provided by the application comprises the following steps: S1, collecting drill rod data of a target drill rod and power head data of a target drilling rig; S2, determining power head rotation parameters based on the drill rod data and the power head data; and S3, in response to a drill rod loading and unloading instruction, adjusting the pose of the target drill rod, and controlling the rotation of the power head of the target drilling rig according to the power head rotation parameters, to complete the loading and unloading of the target drill rod. The rotation of the power head of the target drilling rig is controlled according to the collected data, and the automatic loading and unloading of the drill rod is realized, which is conducive to promoting the development of mine production towards less people and intelligence, and the construction of intelligent mines. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 is a flowchart of a drilling rig drill rod automatic loading and unloading method provided by an embodiment of the application;

[0044] Figure 2 is a schematic diagram of an upper locking device of a drilling rig drill rod automatic loading and unloading method provided by an embodiment of the application;

[0045] Figure 3 is a schematic diagram of a lower locking device of a drilling rig drill rod automatic loading and unloading method provided by an embodiment of the application;

[0046] Figure 4 is a structural schematic diagram of a drilling rig drill rod automatic loading and unloading device provided by an embodiment of the application;

[0047] Figure 5 is a structural block diagram of a computing device provided by an embodiment of the application.

[0048] In the drawings, 1 is a cylinder, 2 is a target drill rod, 3 is a claw, 4 is a gas conveying pipe, 5 is a clamping plate, 6 is an oil cylinder, 7 is a through hole, and 8 is a bottom plate. DETAILED DESCRIPTION

[0049] In the following description, many specific details are set forth in order to provide a thorough understanding of the application. However, the application can be practiced without the specific details set forth in the following description, and it will be apparent to those skilled in the art that the application can be practiced in a variety of ways beyond those described in the following description. Accordingly, the present application is not limited to the embodiments described in the following description.

[0050] The terminology used in this disclosure of one or more embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of one or more embodiments of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0051] It should be understood that, although the terms first, second, etc. can be used herein to describe various information, but these information should not be limited to these terms. These terms are only used to distinguish one type of information from another type of information. For example, without departing from the scope of one or more embodiments of the disclosure, first can also be referred to as second, and similarly, second can also be referred to as first.

[0052] The present application is based on the research and development idea of "5G" smart mine. Traditional mining operation needs a lot of manpower and material resources, and the working environment is poor. Without reasonable planning, the mining efficiency is low. Therefore, it is particularly important to carry out technical research and development of mining operation combined with current 5G technology, which plays a crucial role in improving the efficiency and safety of mining operation. The main operation of open-pit mine is "drilling, shoveling and trucking", among which unmanned drilling rig is particularly important. The automatic loading and unloading of drill pipe for drilling rig is one of the core functions of unmanned drilling rig. In the process of manual operation of drilling rig, due to the volume and weight of drill pipe, a large amount of manpower is consumed for loading and unloading drill pipe. Therefore, the present application solves the problem of requiring a large amount of manual participation in the loading and unloading of drill pipe through a method for automatic loading and unloading of drill pipe for drilling rig.

[0053] In the present application, a method for automatic loading and unloading of drill pipe for drilling rig is provided. The present application also relates to a device for automatic loading and unloading of drill pipe for drilling rig, a computing device, and a computer readable storage medium, which are described in detail one by one in the following embodiments.

[0054] Figure 1 A flow chart of a method for automatic loading and unloading of drill pipe for drilling rig according to an embodiment of the present application is shown, which specifically includes the following steps:

[0055] S1 collecting drill pipe data of a target drill pipe and power head data of a target drilling rig;

[0056] S2 determining power head rotation parameters based on the drill pipe data and the power head data;

[0057] S3 adjusting the pose of the target drill pipe in response to a drill pipe loading and unloading instruction, and controlling the rotation of the power head of the target drilling rig according to the power head rotation parameters to complete the loading and unloading of the target drill pipe.

[0058] The drill pipe data of the target drill pipe and the kelly data of the target drilling machine are collected, and the model parameters of the target drill pipe and the kelly are input through a preset information input port, and the relevant parameters of the target drill pipe and the kelly of the target drilling machine are collected by combining the preset sensor.

[0059] Therefore, if the drill pipe data of the target drilling machine and the kelly data of the target drilling machine are collected by using a sensor, for example, the visual sensor, the image frame data of the target drill pipe and the target drilling machine are collected by using the visual sensor, and then the target drill pipe and the kelly in the image frame data are identified by using an image processing technology. Based on the identification result, the position information of the target drill pipe, the thread starting point of the upper end and the lower end, and the position of the kelly and the thread starting point of the sleeve are determined. According to the relevant parameters collected by the sensor, the rotation direction and the rotation number of the kelly are determined. When the drill pipe loading and unloading instruction is received, the pose of the target drill pipe is adjusted, and then the kelly is controlled to rotate by using the kelly rotation parameter, so as to realize the loading and unloading of the target drill pipe.

[0060] It should be noted that the drill pipe data and the kelly data are collected by using a sensor, and the type of the sensor is not fixed. For example, the sensor can be realized by using an electromagnetic sensor and a preset magnetic element, a sound sensor and a preset sound emitting element, and the specific type of the sensor is determined by the actual use scene, and the present embodiment is not limited.

[0061] In summary, by collecting the drill pipe data and the kelly data, and determining the kelly rotation parameter by using the collected data, the controllability of the target drill pipe in the automatic loading and unloading process is ensured, the loading and unloading standards are unified by using the relevant parameters, the loss caused by the wear of the kelly and the drill pipe is reduced, the normal operation of the equipment in the unmanned scene is ensured, the automatic loading and unloading of the drill pipe is realized, which is conducive to promoting the development of the mine production to be less manned and intelligent, and the construction of the intelligent mine.

[0062] Further, since the kelly and the drill pipe are connected together by thread connection, and the drill pipe and the drill pipe are connected together by thread connection, when the target drill pipe and the kelly are connected or disassembled, the relevant parameters of the connection position between the target kelly and the target drill pipe are used to determine the kelly rotation parameter. In the present embodiment, the specific implementation is as follows:

[0063] According to the drill pipe data, the top thread start and end point information of the top end of the target drill pipe is determined; according to the kelly data, the sleeve thread starting point information of the kelly is determined; based on the top thread start and end point information and the sleeve thread starting point information, the kelly rotation parameter including the rotation direction and the rotation angle is determined according to the drill pipe loading and unloading instruction.

[0064] In this case, the top of the drill rod is linked with the power head, and the connection between the drill rod and the power head, i.e. the top of the drill rod and the sleeve part of the power head, needs to be considered when the drill rod is assembled or disassembled. The top thread start-stop point information records the start and end positions of the threads on the top of the target drill rod, and the sleeve thread start point information records the start and end positions of the threads inside the sleeve used for connecting the power head and the drill rod.

[0065] Based on this, in the case of connecting the power head and the target drill rod, the start point of the threads inside the sleeve of the power head, the rotation angle required for rotating to the start position of the threads on the top of the target drill rod, and the number of rotations required for rotating from the start position of the threads on the top of the target drill rod to the end position of the threads on the top of the target drill rod can be determined by determining the top thread start-stop point information and the sleeve thread start point information.

[0066] In addition, in the case of disassembling the target drill rod from the power head, the number of rotations required for rotating from the end position of the threads on the top of the target drill rod to the start position of the threads on the top of the target drill rod can be determined by determining the top thread start-stop point information and the sleeve thread start point information.

[0067] In summary, in the case of connection, the required rotation amount of the power head is determined to avoid insufficient rotation of the power head leading to loose connection, and to avoid excessive rotation of the power head leading to damage to the threads between the power head and the drill rod. In the case of disassembly, the required rotation amount of the power head is determined to avoid insufficient rotation of the power head leading to failure to disassemble, and to avoid excessive rotation of the power head leading to idling of the power head, resulting in energy loss. The determination of the rotation parameter of the power head does not require human intervention, and the assembly and disassembly of the drill rod by controlling the rotation of the power head based on the rotation parameter of the power head also does not require human intervention, which is conducive to the realization of unmanned and intelligent mines.

[0068] Further, when the rotation parameter of the power head for connecting or disassembling the target drill rod and the power head is determined, the connection of the target drill rod and the power head is realized in the embodiment as follows:

[0069] In response to the drill rod assembly and disassembly instruction, the target drill rod is moved to the drilling area of the target drilling machine; the target drill rod is locked, and the power head is lowered to a preset docking position; the rotation of the power head is controlled according to the rotation parameter of the power head until the connection of the power head and the target drill rod is completed, and the target drill rod is released.

[0070] The drilling area, located below the power head, is the drilling position of the target drilling rig. Locking the target drill rod can be achieved in various ways, such as using a locking pin controlled by a cylinder or hydraulic cylinder, or by using a threaded fixing rod driven by a motor to connect to a threaded hole on the target drill rod, or... Figure 2 A schematic diagram of the upper locking device for an automatic drilling rod loading and unloading method for drilling rigs is provided. Figure 2 The top view of the locking device is shown in the middle. It is connected to the power head. The locking of the drill rod can be achieved by supplying air to the cylinder 1 through the air supply pipe 4. The cylinder 1 pushes the chuck 3, and the chuck 3 extends into the groove of the target drill rod 2 to lock the target drill rod.

[0071] It should be noted that the locking method for the target drill pipe is not fixed, and the specific locking method is determined by the actual use scenario. This embodiment does not limit it.

[0072] Based on this, according to the received drill pipe loading and unloading instructions, the current drilling rig task is determined to be the connection and connection of the target drill pipe and the power head. The target drill pipe is moved from the drill pipe magazine to the drilling area using a clamping device, and locked using a locking device. The power head descends to the preset docking position. According to the rotation angle and direction provided by the power head rotation parameters, the power head performs its first rotation, aligning the starting point of the internal thread of the power head sleeve with the starting point of the top thread of the target drill pipe. Then, according to the number of rotations and rotation angle provided by the power head rotation parameters, the power head performs its second rotation, rotating the starting point of the internal thread of the power head sleeve to the ending point of the top thread of the target drill pipe. It should be noted that the directions of the first and second rotations can be the same or different.

[0073] For example, the forward rotation direction of the power head is defined as positive, and the reverse rotation direction as negative. The first rotation requires a forward rotation of 30° to align the starting point of the internal thread of the power head sleeve with the starting point of the thread at the top of the target drill pipe. Then, it rotates 13.6 turns in the reverse direction to complete the rotation from the starting point of the internal thread of the power head sleeve to the ending point of the thread at the top of the target drill pipe.

[0074] In summary, the two-stage rotation process ensures that the power head and the target drill pipe can be aligned before connection. Compared with direct connection without alignment, this avoids excessive friction and damage to the threads during connection. Furthermore, by controlling the rotation parameters of the power head, the connection between the target drill pipe and the power head is completed, enabling the equipment to perform drill pipe loading and unloading tasks in unmanned scenarios.

[0075] Furthermore, once the rotation parameters of the power head are determined when the target drill pipe is connected to or disconnected from the power head, the disconnection of the target drill pipe from the power head is specifically implemented as follows in this embodiment:

[0076] In response to the drill pipe mounting and dismounting instruction, the target drill pipe is locked; the rotation of the power head is controlled according to the power head rotation parameter until the power head is separated from the target drill pipe; the target drill pipe is released, the power head is lifted to a preset parking position, and the target drill pipe is moved away from the drilling area of the target drilling rig to store the target drill pipe.

[0077] In the scenario of dismounting the target drill pipe from the power head, the locking of the target drill pipe is the same as the locking process in the scenario of splicing the target drill pipe with the power head, and the embodiment will not be described again.

[0078] Therefore, according to the received drill pipe mounting and dismounting instruction, it is determined that the current drilling task is to automatically dismount the target drill pipe from the power head. The power head sleeve internal thread starting point is rotated from the end point position of the top thread of the target drill pipe to the starting point position of the top thread of the target drill pipe through the power head rotation parameter, so as to separate the power head from the target drill pipe, release the locking of the target drill pipe, lift the power head, and move the target drill pipe from the drilling area to the drill pipe storage through the clamping device.

[0079] In summary, the power head rotation parameter provides a specific value for the rotation amount of the power head, avoids the situation that the power head cannot be rotated to the right position and cannot complete the dismounting task, and also avoids the energy loss caused by the excessive rotation of the power head. In addition, through the use of the locking device, the unmanned drill pipe mounting and dismounting is realized, which is conducive to the promotion of intelligent mines.

[0080] Further, when the target drill pipe is not directly connected with the power head but is connected with the adapter drill pipe, the determination of the power head rotation parameter in the process of splicing and dismounting between the target drill pipe and the adapter drill pipe is as follows in the embodiment:

[0081] According to the drill pipe data, the top thread start and end point information of the top end of the target drill pipe is determined; the adapter drill pipe thread start and end point information of the bottom end of the adapter drill pipe is collected; based on the top thread start and end point information and the adapter drill pipe thread start and end point information, the power head rotation parameter is determined according to the drill pipe mounting and dismounting instruction.

[0082] The adapter drill pipe thread start and end point information includes the positions of the thread starting point and the thread end point of the bottom end thread of the adapter drill pipe. The way of collecting the thread start and end point of the bottom end thread of the adapter drill pipe is similar to the way of collecting the drill pipe data of the target drill pipe and the power head data of the target drilling rig, that is, the relevant data is input through the setting port, and the sensor is used for collection, or only the sensor is used for collection, and the embodiment will not be described again.

[0083] Based on this, since the power head is directly connected with the adapter drill pipe, the rotation of the power head will drive the rotation of the adapter drill pipe. By collecting the start and end point information of the adapter drill pipe thread at the bottom end of the adapter drill pipe, and combining the start and end point information of the top end thread of the target drill pipe, the rotation direction and rotation amount of the power head are determined.

[0084] Specifically, in the splicing process of the target drill pipe and the adapter drill pipe, the rotation parameters of the power head are also divided into two parts. The first part is the alignment of the start point of the bottom end thread of the adapter drill pipe and the start point of the top end thread of the target drill pipe. The second part is the rotation of the start point of the bottom end thread of the adapter drill pipe from the start point position of the top end thread of the target drill pipe to the end point position of the top end thread of the target drill pipe.

[0085] In the disassembly process of the target drill pipe and the adapter drill pipe, the rotation parameters of the power head control the rotation of the power head to drive the rotation of the adapter drill pipe, so as to realize the rotation of the start point of the bottom end thread of the adapter drill pipe from the end point position of the top end thread of the target drill pipe to the start point position of the top end thread of the target drill pipe, and realize the automatic splicing and disassembly of the target drill pipe and the adapter drill pipe.

[0086] Further, after determining the rotation parameters of the power head, the splicing process of the target drill pipe and the adapter drill pipe is as follows in this embodiment:

[0087] In response to the drill pipe assembly and disassembly instruction, the target drill pipe is locked, the power head is lowered to a preset docking position, the rotation of the power head is controlled according to the rotation parameters of the power head until the splicing of the target drill pipe and the adapter drill pipe is completed, and the target drill pipe is released.

[0088] The locking method of the target drill pipe can adopt various different methods, such as a lock pin controlled by a cylinder or the like to lock the target drill pipe, or a threaded fixing rod driven by a motor to connect with a threaded hole on the target drill pipe to lock the target drill pipe, or as shown in a lower locking device schematic view of a drill pipe automatic assembly and disassembly method provided by the application. Figure 3 Since the target drill pipe is not connected with the power head, and the upper clamping piece of the locking device is connected with the power head, other clamping pieces are needed to lock the target drill pipe, so Figure 3 The clamping pieces of the lower locking device in the application are connected with the subject frame of the drilling machine, as shown in a lower locking device schematic view of a drill pipe automatic assembly and disassembly method provided by the application. Figure 3 As shown in a lower locking device schematic view of a drill pipe automatic assembly and disassembly method provided by the application, there is a through hole 7 in the bottom plate 8, the target drill pipe passes through the through hole 7, and the oil cylinder 6 drives the clamping plate 5 to lock the target drill pipe in the through hole 7.

[0089] It should be noted that the locking method of the target drill pipe is not fixed, and the specific locking method is determined by the actual use scene, and the embodiment is not limited.

[0090] Based on this, according to the received drill rod loading and unloading instruction, it is determined that the current drilling task is to connect the target drill rod with the adapter drill rod. The connection process here is similar to the connection process between the target drill rod and the power head described above, except that the sleeve thread of the power head is connected with the top thread of the target drill rod, which is replaced by the bottom thread of the adapter drill rod connected with the top thread of the target drill rod. This embodiment will not be described again.

[0091] Further, after determining the power head rotation parameter, the process of disassembling the target drill rod from the adapter drill rod is as follows in this embodiment:

[0092] In response to the drill rod loading and unloading instruction, the target drill rod is locked; the power head is controlled to rotate according to the power head rotation parameter until the target drill rod is separated from the adapter drill rod, the target drill rod is released, and the power head is lifted to a preset transfer position.

[0093] Wherein, according to the received drill rod loading and unloading instruction, it is determined that the current drilling task is to disassemble the target drill rod from the adapter drill rod. The disassembly process here is similar to the process of disassembling the target drill rod from the power head described above, except that the top thread of the target drill rod is disconnected from the sleeve thread of the power head, which is replaced by the top thread of the target drill rod disconnected from the bottom thread of the adapter drill rod. This embodiment will not be described again.

[0094] In summary, by controlling the rotation of the power head through the power head rotation parameter, the rotation of the adapter drill rod is driven by the rotation of the power head, which realizes the automatic connection and disconnection of the target drill rod and the adapter drill rod. Combined with the automatic connection and disconnection between the power head and the target drill rod described above, all the loading and unloading requirements for the drill rod in the drilling scene are covered, which meets the demand for unmanned automatic loading and unloading of the drill rod in the drilling scene, and helps to promote and realize intelligent mine.

[0095] Corresponding to the method embodiment described above, the present application also provides a drill rod automatic loading and unloading device embodiment, Figure 4 Fig. 1 shows a structural schematic diagram of a drill rod automatic loading and unloading device provided by an embodiment of the present application. As shown in Figure 4 The device comprises:

[0096] The acquisition module 402 is configured to acquire drill rod data of the target drill rod and power head data of the target drilling machine;

[0097] The parameter determination module 404 is configured to determine the power head rotation parameter based on the drill rod data and the power head data;

[0098] The response module 406 is configured to adjust the pose of the target drill rod in response to the drill rod loading and unloading instruction, and control the rotation of the power head of the target drilling machine according to the power head rotation parameter to complete the loading and unloading of the target drill rod.

[0099] In an optional embodiment, when the target drill rod is connected or disconnected with the power head, the parameter determination module 404 is further configured to:

[0100] According to the drill rod data, the top end thread start-stop point information of the top end of the target drill rod is determined; according to the power head data, the sleeve thread start point information of the power head is determined; based on the top end thread start-stop point information and the sleeve thread start point information, the power head rotation parameter including the rotation direction and the rotation angle is determined according to the drill rod connection and disconnection instruction.

[0101] In an optional embodiment, when the target drill rod is connected with the power head, the response module 406 is further configured to:

[0102] In response to the drill rod connection and disconnection instruction, the target drill rod is moved to the drilling area of the target drilling machine; the target drill rod is locked, and the power head is lowered to a preset docking position; the rotation of the power head is controlled according to the power head rotation parameter until the connection of the power head and the target drill rod is completed, and the target drill rod is released.

[0103] In an optional embodiment, when the target drill rod is disconnected from the power head, the response module 406 is further configured to:

[0104] In response to the drill rod connection and disconnection instruction, the target drill rod is locked; the rotation of the power head is controlled according to the power head rotation parameter until the power head is separated from the target drill rod; the target drill rod is released, the power head is lifted to a preset parking position, and the target drill rod is moved away from the drilling area of the target drilling machine, and the target drill rod is put into the warehouse.

[0105] In an optional embodiment, when the target drill rod is connected or disconnected with the connection drill rod mounted on the power head, the parameter determination module 404 is further configured to:

[0106] According to the drill rod data, the top end thread start-stop point information of the top end of the target drill rod is determined; the connection drill rod thread start-stop point information of the bottom end of the connection drill rod is collected; based on the top end thread start-stop point information and the connection drill rod thread start-stop point information, the power head rotation parameter is determined according to the drill rod connection and disconnection instruction.

[0107] In an optional embodiment, when the target drill rod is connected with the connection drill rod mounted on the power head, the response module 406 is further configured to:

[0108] locking the target drill pipe in response to the drill pipe mounting instruction; lowering the power head to a preset docking position; controlling the power head to rotate according to the power head rotation parameter until the target drill pipe is mounted on the adapter drill pipe, and releasing the target drill pipe.

[0109] In an optional embodiment, when the target drill pipe is detached from the adapter drill pipe mounted on the power head, the response module 406 is further configured to:

[0110] locking the target drill pipe in response to the drill pipe mounting instruction; controlling the power head to rotate according to the power head rotation parameter until the target drill pipe is detached from the adapter drill pipe, releasing the target drill pipe, and lifting the power head to a preset transfer position.

[0111] The drill pipe automatic mounting and detaching device provided by the present application comprises a collection module 402 configured to collect drill pipe data of a target drill pipe and power head data of a target drilling machine; a parameter determination module 404 configured to determine a power head rotation parameter based on the drill pipe data and the power head data; and a response module 406 configured to adjust a pose of the target drill pipe in response to a drill pipe mounting and detaching instruction, and control the power head of the target drilling machine to rotate according to the power head rotation parameter to complete mounting and detaching of the target drill pipe, thereby ensuring controllability of the target drill pipe during automatic mounting and detaching, realizing uniformity of mounting and detaching standards through relevant parameters, reducing losses caused by wear of the power head and the drill pipe, and ensuring normal operation of the equipment in a unmanned scene, realizing automatic mounting and detaching of the drill pipe, and being conducive to promoting development of mine production towards less people and intelligence, and construction of intelligent mines.

[0112] The above is a schematic scheme of the drill pipe automatic mounting and detaching device of the present embodiment. It should be noted that the technical scheme of the drill pipe automatic mounting and detaching device belongs to the same concept as the technical scheme of the drill pipe automatic mounting and detaching method described above, and the technical scheme of the drill pipe automatic mounting and detaching device is not described in detail, and the description of the technical scheme of the drill pipe automatic mounting and detaching method can be referred to. In addition, each component in the device embodiment should be understood as a function module that must be established to realize each step of the program flow or each step of the method. Each function module is not a practical function segmentation or separation limitation. The device claim defined by such a group of function modules should be understood as a function module architecture for realizing the solution of the computer program mainly by the description of the specification, and should not be understood as an entity device for realizing the solution mainly by hardware.

[0113] Figure 5A structural block diagram of a computing device 500 is shown according to an embodiment of the present application. The components of the computing device 500 include, but are not limited to, a memory 510 and a processor 520. The processor 520 is connected with the memory 510 through a bus 530, and a database 550 is used to save data.

[0114] The computing device 500 further includes an access device 540, which enables the computing device 500 to communicate via one or more networks 560. Examples of these networks include the public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 540 can include one or more of any type of network interface (e.g., network interface card (NIC)) such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like, either wired or wireless.

[0115] In an embodiment of the present application, the above-mentioned components of the computing device 500 and other components not shown in the figure can be connected with each other, for example, through a bus. It should be understood that, Figure 5 the computing device structure block diagram shown is only for the purpose of example, and is not a limitation on the scope of the present application. Other components can be added or replaced as needed by those skilled in the art. Figure 5

[0116] The computing device 500 can be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smartphone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. The computing device 500 can also be a mobile or stationary server.

[0117] The processor 520 is configured to execute computer-executable instructions, including:

[0118] S1, drill pipe data of a target drill pipe and power head data of a target drilling rig are collected;

[0119] S2, a power head rotation parameter is determined based on the drill pipe data and the power head data;

[0120] S3, in response to a drill pipe loading and unloading instruction, the pose of the target drill pipe is adjusted, and the power head of the target drilling rig is controlled to rotate according to the power head rotation parameter, to complete the loading and unloading of the target drill pipe. ​

[0121] The above is a schematic scheme of the computing device of the embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the drilling rig drill rod automatic loading and unloading method described above belong to the same concept, and the details of the technical scheme of the computing device which are not described in detail can be seen from the description of the technical scheme of the drilling rig drill rod automatic loading and unloading method described above.

[0122] An embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and the instructions are executed by a processor to:

[0123] S1 collects drill rod data of a target drill rod and power head data of a target drilling rig;

[0124] S2 determines a power head rotation parameter based on the drill rod data and the power head data;

[0125] S3 adjusts a pose of the target drill rod in response to a drill rod loading and unloading instruction, and controls a power head rotation of the target drilling rig according to the power head rotation parameter, to complete loading and unloading of the target drill rod.

[0126] The above is a schematic scheme of the computer readable storage medium of the embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the drilling rig drill rod automatic loading and unloading method described above belong to the same concept, and the details of the technical scheme of the storage medium which are not described in detail can be seen from the description of the technical scheme of the drilling rig drill rod automatic loading and unloading method described above.

[0127] An embodiment of the present application further provides a chip, which stores a computer program, and the computer program is executed by the chip to implement the steps of the drilling rig drill rod automatic loading and unloading method.

[0128] The specific embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0129] The computer readable medium can include any entity or apparatus capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, software distribution medium, etc.

[0130] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0131] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0132] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The alternative embodiments do not describe all the details and limit the application to the specific embodiments described. Obviously, according to the content of the present application, many modifications and changes can be made. The present application selects and describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and use the present application. The present application is limited by the claims and their entire scope and equivalents.

Claims

1. A method of automatic handling of a drill pipe of a drilling rig, characterized in that, Comprising: S1collect the drill pipe data of the target drill pipe, and the kelly data of the target drilling machine; S2based on the drill pipe data and the kelly data, determine the kelly rotation parameter, specifically, when the target drill pipe is connected or disassembled with the kelly, according to the drill pipe data, determine the top end thread start-stop point information of the top end of the target drill pipe, according to the kelly data, determine the sleeve thread start point information of the kelly, based on the top end thread start-stop point information and the sleeve thread start point information, according to the drill pipe assembly and disassembly instruction, determine the kelly rotation parameter containing the rotation direction and the rotation angle; when the target drill pipe is connected or disassembled with the connection drill pipe mounted on the kelly, according to the drill pipe data, determine the top end thread start-stop point information of the top end of the target drill pipe, collect the connection drill pipe thread start-stop point information of the bottom end of the connection drill pipe, based on the top end thread start-stop point information and the connection drill pipe thread start-stop point information, according to the drill pipe assembly and disassembly instruction, determine the kelly rotation parameter; S3in response to the drill pipe assembly and disassembly instruction, adjust the pose of the target drill pipe, and control the rotation of the kelly of the target drilling machine according to the kelly rotation parameter, complete the assembly and disassembly of the target drill pipe, wherein if the current drilling task is the connection of the target drill pipe and the kelly, according to the rotation angle and the rotation direction provided by the kelly rotation parameter, the kelly is rotated for the first time, so that the internal thread start point of the kelly sleeve is aligned with the start point of the top thread of the target drill pipe, and then according to the rotation number and the rotation angle provided by the kelly rotation parameter, the kelly is rotated for the second time, so that the internal thread start point of the kelly sleeve is rotated to the end point position of the top thread of the target drill pipe; if the current drilling task is the disassembly of the target drill pipe from the kelly, the internal thread start point of the kelly sleeve is controlled to rotate from the end point position of the top thread of the target drill pipe to the start point position of the top thread of the target drill pipe through the kelly rotation parameter; if the current drilling task is the connection of the target drill pipe and the connection drill pipe, the kelly rotation parameter is also divided into two parts, the first part is the alignment of the bottom end thread start point of the connection drill pipe and the top end thread start point of the target drill pipe, and the second part is the rotation of the bottom end thread start point of the connection drill pipe from the top end thread start point position of the target drill pipe to the top end thread end point position of the target drill pipe; if the current drilling task is the disassembly of the target drill pipe and the connection drill pipe, the kelly rotation parameter controls the rotation of the kelly, drives the rotation of the connection drill pipe, and realizes the rotation of the bottom end thread start point of the connection drill pipe from the top end thread end point position of the target drill pipe to the top end thread start point position of the target drill pipe.

2. The method of claim 1, wherein, When the target drill pipe is connected with the kelly, the step S3 comprises: in response to the drill pipe assembly and disassembly instruction, move the target drill pipe to the drilling area of the target drilling machine; lock the target drill pipe, and lower the kelly to a preset docking position; control the rotation of the kelly according to the kelly rotation parameter, until the connection of the kelly and the target drill pipe is completed, and the target drill pipe is released.

3. The method of claim 1, wherein, When the target drill pipe is disassembled from the kelly, the step S3 comprises: in response to the drill pipe assembly and disassembly instruction, lock the target drill pipe; controlling rotation of the power head according to the power head rotation parameter until the power head is separated from the target drill rod; releasing the target drill rod, lifting the power head to a preset parking position, and moving the target drill rod away from a drilling area of the target drilling rig to store the target drill rod.

4. The method of claim 1, wherein, When the target drill rod is connected to the adapter drill rod mounted on the power head, the step S3 includes: locking the target drill rod in response to the drill rod connection / disconnection instruction; lowering the power head to a preset connection position; controlling rotation of the power head according to the power head rotation parameter until the target drill rod is connected to the adapter drill rod and the target drill rod is released.

5. The method of claim 1, wherein, When the target drill rod is disconnected from the adapter drill rod mounted on the power head, the step S3 includes: locking the target drill rod in response to the drill rod connection / disconnection instruction; controlling rotation of the power head according to the power head rotation parameter until the target drill rod is separated from the adapter drill rod, the target drill rod is released, and the power head is lifted to a preset transfer position.

6. A rig pipe handler, characterized by, comprising: a collection module configured to collect drill rod data of a target drill rod and power head data of a target drilling rig; a parameter determination module configured to determine a power head rotation parameter based on the drill rod data and the power head data, specifically, when the target drill rod is connected to or disconnected from the power head, determining top end thread start / end point information of a top end of the target drill rod according to the drill rod data, determining sleeve thread start point information of the power head according to the power head data, and determining the power head rotation parameter including a rotation direction and a rotation angle based on the top end thread start / end point information and the sleeve thread start point information according to a drill rod connection / disconnection instruction; when the target drill rod is connected to or disconnected from the adapter drill rod mounted on the power head, determining top end thread start / end point information of a top end of the target drill rod according to the drill rod data, collecting adapter drill rod thread start / end point information of a bottom end of the adapter drill rod, and determining a power head rotation parameter based on the top end thread start / end point information and the adapter drill rod thread start / end point information according to the drill rod connection / disconnection instruction; The response module is configured to adjust the pose of the target drill rod in response to the drill rod make-up and break-out instruction, and control the rotation of the kelly bushing of the target drilling rig according to the kelly bushing rotation parameter, so as to complete the make-up and break-out of the target drill rod.

7. A computing device, comprising: comprises: a memory and a processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to realize the steps of the drill rod automatic make-up and break-out method in any one of claims 1 to 5.

8. A computer-readable storage medium storing computer instructions, wherein, The instructions are executed by the processor to realize the steps of the drill rod automatic make-up and break-out method in any one of claims 1 to 5.

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