A machine-locked drill rod control method, monitoring simulation system and engineering machinery

Abstract

The present invention discloses a machine-locked drill rod control method, a monitoring simulation system and engineering machinery, and relates to the technical field of machine-locked drill rods. The machine-locked drill rod control method includes: obtaining the first tension information Gz carried by the main winch and the second tension information Gd carried by the power head winch, and obtaining the number of telescopic sections of the drill rod and the weight of each telescopic section according to the model information of the drill rod; obtaining the number of extended sections of the drill rod according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod, and the weight of each telescopic section; when the first tension information Gz is equal to the first standard tension corresponding to the above-mentioned number of extended sections and the second tension information Gd is equal to the second standard tension corresponding to the above-mentioned number of extended sections, the drill rod is in a state without a rod; if they cannot be established at the same time, the drill rod is in a state with a rod. The machine-locked drill rod control method of the present invention can judge whether the drill rod is with a rod to avoid the occurrence of a situation with a rod.

Description

Technical Field

[0001] The present invention relates to the technical field of machine-locked drill rods, and more specifically, to a machine-locked drill rod control method. In addition, the present invention also relates to a monitoring simulation system for implementing the machine-locked drill rod control method and an engineering machine including the monitoring simulation system. Background Art

[0002] In the prior art, when a machine-locked telescopic drill rod is used, the underground portion of the drill rod is an invisible portion, and the unlocking status of the related pressurizing platform connection cannot be visually observed. When the drill rod is lifted up and recovered, a corresponding unlocking operation is required, which is difficult for operators, especially inexperienced operators, and is prone to rod-carrying accidents, damage to equipment, and even casualties, resulting in huge economic and property losses for customers.

[0003] In summary, how to provide a control method that can conveniently observe the drill rod carrying condition is a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a machine-locked drill rod control method, which can determine whether the drill rod is in a rod-carrying state, facilitate observation of the drill rod-carrying state, and avoid rod-carrying accidents.

[0005] Another object of the present invention is to provide a monitoring simulation system for implementing the above-mentioned machine-locked drill rod control method and an engineering machinery including the above-mentioned monitoring simulation system.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A method for controlling a machine-locked drill rod is applied to a machine-locked drill rod device, wherein the machine-locked drill rod device comprises a mast, a drill rod, a main winch for driving the drill rod to be raised or lowered, a power head, a power head winch for driving the power head to be raised or lowered, a first force sensor, and a second force sensor; the first force sensor is used to obtain first tension information Gz of the main winch, and the second force sensor is used to obtain second tension information Gd of the power head winch;

[0008] The machine-locked drill rod control method comprises:

[0009] Obtaining first tension information Gz carried by the main winch and second tension information Gd carried by the power head winch;

[0010] Obtaining the number of telescopic joints of the drill rod and the weight of each telescopic joint according to the model information of the drill rod;

[0011] Obtaining the number of extension sections of the drill rod according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod, and the weight of each telescopic section;

[0012] Determine whether the first tension information Gz is equal to the first total mass of all telescopic joints in the drill rod that are not extended, and the second tension information Gd is equal to the second total mass of all telescopic joints in the drill rod that are extended. If so, the drill rod is in a state without a rod; if not, the drill rod is in a state with a rod.

[0013] Optionally, the number of telescopic sections of the drill pipe is defined as N, where N is a positive integer greater than or equal to 2; the total weight of the drill pipe is Gn, and the weights of the telescopic sections are G1, G2, G3, ..., GN in sequence;

[0014] The method of obtaining the number of extension sections of the drill rod according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod, and the weight of each telescopic section includes:

[0015] Determine whether the first tension information Gz is equal to the total weight of the drill rod. If so, the telescopic joints of the drill rod are not extended. If not, proceed to the next step.

[0016] The total weight of the first M expansion joints is defined as Gm, where M is a positive integer greater than or equal to 2;

[0017] Determine whether the second tension information Gd is less than or equal to Gm and greater than the difference between the total weight of the first M telescopic joints Gm and the weight GM of the Mth telescopic joint, and whether the first tension information Gz is greater than or equal to the total weight of the drill rod Gn and the total weight Gm of the first M telescopic joints are simultaneously established. If so, the number of extended sections of the drill rod is M.

[0018] Optionally, the machine-locked drill rod device further includes a first distance measuring sensor and a second distance measuring sensor; the first distance measuring sensor is used to obtain a first distance L1 between the lowermost end of the power head and the lowermost end of the mast, and the second distance measuring sensor is used to obtain a second distance L2 between the lowermost end of the drill rod and the lowermost end of the mast; when the lowermost end of the power head is located on the upper side of the lowermost end of the mast, the first distance L1 is a positive value; when the lowermost end of the drill rod is located on the lower side of the lowermost end of the mast, the second distance L2 is a positive value, and when the lowermost end of the drill rod is located on the upper side of the lowermost end of the mast, the second distance L2 is a negative value;

[0019] If yes in the above steps, after the extension number of the drill rod is M, the machine-locked drill rod control method further includes:

[0020] According to the model information of the drill rod, the number of telescopic sections of the drill rod, the length of each telescopic section, and the distance information of each pressurizing platform in each telescopic section from the uppermost pressurizing platform of the telescopic section in which it is located are obtained;

[0021] Obtain the number of extended sections M of the drill pipe, and calculate the length difference information between the total length information of all extended expansion sections and the length information of the most recently extended expansion section;

[0022] Calculate total distance information of the first distance L1 and the second distance L2;

[0023] The length difference information is added to the distance information of all the pressurizing platforms in the telescopic section that is most recently extended, respectively; and the third distance information L3 of each pressurizing platform in the telescopic section that is most recently extended from the lowest end of the drill pipe is obtained;

[0024] The number of pressurizing platforms in the telescopic section that is most recently extended is defined as P, where P is a positive integer greater than or equal to 1, and the third distance information L3 of each pressurizing platform in the telescopic section that is most recently extended from the lowest end of the drill pipe is, in descending order, L31, L32, ..., L3P;

[0025] Determine whether the total distance information is equal to any one of the third distance information L3. If so, the power head is located at the pressurizing platform corresponding to the one where the third distance information L3 and the total distance information are equal; if not, proceed to the next step;

[0026] Determine whether the total distance information is between any two distances L3F and L3F+1 arranged in order from small to large in the third distance information L3, L3F and L3F+1 are two adjacent distances in the third distance information L3, and if so, the power head is located between the pressurizing platform corresponding to L3F and the pressurizing platform corresponding to L3F+1;

[0027] Calculate the fourth distance L4 of the pressurizing table corresponding to the power head distance L3F, and the fourth distance L4 is the difference between the total distance information and L3F; calculate the fifth distance L5 of the pressurizing table corresponding to the power head distance L3F+1, and the fifth distance L5 is the difference between the total distance information and L3F+1.

[0028] Optionally, the lengths of the telescopic joints are: Lz1, Lz2, Lz3, ..., LzN;

[0029] The machine-locked drill rod control method further comprises:

[0030] Calculate total distance information of the first distance L1 and the second distance L2;

[0031] Calculating the total length information of all telescopic joints in the extended state and the length difference information between the total length information and the length information of the telescopic joint most recently extended;

[0032] According to the total distance information being greater than the length difference information between the total length information and the length information of the telescopic section most recently extended, and the total distance information being less than the total length information of all telescopic sections in an extended state, the number of extended sections of the drill pipe is obtained;

[0033] It is determined whether the second tension information Gd is equal to the second total mass of all telescopic joints in the extended state of the drill rod, and whether the first tension information Gz is equal to the first total mass of all telescopic joints in the unextended state of the drill rod are both not true. If so, the drill rod is in a state with a rod; if not, the drill rod is in a state without a rod.

[0034] A monitoring simulation system, used to implement any of the above-mentioned machine-locked drill rod control methods, the monitoring simulation system comprising:

[0035] A first force measuring detection unit, used for obtaining first tension information Gz of the main winch;

[0036] The second force measuring detection unit is used to obtain the second tension information Gd of the power head winch;

[0037] A data storage unit, used to store model information of the drill pipe, the number of telescopic sections, the weight of each telescopic section, the length of each telescopic section, and the distance information between each pressurizing platform in each telescopic section and the uppermost pressurizing platform of the telescopic section in which it is located;

[0038] The first controller is used to obtain the number of extended sections of the drill rod according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod, and the weight of each telescopic section; and to determine whether the drill rod is in a rod-carrying state according to the first tension information Gz, the first total mass of all telescopic sections in a non-extended state, the second tension information Gd, and the second total mass of all telescopic sections in an extended state.

[0039] Optionally, it further includes a first display, wherein the first display is provided with a first display mark for displaying that the drill rod is in a state with a rod and a second display mark for displaying that the drill rod is in a state without a rod.

[0040] Optionally, an alarm is also included, and the alarm is used to issue a warning message when the drill rod is in a rod-carrying state.

[0041] Optionally, a second controller is further included, and the second controller is used to calculate the number of extended sections of the drill pipe according to the second tension information Gd, the weight of each telescopic section, and the first tension information Gz.

[0042] Optionally, it also includes:

[0043] A first distance measuring unit, used for obtaining a first distance L1 between the lowermost end of the power head and the lowermost end of the mast;

[0044] A second distance measuring unit, used for obtaining a second distance L2 between the lowermost end of the drill pipe and the lowermost end of the mast;

[0045] The third controller is used to obtain the distance information between the power head and the adjacent pressurizing platform according to the first distance L1, the second distance L2, the number of telescopic sections of the drill pipe, the length of each telescopic section and the distance information between each pressurizing platform in each telescopic section and the uppermost pressurizing platform of the telescopic section in which it is located.

[0046] Optionally, a second display is further included, and the second display is used to display the distance information between the power head and the adjacent pressurizing platform.

[0047] An engineering machine comprises any one of the monitoring simulation systems described above.

[0048] In the process of using the machine-locked drill rod control method provided by the present invention, first, the first tension information Gz carried by the main winch is obtained through the first force sensor, and the second tension information Gd carried by the power head winch is obtained through the second force sensor; the number of telescopic sections of the drill rod and the weight of each telescopic section are obtained according to the model information of the drill rod; the number of extended sections of the drill rod is obtained according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod, and the weight of each telescopic section; it is determined whether the first tension information Gz is equal to the first total mass of all telescopic sections in the drill rod that are not extended, and the second tension information Gd is equal to the second total mass of all telescopic sections in the drill rod that are extended. If so, the drill rod is in a state without a rod, and if not, the drill rod is in a state with a rod.

[0049] During the actual implementation of the machine-locked drill rod control method provided by the present invention, it is possible to judge whether the drill rod is in a state with a rod, timely discover information that the drill rod is in a state with a rod, avoid unlocking operations in the state with a rod, and improve the safety of equipment operation.

[0050] In addition, the present invention also provides a monitoring simulation system for implementing the above-mentioned machine-locked drill rod control method and an engineering machinery including the above-mentioned monitoring simulation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0052] Figure 1 A schematic structural diagram of a specific embodiment of the machine-locking drill rod device provided by the present invention;

[0053] Figure 2 A schematic diagram of the structure of a specific embodiment 1 of the monitoring simulation system provided by the present invention;

[0054] Figure 3 A structural schematic diagram of a specific embodiment 1 of the machine-locked drill rod control method provided by the present invention;

[0055] Figure 4 This is a structural schematic diagram of a specific embodiment 2 of the machine-locked drill rod control method provided by the present invention.

[0056] Figure 1-Figure 4 middle:

[0057] 1-first force sensor, 2-second force sensor, 3-mast, 4-drill rod, 5-main winch, 6-power head, 7-first distance measuring sensor, 8-second distance measuring sensor, 9-general controller, 10-power supply, 11-host computer, 12-first force detection unit, 13-second force detection unit, 14-first distance measuring unit, 15-second distance measuring unit, 16-power head winch. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] The core of the present invention is to provide a method for controlling a machine-locked drill rod, which can facilitate observation of the drill rod-carrying state by judging whether the drill rod is in a state of carrying a rod, and avoid accidents of carrying a rod.

[0060] Another object of the present invention is to provide a monitoring simulation system for implementing the above-mentioned machine-locked drill rod control method and an engineering machinery including the above-mentioned monitoring simulation system.

[0061] In a specific embodiment, the machine-locked drill rod control method is applied to a machine-locked drill rod device, which includes a mast 3, a drill rod 4, a main winch 5 that drives the drill rod 4 up and down, a power head 6, a power head winch 16 that drives the power head 6 up and down, a first force sensor 1, and a second force sensor 2; the first force sensor 1 is used to obtain the first tension information Gz of the main winch 5, and the second force sensor 2 is used to obtain the second tension information Gd of the power head winch 16;

[0062] The machine lock drill rod control methods include:

[0063] Step S1, obtaining the first tension information Gz carried by the main winch 5 and the second tension information Gd carried by the power head winch 16;

[0064] like Figure 1 As shown, the steel wire rope of the main winch 5 is connected to the upper end of the drill rod 4, and is used to drive the drill rod 4 to rise and fall. By obtaining the first tension information Gz carried by the main winch 5, the weight of the drill rod 4 carried by the first main winch 5 can be obtained; when the drill rod 4 is not in contact with the power head 6, the first main winch 5 bears the entire weight of the drill rod 4, and when the drill rod 4 is in contact with the power head 6, the first main winch 5 bears part of the weight of the drill rod 4, and the power head winch 16 bears the other part of the weight of the drill rod 4; the weight of the drill rod 4 carried by the power head winch 16 can be obtained through the second tension information Gd carried by the power head winch 16, and when the drill rod 4 is not in contact with the power head 6, the power head winch 16 does not bear the weight of the drill rod 4.

[0065] Step S2, obtaining the number of telescopic joints of the drill rod 4 and the weight of each telescopic joint according to the model information of the drill rod 4;

[0066] In step S2, the input unit can be set to directly input information such as the number of telescopic sections of the drill rod 4, the weight of each telescopic section, etc., or the number of telescopic sections of the drill rod 4, the weight of each telescopic section, etc. can be stored in the machine-locked drill rod device. The specific information is determined according to actual conditions and will not be elaborated here.

[0067] Step S3, obtaining the number of extension sections of the drill rod 4 according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod 4, and the weight of each telescopic section;

[0068] Step S4, determine whether the first tension information Gz is equal to the first total mass of all telescopic joints in the drill rod 4 that are not extended, and the second tension information Gd is equal to the second total mass of all telescopic joints in the drill rod 4 that are extended are simultaneously established. If so, the drill rod 4 is in a state without a rod; if not, the drill rod 4 is in a state with a rod.

[0069] In actual use, for example, the drill rod 4 has four telescopic joints, namely the first telescopic joint, the second telescopic joint, the third telescopic joint and the fourth telescopic joint. The weight of the first telescopic joint is G1, the weight of the second telescopic joint is G2, the weight of the third telescopic joint is G3, and the weight of the fourth telescopic joint is G4.

[0070] When the drill rod 4 is not in contact with the power head 6, the drill rod 4 has no telescopic joint extended. , .

[0071] When the first telescopic section is in the extended state and in contact with the power head 6, the power head 6 bears the weight of the first telescopic section. , , the drill rod 4 is in the state of no belt rod; if at this time , it means that the weight of the first telescopic section is not completely borne by the power head 6, and the drill rod 4 is in a rod-carrying state.

[0072] When the first telescopic section and the second telescopic section are in the extended state, the power head 6 bears the weight of the first telescopic section and the second telescopic section. , , the drill rod 4 is in the state of no belt rod; if at this time , it means that the weight of the first telescopic section and the second telescopic section is not completely borne by the power head 6, and the drill rod 4 is in a rod-carrying state.

[0073] When the first telescopic section, the second telescopic section, and the third telescopic section are in the extended state, the power head 6 bears the weight of the first telescopic section, the second telescopic section, and the third telescopic section. , , the drill rod 4 is in the state of no belt rod; if at this time , it means that the weight of the first telescopic joint, the second telescopic joint, and the third telescopic joint is not completely borne by the power head 6, and the drill rod 4 is in a rod-carrying state.

[0074] On the basis of the above embodiment, the number of telescopic sections of the drill rod 4 is defined as N, where N is a positive integer greater than or equal to 2; the total weight of the drill rod 4 is Gn, and the weights of the telescopic sections are G1, G2, G3, ... GN in sequence; the above step S2 includes:

[0075] Step S21, determining whether the first tension information Gz is equal to the total weight of the drill rod 4, if so, the telescopic joints of the drill rod 4 are not extended, if not, proceeding to the next step;

[0076] Step S22, defining the total weight of the first M telescopic joints as Gm, where M is a positive integer greater than or equal to 2;

[0077] Step S23, determine whether the second tension information Gd is less than or equal to Gm and greater than the difference between the total weight of the first M telescopic joints Gm and the weight GM of the Mth telescopic joint, and the first tension information Gz is greater than or equal to the total weight of the drill rod 4 Gn and the total weight Gm of the first M telescopic joints are simultaneously established. If so, the number of extended sections of the drill rod 4 is M.

[0078] In the actual implementation process, for example, the drill rod 4 has four telescopic joints, namely the first telescopic joint, the second telescopic joint, the third telescopic joint and the fourth telescopic joint, the weight of the first telescopic joint is G1, the weight of the second telescopic joint is G2, the weight of the third telescopic joint is G3, and the weight of the fourth telescopic joint is G4; when If , it means that all telescopic joints of the drill pipe 4 have not been extended; if If it is not true, it means that at least one telescopic joint of the drill rod 4 is in an extended state. At this time, it can be judged by the relationship between the second tension information Gd and the total weight of the first M telescopic joints Gm, and the relationship between the first tension information Gz and the total weight of the drill rod 4 Gn and the difference between the total weight of the first M telescopic joints Gm. For example, when M=2, the second tension information Gd is less than or equal to the sum of G1 and G2 and greater than G1; the first tension information Gz is greater than or equal to the sum of G3 and G4. When both are true, the number of extended joints of the drill rod 4 is 2.

[0079] In a specific embodiment, the machine-locked drill rod device further includes a first distance sensor 7 and a second distance sensor 8; the first distance sensor 7 is used to obtain a first distance L1 between the lowermost end of the power head 6 and the lowermost end of the mast 3, and the second distance sensor 8 is used to obtain a second distance L2 between the lowermost end of the drill rod 4 and the lowermost end of the mast 3; when the lowermost end of the power head 6 is located on the upper side of the lowermost end of the mast 3, the first distance L1 is a negative value, and the power head 6 will always be located on the upper side of the lowermost end of the mast 3; when the lowermost end of the drill rod 4 is located on the lower side of the lowermost end of the mast 3, the second distance L2 is a positive value, and when the lowermost end of the drill rod 4 is located on the upper side of the lowermost end of the mast 3, the second distance L2 is a negative value;

[0080] After step S3 in the above steps, the machine lock drill rod control method further includes:

[0081] Step S5, obtaining the number of telescopic sections of the drill rod 4, the length of each telescopic section, and the distance information of each pressurizing platform in each telescopic section from the uppermost pressurizing platform of the telescopic section in which it is located according to the model information of the drill rod 4;

[0082] Step S6, obtaining the number of extended sections M of the drill pipe 4, and calculating the length difference information between the total length information of all extended expansion sections and the length information of the most recently extended expansion section;

[0083] Step S7, calculating the total distance information of the first distance L1 and the second distance L2;

[0084] Step S8, adding the length difference information to the distance information of all the pressurizing platforms in the telescopic section that is most recently extended, and obtaining the third distance information L3 between each pressurizing platform in the telescopic section that is most recently extended and the lowest end of the drill pipe 4;

[0085] Step S9, defining the number of pressurizing platforms in the most recently extended telescopic section as P, where P is a positive integer greater than or equal to 1, and the third distance information L3 of each pressurizing platform in the most recently extended telescopic section from the lowest end of the drill pipe 4 is, from small to large, L31, L32, ..., L3P;

[0086] Step S10, determining whether the total distance information is equal to any one of the third distance information L3, if so, the power head 6 is located at the pressurizing platform corresponding to the one where the third distance information L3 and the total distance information are equal; if not, proceeding to step S11;

[0087] Step S11, determine whether the total distance information is between any two distances L3F and L3F+1 arranged in order from small to large in the third distance information L3, L3F and L3F+1 are two adjacent distances in the third distance information L3. If so, the power head 6 is located between the pressurizing platform corresponding to L3F and the pressurizing platform corresponding to L3F+1, and enters step S12; if not, output an error message.

[0088] Step S12, calculate the fourth distance L4 of the pressurizing platform corresponding to the distance L3F of the power head 6, the fourth distance L4 is the difference between the total distance information and L3F; calculate the fifth distance L5 of the pressurizing platform corresponding to the distance L3F+1 of the power head 6, the fifth distance L5 is the difference between the total distance information and L3F+1.

[0089] In a specific embodiment, the drill rod 4 includes four telescopic joints, namely the first telescopic joint, the second telescopic joint, the third telescopic joint and the fourth telescopic joint. The first telescopic joint is provided with three pressurizing platforms, and the distances between the three pressurizing platforms and the pressurizing platform at the top of the telescopic joint are A1, A2, and A3, respectively. The second telescopic joint is provided with five pressurizing platforms, and the distances between the five pressurizing platforms and the pressurizing platform at the top of the telescopic joint are B1, B2, B3, B4, and B5, respectively. The third telescopic joint is provided with five pressurizing platforms, and the distances between the five pressurizing platforms and the pressurizing platform at the top of the telescopic joint are C1, C2, C3, C4, and C5, respectively. The fourth telescopic joint is provided with five pressurizing platforms, and the distances between the five pressurizing platforms and the pressurizing platform at the top of the telescopic joint are D1, D2, D3, D4, and D5, respectively.

[0090] According to the above steps S21-S23, the number of extended sections M of the drill rod 4 is obtained, and the length difference information of the total length information of all the telescopic sections in the extended state and the length information of the most recently extended telescopic section is calculated; when M is 2, the length difference information of the total length information of all the telescopic sections in the extended state and the length information of the most recently extended telescopic section is the length of the first telescopic section; the total distance information of the first distance L1 plus the second distance L2 is calculated; since the first telescopic section and the second telescopic section are both in the extended state at this time, the power head 6 can clamp any pressurizing platform of the second telescopic section, if at this time , then the power head 6 is located between the fourth and fifth pressurizing platforms of the second telescopic section. and The difference between the power head 6 and the fifth pressurizing platform can be obtained by calculating and The difference between the power head 6 and the fourth pressurizing platform can be obtained. equal When the power head 6 is clamped at a height position that coincides with the fifth pressurizing platform of the second telescopic section, equal At this time, the clamping position of the power head 6 in the height direction coincides with the fourth pressurizing platform of the second telescopic section.

[0091] On the basis of the above embodiment, the number of telescopic sections is N, where N is a positive integer greater than or equal to 2; the lengths of the telescopic sections are defined as: Lz1, Lz2, Lz3, ... LzN in sequence; in the actual implementation of the machine-locked drill rod control method, after step S4, it may also include:

[0092] Step S51, calculating the total distance information of the first distance L1 and the second distance L2;

[0093] Step S52, calculating the total length information of all telescopic joints in the extended state and the length difference information between the total length information and the length information of the telescopic joint most recently extended;

[0094] Step S53, according to the total distance information being greater than the length difference information between the total length information and the length information of the most recently extended telescopic section, and the total distance information being less than the total length information of all telescopic sections in the extended state, the number of extended sections of the drill pipe 4 is obtained;

[0095] In the above step S53, when L1 + L2 < Lz1, it means that neither the second section of the drill pipe 4 has extended. At this time, the weight information Gz = total weight of the drill pipe, and Gd = 0. When Lz1 < L1 + L2 < Lz1 + Lz2, it means that the second section of the drill pipe 4 has extended but the third section has not. At this time, the weight information Gz = total weight of the drill pipe - weight G1 of the first section of the drill pipe, and Gd = weight G1 of the first section of the drill pipe. When Lz1 + Lz2 < L1 + L2 < Lz1 + Lz2 + Lz3, it means that the second and third sections of the drill pipe 4 have extended, but the fourth section has not. At this time, the weight information Gz = total weight of the drill pipe - (weight G1 of the first section of the drill pipe + weight G2 of the second section of the drill pipe), and Gd = weight G1 of the first section of the drill pipe + weight G2 of the second section of the drill pipe.

[0096] Step S54: Determine whether it is not true that the second tensile force information Gd is equal to the total second mass of all the telescopic joints in the extended state of the drill pipe 4 and the first tensile force information Gz is equal to the total first mass of all the telescopic joints in the unextended state of the drill pipe 4. If so, the drill pipe 4 is in the state of carrying the rod; if not, the drill pipe 4 is in the state of not carrying the rod.

[0097] It should be noted that in step S54, as long as one of the conditions that the second tensile force information Gd is equal to the total second mass of all the telescopic joints in the extended state of the drill pipe 4 and the first tensile force information Gz is equal to the total first mass of all the telescopic joints in the unextended state of the drill pipe 4 is satisfied, it can be determined that the drill pipe 4 is in the state of not carrying the rod.

[0098] The steps in this specific embodiment are mainly to further verify the accuracy of the judgment in step S4 and can play a role in mutual verification. In addition, in this specific embodiment, by the relationship between the total distance information obtained by adding the first distance L1 and the second distance L2, the length difference information, and the total length information, the number of extended telescopic joints and their extended states are judged, which can effectively improve the accuracy of the judgment.

[0099] In addition to the above-mentioned machine-locked drill rod control method, this specific embodiment also provides a monitoring simulation system for implementing the above-mentioned machine-locked drill rod control method, the monitoring simulation system includes a first force measurement detection unit 12, a second force measurement detection unit 13, a data storage unit and a first controller, wherein the first force measurement detection unit 12 is used to obtain the first tension information Gz of the main winch 5; the second force measurement detection unit 13 is used to obtain the second tension information Gd of the power head winch 16; the data storage unit is used to store the model information of the drill rod 4, the number of telescopic sections, the weight of each telescopic section, the length of each telescopic section and the distance information of each pressurizing platform in each telescopic section from the topmost pressurizing platform of the telescopic section in which it is located; the first controller is used to obtain the number of extended sections of the drill rod 4 according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod 4, and the weight of each telescopic section; and judge whether the drill rod 4 is in a rod-carrying state according to the first tension information Gz, the first total mass of all telescopic sections in a non-extended state, the second tension information Gd, and the second total mass of all telescopic sections in an extended state.

[0100] Furthermore, a first display may be provided, the first display being provided with a first display mark for displaying that the drill rod 4 is in a state with a rod and a second display mark for displaying that the drill rod 4 is in a state without a rod; specifically, a rod reminder light may be provided, and when the drill rod 4 is in a state with a rod, the rod reminder light may light up, or other display marks may be provided, which may be determined based on actual conditions and will not be elaborated here.

[0101] An alarm may also be provided, and the alarm is used to issue an alarm message when the drill rod 4 is in the rod-carrying state.

[0102] In a specific embodiment, a second controller may be provided, and the second controller is used to calculate the number of extension sections of the drill rod 4 according to the second tension information Gd, the weight of each telescopic section, and the first tension information Gz. For details, please refer to the above-mentioned steps S21 to S23.

[0103] In a specific embodiment, the monitoring simulation system also includes a first ranging unit 14, a second ranging unit 15, and a third controller, wherein the first ranging unit 14 is used to obtain a first distance L1 between the lowermost end of the power head 6 and the lowermost end of the mast 3; the second ranging unit 15 is used to obtain a second distance L2 between the lowermost end of the drill rod 4 and the lowermost end of the mast 3; the third controller is used to obtain the distance information between the power head 6 and the adjacent pressurizing platform based on the first distance L1, the second distance L2, the number of telescopic sections of the drill rod 4, the length of each telescopic section, and the distance information of each pressurizing platform in each telescopic section from the pressurizing platform at the uppermost end of the telescopic section in which it is located.

[0104] Furthermore, the monitoring simulation system also includes a second display, and the second display is used to display the distance information between the power head 6 and the adjacent pressurizing platform.

[0105] It should be noted that the first controller, the second controller, and the third controller mentioned in the present application document may be different parts of the same controller, or may be different controllers with signal transmission between each other. The specific details are determined based on actual conditions and will not be elaborated here.

[0106] like Figure 2 As shown, the monitoring simulation system includes a first force measuring detection unit 12, a second force measuring detection unit 13, a first ranging unit 14, a second ranging unit 15, a main controller 9, a power supply 10 and a host computer 11, wherein the first force measuring detection unit 12 can be set as a first force measuring sensor 1, the second force measuring detection unit 13 can be set as a second force measuring sensor 2, the first ranging unit 14 can be set as a first ranging sensor 7, and the second ranging unit 15 can be set as a second ranging sensor 8.

[0107] In addition to the above-mentioned monitoring simulation system, the present invention also provides an engineering machinery including the monitoring simulation system disclosed in the above-mentioned embodiment. For the structures of other parts of the engineering machinery, please refer to the prior art and will not be described in detail herein.

[0108] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. Any combination of all embodiments provided by the present invention is within the protection scope of this invention and will not be described in detail here.

[0109] The above is a detailed introduction to the machine-locked drill rod control method, monitoring simulation system and engineering machinery provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling a machine-locked drill rod, characterized in that: Applicable to a machine-locked drill rod device, the machine-locked drill rod device comprising a mast (3), a drill rod (4), a main winch (5) for driving the drill rod (4) to be raised or lowered, a power head (6), a power head winch (16) for driving the power head (6) to be raised or lowered, a first force sensor (1) and a second force sensor (2); the first force sensor (1) is used to obtain first tension information Gz of the main winch (5), and the second force sensor (2) is used to obtain second tension information Gd of the power head winch (16); The machine-locked drill rod control method comprises: Obtaining first tension information Gz carried by the main winch (5) and second tension information Gd carried by the power head winch (16); Obtaining the number of telescopic sections of the drill rod (4) and the weight of each telescopic section according to the model information of the drill rod (4); Obtaining the number of extension sections of the drill rod (4) according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod (4), and the weight of each telescopic section; Determining whether the first tension information Gz is equal to the first total weight of all telescopic sections in the drill rod (4) that are not extended, and the second tension information Gd is equal to the second total weight of all telescopic sections in the drill rod (4) that are extended, is simultaneously established; if so, the drill rod (4) is in a state without a rod; if not, the drill rod (4) is in a state with a rod; The number of telescopic sections of the drill rod (4) is defined as N, wherein N is a positive integer greater than or equal to 2; the total weight of the drill rod (4) is Gn, and the weights of the telescopic sections are, in order: G1, G2, G3, ..., GN; The method of obtaining the number of extension sections of the drill rod (4) according to the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod (4), and the weight of each telescopic section comprises: Determining whether the first tension information Gz is equal to the total weight of the drill rod (4); if so, none of the telescopic joints of the drill rod (4) are extended; if not, proceeding to the next step; The total weight of the first M expansion joints is defined as Gm, where M is a positive integer greater than or equal to 2; Determine whether the second tension information Gd is less than or equal to Gm and greater than the difference between the total weight Gm of the first M telescopic joints and the weight GM of the Mth telescopic joint, and whether the first tension information Gz is greater than or equal to the difference between the total weight Gn of the drill rod (4) and the total weight Gm of the first M telescopic joints are simultaneously established; if so, the number of extended sections of the drill rod (4) is M; The machine-locked drill rod device further comprises a first distance measuring sensor (7) and a second distance measuring sensor (8); the first distance measuring sensor (7) is used to obtain a first distance L1 between the lowermost end of the power head (6) and the lowermost end of the mast (3), and the second distance measuring sensor (8) is used to obtain a second distance L2 between the lowermost end of the drill rod (4) and the lowermost end of the mast (3); when the lowermost end of the power head (6) is located above the lowermost end of the mast (3), the first distance L1 is a positive value; when the lowermost end of the drill rod (4) is located below the lowermost end of the mast (3), the second distance L2 is a positive value; and when the lowermost end of the drill rod (4) is located above the lowermost end of the mast (3), the second distance L2 is a negative value; If yes in the above steps, after the extension number of the drill rod (4) is M, the machine-locked drill rod control method further comprises: Obtaining information on the number of telescopic sections of the drill rod (4), the length of each telescopic section, and the distance between each pressurizing platform in each telescopic section and the pressurizing platform at the top of the telescopic section in which it is located, according to the model information of the drill rod (4); Obtaining the number of extended sections M of the drill rod (4), and calculating the length difference information between the total length information of all extended expansion sections and the length information of the most recently extended expansion section; Calculate total distance information of the first distance L1 and the second distance L2; The length difference information is added to the distance information of all the pressurizing platforms in the telescopic section that is most recently extended, respectively, to obtain third distance information L3 between each pressurizing platform in the telescopic section that is most recently extended and the lowest end of the drill rod (4); The number of pressure platforms in the telescopic section that is most recently extended is defined as P, where P is a positive integer greater than or equal to 1, and the third distance information L3 of each pressure platform in the telescopic section that is most recently extended from the lowest end of the drill pipe (4) is, in descending order: L31, L32, ..., L3P; Determine whether the total distance information is equal to any one of the third distance information L3; if so, the power head (6) is located at the pressurizing platform corresponding to the one where the third distance information L3 and the total distance information are equal; if not, proceed to the next step; Determine whether the total distance information is between any two distances L3F and L3F+1 arranged in order from small to large in the third distance information L3, L3F and L3F+1 being two adjacent distances in the third distance information L3; if so, the power head (6) is located between the pressurizing platform corresponding to L3F and the pressurizing platform corresponding to L3F+1; The fourth distance L4 of the pressurizing platform corresponding to the distance L3F of the power head (6) is calculated, and the fourth distance L4 is the difference between the total distance information and L3F; the fifth distance L5 of the pressurizing platform corresponding to the distance L3F+1 of the power head (6) is calculated, and the fifth distance L5 is the difference between the total distance information and L3F+1.

2. The machine-locked drill rod control method according to claim 1, characterized in that: The lengths of the expansion joints are: Lz1, Lz2, Lz3, ... LzN; The machine-locked drill rod control method further comprises: Calculate total distance information of the first distance L1 and the second distance L2; Calculating the total length information of all telescopic joints in the extended state and the length difference information between the total length information and the length information of the telescopic joint most recently extended; According to the total distance information being greater than the length difference information between the total length information and the length information of the most recently extended telescopic section, and the total distance information being less than the total length information of all telescopic sections in an extended state, the number of extended sections of the drill rod (4) is obtained; It is determined whether the second tension information Gd is equal to the second total weight of all telescopic joints in the drill rod (4) in the extended state and whether the first tension information Gz is equal to the first total weight of all telescopic joints in the drill rod (4) in the unextended state are both not true; if so, the drill rod (4) is in the state with the rod; if not, the drill rod (4) is in the state without the rod.

3. A monitoring simulation system, characterized in that: For implementing the machine-locked drill rod control method according to claim 1 or 2, the monitoring simulation system comprises: A first force measuring detection unit (12) for obtaining first tension information Gz of the main winch (5); A second force measuring detection unit (13) is used to obtain second tension information Gd of the power head winch (16); A data storage unit, used to store information on the model of the drill rod (4), the number of telescopic sections, the weight of each telescopic section, the length of each telescopic section, and the distance between each pressurizing platform in each telescopic section and the pressurizing platform at the top of the telescopic section in which it is located; A first controller is used for obtaining the number of extended sections of the drill rod (4) based on the first tension information Gz, the second tension information Gd, the number of telescopic sections of the drill rod (4), and the weight of each telescopic section; and for judging whether the drill rod (4) is in a rod-carrying state based on the first tension information Gz, the first total weight of all telescopic sections in a non-extended state, the second tension information Gd, and the second total weight of all telescopic sections in an extended state.

4. The monitoring simulation system according to claim 3, characterized in that: The monitoring simulation system further comprises a first display, wherein the first display is provided with a first display mark for displaying that the drill rod (4) is in a state with a rod, and a second display mark for displaying that the drill rod (4) is in a state without a rod.

5. The monitoring simulation system according to claim 3, characterized in that: The monitoring simulation system further comprises an alarm device, which is used to issue an alarm message when the drill rod (4) is in a rod-carrying state.

6. The monitoring simulation system according to claim 3, characterized in that: The monitoring simulation system further comprises a second controller, the second controller being used for calculating the number of extension sections of the drill rod (4) according to the second tension information Gd, the weight of each telescopic section, and the first tension information Gz.

7. The monitoring simulation system according to claim 3, characterized in that: The monitoring simulation system also includes: A first distance measuring unit (14) is used to obtain a first distance L1 between the lowermost end of the power head (6) and the lowermost end of the mast (3); A second distance measuring unit (15) is used to obtain a second distance L2 between the lowermost end of the drill rod (4) and the lowermost end of the mast (3); A third controller is used to obtain distance information between the power head (6) and an adjacent pressurizing platform based on the first distance L1, the second distance L2, the number of telescopic sections of the drill rod (4), the length of each telescopic section, and the distance information between each pressurizing platform in each telescopic section and the pressurizing platform at the top of the telescopic section in which it is located.

8. The monitoring simulation system according to claim 7, characterized in that: The monitoring simulation system further comprises a second display, wherein the second display is used to display distance information between the power head (6) and an adjacent pressurizing platform.

9. An engineering machine, characterized in that: A monitoring simulation system comprising any one of claims 3-8.

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