Automatic rod connecting and dismounting control method and system of raise boring machine

Abstract

The invention belongs to the technical field of drilling machine control, and particularly discloses an automatic rod connecting and detaching control method and system for a raise boring machine, and the automatic rod connecting and detaching control method comprises the steps: carrying out the motion decoupling of a rod connecting motion and a rod detaching motion between a butt joint end on the raise boring machine and a drill rod, so as to obtain a first motion parameter; generating a control instruction of the raise boring machine for operating the butt joint end according to the first motion parameter; according to the first motion parameter, influencing the assembly state of the butt joint end and the drill rod, setting a judgment threshold value, and setting operation time; the butt joint end and the drill rod are controlled to execute the rod connecting action or the rod dismounting action through the control instruction, and the control instruction is adjusted within the operation time by judging the threshold value; compared with the prior art, the raise boring machine has the advantages that the operation accuracy and efficiency of the raise boring machine are improved through action decoupling and automatic control, personal errors are reduced, resource utilization is optimized, and the automation level and economic benefits of operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling rig control, and in particular to an automatic connecting and disconnecting rod control method and system for a raise drilling rig. Background Art

[0002] In the construction of the raise drilling rig, one of the essential links is connecting and unloading the rod, which is completed by using the equipment head and the plug plate to fix the drill rod and the manipulator to send and take the rod. Traditional connecting and unloading of rods requires the operator to participate in the whole process of control, and requires rich operating experience to ensure the tightening or complete loosening of the thread, which leads to low automation and high operating costs.

[0003] Therefore, a method and system for automatically connecting and disconnecting rods of a raise boring machine are proposed to solve the above-mentioned problems. Summary of the invention

[0004] The present invention aims to provide a method and system for automatically connecting and disconnecting rods of a raise boring machine, so as to solve or improve at least one of the above-mentioned technical problems.

[0005] In view of this, a first aspect of the present invention is to provide a method for controlling automatic connecting and disconnecting rods of a raise boring machine.

[0006] A second aspect of the present invention is to provide a system.

[0007] A first aspect of the present invention provides a method for automatically controlling rod connection and disconnection of a skydrill, comprising the following steps: decoupling a rod connection action and a rod disconnection action between a butt end and a drill rod on the skydrill, so as to obtain a first motion parameter for characterizing a motion state between the butt end and the drill rod; generating a control instruction for the skydrill to operate the butt end according to the first motion parameter; setting a judgment threshold for adjusting the control instruction according to the first motion parameter affecting the assembly state of the butt end and the drill rod, and setting an operation time for adjusting the control instruction; controlling the butt end and the drill rod to perform a rod connection action or a rod disconnection action through the control instruction, and adjusting the control instruction within the operation time through the judgment threshold.

[0008] In any of the above technical solutions, the step of obtaining the first motion parameter includes: decoupling the rod connecting action and the rod unloading action into circumferential motion and axial motion between the butt end and the drill rod; obtaining the movement speed of the butt end relative to the drill rod and the force applied to the drill rod in the circumferential motion and the axial motion respectively; and taking all movement speeds and forces at the same time as the first motion parameter.

[0009] In any of the above technical solutions, the control instruction for the skydrill to operate the docking end based on the first motion parameter specifically includes: setting the motion state between the drill rod and the skydrill to be stationary; converting the first motion parameter required at the next moment into the second motion parameter between the docking end and the skydrill; and generating the control instruction through the second motion parameter.

[0010] In any of the above technical solutions, the setting and adjustment of the operating time of the control instruction includes: in the rod connecting action, the moment when the force of the circumferential motion is equal to the judgment threshold is taken as the initial moment, and the period of time after the initial moment is taken as the operating time; in the rod unloading action, the moment when the force of the circumferential motion is equal to the judgment threshold is taken as the ending moment, and the time before the ending moment is taken as the operating time.

[0011] In any of the above technical solutions, for the same drill rod, the control instruction is adjusted according to the following rules: the judgment thresholds of the connecting rod action and the unloading rod action are equal; the operation time of the connecting rod action is less than the operation time of the unloading rod action.

[0012] In any of the above technical solutions, when the drill rod is in the connecting rod action, the adjustment step of the control instruction includes: maintaining the movement speed of the circumferential movement and the axial movement, and continuously judging whether the force of the circumferential movement is greater than the judgment threshold; if it is greater, starting the operation time; adjusting the movement speed of the axial movement to zero, and reducing the movement speed of the circumferential movement until the operation time ends.

[0013] In any of the above technical solutions, when the drill rod is in the process of unloading the drill rod, the adjustment step of the control instruction includes: maintaining the movement speed of the circumferential movement and adjusting the movement speed of the axial movement to zero, and starting the operation time; continuously judging whether the force of the circumferential movement is less than the judgment threshold during the operation time; if it is less than, increasing the movement speed of the circumferential movement and the axial movement until the operation time ends.

[0014] In any of the above technical solutions, when the drill rod is in the rod unloading action, the adjustment step of the control instruction also includes: when the force of the circumferential motion is greater than the judgment threshold, continuously judging whether the operation time is over; if it is over, stopping the rod unloading action.

[0015] In any of the above technical solutions, in the same rod connecting action or rod unloading action, the circumferential movement and the axial movement are independent of each other.

[0016] The second aspect of the present invention provides a system, comprising: an action decoupling module, used to decouple the connecting rod and unloading rod actions of the drill rod action into a first motion parameter; an instruction generation module, used to generate the control instruction according to the first motion parameter; a threshold time setting module, used to set and adjust the judgment threshold and the operation time of the control instruction; an instruction execution module, used to receive and execute control instructions, and adjust the control instruction according to the judgment threshold at the operation time.

[0017] Compared with the prior art, the present invention has the following beneficial effects: Motion decoupling decomposes the connecting and unloading actions into independent motion parameters, so that each action can be precisely controlled, improving the accuracy and efficiency of the operation; specific control instructions are generated according to these motion parameters to ensure that the drilling rig action is completely consistent with the predetermined target, thereby reducing human operation errors; further, by adjusting the control instructions and operation time in real time and responding to changes in the external environment and equipment status, the safety and reliability of the operation are guaranteed; resource utilization is optimized, equipment maintenance costs are reduced, and the level of automation of the operation is significantly improved, which not only makes the operation more convenient and safe, but also greatly improves the overall operation efficiency and economic benefits of the shaft drilling rig.

[0018] Additional aspects and advantages of embodiments according to the present invention will become apparent in the following description or may be learned through practice of embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a flow chart of the method steps of the present invention; Figure 2 It is a ST language schematic diagram of the connecting rod action of the present invention; Figure 3 It is a ST language schematic diagram of the rod unloading action of the present invention; Figure 4 It is a schematic diagram of the ST language of the reset after the rod connection action and the rod removal action of the present invention; Figure 5 It is a schematic structural diagram of a raise boring machine for performing a rod connection action and a rod removal action of the present invention; Figure 6 It is a schematic diagram of the flow chart of the raise boring machine of the present invention performing the rod connection action and the rod removal action; Figure 7 It is a system structure logic block diagram of the present invention; Figure 8 The figure is a schematic diagram of the structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0022] See also Figure 1-Figure 8 , the following describes an automatic rod connection and disconnection control method and system for a shaft boring machine according to some embodiments of the present invention.

[0023] The embodiment of the first aspect of the present invention provides a method for controlling the automatic connecting and disconnecting of a raise boring machine. In some embodiments of the present invention, Figure 1-Figure 5 As shown, the method includes: S101, decoupling the connecting rod action and the unloading rod action between the butt end and the drill rod on the riser drilling rig to obtain a first motion parameter for characterizing the motion state between the butt end and the drill rod, so as to obtain the actual motion state between the butt end and the drill rod by focusing on the first motion parameter.

[0024] Here, step S101 plays a basic and key role in the automatic rod connection and unloading control process of the riser drilling rig. Its main function is to decouple the rod connection and unloading actions and accurately obtain the key motion parameters (first motion parameters) in these motion processes. These parameters include but are not limited to the relative position, speed, acceleration, etc. between the butt end and the drill rod, which are the basis for achieving high-precision control and optimizing overall operating efficiency. By accurately monitoring these parameters, the system can obtain the actual motion state between the butt end and the drill rod, providing data support for the formulation of subsequent control strategies.

[0025] As can be seen from the above, in traditional operations, the actions of connecting and unloading rods are often carried out in a continuous manner. Action decoupling means processing these two processes separately so that each action can be monitored and controlled separately. Doing so can optimize the performance of each step more meticulously, improve response speed and operation accuracy; collect motion data in real time through sensors installed on the docking end and the drill rod. These sensors can monitor and record various parameters during the movement, such as position changes, speed and acceleration; the collected data is transmitted to the central control system, and after processing and analysis, the key motion parameters (first motion parameters) are extracted. These parameters are then used to evaluate the current operating status and determine whether the operating strategy or control instructions need to be adjusted.

[0026] Specifically, the step of obtaining the first motion parameter includes: The rod connection and rod removal actions are decoupled into the circumferential motion and axial motion between the butt end and the drill rod.

[0027] The movement speed of the butt end relative to the drill pipe and the force applied to the drill pipe are obtained in the circumferential movement and the axial movement respectively.

[0028] All movement speeds and forces at the same time are taken as the first movement parameter, and the movement state between the butt end and the drill pipe can be truly reflected in the form of data through the movement speeds and forces.

[0029] In view of the above specific description, in the automatic rod connection and disconnection control system of the skydrilling rig, the process of obtaining the first motion parameter is achieved by decoupling the rod connection action and the rod disconnection action into the circumferential motion and axial motion between the butt end and the drill rod. This decoupling method allows the system to more accurately monitor and control each independent motion between the drill rod and the butt end, thereby improving the overall operational accuracy and efficiency. Circumferential motion refers to the rotational motion between the butt end and the drill rod, usually involving the tightening or loosening of the thread; axial motion refers to the linear motion between the butt end and the drill rod, such as the insertion or extraction of the drill rod; by decomposing the complex rod connection and disconnection action into two basic motions, the system can independently monitor and control each motion, allowing more detailed adjustments and optimizations to adapt to different operational requirements and environmental changes.

[0030] In the automatic rod-loading and unloading control system of the raise boring rig, the key step of obtaining the first motion parameter involves taking all motion speeds and forces at the same time as the first motion parameter. These parameters accurately reflect the real-time motion status between the butt end and the drill rod, providing the necessary data support for the control system to ensure the accuracy and efficiency of the operation. Monitoring includes all relevant motion speeds and forces between the butt end and the drill rod. The motion speed includes linear speed and rotation speed, while the force may include thrust and torque, etc.; by collecting this data in real time, the system can form a comprehensive understanding of the current operating environment and dynamics, ensuring that the generation of control instructions is based on the most accurate equipment status information; and constantly adjust the control instructions based on the real-time monitoring results to ensure that the movement is accurate and coordinated under changing operating conditions. This dynamic adjustment helps optimize the entire rod-loading and unloading process, reduce operating errors and improve work efficiency.

[0031] In the automatic rod-loading and unloading control system of the raise boring rig, the acquisition of the first motion parameter is achieved by real-time monitoring and analysis of the motion speed and force between the butt end and the drill rod. This step is crucial to ensure accurate and efficient rod-loading and unloading operations because they directly affect the success of the operation. Monitor the motion speed between the butt end and the drill rod, including linear speed and rotational speed. These speed parameters are critical to understanding the dynamic interaction between the two; measure the forces acting between the butt end and the drill rod, including pressure and torque. These force data are very important for adjusting operating parameters to avoid equipment damage or ensure smooth execution of loading and unloading actions; by collecting these dynamic data, the system can obtain the precise motion status between the butt end and the drill rod in real time, providing a basis for subsequent control instructions.

[0032] As can be seen from the above, independent monitoring of circumferential and axial motion allows the system to accurately track specific parameters of these two motions, such as speed, position, and acceleration. These parameters are key data for evaluating the current operating status and formulating subsequent control strategies; through sensors installed on the butt end and the drill pipe, the system can collect data on circumferential and axial motion in real time. These data are sent to the central control system for analysis to extract the first motion parameters; the collected data is used to evaluate the motion state between the butt end and the drill pipe. Based on these analysis results, the system will generate specific control instructions for each motion to ensure the accuracy and efficiency of the operation.

[0033] All relevant motion speeds and forces are monitored and recorded in real time through corresponding sensors (such as speed sensors and force sensors) at the butt end and drill pipe device. These sensors can accurately measure and send data to the central control unit; receive this data, and quickly process and analyze it. During the analysis process, the system uses algorithms to comprehensively evaluate the collected speed and force data to determine the specific motion state between the butt end and the drill pipe; based on the analysis results, the system generates precise control instructions. These instructions adjust the action of the butt end to match the predetermined operating standards and real-time operation requirements, such as adjusting the butt speed, changing the thrust, etc.; during the rod connection or unloading operation, the system continues to monitor the motion parameters and adjust the control instructions in real time according to the new data. This feedback loop ensures the continuity and accuracy of the operation and corrects any deviations in a timely manner.

[0034] The system collects data about speed and force in real time through sensors installed on the docking end and the drill rod. These sensors can accurately capture the physical interaction between the docking end and the drill rod at every moment; the collected data is sent to the processing unit of the control system, where advanced algorithms analyze the data and extract key motion parameters, namely the first motion parameters; based on the analyzed first motion parameters, the system generates specific control instructions. These instructions ensure that the docking end interacts with the drill rod at the optimal speed and force to achieve the best operating effect; during the operation of connecting and unloading the rod, the system continuously monitors the movement speed and force, and adjusts the control instructions in real time to deal with any deviations or emergencies. This dynamic adjustment ensures high precision and responsiveness of the operation.

[0035] S102, generating a control instruction for operating the docking end of the shaft drilling rig according to the first motion parameter, and by considering the control instruction generated by the first motion parameter, after the control instruction is applied to the docking end, the docking end and the drill rod can perform the rod connection action and the rod removal action according to the expected motion state.

[0036] Here, the main function of step S102 is to use the first motion parameter obtained from step S101 to generate control instructions, which will guide the butt end of the raise boring machine to perform precise rod receiving and unloading actions. This function ensures that the movement of the butt end is consistent with the preset trajectory and speed, thereby achieving the expected operation effect and work efficiency.

[0037] Based on the first motion parameters collected in real time (such as the relative position and speed between the docking end and the drill pipe), the control system calculates the exact control instructions that need to be applied. This includes adjusting the movement speed, direction, acceleration, etc. of the docking end to ensure accurate docking; the generation of control instructions is not only based on current parameters, but also includes algorithms that predict future states to ensure that the docking end can respond flexibly in a dynamically changing environment; the control system is designed with operational safety and efficiency in mind to avoid equipment damage or operation delays caused by excessive adjustments or improper operations.

[0038] As can be seen from the above, the control system analyzes the first motion parameters through algorithms and uses these data to generate specific control instructions. These instructions are calculated through advanced control algorithms (such as PID control, fuzzy logic or machine learning methods) to ensure that the behavior of the docking end accurately matches the predetermined operating requirements; the generated control instructions are transmitted to the execution unit (such as an electric motor or hydraulic system) through the control network to adjust the actions of the docking end in real time. The system also monitors any deviations in the execution process and adjusts the control instructions based on real-time feedback to optimize the rod connection and unloading process; the control system continuously receives feedback data from sensors and makes immediate adjustments to the control strategy to ensure the continuity and accuracy of the operation, while preventing operational errors caused by parameter deviations.

[0039] Specifically, generating a control instruction for operating the docking end of the raise boring machine according to the first motion parameter specifically includes: Set the motion state between the drill rod and the raise boring machine to static.

[0040] Converting the first motion parameter required at the next moment into the second motion parameter between the docking end and the raise boring machine can avoid possible motion between the drill rod and the raise boring machine to ensure that the control command is not disturbed.

[0041] The control instruction is generated by the second motion parameter, which directly inherits the value preset by the first motion parameter and converts the represented target into the motion state between the docking end and the raise boring machine.

[0042] In view of the above specific description, this step involves converting the first motion parameter during the operation of the raise boring machine into the second motion parameter, and generating precise control instructions accordingly to ensure that the motion state between the drill rod and the raise boring machine is stationary, and prevent any unexpected motion from interfering with the operation. The key to this conversion process is to ensure the synchronization of the motion between the butt end and the drill rod, and to maintain the stability and accuracy of the operation.

[0043] Before the operation begins, the system first ensures that the motion state between the drill rod and the raise drill is stationary, which is the basis for safe and precise operation; the collected first motion parameters (such as speed, force, etc.) are converted into second motion parameters, which more specifically reflect the subsequent motion requirements between the docking end and the raise drill; based on the second motion parameters, the system generates control instructions, which directly affect the operation of the docking end, ensuring that its motion state is consistent with the drill rod to prevent any possible interference.

[0044] As can be seen from the above, the first motion parameter is processed and converted into the second motion parameter. This conversion involves calculating the motion state adjustment that may be needed in the future to prevent any unexpected dynamic changes; the converted second motion parameter is used to generate specific control instructions. These instructions ensure that the movement of the docking end is completely synchronized with the static state of the drill pipe to avoid any unexpected movement of the drill pipe caused by the movement of the docking end; during the execution process, the system continuously monitors the consistency of the actual motion state with the predetermined instructions to ensure that all actions are executed as planned. If any deviation or error is detected, the system will adjust the control instructions in real time to correct and optimize the motion trajectory.

[0045] S103, setting a judgment threshold for adjusting the control instruction and setting an operation time for adjusting the control instruction according to the first motion parameter affecting the assembly state of the butt end and the drill pipe.

[0046] Here, step S103 focuses on how to adjust the judgment threshold and operation time of the control instruction according to the real-time analysis of the first motion parameter to optimize the assembly state of the butt end and the drill pipe. This step is the key to precise control and efficient operation, ensuring that the operation of the butt end can be carried out at the best time with the most suitable parameters.

[0047] The judgment threshold is set according to the actual motion state between the butt end and the drill pipe (such as speed, position error, etc.). These thresholds are the basis for the adjustment of control instructions. When the actual motion parameters exceed these set thresholds, the system will trigger the adjustment of control instructions; in order to maintain operation efficiency and prevent delays or errors in the process, the system sets the optimal operation time according to the first motion parameter. This time parameter determines the validity period and adjustment window of the control instruction, ensuring that the necessary action adjustment is completed within this time.

[0048] As can be seen from the above, the first motion parameter is continuously monitored and the real-time data is compared with the preset judgment threshold. This process involves complex data processing and analysis to ensure that any deviation can be identified immediately; once any parameter is detected to exceed the threshold, the system will automatically adjust the control instructions, such as modifying the speed, acceleration or stop point of the docking end, to correct the deviation and optimize the assembly quality; dynamically adjust the operation time according to the complexity of the operation and the efficiency of the current execution to ensure that the task is completed within a limited time, while avoiding excessive time consumption that may cause equipment wear or efficiency reduction.

[0049] Specifically, the operation time for setting and adjusting the control instructions includes: In the rod connection action, the moment when the force of the circumferential motion is equal to the judgment threshold is taken as the initial moment, and the period of time after the initial moment is taken as the operation time; the operation time is marked as the moment when the force is equal to the judgment threshold and the period of time thereafter, and the drill rods can be tightened after connection.

[0050] In the rod unloading action, the moment when the force of the circumferential motion is equal to the judgment threshold is taken as the end moment, and the time before the end moment is taken as the operation time; considering the moment when the rod unloading action starts and the moment when the force is equal to the judgment threshold as the end moment, and the time period between the two as the operation time can ensure the stable disengagement and tightening between the drill rod and the butt end.

[0051] In view of the above specific description, in the automatic rod connection and disconnection control system of the raise drilling rig, setting the operation time of adjusting the control command is a key step, which ensures that the rod connection action is performed efficiently and accurately within a specific time period. The setting of this time period is based on the moment when the force of the circumferential motion reaches the judgment threshold, which is defined as the initial moment of the operation. From this initial moment, the system will perform the docking and tightening operations of the drill rod. The judgment threshold is a predefined mechanical parameter used to identify the moment when the drill rod contacts the docking end and begins to generate effective torque. When the force of the circumferential motion reaches this threshold, it indicates that the drill rod has been correctly docked; from the initial moment when the force reaches the judgment threshold, the system will set a specific time window, which is regarded as the operation time and is the key period for the drill rod tightening operation; during the operation time, the control system will perform a series of preset actions to ensure that the drill rod is correctly and firmly installed on the raise drilling rig.

[0052] In the automatic rod connection and unloading control system of the riser drilling rig, setting the operation time of adjusting the control command is crucial for the rod unloading action. This time setting includes the time from the moment the rod unloading action starts to the moment when the force of the circumferential movement is equal to the judgment threshold as the end time, and this time period is defined as the operation time. The setting of this time period ensures that the drill rod can be stably and smoothly detached from the docking end to avoid any mechanical damage or operation failure. The rod unloading operation time starts from the moment the rod unloading action starts until the force of the circumferential movement drops to the judgment threshold, indicating that the drill rod is loose enough to be safely detached; the judgment threshold is a preset mechanical parameter used to identify whether the drill rod has been loosened to the extent that it can be safely detached. When the force reaches this threshold, it means that the rod unloading action can end; during the entire operation time, the control system will adjust the rod unloading control command according to the real-time monitored data to ensure smooth operation.

[0053] As can be seen from the above, the force of circumferential motion is monitored in real time by the sensor installed at the docking end. Once the force reaches the judgment threshold, the system determines that this moment is the initial moment of the operation; from the initial moment, the control system will generate docking and tightening control instructions according to the preset program. These instructions are executed during the operation time to ensure that the installation of the drill pipe is both fast and reliable; during the operation time, the system continues to monitor the force and other related parameters to ensure that all operations are carried out as planned. If any abnormality or deviation is found, the system will immediately adjust the control instructions to correct the problem and optimize the operation effect.

[0054] The sensors installed between the butt end and the drill rod monitor the force of circumferential motion and other relevant dynamic parameters in real time. The start time of the rod unloading operation is triggered by the operator or the automatic system, and the end time is determined by the moment when the force reaches the judgment threshold, which indicates that the drill rod has been loosened enough to be safely detached. During the operation time from the start to the end of the rod unloading, the control system adjusts the rod unloading instructions according to the preset program and real-time feedback, such as adjusting the rod unloading speed and force to ensure the stable detachment of the drill rod. During the entire rod unloading process, the system continuously monitors the force and rod unloading status so as to adjust the operation strategy when necessary and respond to any emergencies to ensure the smooth completion of the rod unloading action.

[0055] In any of the above embodiments, for the same drill pipe, the control instructions are adjusted using the following rules: The judgment thresholds for the connecting rod action and the unloading rod action are equal in magnitude; no matter how the tightening force changes in actual operation, the pre-set judgment thresholds are set to be equal in value.

[0056] The operation time of the rod connecting action is shorter than that of the rod unloading action, which fully considers the certainty of the rod connecting action and the uncertainty of the rod unloading action.

[0057] In this embodiment, in the automatic rod connection and unloading control system of the skydrilling rig, for the same drill rod, whether it is a rod connection action or a rod unloading action, the adjustment of the control instructions follows a key rule: the judgment thresholds of the rod connection action and the rod unloading action remain equal. This rule ensures the consistency and predictability of the control system and improves the reliability and safety of the operation. The judgment threshold is used to identify the key mechanical state when the drill rod contacts or disengages from the docking end, such as when the force or torque reaches a specific level. By setting the judgment thresholds of the rod connection and rod unloading actions to the same value, the system can uniformly monitor and respond to the loading and unloading status of the drill rod; the unified threshold ensures that no matter what the operating conditions are, the response standards of the system's rod connection and rod unloading actions are consistent, reducing operational complexity and potential errors.

[0058] The judgment threshold is pre-set in the control program, which is based on the physical characteristics of the drill rod and the operating requirements of the raise boring rig. Regardless of whether the rod connection or unloading operation is performed, when the detected force or torque reaches this threshold, the system will trigger the corresponding control command; continuously monitor the motion and mechanical parameters related to the drill rod. When the parameters reach or exceed the set judgment threshold, the system automatically executes a predefined response, such as increasing or reducing the tightening force, or initiating a safety protocol to prevent equipment damage; based on the comparison results of the real-time monitoring data and the judgment threshold, the control instructions are dynamically adjusted to adapt to the current operating conditions. This includes adjusting the movement speed, force and duration of the docking end to ensure stable loading and unloading of the drill rod.

[0059] In the automatic rod connection and disconnection control system of the riser drilling rig, for the same drill rod, the adjustment rules of the control instructions include differentiated settings for the operation time of the rod connection action and the rod disconnection action: the operation time of the rod connection action is set to be shorter than the operation time of the rod disconnection action. This setting takes into account that the rod connection action usually involves a relatively certain process, while the rod disconnection action may face more uncertainties, such as the jamming of the drill rod or other mechanical problems. The rod connection action is usually a direct and certain process, involving the correct alignment and insertion of the drill rod into the docking end. Therefore, it can be completed in a relatively short time. The system can improve the operating efficiency by optimizing the operation time of the rod connection action; since the rod disconnection action may involve releasing the fastening between the drill rod and the docking end, and may encounter mechanical resistance or other operational difficulties, a longer operation time is given to deal with these uncertainties.

[0060] The operation time of the connecting and unloading actions is set according to the preset operation logic and historical data. The connecting time is usually short because the process is simple and needs to be completed quickly to improve efficiency. The unloading time is longer to ensure that there is enough time to deal with possible mechanical problems or operational uncertainties; the operation time is dynamically adjusted according to the actual operation situation. For example, if unexpected difficulties are encountered during the unloading process, the system can automatically extend the operation time to ensure the safety and integrity of the operation; the key parameters of the connecting and unloading process, such as force, speed, etc., are monitored in real time through sensors, and the control instructions and operation time are adjusted according to the real-time data of these parameters. This feedback mechanism ensures the flexibility and adaptability of the operation and can effectively respond to various on-site situations.

[0061] S104, control the butt end and the drill rod to perform the rod connection action or rod removal action through control instructions, and adjust the control instructions within the operation time through the judgment threshold. Shortening the judgment time of whether the actual rod connection action or rod removal action is successful from the overall operation time helps to quickly determine whether the operation can be completed automatically, and avoid the automatic equipment from stagnating for a long time due to the internal working components being damaged.

[0062] Here, step S104 is the key execution stage in the automatic rod connection and disconnection control system of the raise boring machine. Its main function is to drive the docking end to perform the rod connection or disconnection action through fine-control instructions, and adjust these control instructions in real time to adapt to the actual operating conditions. This step is designed to ensure fast and accurate operation while reducing the damage to the equipment that may be caused by operation delays.

[0063] The docking end is operated according to the control instructions generated in the previous steps to ensure that it performs the connecting or unloading action according to the predetermined path and speed; based on the judgment threshold and the real-time monitored operation data, the system will adjust the control instructions within the set operation time. This includes adjusting the speed, force or movement trajectory, etc., to deal with any deviations that may occur in actual operation; shortening the successful judgment time of the operation to the operation time, allowing the system to quickly verify the success or failure of the connecting or unloading operation, and make necessary adjustments or re-operations in time, thereby improving operation efficiency and reducing equipment burden.

[0064] As can be seen above, control instructions are transmitted to actuators, such as electric motors or hydraulic systems, through electronic control units. These mechanisms accurately adjust the behavior of the docking end according to the instructions; sensors are used to monitor the execution process in real time, and the monitoring data is compared with the preset threshold. Any situation that exceeds the threshold will trigger the control system to adjust the instructions to ensure the accuracy and safety of the operation; after completing the connection or unloading of the rod, the system quickly evaluates the operation results, determines whether it is successful, and adjusts subsequent operations or performs fault diagnosis based on the results. This rapid feedback mechanism not only improves the continuity of the operation, but also protects the equipment from the impact of long-term abnormal working conditions.

[0065] Specifically, when the drill rod is in the connecting rod action, the adjustment steps of the control command include: The movement speeds of the circumferential movement and the axial movement are maintained, and it is continuously determined whether the force of the circumferential movement is greater than the determination threshold.

[0066] If it is greater than, the operation time starts.

[0067] Adjust the axial movement speed to zero and reduce the circumferential movement speed until the operation time is over.

[0068] In view of the above specific description, in the automatic rod connection and disconnection control system of the skydrilling rig, the control instruction steps for adjusting the rod connection action are intended to ensure the accuracy and efficiency of the rod connection operation. When the drill rod is connected, the system needs to maintain the speed of circumferential and axial movement, and monitor whether the force of the circumferential movement exceeds the preset judgment threshold. Once the force exceeds the threshold, the system will start a specific operation time and adjust the movement speed as needed to ensure the safety of the operation and the correct installation of the drill rod.

[0069] At the beginning of the rod connection action, the system maintains the speed of circumferential and axial movement to ensure that the drill rod is correctly connected in the planned direction and speed; the force generated by the circumferential movement is continuously monitored to check whether it reaches or exceeds the judgment threshold, which is preset and indicates the mechanical state of correct contact between the drill rod and the butt end; when the force exceeds the threshold, the system determines that the drill rod has been correctly connected and starts the operation time, during which necessary adjustments are made to complete the rod connection action; once the operation time is entered, the system adjusts the speed of axial movement to zero and reduces the speed of circumferential movement at the same time. This is to reduce the mechanical pressure on the drill rod and the butt end and ensure a smooth tightening process.

[0070] As can be seen from the above, the sensors installed at the butt end are used to collect data on the speed of circumferential and axial movement and circumferential force in real time; once the circumferential force is detected to exceed the judgment threshold, the control system immediately adjusts the axial movement speed to zero and gradually reduces the circumferential movement speed. In this process, the system ensures that the drill pipe can be stably tightened under the condition of reducing stress through careful adjustments; the setting and continuation of the operation time depends on the monitoring results of the force and the preset parameters. During this period, the system continues to monitor all key parameters and makes necessary adjustments according to the actual situation until the operation time ends.

[0071] Specifically, when the drill rod is in the process of unloading, the adjustment steps of the control command include: Maintain the speed of the circumferential motion and adjust the speed of the axial motion to zero, and start the operation time.

[0072] During the operation time, it is continuously determined whether the force of the circumferential motion is less than the determination threshold.

[0073] If it is less than, the speed of circumferential movement and axial movement is increased until the operation time is over.

[0074] In view of the above specific description, in the automatic rod loading and unloading control system of the raise drilling rig, the control command adjustment for the unloading action includes the precise control of the circumferential and axial movement speeds within a specific operation time. This step is intended to ensure the smooth progress of the unloading action by monitoring the force of the circumferential movement and adjusting the movement speed according to its relationship with the preset judgment threshold.

[0075] At the beginning of the rod unloading process, the system maintains the speed of circumferential movement unchanged and adjusts the speed of axial movement to zero to avoid mechanical stress caused by axial movement of the drill rod; after adjusting the axial speed, the system defines this moment as the beginning of the operation time, which is used for the system to monitor and adjust the operation process; during the entire operation time, the system continuously determines whether the force generated by the circumferential movement is less than the judgment threshold, which indicates that the drill rod can be safely detached; if the force is less than the judgment threshold, the system will increase the speed of circumferential and axial movement to accelerate the detachment process of the drill rod and ensure the efficiency and safety of the rod unloading operation.

[0076] As can be seen from the above, the sensors monitor the circumferential and axial movement speeds and the forces of circumferential movement in real time, and the control system analyzes these data to determine the current operating status; based on the monitored data and the preset judgment threshold, the system generates corresponding control instructions. These instructions involve adjusting the speed of circumferential and axial movement to meet the specific needs of the rod unloading process; during the operation time, if the force is less than the judgment threshold, the system will immediately increase the movement speed to facilitate the rapid detachment of the drill rod. This adaptive speed adjustment mechanism ensures the efficiency and safety of the rod unloading process; continuously collect operational feedback, optimize subsequent control strategies based on actual operating results, and ensure that the rod unloading action can be completed efficiently and safely every time.

[0077] Specifically, when the drill rod is in the process of unloading the drill rod, the control instruction adjustment steps further include: When the force of the circumferential motion is greater than the judgment threshold, it is continuously judged whether the operation time is over.

[0078] If it is finished, stop executing the rod unloading action.

[0079] In view of the above specific description, in the automatic rod connection and disconnection control system of the raise drilling rig, the control instruction adjustment of the rod disconnection action also includes strict monitoring of the operation time and real-time evaluation of the force. This process ensures that within the operation time, if the force of the circumferential motion is still greater than the judgment threshold, the system will continue to perform the rod disconnection action until the operation time ends, thereby preventing premature interruption that may cause the drill rod to not be completely disconnected or damage the equipment.

[0080] During the entire unloading process, the force generated by the circumferential movement is continuously monitored to ensure that it is greater than the preset judgment threshold. At the same time, the operation time is monitored to evaluate whether the time from the start of the unloading action to the current time has reached or exceeded the predetermined operation time. If the force of the circumferential movement is still greater than the judgment threshold at the end of the operation time, the system will automatically stop the unloading action to prevent excessive operation from causing mechanical damage or safety risks.

[0081] As can be seen from the above, the sensors collect the force data about the circumferential motion in real time and continuously monitor the execution time of the unloading action. These data are sent to the control system for real-time analysis; the control system executes the following logic based on the collected data: Continuous execution: If the force of the circumferential motion is greater than the judgment threshold, the rod unloading action will continue until the operation time is over.

[0082] Action termination: Once the operation time reaches the end point, it will check whether the force is still greater than the threshold. If so, the system will immediately stop the unloading action to avoid the risks that may be caused by further operation.

[0083] The control system will conduct feedback learning based on the results of actual operations to optimize future operating parameters and control strategies. This includes adjusting the operation time setting or judgment threshold to adapt to different operating conditions and drill pipe characteristics.

[0084] In any of the above embodiments, in the same rod connecting action or rod unloading action, the circumferential movement and the axial movement are independent of each other.

[0085] In this embodiment, in the automatic rod connection and disconnection control system of the raise drilling rig, it is a key function to design the circumferential motion (rotational motion) and axial motion (linear motion) as independent operations. This design allows each type of motion to be controlled and optimized separately, improving the accuracy and efficiency of the overall operation. The circumferential motion mainly involves the rotation of the drill rod, which is used to tighten the drill rod in the rod connection action and to loosen the drill rod in the rod disconnection action. The control system can independently adjust the rotation speed and torque to adapt to different operational requirements; the axial motion involves the up and down movement of the drill rod. In the rod connection action, the drill rod needs to be accurately inserted into the docking end, and in the rod disconnection action, the drill rod needs to be smoothly withdrawn from the docking end. Independent control of the axial motion allows the system to accurately manage the advance and retreat of the drill rod, avoiding offset or misalignment caused by rotational torque.

[0086] Circumferential and axial motions are performed by different drive systems, such as motors and hydraulic systems. These systems receive instructions through the control unit and operate independently to ensure that different types of motion do not affect each other; the control system monitors the key parameters of the two motions, such as speed, position and torque, in real time, and independently adjusts the control instructions for each motion according to the job requirements and site conditions. This monitoring ensures the accuracy and responsiveness of the operation; through sensors installed on the drilling rig, the system is able to collect real-time data on circumferential and axial motions. This data is used to evaluate the effectiveness of the operation and provide feedback and adjustment basis for future operations; independent control also allows the system to respond quickly when any abnormality is detected, adjusting only the relevant motion parameters without affecting other operations. This improves the safety of the system and prevents mechanical damage or failure caused by operating errors.

[0087] The present invention provides an automatic rod connection and disconnection control method for a shaft boring machine. Through automated control, the operation process no longer relies on manual execution, thereby reducing errors and accidents caused by improper operation, improving the safety of operation, and reducing safety risks caused by human errors; it solves the problem that traditional rod connection and disconnection operations are highly dependent on the experience and skills of the operator, and are prone to operation failures or safety accidents due to human errors.

[0088] Automatic control can quickly and accurately perform the actions of connecting and unloading rods, significantly improving work efficiency and reducing labor costs, increasing work efficiency, significantly reducing operation time, and at the same time reducing operating costs; it solves the problems of low efficiency and high cost of manual operation.

[0089] By real-time monitoring of the first motion parameter to accurately control the action, excessive force and incorrect operation methods are effectively avoided, equipment loss and maintenance costs are reduced, operation accuracy is improved, equipment maintenance costs are reduced, and equipment service life is extended; the problem of manual operation easily causing damage to the drill pipe thread or other mechanical damage is solved.

[0090] In any of the above embodiments, Figure 2 As shown in the figure, the code is mainly used to control the motion state and various parameter settings of a mechanical device (probably a skydrill). The code contains multiple conditional judgments and parameter settings, which correspond to different motion modes and state feedback of the device, including: Speed ​​and pressure control: Depending on the conditions (such as RC_in_L6 and TON4.0, etc.), the system sets different speed and pressure parameters. For example, variables such as CAN_out_rotation_speed1, CAN_out_rotation_speed2, and CAN_out_rotation_speed3 control the rotation speed.

[0091] Conditional logic: Multiple IF statements are used in the code to determine what actions to perform, such as enabling or disabling propulsion, adjusting pressure, or changing speed, based on the current state of the device or input parameters (such as RC_in_L6, TON4.0, fast_enable, etc.).

[0092] Enable / disable operation: Enable or disable certain functions based on conditions, such as push_forward_enable is used to control whether forward push is allowed.

[0093] In this embodiment, the system continuously detects input signals (such as RC_in_L6, which may represent some sensor input or user operation) and timers (such as TON4.0 and TON5.0, which may be used to control the delay or duration of an operation); dynamically adjusts motion control parameters (such as speed and pressure) and system behavior (such as enabling or disabling specific operations) based on these inputs and the current state of the system; uses complex conditional logic to ensure the accuracy and safety of mechanical operation, such as slowing down or stopping operation when specific conditions are met to prevent mechanical failure or operating errors; the system adjusts operating parameters through a feedback mechanism (possibly through a CAN bus or other communication protocol) to ensure that the machine operates according to predetermined logic and safety standards, such as reducing the force or speed under certain conditions to adapt to the current state of the machine or operating environment.

[0094] In any of the above embodiments, Figure 3 As shown in the figure, it is specially used for controlling the different stages of the raise boring machine in the unloading action. These control instructions and judgment logic are aimed at the pressure regulation, speed control and sequential execution of the operation steps during the operation process, including: Negative pressure control: During the unloading operation, the system will determine when to start or adjust certain operations based on the negative pressure threshold (rotation_negative_pressure).

[0095] Speed ​​and direction control: Control the rotation of the drill pipe by setting different output speeds (CAN_out_rotation_speed) and directions (forward or reverse).

[0096] Staged operation control: Control the entire unloading process according to the set time delay (such as TON5 and TON6, etc.) and operation steps (step variables).

[0097] In this embodiment, it is first detected whether the start-up conditions (such as RC_in_H6) are met, and then the next operation steps are determined based on the current pressure and other parameters; through a series of time delays and condition judgments (such as TON5 and TON6), it is ensured that each operation step is executed in the correct order and time; during the operation, the control parameters such as speed and direction are dynamically adjusted according to the real-time monitored status (such as pressure and position) to adapt to the current operation requirements; the system adjusts the operation parameters through periodic feedback detection to optimize operation efficiency and safety.

[0098] Initial stage: If the pressure is less than the set threshold, the fast mode is enabled and ready to enter the next operation stage.

[0099] Stage control: Check the operation status at different time points and adjust the movement speed or end the operation based on the results.

[0100] End condition: If the operation is completed or the end condition is reached, the system stops all motion to ensure the safety of the equipment.

[0101] In any of the above embodiments, Figure 4 As shown in the figure, it mainly involves fine time management and conditional control of the raise drilling rig. The code logic mainly adjusts various motion parameters of the drilling rig through a series of timers and conditional judgments to ensure that the entire operation process is both accurate and safe, including: Timer and condition control: Multiple timers (such as TON1, TON2, ... TON16, etc.) are used in the code to manage the time delay and duration of the operation to ensure that each operation stage is carried out strictly according to the scheduled time; multiple condition judgments (such as IF TRIG3, IF enable4, etc.) are used to trigger corresponding operations or adjustments according to the current machine status or environmental conditions.

[0102] Speed ​​and direction adjustment: According to the needs of the operation, the rotation speed and push speed of the drill pipe are dynamically adjusted, such as CAN_out_rotation_speed1, CAN_out_push_speed1, etc., to adapt to the operation requirements at different stages.

[0103] Safety and precision control: Optimize the operation process and reduce the risk of operator error by adjusting the speed of rotation and propulsion and enabling / disabling related operations.

[0104] In this embodiment, it is first checked whether specific start conditions (such as TRIG3) are met, and then the relevant operations are started or adjusted according to these conditions; the start and end time of each operation and the interval between operations are accurately controlled by a timer to ensure that the time management of the entire process meets the preset standards; during the operation, the system dynamically adjusts control parameters such as speed setting and direction control according to real-time monitored data and preset logic to respond to changes in the operation or meet specific job requirements; feedback data is collected at each step of the operation, and this data is used to evaluate the effectiveness of the operation and provide a basis for adjustment for subsequent operations.

[0105] In any of the above embodiments, Figure 5 As shown, the riser drilling rig includes a machine base and a mechanical gripper 4 mounted on the machine base, as well as a docking end mounted on the machine base and a drill rod 3 erected inside the machine base through the mechanical gripper 4; the docking end includes a rotary head 1 and a reduction box 2 that cooperate with each other.

[0106] In this embodiment, the machine base serves as the basic support of the entire drilling rig, and the machine base firmly supports all other components to ensure the stability and safety of the entire drilling operation; the mechanical gripper is used to grab, manipulate and position the drill rod. It allows the drill rod to stand vertically inside the machine base and assists in the precise docking of the drill rod with the butt end; the drill rod is the main tool for drilling and is used to penetrate the formation and perform drilling operations. The quality and performance of the drill rod directly affect the drilling efficiency and safety; the butt end is the key component that connects the drill rod to other parts of the drilling rig, including the rotary head and the reduction gearbox; the rotary head is responsible for driving the drill rod to rotate and is the key part of achieving drilling in the drilling operation. It is driven by a motor to rotate the drill rod to penetrate the formation; the reduction gearbox is used to adjust the speed of the rotary head, provide a suitable rotation speed according to the drilling needs, and ensure the efficiency of the drilling operation and the durability of the drill rod.

[0107] Before the drilling operation begins, the mechanical gripper grabs the drill pipe and places it vertically inside the machine base. Through precise mechanical manipulation, the drill pipe is aligned and slowly placed into the receiving part of the docking end; once the drill pipe is successfully docked, the rotary head starts working and drives the drill pipe to rotate. The reduction box adjusts the rotation speed according to the hardness of the formation and the drilling depth requirements to optimize the drilling efficiency and protect the drill pipe from damage; the drill pipe needs to be recycled or replaced after completing a certain drilling task. The mechanical gripper is activated again, removes the drill pipe from the docking end, and places it in a safe place, or replaces it to continue the operation.

[0108] Another embodiment of the first aspect of the present invention provides an implementation process of an automatic rod connection and disconnection control method for a raise boring machine. In some embodiments of the present invention, Figure 6 As shown, the implementation process includes: In the control program of the raise drilling machine, the forward rotation and descending action are combined into automatic thread connection, and the reverse rotation and ascending action are combined into automatic thread removal. The appropriate rotation speed and the ascending and descending speed of the matching rotation speed are debugged.

[0109] The pressure sensor is used to detect the forward pressure and reverse pressure respectively. The automatic thread connection uses the matching forward and descending speed. When the thread connection is almost in place, the forward pressure value will suddenly rise to the set value, the descending action will automatically stop, and the rotation speed will drop to the specified speed and maintain for 1.5 seconds to tighten the thread. After 1.5 seconds, all automatic thread connection actions will stop, achieving automatic thread connection.

[0110] Automatic thread unloading uses the matching reverse and rising speed. Because the thread may be in a tightened state at the beginning, only the reverse speed is moved at this time. When the reverse pressure value suddenly drops to the set value within 3 seconds, the reverse speed increases and starts to rise. If the pressure value does not drop after 3 seconds, it is judged as a drill jam and the automatic thread unloading stops.

[0111] The present invention provides an implementation process, when it is necessary to connect a drill rod, the control system automatically starts the forward rotation of the drill rod, and cooperates with the vertical descent of the drill rod. This process ensures that the drill rod can be smoothly and accurately inserted into the borehole or docking port; by accurately controlling the ratio of the rotation speed and the descent speed, the thread engagement process is optimized to prevent thread damage and improve the reliability of engagement; after completing the drilling task, the control system automatically starts the reverse action of the drill rod, and cooperates with the vertical ascent of the drill rod. This process helps the drill rod to smoothly detach from the borehole or docking port, avoiding damage to the drill rod and the thread; the reverse speed and the ascent speed are adjusted according to the characteristics of the thread and the operating requirements to ensure the smooth and safe process of unloading the rod.

[0112] The control system automatically selects the forward descent or reverse ascent mode according to the operational requirements (such as the connection or removal of the drill pipe). The system presets the optimal speed settings for various operating modes, which are optimized based on previous tests and actual operating experience; the rotation speed and vertical movement speed are adjusted synchronously to ensure that the two can work in coordination during operation and optimize the thread engagement and separation process. The system monitors the operating status in real time and automatically adjusts the speed parameters based on the feedback from the drill pipe; through automated control, the need for manual operation is reduced, the possibility of operating errors is reduced, and the safety and efficiency of the operation are improved. At the same time, the system's intelligent adjustment function ensures the protection of the drill pipe and threads during operation and extends the service life of the equipment.

[0113] Pressure sensors are used to monitor the pressure during the forward and reverse rotation processes. These sensors can detect the pressure changes generated when the drill pipe is connected or unloaded in real time, providing accurate feedback to the control system; during the threading process, the system uses matching forward and descending speeds to promote accurate thread engagement; when the thread is close to being in place, if the forward pressure value suddenly rises to the preset threshold, it means that the thread is basically in place, and the descending action will automatically stop at this time; then, the rotation speed will be reduced to the specified speed and maintained for 1.5 seconds. This process is used to tighten the thread to ensure the firmness of the thread; after 1.5 seconds of tightening, all automatic threading actions stop, completing the automatic threading process.

[0114] The pressure sensor provides real-time data. When the pressure value reaches the preset forward pressure threshold, the control system responds immediately, stops the descending action and adjusts the rotation speed. This feedback mechanism ensures the accuracy and safety of the thread engagement process; automatically adjusts the rotation speed to a lower set value to facilitate the tightening of the thread, and maintains the speed for 1.5 seconds through timing control, which ensures the tightening effect of the thread and prevents the thread from loosening in subsequent operations; after the thread is tightened, the system executes an automatic stop command to end the threading process. At this stage, the system may perform a final status check to confirm that all operations have been completed correctly, ensure the safety of the equipment and prepare for the next operation.

[0115] At the beginning, since the threads may be in a tightened state, the system first reverses at a low speed to slowly release the tightening force between the threads to avoid damaging the threads; the pressure value during the reversal process is monitored in real time. When the pressure value is detected to suddenly drop below the set threshold within 3 seconds, the system considers that the threads are beginning to loosen; once the pressure drop is confirmed, the reversal speed will increase, and the rising action of the drill pipe will be started at the same time to speed up the process of thread removal; if the pressure value does not drop significantly within 3 seconds, the system determines that a drill may be stuck, that is, the drill pipe thread may be stuck inside the butt end; for safety reasons, the system will automatically stop the thread removal operation to avoid further damage to the drill pipe or drilling rig.

[0116] The control software works in conjunction with the pressure sensor to capture pressure changes during the reversal operation in real time, determine the state of the thread through preset logic, and adjust the reversal speed accordingly; the setting is time-sensitive and can react in a short time to adjust the operating strategy; the pressure threshold is pre-set based on the drill pipe and thread characteristics, and the system ensures that the operating strategy can be adjusted once the pressure drops below the threshold through continuous monitoring; this setting helps the system distinguish between normal thread loosening and abnormal conditions (such as drill jamming); the safety mechanism ensures that the operation can be quickly interrupted when potential equipment failure or operational abnormality is detected, thereby protecting the safety of equipment and operators; when a drill jam occurs, the system's rapid response avoids possible mechanical damage.

[0117] The embodiment of the second aspect of the present invention provides a system 2. In some embodiments of the present invention, such as Figure 7 As shown, the system 2 includes: The motion decoupling module 201 is used to decouple the rod connection and rod removal actions of the drill rod action into the first motion parameter; An instruction generating module 202, used to generate a control instruction according to the first motion parameter; The threshold time setting module 203 is used to set the judgment threshold and operation time of the adjustment control instruction; The instruction execution module 204 is used to receive and execute control instructions, and adjust the control instructions according to the judgment threshold during the operation time.

[0118] The present invention provides a system, in which the action decoupling module 201 is used to decouple the rod connection and rod removal actions in the drill rod operation into the first motion parameter. These parameters include the rotation speed, vertical movement speed, applied pressure, etc. of the drill rod, which are used to accurately describe the motion state between the drill rod and the butt end; the module obtains real-time data about the drill rod movement from the sensor, and decouples the complex operation into rotation (circumferential movement) and vertical movement (axial movement) that can be processed independently through an internal algorithm. Through this decoupling, the system can perform more precise control on the rod connection and rod removal operations respectively, and monitor the state of each movement in real time.

[0119] The instruction generation module 202 is responsible for generating precise control instructions based on the first motion parameters provided by the decoupling module. These instructions determine the specific operation of the drill rod, such as the speed and time of forward rotation, reverse rotation, rise, and descent, etc.; it receives the motion parameters of the decoupling module and calculates the corresponding control instructions according to the preset operation logic. The instruction generation process involves real-time judgment of the state of the drill rod, adjustment of operating parameters such as rotation speed and torque, so as to ensure that the drill rod can smoothly and accurately perform the action of connecting or unloading the rod.

[0120] The threshold time setting module 203 is responsible for setting key judgment thresholds and operation times for the system. These thresholds are used to trigger or terminate certain operations, while the operation time ensures that each action is completed within a reasonable time; during the process of connecting or unloading the rod, the module sets the operation time according to the system historical data or preset standards, and determines the thresholds of key operating parameters such as pressure and speed. For example, when the system detects that the pressure value reaches the set threshold, it will adjust the operation to prevent damage or failure caused by excessive operation. At the same time, the module will dynamically adjust these operating parameters within the set time window to ensure efficient operation under the premise of safety.

[0121] The instruction execution module 204 is responsible for receiving the control instructions generated by the instruction generation module and executing these instructions. Its main task is to control the physical movement of the drill pipe, including operations such as rotation, rising or falling; the module receives and implements control instructions through a direct interface with the execution device (such as a motor, hydraulic device, etc.). During the execution process, the module will also adjust the current operation based on the judgment threshold and real-time feedback data. For example, during the operation, if the pressure sensor detects excessive pressure, the system will slow down or pause the operation according to the preset threshold to prevent equipment damage. In addition, the module will ensure that all instructions are completed within the set operation time during the entire operation.

[0122] Another embodiment of the second aspect of the present invention provides a hardware structure of a system. In some embodiments of the present invention, the hardware structure includes: Using EPEC 2024 controller, based on codesys2.3 programming platform and combined with hydraulic principle, the rotary action and the ascending and descending action of the reduction box are logically controlled.

[0123] The hardware structure provided by the present invention, EPEC 2024 is a powerful industrial controller with multiple input and output interfaces and powerful data processing capabilities, which is used to control various actions of the drilling rig in real time. The controller is the core processing unit in this system, responsible for receiving sensor data, executing control instructions, and ensuring the stable operation of the entire system; it can handle a large number of motion control tasks, and can adjust the hydraulic system and motor in real time to achieve precise drill rod operation. Based on the Codesys 2.3 programming platform, it is a programming platform widely used in industrial automation control for programming PLC (programmable logic controller). The platform allows the writing of complex control logic to automatically perform the rotation and lifting actions of the well drilling rig; through the programming platform, the system can flexibly set the control logic, adjust the speed and lifting / lowering speed of the drill rod in real time, and monitor important parameters such as pressure and torque during operation. The hydraulic system is used to drive the mechanical part of the well drilling rig, especially responsible for the rotation of the drill rod and the lifting and lowering actions of the reduction box. Hydraulic drives are typically used to handle large loads and high-precision control requirements, and are particularly suitable for heavy machinery and equipment; the hydraulic valves and hydraulic pumps in the system drive the machinery according to instructions from the controller, ensuring smooth and precise movements under various operating conditions.

[0124] The system first collects real-time status information of various parts of the drilling rig through sensors and feedback devices, such as the rotation speed, pressure, position of the drill pipe and the height of the reduction box. All of this data will be input into the EPEC 2024 controller; the logic program in the controller (written using the Codesys 2.3 platform) processes these inputs in real time and generates corresponding control signals to adjust the working state of the hydraulic system. This includes controlling the rotation speed and direction of the drill pipe and controlling the rise and fall speed of the reduction box; the control logic will not only dynamically adjust parameters based on real-time feedback, but also realize automatic operation according to the preset working mode to reduce human intervention.

[0125] The signal sent by the controller will directly affect the working state of the hydraulic system. The hydraulic system drives the machine to achieve precise ascending, descending and rotating movements by adjusting the flow and pressure of the hydraulic oil. For example, when it is necessary to connect or unload the drill rod, the system will automatically adjust the rotation speed and direction of the drill rod, as well as the height of the reduction box according to the operation requirements; at the same time, the pressure sensor in the hydraulic system will continuously feedback the actual pressure data to ensure that the system can adjust the pressure according to the real-time situation to avoid mechanical overload or drill rod jamming.

[0126] The logic control program in the system can automatically handle common operation modes, such as connecting rods, unloading rods, starting and stopping, etc., reducing the complexity of manual participation; in order to ensure the safe operation of the equipment, the system is equipped with emergency stop and fault detection functions. Once the system detects excessive pressure, abnormal speed, etc., the controller will immediately issue a command to stop the operation of the hydraulic system to prevent equipment damage or operation accidents.

[0127] Embodiments of the third aspect of the present invention provide electronic equipment. In some embodiments of the present invention, such as Figure 8 As shown, an electronic device is provided, which includes: electronic devices such as desktop computers, notebooks, handheld computers, and cloud servers. The electronic device 3 may include but is not limited to a processor 301 and a memory 302. Those skilled in the art will understand that Figure 8 The electronic device 3 is merely an example and does not limit the electronic device 3 , and may include more or less components than those shown in the figure, or different components.

[0128] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0129] The memory 302 may be an internal storage unit of the electronic device 3, for example, a hard disk or memory of the electronic device 3. The memory 302 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 3. The memory 302 may also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 302 is used to store computer programs and other programs and data required by the electronic device.

[0130] The embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium. In some embodiments of the present invention, a computer-readable storage medium is provided, and when the computer-readable storage medium is executed by the processor 301, the steps of the above method are implemented. Therefore, the computer-readable storage medium provided by the fourth aspect of the present invention has all the technical effects of the above steps, which will not be repeated here.

[0131] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0132] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0133] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0134] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0135] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims

1. A method for controlling automatic connecting and disconnecting rods of a raise boring machine, characterized in that: The steps include: Decoupling the rod connection action and the rod removal action between the butt end and the drill rod on the raise boring machine to obtain a first motion parameter for characterizing the motion state between the butt end and the drill rod; generating a control instruction for the raise boring machine to operate the docking end according to the first motion parameter; Setting a judgment threshold for adjusting the control instruction and setting an operation time for adjusting the control instruction according to the first motion parameter affecting the assembly state of the butt end and the drill rod; The control instruction is used to control the docking end and the drill rod to perform a rod connection action or a rod removal action, and the control instruction is adjusted within the operation time according to the judgment threshold.

2. The automatic connecting and disconnecting rod control method according to claim 1, characterized in that: The step of obtaining the first motion parameter comprises: Decoupling the rod connection action and the rod removal action into circumferential movement and axial movement between the butt end and the drill rod; Acquire the movement speed of the butt end relative to the drill rod and the force applied to the drill rod in the circumferential movement and the axial movement respectively; All movement speeds and forces at the same moment are taken as the first movement parameter.

3. The automatic connecting and unconnecting rod control method according to claim 2, characterized in that: The step of generating a control instruction for the raise boring machine to operate the docking end according to the first motion parameter specifically includes: Setting the motion state between the drill rod and the raise boring machine to be stationary; converting a first motion parameter required at a next moment into a second motion parameter between the docking end and the raise boring machine; The control instruction is generated according to the second motion parameter.

4. The automatic connecting and unconnecting rod control method according to claim 2, characterized in that: The setting and adjusting of the operation time of the control instruction includes: In the connecting rod action, the moment when the force of the circumferential motion is equal to the judgment threshold is taken as the initial moment, and a period of time after the initial moment is taken as the operation time; In the rod unloading action, the moment when the force of the circumferential motion is equal to the judgment threshold is taken as the end moment, and the time before the end moment is taken as the operation time.

5. The automatic connecting and unconnecting rod control method according to claim 4, characterized in that: For the same drill pipe, the control instructions are adjusted using the following rules: The judgment thresholds of the rod connection action and the rod unloading action are equal; The operation time of the rod connecting action is shorter than the operation time of the rod unloading action.

6. The automatic connecting and disconnecting rod control method according to claim 4, characterized in that: When the drill rod is in the rod connection action, the control instruction adjustment step includes: maintaining the movement speeds of the circumferential movement and the axial movement, and continuously determining whether the force of the circumferential movement is greater than the determination threshold; If it is greater than, then start the operation time; The movement speed of the axial movement is adjusted to zero, and the movement speed of the circumferential movement is reduced until the operation time is completed.

7. The automatic connecting and unconnecting rod control method according to claim 4, characterized in that: When the drill rod is in the unloading action, the control instruction adjustment step includes: Maintaining the movement speed of the circumferential movement and adjusting the movement speed of the axial movement to zero, and starting the operation time; continuously determining whether the force of the circumferential motion is less than the determination threshold value during the operation time; If it is less than, the movement speeds of the circumferential movement and the axial movement are increased until the operation time is completed.

8. The automatic connecting and disconnecting rod control method according to claim 7, characterized in that: When the drill rod is in the unloading action, the control instruction adjustment step further includes: When the force of the circumferential motion is greater than the judgment threshold, continuously judging whether the operation time is over; If it is finished, the rod unloading action is stopped.

9. The automatic connecting and disconnecting rod control method according to claims 2-8, characterized in that: In the same rod connecting action or rod unloading action, the circumferential movement and the axial movement are independent of each other.

10. A system for implementing the automatic rod-connecting and unconnecting control method according to any one of claims 1 to 9, characterized in that: include: An action decoupling module, used for decoupling the rod connection and rod removal actions of the drill rod action into a first motion parameter; An instruction generating module, used for generating the control instruction according to the first motion parameter; A threshold time setting module, used for setting and adjusting the judgment threshold and the operation time of the control instruction; The instruction execution module is used to receive and execute the control instruction, and adjust the control instruction according to the judgment threshold during the operation time.

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