A kind of automatic control method and system for drilling equipment

Abstract

The present invention relates to the field of drilling rig control technology, and discloses an automatic control method and system for drilling equipment, the system comprising: a sensor assembly comprising an acoustic wave sensor and a temperature sensor; a control module comprising an acquisition unit to acquire information to be drilled and determine the initial speed of a motor; an acoustic wave signal is acquired for Fourier transformation to obtain the amplitude characteristics of the acoustic wave signal; a processing unit extracts the main frequency and vibration amplitude to calculate the similarity between real-time acoustic wave data and historical data, and adjusts the initial speed according to the similarity; an adjustment unit acquires the main frequency and vibration amplitude under the first speed to calculate the ground hardness, and adjusts the first speed to obtain a second speed; a judgment unit acquires temperature data under the second speed to determine whether to adjust the second speed to obtain the final speed. The present invention solves the problems of low efficiency, high wear and high energy consumption of traditional drilling equipment under complex geological conditions through real-time monitoring and feedback control.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling rig control, and in particular to an automated control method and system for drilling equipment. Background Art

[0002] Drilling equipment refers to mechanical devices and equipment used in specific working conditions such as drilling construction. Drilling equipment plays a vital role in geological exploration, mineral resource development, civil engineering construction, scientific research and other fields. The intelligent control of drilling equipment plays an important role in improving drilling efficiency and accuracy, coping with complex geological conditions and improving the overall level of drilling operations.

[0003] During the use of drilling equipment, the contact conditions between the drill bit and the formation and the complexity of the drilling environment often have a significant impact on the drilling efficiency and the life of the equipment. Traditional drilling equipment mainly relies on artificially set fixed drilling rig speed, ignoring the real-time changes in formation hardness, resulting in low drilling efficiency, high energy consumption, and may cause excessive wear or damage to the equipment. During the drilling process, the hardness changes of the formation are difficult to predict, especially under different geological conditions, such as alternating soft and hard formations, cracks or interlayers in rocks. The traditional fixed speed drilling method is difficult to cope with such changes, often resulting in excessive wear of the drill bit, excessive energy consumption, and even equipment failure. In addition, changes in drill bit temperature will also affect the operating efficiency of the equipment, especially when drilling at high speed, excessive temperature will aggravate the damage of the drill bit and affect the service life of the drilling equipment. In order to improve the adaptability to changes in formation hardness and temperature during the drilling process, some existing technologies have introduced sensors and control systems to adjust the working parameters of the drilling rig by monitoring physical signals such as torque and vibration. However, these technologies can usually only respond passively to certain extreme situations, and do not achieve real-time prediction and active adjustment of formation hardness and drilling environment.

[0004] Therefore, it is necessary to design an automated control method and system for drilling equipment to solve the problems existing in the current technology. Summary of the invention

[0005] In view of this, the present invention proposes an automated control method and system for drilling equipment, aiming to solve the problem that drilling equipment is difficult to accurately and quickly adapt to changes in complex geological conditions, and is unable to optimize drilling efficiency and extend the service life of the equipment to the greatest extent.

[0006] In one aspect, the present invention provides an automated control system for drilling equipment, comprising:

[0007] A sensor assembly, including an acoustic wave sensor and a temperature sensor, wherein the sensor assembly is arranged at the drill bit;

[0008] A control module connected to the motor and the sensor assembly of the drilling equipment, the control module is used to collect real-time information of the sensor assembly and control the motor according to the real-time information, the control module includes a collection unit, a processing unit, an adjustment unit and a judgment unit;

[0009] The acquisition unit is configured to acquire information to be drilled, and determine the initial speed of the motor according to the information to be drilled; the acquisition unit is also configured to acquire the acoustic wave signal of the acoustic wave sensor when the drilling equipment is running, and perform Fourier transform on the acoustic wave signal to obtain the amplitude characteristic of the acoustic wave signal;

[0010] The processing unit is configured to extract the main frequency and vibration amplitude of the sound wave signal, calculate the similarity between the real-time sound wave data and the historical data according to the main frequency and the vibration amplitude, and adjust the initial speed according to the similarity; when the processing unit determines that there is no data in the historical data whose similarity with the real-time sound wave data is greater than a similarity threshold, the processing unit uses the historical speed corresponding to the maximum similarity value as the first speed and controls the motor to run at the first speed;

[0011] The adjustment unit is configured to collect the main frequency and vibration amplitude under the first speed, calculate the ground hardness according to the main frequency and vibration amplitude, and adjust the first speed according to the ground hardness to obtain the second speed;

[0012] The judgment unit is configured to collect temperature data under the second speed operation based on the temperature sensor, and judge whether to adjust the second speed according to the temperature data to obtain a final speed.

[0013] Furthermore, when the acquisition unit determines the initial speed of the motor according to the information to be drilled, it includes:

[0014]

[0015] Among them, N0 represents the initial rotation speed, L represents the length to be drilled, D represents the drilling diameter, W represents the drilling pressure, ρ represents the average density of the formation material, Nmin represents the minimum rotation speed, α represents the drill bit type coefficient, and α is 0.8-1.2.

[0016] Further, when Fourier transform is performed on the sound wave signal to obtain the amplitude characteristic of the sound wave signal, it includes:

[0017]

[0018] Wherein, S(k) represents the complex result of the kth frequency component, s(n) represents the sound wave signal value of the nth sampling point, N represents the total number of sampling points, k represents the frequency index, and j represents the imaginary unit;

[0019] The amplitude characteristic is |S(k)|.

[0020] Furthermore, when the processing unit calculates the similarity between the real-time sound wave data and the historical data according to the main frequency and amplitude characteristics, it includes:

[0021] The processing unit extracts the frequency component with the largest amplitude in the sound wave signal and records it as the main frequency;

[0022] The main frequency and the vibration amplitude are used as the features of the real-time sound wave data, and are recorded as (fz, Az);

[0023] The similarity between the real-time sound wave data and the historical data is calculated based on the Euclidean distance method, and the similarity is calculated by the following formula:

[0024]

[0025] Among them, Si represents the similarity between the real-time sound wave data and the historical i-th data, fz represents the main frequency of the real-time sound wave data, Az represents the vibration amplitude of the real-time sound wave data, fhi represents the main frequency of the historical i-th data, and Ahi represents the vibration amplitude of the historical i-th data.

[0026] Furthermore, when the processing unit adjusts the initial rotation speed according to the similarity, it includes:

[0027] When there is data in the historical data whose similarity with the real-time sound wave data is greater than a similarity threshold, selecting the historical speed corresponding to the maximum similarity value as the second speed, and controlling the motor to run at the second speed;

[0028] When the similarities between the historical data and the real-time sound wave data are both less than or equal to a similarity threshold, the processing unit uses the historical rotation speed corresponding to the maximum similarity value as the first rotation speed and controls the motor to run at the first rotation speed.

[0029] Furthermore, when the adjustment unit calculates the ground hardness according to the main frequency and the vibration amplitude, it includes:

[0030] H=k1·fz1+Az1·k2+Ch;

[0031] Wherein, H represents the ground hardness, fz1 represents the main frequency under the first speed operation, Az1 represents the vibration amplitude under the first speed operation, k1 represents the hardness sensitivity coefficient of the main frequency, k2 represents the hardness sensitivity coefficient of the amplitude, and Ch represents the correction constant of the formation hardness.

[0032] Furthermore, when the adjustment unit adjusts the first rotation speed according to the ground hardness, it includes:

[0033] The adjustment unit compares the ground hardness with a first preset ground hardness and a second preset ground hardness respectively, and determines an adjustment coefficient according to the comparison result to adjust the first rotation speed, wherein the first preset ground hardness is less than the second preset ground hardness;

[0034] When the ground hardness is less than or equal to a first preset ground hardness, the adjustment unit determines a first adjustment coefficient to adjust the first speed to obtain the second speed; when the ground hardness is greater than the first preset ground hardness and less than or equal to a second preset ground hardness, the adjustment unit determines a second adjustment coefficient to adjust the first speed to obtain the second speed; when the ground hardness is greater than the second preset ground hardness, the adjustment unit determines a third adjustment coefficient to adjust the first speed to obtain the second speed; the first adjustment coefficient is greater than the second adjustment coefficient, and the second adjustment coefficient is greater than the third adjustment coefficient;

[0035] The adjustment unit is further configured to store the second rotation speed into the historical data, wherein the second rotation speed is stored corresponding to the main frequency and the vibration amplitude.

[0036] Further, when the judging unit judges whether to adjust the second speed according to the temperature data, it includes:

[0037] The judging unit compares the temperature data with a temperature threshold, and judges whether to adjust the second speed according to the comparison result;

[0038] When the temperature data is greater than the temperature threshold, the judging unit determines to adjust the second rotation speed to obtain the final rotation speed;

[0039] When the temperature data is less than or equal to the temperature threshold, the determination unit determines not to adjust the second rotation speed and uses the second rotation speed as the final rotation speed.

[0040] Further, when the judgment unit determines to adjust the second speed, it includes:

[0041] The judgment unit obtains a temperature difference based on the temperature data and the temperature threshold, and the temperature difference is the difference between the temperature data and the temperature threshold. The judgment unit determines a speed adjustment coefficient based on the temperature difference to adjust the second speed to obtain the final speed. The speed adjustment coefficient is inversely proportional to the temperature difference, and the speed adjustment coefficient takes a value of 0-1.

[0042] Compared with the prior art, the beneficial effects of the present invention are: by integrating the acoustic wave sensor and the temperature sensor, the acoustic wave signal and temperature data in the drilling process are collected in real time at the drill bit, and the main frequency and amplitude characteristics of the acoustic wave signal are analyzed by Fourier transform, so as to judge the change of the formation hardness in real time. By comparing the similarity between the real-time acoustic wave data and the historical data, the initial rotation speed of the drilling rig can be dynamically adjusted to adapt it to different geological conditions. When the historical data is not sufficient to accurately match the real-time situation, the optimal historical rotation speed can also be determined according to the maximum similarity. The rotation speed adjustment is further optimized in combination with the temperature data to avoid equipment damage and performance degradation caused by overheating of the drill bit. The adaptability and operating efficiency of the drilling equipment are improved, the wear of the drill bit caused by the change of formation hardness is reduced, the service life of the equipment is extended, and the energy consumption is reduced. Through real-time monitoring and feedback control, the problems of low efficiency, high wear and high energy consumption of traditional drilling equipment under complex geological conditions are solved.

[0043] On the other hand, the present application also provides an automated control method for drilling equipment, which is applied to an automated control system for drilling equipment, comprising:

[0044] An acoustic wave sensor and a temperature sensor are arranged at the drill bit;

[0045] Collecting information to be drilled, and determining the initial speed of the motor according to the information to be drilled; collecting the acoustic wave signal of the acoustic wave sensor when the drilling equipment is running, and performing Fourier transform on the acoustic wave signal to obtain the amplitude characteristic of the acoustic wave signal;

[0046] Extracting the main frequency and vibration amplitude of the sound wave signal, calculating the similarity between the real-time sound wave data and the historical data according to the main frequency and the vibration amplitude, and adjusting the initial speed according to the similarity; when the processing unit determines that there is no data in the historical data whose similarity with the real-time sound wave data is greater than a similarity threshold, taking the historical speed corresponding to the maximum similarity value as the first speed and controlling the motor to run at the first speed;

[0047] collecting the main frequency and vibration amplitude under the first speed operation, calculating the ground hardness according to the main frequency and vibration amplitude, and adjusting the first speed according to the ground hardness to obtain a second speed;

[0048] The temperature data under the second speed operation is collected based on the temperature sensor, and it is determined whether to adjust the second speed according to the temperature data to obtain a final speed.

[0049] It is understandable that the above-mentioned automated control method and system for drilling equipment have the same beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0051] Figure 1 A structural block diagram of an automated control system for drilling equipment provided by an embodiment of the present invention;

[0052] Figure 2 A flow chart of an automated control method for drilling equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] In some embodiments of the present application, see Figure 1 As shown, an automatic control system for drilling equipment includes: a sensor component and a control module, wherein:

[0055] The sensor assembly comprises an acoustic wave sensor and a temperature sensor, and the sensor assembly is arranged at the drill bit.

[0056] The control module is connected to the motor and sensor assembly of the drilling equipment. The control module is used to collect real-time information of the sensor assembly and control the motor according to the real-time information. The control module includes a collection unit, a processing unit, an adjustment unit and a judgment unit.

[0057] The acquisition unit is configured to acquire information to be drilled, determine the initial speed of the motor according to the information to be drilled, and acquire the acoustic wave signal of the acoustic wave sensor when the drilling equipment is running, and perform Fourier transform on the acoustic wave signal to obtain the amplitude characteristic of the acoustic wave signal.

[0058] The processing unit is configured to extract the main frequency and vibration amplitude of the sound wave signal, calculate the similarity between the real-time sound wave data and the historical data according to the main frequency and the vibration amplitude, and adjust the initial speed according to the similarity. When the processing unit determines that there is no data in the historical data whose similarity with the real-time sound wave data is greater than a similarity threshold, the processing unit uses the historical speed corresponding to the maximum similarity as the first speed and controls the motor to run at the first speed.

[0059] The adjustment unit is configured to collect the main frequency and vibration amplitude under the first speed operation, calculate the ground hardness according to the main frequency and the vibration amplitude, adjust the first speed according to the ground hardness, and obtain the second speed.

[0060] The judgment unit is configured to collect temperature data under the second speed operation based on the temperature sensor, and judge whether to adjust the second speed according to the temperature data to obtain the final speed.

[0061] Specifically, the sensor assembly includes an acoustic sensor and a temperature sensor, which are installed at the drill bit. The acoustic sensor is used to monitor the acoustic signal during the drilling process, and the temperature sensor is used to detect the temperature of the drill bit when it is working. Through these sensors, the physical parameters of the drilling environment are obtained in real time. The control module connects the motor and the sensor assembly, and is divided into four main units: the acquisition unit, the processing unit, the adjustment unit, and the judgment unit. These units work together to ensure that the speed of the drill can be adjusted in real time according to different geological conditions, drill bit status, and temperature changes. The acquisition unit is responsible for collecting initial drilling information and determining the initial speed of the motor based on this information. In addition, it also collects acoustic signals and analyzes the amplitude characteristics of the acoustic signals through Fourier transform to identify the hardness characteristics of the formation during the drilling process. The processing unit extracts the main frequency and vibration amplitude of the acoustic signal and calculates the similarity between the real-time acoustic data and the historical data. If there is no data that meets the similarity threshold, the processing unit will select the speed with the highest similarity in the historical data as the reference speed. By comparing historical data with current data, the initial settings of the drilling rig are optimized and the adaptability to complex geological conditions is enhanced. Based on the preliminary speed provided by the processing unit, the hardness of the formation is further calculated according to the real-time main frequency and vibration amplitude, and the speed is optimized for the second time. This process ensures that the drilling rig can effectively cope with changes in hardness and avoid excessive wear. The judgment unit determines whether too high a temperature will be generated at the current speed based on the temperature data provided by the temperature sensor, and further adjusts the speed to obtain the final optimized speed. The existence of this unit can effectively prevent damage to the drill bit caused by excessive temperature and extend the service life of the equipment.

[0062] It is understandable that the various physical signals during the drilling process are monitored in real time through acoustic sensors and temperature sensors, and the precise adjustment of the drilling rig speed is achieved through intelligent processing of the control module. Compared with the traditional fixed-speed drilling method, the active prediction of formation hardness and temperature changes improves drilling efficiency, reduces energy consumption, and effectively extends the service life of the drill bit. More importantly, the system can adapt to complex geological conditions such as alternating soft and hard formations and rock cracks, making drilling operations more flexible and efficient. In addition, the temperature monitoring and control mechanism also prevents the risk of damage to the drill bit due to overheating, achieving higher equipment reliability and safety.

[0063] In some embodiments of the present application, when the acquisition unit determines the initial speed of the motor according to the information to be drilled, it includes:

[0064]

[0065] Among them, N0 represents the initial rotation speed, L represents the length to be drilled, D represents the drilling diameter, W represents the drilling pressure, ρ represents the average density of the formation material, Nmin represents the minimum rotation speed, α represents the drill bit type coefficient, and α is 0.8-1.2.

[0066] It is understandable that, unlike the traditional single setting speed, this embodiment comprehensively considers factors such as drilling depth, diameter, drilling pressure, and formation hardness to dynamically determine the initial speed. This method can provide the most suitable initial working state for different geological conditions, avoiding the inefficiency and equipment wear caused by blind settings. In particular, the introduction of the drill bit type coefficient α ensures that the system can find suitable working parameters under different types of drill bits, thereby improving the adaptability and flexibility of the system. In the face of diverse geological conditions, higher drilling efficiency can be obtained, equipment damage can be reduced, and energy consumption can be saved.

[0067] In some embodiments of the present application, when Fourier transform is performed on the sound wave signal to obtain the amplitude characteristic of the sound wave signal, it includes:

[0068]

[0069] Among them, S(k) represents the complex result of the kth frequency component, s(n) represents the sound wave signal value of the nth sampling point, N represents the total number of sampling points, k represents the frequency index, and j represents the imaginary unit.

[0070] The amplitude characteristic is |S(k)|.

[0071] In some embodiments of the present application, when the processing unit calculates the similarity between the real-time sound wave data and the historical data according to the main frequency and amplitude characteristics, it includes:

[0072] The processing unit extracts the frequency component with the largest amplitude in the sound wave signal and records it as the main frequency.

[0073] The main frequency and vibration amplitude are used as the features of the real-time sound wave data and are recorded as (fz, Az).

[0074] The similarity between real-time sound wave data and historical data is calculated based on the Euclidean distance method. The similarity is calculated using the following formula:

[0075]

[0076] Among them, Si represents the similarity between the real-time sound wave data and the historical i-th data, fz represents the main frequency of the real-time sound wave data, Az represents the vibration amplitude of the real-time sound wave data, fhi represents the main frequency of the historical i-th data, and Ahi represents the vibration amplitude of the historical i-th data.

[0077] In some embodiments of the present application, when the processing unit adjusts the initial speed according to the similarity, it includes: when there is data in the historical data whose similarity with the real-time sound wave data is greater than the similarity threshold, the historical speed corresponding to the maximum similarity is selected as the second speed, and the motor is controlled to run at the second speed. When the similarity between the historical data and the real-time sound wave data is less than or equal to the similarity threshold, the processing unit uses the historical speed corresponding to the maximum similarity as the first speed and controls the motor to run at the first speed.

[0078] Specifically, the acoustic signal s(n) represents the acoustic intensity at each moment (or sampling point) during the drilling process. Fourier transform is used to convert the acoustic signal from the time domain to the frequency domain to obtain the complex result S(k) of each frequency component. After Fourier transform, the amplitude characteristic |S(k)| obtained represents the intensity of each frequency component. These amplitude characteristics reflect the energy distribution of the acoustic wave at different frequencies during the drilling process. The processing unit extracts the frequency component with the largest amplitude by analyzing the amplitude characteristics, which is called the main frequency. This main frequency usually reflects the main response frequency of the formation to the acoustic wave during the current drilling process. The amplitude value corresponding to the main frequency is recorded as the vibration amplitude Az, which is used to describe the vibration intensity generated during the drilling process. The characteristics of real-time acoustic wave data are expressed as (fz, Az), which is a combination of the main frequency and the vibration amplitude. The similarity between real-time acoustic wave data and historical data is calculated by the Euclidean distance method. By calculating the Euclidean distance between real-time acoustic wave data and historical data, the similarity between the two can be quantified. The larger the similarity value, the closer the current sound wave data is to the historical data. When historical data with a similarity greater than a threshold to the real-time sound wave data is detected, the historical speed corresponding to the maximum similarity value is selected, which is called the second speed, and the motor is controlled to run at this speed. If no historical data with a similarity greater than a threshold to the real-time sound wave data is found, the processing unit selects the historical speed corresponding to the maximum similarity value as the first speed, and controls the motor to run at the first speed.

[0079] It is understandable that through real-time analysis of acoustic signals during drilling, changes in the formation can be dynamically sensed and the drilling rig speed can be adjusted, which improves the flexibility and accuracy of drilling. Compared with the traditional fixed speed method, the main frequency and amplitude characteristics of the acoustic signal, combined with the similarity matching of historical data, can quickly find the most suitable speed under complex geological conditions, avoiding excessive wear of the drill bit and unnecessary energy consumption. In particular, when the real-time acoustic data matches the historical data, the optimal speed can be quickly selected, and when there is no suitable match, it can still run at the historical speed corresponding to the maximum similarity value, ensuring the continuity and safety of drilling. It effectively improves the intelligence level of drilling operations, reduces human intervention, and improves operational efficiency.

[0080] In some embodiments of the present application, when the adjustment unit calculates the ground hardness according to the main frequency and the vibration amplitude, it includes:

[0081] H=k1·fz1+Az1·k2+Ch;

[0082] Wherein, H represents the ground hardness, fz1 represents the main frequency under the first speed operation, Az1 represents the vibration amplitude under the first speed operation, k1 represents the hardness sensitivity coefficient of the main frequency, k2 represents the hardness sensitivity coefficient of the amplitude, and Ch represents the correction constant of the formation hardness.

[0083] In some embodiments of the present application, when the adjustment unit adjusts the first rotational speed according to the ground hardness, it includes: the adjustment unit compares the ground hardness with a preset first preset ground hardness and a second preset ground hardness, respectively, and determines an adjustment coefficient according to the comparison result to adjust the first rotational speed, and the first preset ground hardness is less than the second preset ground hardness.

[0084] Specifically, k1 is preferably 0.1-0.5MPa / Hz, k2 is preferably 0.05-0.3MPa / mm, and Ch is preferably 10-100MPa. When the ground hardness is less than or equal to the first preset ground hardness, the adjustment unit determines the first adjustment coefficient to adjust the first speed to obtain the second speed. When the ground hardness is greater than the first preset ground hardness and less than or equal to the second preset ground hardness, the adjustment unit determines the second adjustment coefficient to adjust the first speed to obtain the second speed. When the ground hardness is greater than the second preset ground hardness, the adjustment unit determines the third adjustment coefficient to adjust the first speed to obtain the second speed. The first adjustment coefficient is greater than the second adjustment coefficient, and the second adjustment coefficient is greater than the third adjustment coefficient.

[0085] The adjustment unit is further configured to store the second rotation speed into the historical data, and the second rotation speed is stored corresponding to the main frequency and the vibration amplitude.

[0086] It is understandable that the rotation speed of the drill rig is dynamically adjusted by calculating the ground hardness. Through the main frequency and vibration amplitude of the acoustic signal, the hardness of the formation can be accurately estimated, and the rotation speed can be flexibly adjusted according to different hardness ranges. Ensure that the drill rig runs at high speed in softer formations to improve efficiency, and slows down in harder formations to protect equipment and reduce wear. In addition, through the fine control of different adjustment coefficients, it can cope with various complex geological conditions, and store the optimal rotation speed in historical data to provide a reference for subsequent drilling. This real-time adaptability and historical data utilization improves the intelligence level and efficiency of the drilling system, while effectively extending the service life of the equipment.

[0087] In some embodiments of the present application, when the judgment unit judges whether to adjust the second speed according to the temperature data, it includes: the judgment unit compares the temperature data with the temperature threshold, and judges whether to adjust the second speed according to the comparison result.

[0088] Specifically, when the temperature data is greater than the temperature threshold, the judgment unit determines to adjust the second speed to obtain the final speed. When the temperature data is less than or equal to the temperature threshold, the judgment unit determines not to adjust the second speed and takes the second speed as the final speed.

[0089] In some embodiments of the present application, when the judgment unit determines to adjust the second speed, it includes: the judgment unit obtains a temperature difference based on the temperature data and the temperature threshold, the temperature difference is the difference between the temperature data and the temperature threshold, the judgment unit determines a speed adjustment coefficient based on the temperature difference to adjust the second speed to obtain a final speed, the speed adjustment coefficient is inversely proportional to the temperature difference, and the speed adjustment coefficient is 0-1.

[0090] Specifically, when the judgment unit decides to adjust the speed, the temperature difference is calculated, that is, the difference between the current temperature data and the temperature threshold. This temperature difference can be used to evaluate the current thermal state of the device. The judgment unit determines a speed adjustment coefficient based on the temperature difference. The coefficient is inversely proportional to the temperature difference, which means that the larger the temperature difference, the smaller the speed adjustment coefficient, and vice versa. Specifically, the speed adjustment coefficient ranges from 0 to 1. The final speed will be the result of adjusting the second speed, and the adjustment range is determined by the speed adjustment coefficient. When the temperature difference is large, the speed adjustment coefficient is small, and the final speed reduction will also increase; when the temperature difference is small, the speed adjustment coefficient is large, and the final speed reduction will decrease.

[0091] It is understandable that the operating status of the drilling equipment can be adjusted in real time through temperature monitoring to ensure that the equipment works efficiently within a safe temperature range. By comparing the temperature data with the threshold, it is possible to quickly determine whether the speed needs to be reduced to prevent overheating, thereby optimizing drilling efficiency. When the equipment works under suitable temperature conditions, the risk of failure can be effectively reduced and the life of the equipment can be extended. In addition, the method of using temperature difference to determine the speed adjustment coefficient makes the adjustment more flexible and accurate, which helps to maintain the best drilling performance in different environments and working conditions. It is conducive to improving the automation level of the drilling system and improving the safety and reliability of the overall operation.

[0092] In the above embodiment, by integrating the acoustic wave sensor and the temperature sensor, the acoustic wave signal and temperature data in the drilling process are collected in real time at the drill bit, and the main frequency and amplitude characteristics of the acoustic wave signal are analyzed by Fourier transform, so as to judge the change of the formation hardness in real time. By comparing the similarity between the real-time acoustic wave data and the historical data, the initial rotation speed of the drilling rig can be dynamically adjusted to adapt it to different geological conditions. When the historical data is not sufficient to accurately match the real-time situation, the optimal historical rotation speed can also be determined according to the maximum similarity. The rotation speed adjustment is further optimized in combination with the temperature data to avoid equipment damage and performance degradation caused by overheating of the drill bit. The adaptability and operating efficiency of the drilling equipment are improved, the wear of the drill bit caused by the change of formation hardness is reduced, the service life of the equipment is extended, and the energy consumption is reduced. Through real-time monitoring and feedback control, the problems of low efficiency, high wear and high energy consumption of traditional drilling equipment under complex geological conditions are solved.

[0093] In another preferred embodiment based on the above embodiment, refer to Figure 2 As shown, this embodiment provides an automatic control method for drilling equipment, which is applied to an automatic control system for drilling equipment, including:

[0094] S100: Arrange an acoustic wave sensor and a temperature sensor at the drill bit;

[0095] S200: collecting information to be drilled, and determining the initial speed of the motor according to the information to be drilled; collecting the acoustic wave signal of the acoustic wave sensor when the drilling equipment is running, and performing Fourier transform on the acoustic wave signal to obtain the amplitude characteristic of the acoustic wave signal;

[0096] S300: extracting the main frequency and vibration amplitude of the sound wave signal, calculating the similarity between the real-time sound wave data and the historical data according to the main frequency and the vibration amplitude, and adjusting the initial speed according to the similarity; when the processing unit determines that there is no data in the historical data whose similarity with the real-time sound wave data is greater than the similarity threshold, taking the historical speed corresponding to the maximum similarity as the first speed and controlling the motor to run at the first speed;

[0097] S400: collecting the main frequency and vibration amplitude under the first speed operation, calculating the ground hardness according to the main frequency and the vibration amplitude, and adjusting the first speed according to the ground hardness to obtain the second speed;

[0098] S500: collecting temperature data under the second speed operation based on the temperature sensor, and determining whether to adjust the second speed according to the temperature data to obtain a final speed.

[0099] It is understandable that by integrating the acoustic wave sensor and the temperature sensor, the acoustic wave signal and temperature data during the drilling process are collected in real time at the drill bit, and the main frequency and amplitude characteristics of the acoustic wave signal are analyzed by Fourier transform, so as to judge the change of formation hardness in real time. By comparing the similarity between the real-time acoustic wave data and the historical data, the initial rotation speed of the drilling rig can be dynamically adjusted to adapt it to different geological conditions. When the historical data is not sufficient to accurately match the real-time situation, the optimal historical rotation speed can also be determined according to the maximum similarity. The rotation speed adjustment is further optimized in combination with the temperature data to avoid equipment damage and performance degradation caused by overheating of the drill bit. The adaptability and operating efficiency of the drilling equipment are improved, the wear of the drill bit caused by changes in formation hardness is reduced, the service life of the equipment is extended, and the energy consumption is reduced. Through real-time monitoring and feedback control, the problems of low efficiency, high wear and high energy consumption of traditional drilling equipment under complex geological conditions are solved.

[0100] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0101] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0102] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An automatic control system for drilling equipment, characterized in that: include: A sensor assembly, including an acoustic wave sensor and a temperature sensor, wherein the sensor assembly is arranged at the drill bit; A control module connected to the motor and the sensor assembly of the drilling equipment, the control module is used to collect real-time information of the sensor assembly and control the motor according to the real-time information, the control module includes a collection unit, a processing unit, an adjustment unit and a judgment unit; The acquisition unit is configured to acquire information to be drilled, and determine the initial speed of the motor according to the information to be drilled; the acquisition unit is also configured to acquire the acoustic wave signal of the acoustic wave sensor when the drilling equipment is running, and perform Fourier transform on the acoustic wave signal to obtain the amplitude characteristic of the acoustic wave signal; The processing unit is configured to extract the main frequency and vibration amplitude of the sound wave signal, calculate the similarity between the real-time sound wave data and the historical data according to the main frequency and the vibration amplitude, and adjust the initial speed according to the similarity; when the processing unit determines that there is no data in the historical data whose similarity with the real-time sound wave data is greater than a similarity threshold, the processing unit uses the historical speed corresponding to the maximum similarity value as the first speed and controls the motor to run at the first speed; The adjustment unit is configured to collect the main frequency and vibration amplitude under the first speed, calculate the ground hardness according to the main frequency and vibration amplitude, and adjust the first speed according to the ground hardness to obtain the second speed; The judgment unit is configured to collect temperature data under the second speed operation based on the temperature sensor, and judge whether to adjust the second speed according to the temperature data to obtain a final speed.

2. The automatic control system for drilling equipment according to claim 1, characterized in that: When the acquisition unit determines the initial speed of the motor according to the information to be drilled, it includes: Among them, N0 represents the initial rotation speed, L represents the length to be drilled, D represents the drilling diameter, W represents the drilling pressure, ρ represents the average density of the formation material, Nmin represents the minimum rotation speed, α represents the drill bit type coefficient, and α is 0.8-1.

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3. The automatic control system for drilling equipment according to claim 1, characterized in that: When Fourier transform is performed on the sound wave signal to obtain the amplitude characteristic of the sound wave signal, it includes: Wherein, S(k) represents the complex result of the kth frequency component, s(n) represents the sound wave signal value of the nth sampling point, N represents the total number of sampling points, k represents the frequency index, and j represents the imaginary unit; The amplitude characteristic is |S(k)|.

4. The automatic control system for drilling equipment according to claim 3, characterized in that: When the processing unit calculates the similarity between the real-time sound wave data and the historical data according to the main frequency and amplitude characteristics, it includes: The processing unit extracts the frequency component with the largest amplitude in the sound wave signal and records it as the main frequency; The main frequency and the vibration amplitude are used as the features of the real-time sound wave data, and are recorded as (fz, Az); The similarity between the real-time sound wave data and the historical data is calculated based on the Euclidean distance method, and the similarity is calculated by the following formula: Among them, Si represents the similarity between the real-time sound wave data and the historical i-th data, fz represents the main frequency of the real-time sound wave data, Az represents the vibration amplitude of the real-time sound wave data, fhi represents the main frequency of the historical i-th data, and Ahi represents the vibration amplitude of the historical i-th data.

5. The automatic control system for drilling equipment according to claim 4, characterized in that: When the processing unit adjusts the initial rotation speed according to the similarity, it includes: When there is data in the historical data whose similarity with the real-time sound wave data is greater than a similarity threshold, selecting the historical speed corresponding to the maximum similarity value as the second speed, and controlling the motor to run at the second speed; When the similarities between the historical data and the real-time sound wave data are both less than or equal to a similarity threshold, the processing unit uses the historical rotation speed corresponding to the maximum similarity value as the first rotation speed and controls the motor to run at the first rotation speed.

6. The automatic control system for drilling equipment according to claim 1, characterized in that: When the adjustment unit calculates the ground hardness according to the main frequency and the vibration amplitude, it includes: H=k1·fz1+Az1·k2+Ch; Wherein, H represents the ground hardness, fz1 represents the main frequency under the first speed operation, Az1 represents the vibration amplitude under the first speed operation, k1 represents the hardness sensitivity coefficient of the main frequency, k2 represents the hardness sensitivity coefficient of the amplitude, and Ch represents the correction constant of the formation hardness.

7. The automatic control system for drilling equipment according to claim 1, characterized in that: When the adjustment unit adjusts the first rotation speed according to the ground hardness, it includes: The adjustment unit compares the ground hardness with a first preset ground hardness and a second preset ground hardness respectively, and determines an adjustment coefficient according to the comparison result to adjust the first rotation speed, wherein the first preset ground hardness is less than the second preset ground hardness; When the ground hardness is less than or equal to a first preset ground hardness, the adjustment unit determines a first adjustment coefficient to adjust the first speed to obtain the second speed; when the ground hardness is greater than the first preset ground hardness and less than or equal to a second preset ground hardness, the adjustment unit determines a second adjustment coefficient to adjust the first speed to obtain the second speed; when the ground hardness is greater than the second preset ground hardness, the adjustment unit determines a third adjustment coefficient to adjust the first speed to obtain the second speed; the first adjustment coefficient is greater than the second adjustment coefficient, and the second adjustment coefficient is greater than the third adjustment coefficient; The adjustment unit is further configured to store the second rotation speed into the historical data, wherein the second rotation speed is stored corresponding to the main frequency and the vibration amplitude.

8. The automatic control system for drilling equipment according to claim 7, characterized in that: When the judging unit judges whether to adjust the second speed according to the temperature data, it includes: The judging unit compares the temperature data with a temperature threshold, and judges whether to adjust the second speed according to the comparison result; When the temperature data is greater than the temperature threshold, the judging unit determines to adjust the second rotation speed to obtain the final rotation speed; When the temperature data is less than or equal to the temperature threshold, the determination unit determines not to adjust the second rotation speed and uses the second rotation speed as the final rotation speed.

9. The automatic control system for drilling equipment according to claim 8, characterized in that: When the determining unit determines to adjust the second speed, the method includes: The judgment unit obtains a temperature difference based on the temperature data and the temperature threshold, and the temperature difference is the difference between the temperature data and the temperature threshold. The judgment unit determines a speed adjustment coefficient based on the temperature difference to adjust the second speed to obtain the final speed. The speed adjustment coefficient is inversely proportional to the temperature difference, and the speed adjustment coefficient takes a value of 0-1.

10. An automated control method for drilling equipment, applied to the automated control system for drilling equipment as claimed in any one of claims 1 to 9, characterized in that: include: An acoustic wave sensor and a temperature sensor are arranged at the drill bit; Collecting information to be drilled, and determining the initial speed of the motor according to the information to be drilled; collecting the acoustic wave signal of the acoustic wave sensor when the drilling equipment is running, and performing Fourier transform on the acoustic wave signal to obtain the amplitude characteristic of the acoustic wave signal; Extracting the main frequency and vibration amplitude of the sound wave signal, calculating the similarity between the real-time sound wave data and the historical data according to the main frequency and the vibration amplitude, and adjusting the initial speed according to the similarity; when the processing unit determines that there is no data in the historical data whose similarity with the real-time sound wave data is greater than a similarity threshold, taking the historical speed corresponding to the maximum similarity value as the first speed and controlling the motor to run at the first speed; collecting the main frequency and vibration amplitude under the first speed operation, calculating the ground hardness according to the main frequency and vibration amplitude, and adjusting the first speed according to the ground hardness to obtain a second speed; The temperature data under the second speed operation is collected based on the temperature sensor, and it is determined whether to adjust the second speed according to the temperature data to obtain a final speed.

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