Method and system for automatically weighing hanging load value of drill rod of vehicle-mounted rescue drilling machine

Abstract

The invention provides a method and a system for automatically weighing a hanging load value of a drill rod of a vehicle-mounted rescue drilling machine, and belongs to the field of automatic control in engineering machinery. Sequentially arranging serial numbers for all the drill rods, and numbering three drill rods in one group; sequentially adding according to the serial numbers of the drill rods in the drilling process; different hanging weight value weighing methods are used for different drill rods, the first drill rod is a weighing drill rod, and the hanging weight value of the weighing drill rod is calculated by obtaining parameters of the weighing drill rod in the automatic steady state process; the second drill rod and the third drill rod are non-weighing drill rods, the non-weighing drill rods do not need to enter an automatic steady state process again, and the hanging weight values of the second drill rod and the third drill rod can be obtained by directly calculating according to the hanging weight value and the hole depth of the first drill rod in the group and the gravity and length information of the drill bit drill rods. By obtaining stable hanging load data, the working efficiency of the rescue drilling machine can be improved when the method is applied to the vehicle-mounted rescue drilling machine, drill jamming is effectively prevented, and tedious repairing work is avoided.

Description

Technical Field

[0001] The invention belongs to the field of automatic control in engineering machinery, and in particular relates to a method and system for automatically weighing the suspended weight value of a drill rod of a vehicle-mounted rescue drilling rig. Background Art

[0002] Drilling rescue is an effective way to rescue mine accidents. The main equipment is a vehicle-mounted rescue drill. The vehicle-mounted rescue drill can quickly build a shaft rescue channel and rescue trapped people in a variety of emergency situations. In recent years, vehicle-mounted rescue drills have been rapidly developed and widely used. However, with the advancement of science and technology and the improvement of emergency rescue capabilities, the research and development of efficient vehicle-mounted rescue drills is of great significance for the prevention and control of various major disasters. At the same time, this type of vehicle-mounted drill is also widely used in mining and other fields. It can be combined with drill rod directional technology to realize the construction of inclined holes and horizontal holes. With the increase in the difficulty of resource mining, there is also a market demand for efficient drilling rigs.

[0003] The current method of weighing the hanging weight value mainly relies on the weighing system and the manual operation of the driller to complete the weighing. The operation is complicated and overly dependent on manual operation. The reliability of the collected pressure data is low, and the weighing of the hanging weight value of each drill pipe needs to be weighed manually. The existing weighing method has a low level of automation, inaccurate weighing values, cumbersome weighing process, and low weighing efficiency.

[0004] Prior art CN107201895A discloses an automatic measuring system for oil pipe lowering operations, which is composed of a rotating laser, a pulley, a photosensitive scale detector, a hanging weight sensor, power and signal cables, and a reading display. It solves the problem of pipe length measurement that has plagued oil pipe lowering operations for many years, and overcomes the disadvantages of manual measurement of pipe length, low accuracy, tediousness and prone to errors. The instrument is easy to install and use. The drill pipe and pipeline directly use a rotating weight sensor to obtain data. The measurement accuracy is affected by many working conditions. At the same time, it is impossible to measure the hanging weight value of the drill pipe during operation, and it is impossible to effectively adjust the drilling pressure. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention proposes a method and system for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig, which can overcome the shortcomings of the existing drill rod suspended weight weighing technology, realize the automatic weighing of the suspended weight of the vehicle-mounted drilling rig, improve the automation level of the equipment, reduce the number and time of weighing, and improve the weighing efficiency. In addition, the technology also improves the accuracy of the measurement and calculation of the suspended weight value and the drilling pressure at the bottom of the hole.

[0006] To achieve the above technical objectives, the method for automatically weighing the suspended weight of the drill rod of a vehicle-mounted rescue drilling rig of the present invention comprises a primary feeding mechanism and a secondary feeding mechanism connected to each other through a feeding hydraulic cylinder, a rodless cavity pressure sensor is provided in the rodless cavity of the feeding hydraulic cylinder, and a rod cavity pressure sensor is provided in the rod cavity of the feeding hydraulic cylinder; the overhead crane at the end of the secondary feeding mechanism is connected to a power head through a pulling winch and a pulling wire rope, and the power head is also connected to a feeding winch through a feeding wire rope, a speed encoder for measuring the rotation speed of the drill rod is provided on the power head, and a rotary encoder for detecting the rotation distance is provided on the feeding winch, and the power head is connected to a drilling tool through a plurality of sections of conventional drill rods connected to each other, wherein the conventional drill rod can be replaced with a special drill rod as needed;

[0007] Here are the steps:

[0008] All drill pipes are numbered in sequence and numbered in groups of three;

[0009] When the vehicle-mounted rescue drill is working, it is installed in sequence during the drilling process according to the drill rod number;

[0010] Different hanging weight weighing methods are used for different drill rods: in a group of three drill rods, the first drill rod is a weighing drill rod. The hanging weight value of the weighing drill rod is calculated by obtaining the parameters of the weighing drill rod during the automatic steady-state process; the second and third drill rods are non-weighing drill rods. There is no need to obtain the parameters of the non-weighing drill rods during the automatic steady-state process. The hanging weight values ​​of the second and third drill rods can be obtained by directly calculating the hanging weight value of the first drill rod in this group, the hole depth, and the gravity and length information of the drill bit and drill rod; the method in this paragraph can be repeated to automatically weigh the hanging weight value of the drill rod of the vehicle-mounted rescue drilling rig of any length.

[0011] Furthermore, when a sudden change in the bottom layer condition is found during the drilling process, if the current drill rod is a non-weighing drill rod obtained by extrapolation, in order to improve the accuracy of the drilling suspended weight value, the current drill rod is manually set to a weighing drill rod, and its parameters in the automatic steady-state process are obtained, and the drilling parameters are adjusted in time accordingly.

[0012] Furthermore, the automatic steady-state process is used during the installation of the symmetrical heavy drill pipe:

[0013] The sensor reads the rotation speed and drilling speed of the end of the drill rod connected to the current drill rig as a reference for the movement speed of the drill rig power head;

[0014] When a weighing drill rod in a group of three drill rods is added to the vehicle-mounted rescue drilling rig, the end of the newly added weighing drill rod is connected to the original drill rod, and the power head is connected to the integral drill rod of the newly added weighing drill rod. Combined with the drilling speed of the end of the previous drill rod, the power head is lifted to turn the integral drill rod upside down and lift it to a specified height. The lifting height of the drill rod is determined by the drilling speed of the end of the previous drill rod. The height value is the drilling speed of the end of the upper drill rod × the specified time, and the specified time is variable;

[0015] The power head of the vehicle-mounted rescue drill is controlled to drive the drill rod to move downward at a uniform speed with the same rotation speed and drilling speed as the end of the drill rod before the weighing drill rod is installed until the drill tool touches the bottom. During the process of the uniform rod descending, the two-chamber pressure sensor of the feed hydraulic oil cylinder is used to collect multiple groups of two-chamber pressure values ​​of the feed hydraulic oil cylinder at intervals of 1 second, and the multiple groups of data are subjected to denoising and averaging correlation processing to obtain the average pressure value of the two-chamber pressure of the feed hydraulic oil cylinder;

[0016] When the drill bit at the end of the drill rod of the vehicle-mounted rescue drilling rig hits the bottom as observed by the instrument, the power head is controlled to perform drilling operations at the same rotation speed and drilling speed as the end of the previous drill rod to simulate the approaching unmeasurable friction resistance, making the bottom hole drilling pressure more accurate when offsetting the calculation.

[0017] Furthermore, during the automatic weighing calculation of non-weighing drill pipe:

[0018] The hanging weight values ​​of the second and third drill rods in this group of drill rods are calculated based on the hanging weight value of the first drill rod and the calculation parameters of the bottom hole drilling pressure, combined with the drill rod number, the hanging weight value per unit length of the drill rod, the drill rod weight length information, the hanging weight value of the weighed drill rod, the drill rod serial number, the special drill rod weight length information, the drill bit weight length hanging weight value and the drilling depth information.

[0019] Furthermore, assuming that the current drill rod serial number is m and the weighing drill rod serial number is N; the drill rod is judged to be a weighing drill rod according to the drill rod serial number, and the parameters obtained by the weighing drill rod in the automatic steady-state process are as follows, and the hanging weight value of the weighing drill rod is calculated through the parameters:

[0020]

[0021] Among them, F X(N) Indicates the hanging weight value corresponding to the weighing drill pipe numbered N; G DLT Indicates the gravity of the power head, which is a constant value; G GSS(N) Indicates the weight of the wire rope when the number of weighed drill rods is N; G CGZG Represents the gravity of a conventional drill pipe, which is a constant value; G ZT Indicates the gravity of the drill bit, which is a constant value; G 1 Represents the gravity of the secondary feeding mechanism, which is a constant value; P 2(N)It indicates the rodless chamber pressure fed into the hydraulic cylinder when the number of weighed drill rods is N; P 1(N) It indicates the rod chamber pressure of the hydraulic cylinder when the number of weighed drill rods is N; D indicates the cylinder diameter of the hydraulic cylinder, which is a constant value; d indicates the rod diameter of the hydraulic cylinder, which is a constant value.

[0022] Furthermore, the drill rods used in vehicle-mounted rescue drills are usually conventional drill rods with the same model parameters. Special drill rods with different weights may be selected according to special needs. Special drill rods are drill rods with different weights than conventional drill rods that are installed according to actual needs, including weighted drill rods and spiral drill rods.

[0023] Assume that the current drill rod serial number is m, and the weighed drill rod serial number is N; according to the drill rod grouping result, it is determined that the drill rod is a non-weighed drill rod:

[0024] When mN=1 is satisfied, the current non-weighed drill rod is judged to be the first non-weighed drill rod after the weighed drill rod, that is, the second drill rod in a group of three. The corresponding drill rod automatic hanging weight calculation formula is as follows:

[0025]

[0026] When mN=2 is satisfied, it is determined that the current non-weighed drill rod is the second non-weighed drill rod after the weighed drill rod, that is, the third drill rod in a group of three. The corresponding drill rod automatic hanging weight calculation formula is as follows:

[0027]

[0028] Among them, L K(m) Indicates the hole depth when the mth drill rod is driven into the ground; L K(N-1) Indicates the hole depth corresponding to the weighing of the previous drill rod; L ZT Indicates the length of the drill bit, L TSZG Indicates the length of the special drill pipe, G TSZG Indicates the gravity of special drill rods, which is a fixed value. Special drill rods are drill rods with different weights from conventional drill rods that are installed according to actual needs, including weighted drill rods and spiral drill rods; G ZT Indicates the gravity of the drill bit, which is a constant value; G m Represents the gravity of the drill pipe with serial number m; G m-1 Indicates the gravity of the drill rod with serial number m-1; if there is a special drill rod with a different weight and length from the regular drill rod, the length and gravity information of the special drill rod are substituted into L TSZG and G TSZG Fill in formulas (2) and (3) for calculation. If no special drill rod is used in the current drill rod, then L in formulas (2) and (3) TSZG and G TSZG Just fill in "0".

[0029] The invention discloses a drilling method for automatically weighing the suspended weight value of a drill rod of a vehicle-mounted rescue drilling rig, so that the drilling rig changes according to the overall suspended weight law of the drilling tool during the drilling process without causing sudden changes, thereby effectively preventing the drill from getting stuck and avoiding tedious repair work.

[0030] A control system comprises a processor and a memory, wherein the processor is electrically connected to the memory, the memory is used to store instructions and data, and the processor is used to execute the method for automatically weighing the suspended weight value of a drill rod of a vehicle-mounted rescue drilling rig as described in any one of claims 1-6.

[0031] Beneficial effects: The drill rod hanging weight weighing method disclosed in the present invention is an important part of the adaptive drilling control in deep hole complex formations. Accurately measuring the hanging weight can prevent engineering problems such as drill sticking and equipment failure, and is of great significance for improving the drilling efficiency of vehicle-mounted drilling rigs. The drill rod hanging weight weighing method using this method realizes the automation of the hanging weight weighing process, and can automatically adjust the weighing process according to different formations. At the same time, it improves the accuracy of the hanging weight and drilling pressure measurement, reduces the number of hanging weight weighings, shortens the hanging weight weighing time, and greatly improves the drilling efficiency. In the field of drilling rescue, efficient drilling rigs can save time to the greatest extent and gain precious opportunities for rescuing the injured. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of a vehicle-mounted rescue drilling rig in an embodiment of the present invention.

[0033] Figure 2 The present invention is a schematic diagram of the automatic grouping process of drill rods in the method for automatically weighing the suspended weight of drill rods of a vehicle-mounted rescue drilling rig in an embodiment of the present invention.

[0034] Figure 3 The present invention is a schematic diagram of an automatic steady-state weighing process of a method for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig in an embodiment of the present invention.

[0035] Figure 4 The present invention is a schematic diagram of the drill rod hanging weight calculation process of the method for automatically weighing the drill rod hanging weight of the vehicle-mounted rescue drilling rig in an embodiment of the present invention.

[0036] In the figure: 1-secondary feeding mechanism, 2-feeding hydraulic cylinder, 3-pulling wire rope, 4-power head, 5-feeding wire rope, 6-conventional drill rod, 7-primary feeding mechanism, 8-special drill rod, 9-drilling tool, 10-rotary encoder, 11-rodless cavity pressure sensor, 12-rod cavity pressure sensor, 13-speed encoder. DETAILED DESCRIPTION

[0037] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings:

[0038] like Figure 1As shown, the present invention discloses an automatic weighing method for the suspended weight value of a drill rod of a vehicle-mounted rescue drilling rig, comprising a primary feeding mechanism 7 and a secondary feeding mechanism 1 including a crown block, which are connected to each other through a feeding hydraulic cylinder 3, a rodless cavity pressure sensor 11 is provided in the rodless cavity of the feeding hydraulic cylinder 3, and a rod cavity pressure sensor 12 is provided in the rod cavity of the feeding hydraulic cylinder 3; the crown block at the end of the secondary feeding mechanism 1 is connected to a power head 4 through a pulling winch and a pulling wire rope 3, and the power head 4 is also connected to a feeding winch through a feeding wire rope 5, a speed encoder 13 for measuring the rotation speed of the drill rod is provided on the power head 4, and a rotary encoder 10 for detecting the rotation distance is provided on the feeding winch, and the power head 4 is connected to a drilling tool 9 through a plurality of sections of conventional drill rods 6 connected to each other, wherein the conventional drill rod 6 can be replaced with a special drill rod 8 as needed; the present application usually uses the conventional drill rod 6 for work, and only uses the special drill rod 8 when there is a special need, so in the following formulas, conventional drill rods are used unless otherwise specified; if the system determines that the current drill rod is a weighing drill rod,

[0039] like Figure 2 The figure shows the automatic grouping process of drill rods. Starting from the first drill rod, every 3 drill rods are divided into a group. When the initial number of drill rods is less than or equal to 3, drill rods 1 to 3 are all weighing drill rods; when m>3, if the manual weighing button is not pressed, that is, the manual weighing function is not currently used, then the drill rod whose serial number is 1 modulo 3 is weighing drill rod, otherwise it is non-weighing drill rod. If the current drill rod is weighed by using the manual weighing function, the current drill rod is also defined as weighing drill rod.

[0040] like Figure 3 The figure shows the automatic steady-state weighing control process. When the automatic weighing button is pressed, the system determines whether the current drill rod is a weighing drill rod through the drill rod grouping results. If it is a weighing drill rod, the system automatically weighs it through the steady-state process and performs program weighing. If it is a non-weighing drill rod, the system directly performs background calculations.

[0041] In the first stage of the steady-state weighing process, the system reads the drilling speed V at the end of the upper drill pipe. X and speed V Z , then the drill pipe is reversed and moved upwards V X ×5 meters. Then the system controls the power head 4 to drill at a speed V X and speed V Z The rod is tilted downward at a constant speed. During the downward stage, the system automatically collects and stores the pressure data of the rodless cavity pressure sensor 11 and the rod cavity pressure sensor 12. The suspended weight value of the weighed drill rod is obtained through automatic weighing calculation. After the drill rig tilts the rod downward until the drill bit touches the bottom, it enters the second stage. In this stage, the driller operates the drill rig to maintain the same drilling speed V X and speed V ZContinue drilling, during which the system will read the pressure data of the rodless cavity pressure sensor 11 and the rod cavity pressure sensor 12 in real time, store and calculate the bottom hole drilling pressure value in real time.

[0042] like Figure 4 The figure shows the automatic calculation process of the drill pipe hanging weight value. The automatic weighing calculation is performed using formula (1), as follows:

[0043]

[0044] F X(N) ——The hanging weight value corresponding to the weighing drill pipe numbered N, unit: N;

[0045] G DLT ——The gravity of the power head 4 is a fixed value, unit: N;

[0046] G GSS(N) ——When the number of weighed drill rods is N, the corresponding weight of the wire rope, unit: N;

[0047] G CGZG ——The gravity of the conventional drill pipe 6 is a fixed value, unit: N;

[0048] G TSZG ——The gravity of the special drill rod 8 is a fixed value, unit: N;

[0049] G ZT ——The gravity of the drilling tool 9 is a constant value, unit: N;

[0050] G 1 ——The gravity of the secondary feeding mechanism 1 is a constant value, unit: N.

[0051] P 2(N) ——When the number of weighed drill rods is N, in the first stage, the pressure of the rodless chamber of the oil cylinder is fed in, unit: MPa;

[0052] P 1(N) ——When the number of weighed drill rods is N, in the first stage, the rod chamber pressure fed into the oil cylinder is in MPa.

[0053] D——the cylinder diameter of feed hydraulic cylinder 2, which is a fixed value, unit: m;

[0054] d——rod diameter of feed hydraulic cylinder 2, a fixed value, unit: m.

[0055] When the system determines that the current drill rod is a non-weighing drill rod, the system further determines the serial number in the non-weighing drill rod group. Suppose the current drill rod serial number is m, the current weighing drill rod serial number is N, and the current corresponding weighing drill rod hanging weight value is F X(N) When mN=1, that is, whether the current drill rod m is the first one after weighing drill rod N, the calculation formula for its hanging weight is as follows:

[0056]

[0057] When mN=2, that is, whether the current drill rod m is the second one after the weighed drill rod N, the calculation formula for its hanging weight is as follows:

[0058]

[0059] L K(m) ——The hole depth corresponding to m drill rods, unit: m;

[0060] L K(N-1) ——The corresponding hole depth when the previous drill rod is weighed, unit: m;

[0061] L TSZG ——The length of the special drill pipe 8, unit: m.

[0062] L ZT ——The length of the drilling tool 9, unit: m.

[0063] G TSZG ——The gravity of the special drill rod 8 is a fixed value, unit: N;

[0064] G ZT ——The gravity of the drilling tool 9 is a constant value, unit: N;

[0065] G m ——The weight of the drill pipe with serial number m, unit: N;

[0066] G m-1 ——The weight of the drill pipe with serial number m-1, unit: N.

Claims

1. A method for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig, characterized in that: The method for automatically weighing the suspended weight value of the drill rod of a vehicle-mounted rescue drilling rig comprises a primary feeding mechanism and a secondary feeding mechanism which are connected to each other through a feeding hydraulic cylinder, a rodless cavity pressure sensor is provided in the rodless cavity of the feeding hydraulic cylinder, and a rod cavity pressure sensor is provided in the rod cavity of the feeding hydraulic cylinder; a crown block at the end of the secondary feeding mechanism is connected to a power head through a pulling winch and a pulling wire rope, and the power head is also connected to a feeding winch through a feeding wire rope, a speed encoder for measuring the rotation speed of the drill rod is provided on the power head, a rotary encoder for detecting the rotation distance is provided on the feeding winch, and the power head is connected to a drilling tool through a plurality of sections of conventional drill rods connected to each other, wherein the conventional drill rod can be replaced with a special drill rod as required; The specific steps are as follows: All drill pipes are numbered in sequence and numbered in groups of three; When the vehicle-mounted rescue drill is working, it is installed in sequence during the drilling process according to the drill rod number; Different hanging weight weighing methods are used for different drill rods: in a group of three drill rods, the first drill rod is a weighing drill rod. The hanging weight value of the weighing drill rod is calculated by obtaining the parameters of the weighing drill rod in the automatic steady-state process; the second and third drill rods are non-weighing drill rods, and the non-weighing drill rods do not need to enter the automatic steady-state process again. The hanging weight value of the second and third drill rods can be directly calculated by combining the hanging weight value of the first drill rod in this group, the hole depth, and the gravity and length information of the drill bit and drill rod; the method in this paragraph can be repeated to automatically weigh the hanging weight value of the drill rod of the vehicle-mounted rescue drilling rig of any length.

2. The method for automatically weighing the suspended weight of the drill rod of a vehicle-mounted rescue drilling rig according to claim 1 is characterized in that: When the bottom layer conditions suddenly change during drilling, if the current drill rod is a non-weighing drill rod obtained by extrapolation, in order to improve the accuracy of the drilling hanging weight value, the current drill rod is manually set to a weighing drill rod, and its parameters in the automatic steady-state process are obtained, so as to obtain a more accurate hanging weight value and adjust the drilling parameters in time.

3. The method for automatically weighing the suspended weight of the drill rod of a vehicle-mounted rescue drilling rig according to claim 1 is characterized in that: Automatic steady-state process during installation of heavy drill pipe: The sensor reads the rotation speed and drilling speed of the end of the drill rod connected to the current drill rig as a reference for the movement speed of the drill rig power head; When a weighing drill rod in a group of three drill rods is added to the vehicle-mounted rescue drilling rig, the end of the newly added weighing drill rod is connected to the original drill rod, and the power head is connected to the integral drill rod of the newly added weighing drill rod. Combined with the drilling speed of the end of the previous drill rod, the power head is lifted to turn the integral drill rod upside down and lift it to a specified height. The lifting height of the drill rod is determined by the drilling speed of the end of the previous drill rod. The height value is the drilling speed of the end of the upper drill rod × the specified time, and the specified time is variable; The power head of the vehicle-mounted rescue drill is controlled to drive the drill rod to move downward at a uniform speed with the same rotation speed and drilling speed as the end of the drill rod before the weighing drill rod is installed until the drill tool touches the bottom. During the process of the uniform rod descending, the two-chamber pressure sensor of the feed hydraulic oil cylinder is used to collect multiple groups of two-chamber pressure values ​​of the feed hydraulic oil cylinder at intervals of 1 second, and the multiple groups of data are subjected to denoising and averaging correlation processing to obtain the average pressure value of the two-chamber pressure of the feed hydraulic oil cylinder; When the drill bit at the end of the drill rod of the vehicle-mounted rescue drilling rig hits the bottom as observed by the instrument, the power head is controlled to perform drilling operations at the same rotation speed and drilling speed as the end of the previous drill rod to simulate the approaching unmeasurable friction resistance, making the bottom hole drilling pressure more accurate when offsetting the calculation.

4. The method for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig according to claim 1 is characterized in that: During the automatic weighing calculation of non-weighing drill pipe: The hanging weight values ​​of the second and third drill rods in this group of drill rods are calculated based on the hanging weight value of the first drill rod and the calculation parameters of the bottom hole drilling pressure, combined with the drill rod number, the hanging weight value per unit length of the drill rod, the drill rod weight length information, the hanging weight value of the weighed drill rod, the drill rod serial number, the special drill rod weight length information, the drill bit weight length hanging weight value and the drilling depth information.

5. The method for automatically weighing the suspended weight of the drill rod of a vehicle-mounted rescue drilling rig according to claim 1 is characterized in that: The current drill rod serial number is m, and the weighing drill rod serial number is N. According to the drill rod serial number, the drill rod is judged to be a weighing drill rod. The parameters obtained for the weighing drill rod in the automatic steady-state process are as follows, and the hanging weight value of the weighing drill rod is calculated through the parameters: Among them, F X(N) Indicates the hanging weight value corresponding to the weighing drill pipe numbered N; G DLT Indicates the gravity of the power head, which is a constant value; G GSS(N) Indicates the weight of the wire rope when the number of weighed drill rods is N; G CGZG Represents the gravity of a conventional drill pipe, which is a constant value; G ZT represents the weight of the drill bit, which is a constant value; G1 represents the weight of the secondary feed mechanism, which is a constant value; P 2(N) It indicates the rodless chamber pressure fed into the hydraulic cylinder when the number of weighed drill rods is N; P 1(N) It indicates the rod chamber pressure of the hydraulic cylinder when the number of weighed drill rods is N; D indicates the cylinder diameter of the hydraulic cylinder, which is a constant value; d indicates the rod diameter of the hydraulic cylinder, which is a constant value.

6. The method for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig according to claim 1 is characterized in that: The drill rods used by vehicle-mounted rescue drills are usually conventional drill rods with the same model parameters. Special drill rods with different weights may be selected according to special needs. Special drill rods are drill rods with different weights than conventional drill rods that are installed according to actual needs, including weighted drill rods and spiral drill rods. Assume that the current drill rod serial number is m, and the weighed drill rod serial number is N; according to the drill rod grouping result, it is determined that the drill rod is a non-weighed drill rod: When mN=1 is satisfied, the current non-weighed drill rod is judged to be the first non-weighed drill rod after the weighed drill rod, that is, the second drill rod in a group of three. The corresponding drill rod automatic hanging weight calculation formula is as follows: When mN=2 is satisfied, it is determined that the current non-weighed drill rod is the second non-weighed drill rod after the weighed drill rod, that is, the third drill rod in a group of three. The corresponding drill rod automatic hanging weight calculation formula is as follows: Among them, L K(m) Indicates the hole depth when the mth drill rod is driven into the ground; L K(N-1) Indicates the hole depth corresponding to the weighing of the previous drill rod; L ZT Indicates the length of the drill bit, L TSZG Indicates the length of the special drill pipe, G TSZG Indicates the gravity of special drill rods, which is a fixed value. Special drill rods are drill rods with different weights from conventional drill rods that are installed according to actual needs, including weighted drill rods and spiral drill rods; G ZT Indicates the gravity of the drill bit, which is a constant value; G m Represents the gravity of the drill pipe with serial number m; G m-1 Indicates the gravity of the drill rod with serial number m-1; if there is a special drill rod with a different weight and length from the regular drill rod, the length and gravity information of the special drill rod are substituted into L TSZG and G TSZG Fill in formulas (2) and (3) for calculation. If no special drill rod is used in the current drill rod, then L in formulas (2) and (3) TSZG and G TSZG Just fill in "0".

7. A drilling method using the method for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig as described in any one of claims 1 to 6, characterized in that: The drilling rig can change according to the overall suspended weight law of the drilling tool during the drilling process without sudden changes, thus effectively preventing the drill from getting stuck and avoiding tedious repair work.

8. A control system, characterized in that: It includes a processor and a memory, the processor is electrically connected to the memory, the memory is used to store instructions and data, and the processor is used to execute the method for automatically weighing the suspended weight value of the drill rod of the vehicle-mounted rescue drilling rig as described in any one of claims 1-6.

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