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

Abstract

The present application provides a kind of vehicle-mounted rescue drill rig drill rod dead weight value automatic taking method and system, belong to the automatic control field in engineering machinery. All drill rods are sequentially coded and numbered in groups of three; According to the drill rod number, sequentially add in the drilling process; Different drill rods use different dead weight value weighing methods: the first drill rod is a weighing drill rod, by obtaining the parameters of the weighing drill rod in the automatic steady state process, the dead weight value of the weighing drill rod is calculated; The second and third drill rods are non-weighted drill rods, which do not need to enter the automatic steady state process again, and the dead weight value of the second and third drill rods can be obtained directly by combining the dead weight value of the first drill rod in the group, the hole depth and the gravity and length information of the drill bit drill rod. Through obtaining stable dead weight data, the application in vehicle-mounted rescue drill rig can improve the working efficiency of rescue drill rig, effectively prevent sticking drill, and avoid tedious repair work.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automatic control in engineering machinery, and particularly relates to a method and system for automatically weighing the suspended load of a drill rod of a vehicle-mounted rescue drilling machine. BACKGROUND

[0002] Drilling rescue is an effective way for mine accident rescue, and the main equipment is a vehicle-mounted rescue drilling machine. The vehicle-mounted rescue drilling machine can quickly build a vertical shaft rescue passage in various emergency situations to rescue trapped personnel. In recent years, the vehicle-mounted rescue drilling machine has developed rapidly and been widely used. However, with the progress of science and technology and the improvement of emergency rescue capability requirements, the development of high-efficiency vehicle-mounted rescue drilling machines is of great significance for the prevention and control of various major disasters. At the same time, such vehicle-mounted drilling machines are also widely used in the field of mining, and can realize the construction of inclined holes and horizontal holes by combining with the directional drilling technology. With the increasing difficulty of resource exploitation, there is a demand for high-efficiency drilling machines in the market.

[0003] The current suspended load weighing method is mainly completed by the weighing system in cooperation with the manual operation of the driller, which is complex, excessively dependent on manual operation, has low reliability of the collected pressure data, and requires manual weighing for each drill rod suspended load.

[0004] The prior art CN107201895A discloses an automatic measuring system for petroleum tripping string operation, which is composed of a rotary laser, a pulley, a photosensitive scale detector, a suspended load sensor, power and signal cables, and a reading display instrument. The system solves the problem of pipe column length measurement that has plagued petroleum tripping string operation for many years, overcomes the drawbacks of manual measurement, low precision, and tediousness and error-prone, and is convenient to install and use. The drill rod and pipeline directly use the rotary weight sensor to obtain data, the measurement precision is affected by many working conditions, and the suspended load of the drill rod in the work cannot be measured, so the drilling pressure cannot be effectively adjusted. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a method and system for automatically weighing the suspended load of a drill rod of a vehicle-mounted rescue drilling machine, which can overcome the deficiencies of the existing drill rod suspended load weighing technology, realize automatic weighing of the suspended load of the vehicle-mounted drilling machine, improve the automation level of the equipment, reduce the weighing frequency and time, and improve the weighing efficiency. In addition, the technology also improves the accuracy of suspended load and hole bottom drilling pressure measurement and calculation.

[0006] To achieve the above technical objectives, the present invention provides a method for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig, comprising a primary feeding mechanism and a secondary feeding mechanism connected to each other through a feeding hydraulic cylinder, a rodless cavity pressure sensor being provided in the rodless cavity of the feeding hydraulic cylinder, and a rod cavity pressure sensor being 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 further 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 needed;

[0007] Here are the steps:

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

[0009] When the vehicle-mounted rescue drill is working, the drill rods are added in sequence according to their numbers during the drilling process;

[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 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; repeating this method can automatically weigh the hanging weight value of drill rods of vehicle-mounted rescue drilling rigs of any length.

[0011] Furthermore, when a sudden change in the bottom layer condition is found during drilling, if the current drill rod is a non-weighed drill rod obtained through inference, in order to improve the accuracy of the drilling suspended weight value, the current drill rod is manually set to a weighed 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 weighing 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 the weighing drill rod is added in the vehicle-mounted rescue drilling machine, the end of the newly added weighing drill rod is connected with the original drill rod, the power head connects the whole drill rod of the newly added weighing drill rod, and the drilling speed of the last drill rod is combined to lift the whole drill rod to the designated height by lifting the power head, and the lifting height of the drill rod is determined by the drilling speed of the last drill rod, and the height value is the drilling speed of the last drill rod multiplied by the designated time, and the designated time is variable.

[0015] The power head of the vehicle-mounted rescue drilling machine drives the drill rod to descend at the same rotation speed and drilling speed as the end of the drill rod before the weighing drill rod is added until the drilling tool touches the bottom, and in the process of descending at a constant speed, the two-cavity pressure sensors of the feeding hydraulic cylinder are used to collect multiple groups of two-cavity pressure values of the feeding hydraulic cylinder at an interval of 1 second, and the average pressure value of the two-cavity pressure of the feeding hydraulic cylinder is obtained by denoising and averaging the multiple groups of data.

[0016] When it is observed by the instrument that the drilling tool at the end of the drill rod of the vehicle-mounted rescue drilling machine touches the bottom, the power head is controlled to drill at the same rotation speed and drilling speed as the end of the last drill rod to simulate the unmeasurable friction close to the bottom, so that the hole bottom drilling pressure is more accurate when offset calculation is performed.

[0017] Further, in the automatic weighing calculation process of the non-weighting drill rod:

[0018] The second and third drill rods in the group of drill rods are calculated according to the first drill rod weight, the suspension weight value, the calculation parameters of the hole bottom drilling pressure, the number of the drill rod, the unit length suspension weight value of the drill rod, the weight length information of the drill rod, the suspension weight value of the weighting drill rod, the drill rod serial number, the special drill rod weight length information, the weight length suspension weight value of the drill bit, and the drilling depth information, so as to calculate the suspension weight value of the second and third drill rods in the group of drill rods.

[0019] Further, the current drill rod serial number is m, and the weighting drill rod number is N; according to the drill rod serial number, it is judged that the drill rod is a weighting drill rod, and the parameters obtained in the automatic steady state process of the weighting drill rod are as follows, and the suspension weight value of the weighting drill rod is calculated by the parameters:

[0020]

[0021] Wherein, F X(N) represents the suspension weight value corresponding to the weighting drill rod with the number N; G DLT represents the gravity of the power head, which is a constant value; G GSS(N) represents the gravity of the steel wire rope when the number of the weighting drill rod is N; G CGZG represents the gravity of the conventional drill rod, which is a constant value; G ZT represents the gravity of the drill bit, which is a constant value; G1represents the gravity of the secondary feeding mechanism, which is a constant value; P 2(N)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 feed hydraulic cylinder when the number of weighing drill rods is N; D indicates the cylinder diameter of the feed hydraulic cylinder, which is a constant value; d indicates the rod diameter of the feed 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 added according to special needs. Special drill rods are drill rods with different weights than conventional drill rods that are added 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 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 determined 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, the current non-weighed drill rod is determined to be 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 rod, 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 weight and length different 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) is TSZG and G TSZG Just fill in "0".

[0029] A kind of drilling method of the automatic method of taking the weight of drill pipe of vehicle-mounted rescue drilling rig, make the drilling rig in the drilling process according to the overall weight of drilling tool law changes, no mutation is generated to effectively prevent sticking, avoid tedious repair work.

[0030] A control system comprising a processor and a memory, the processor is electrically connected with the memory, the memory is used to store instructions and data, and the processor is used to execute the automatic method of taking the weight of drill pipe of vehicle-mounted rescue drilling rig according to any one of claims 1-6.

[0031] Beneficial effect: the method for taking the weight of drill pipe disclosed in the application is an important part of self-adaptive drilling control in deep hole complex stratum, and accurate measurement of the weight can prevent sticking, equipment failure and other engineering problems, which is of great significance to improve the drilling efficiency of vehicle-mounted drilling rig. The method for taking the weight of drill pipe realizes the automation of the weight taking process, can automatically adjust the weighing process according to different strata, improves the accuracy of the weight and drilling pressure measurement, reduces the weight taking frequency, shortens the weight taking time, and greatly improves the drilling efficiency. In the field of drilling rescue, efficient drilling rig can save time to the greatest extent and gain valuable opportunity for rescuing the injured. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a structural schematic view of vehicle-mounted rescue drilling rig in the embodiment of the application.

[0033] Figure 2 It is an automatic grouping process schematic view of the method for taking the weight of drill pipe of vehicle-mounted rescue drilling rig in the embodiment of the application.

[0034] Figure 3 It is an automatic steady weighing process schematic view of the method for taking the weight of drill pipe of vehicle-mounted rescue drilling rig in the embodiment of the application.

[0035] Figure 4 It is a drill pipe weight calculation process schematic view of the method for taking the weight of drill pipe of vehicle-mounted rescue drilling rig in the embodiment of the application.

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

[0037] The embodiments of the application will be further described below in combination with the drawings:

[0038] As Figure 1As shown, the present application discloses a kind of automatic weighing method of vehicle-mounted rescue drilling rig drill rod suspended weight value, including the first feeding mechanism 7 and the second feeding mechanism 1 containing headstock by the cooperation of feeding hydraulic cylinder 3 connection, the rodless cavity pressure sensor 11 is arranged in the rodless cavity of feeding hydraulic cylinder 3, the rod cavity pressure sensor 12 is arranged in the rod cavity of feeding hydraulic cylinder 3;The headstock of the second feeding mechanism 1 end is connected with power head 4 by pulling out winch and pulling out steel wire rope 3, power head 4 is also connected with feeding winch by feeding steel wire rope 5, power head 4 is equipped with rotational speed encoder 13 for measuring the rotational speed of drill rod, rotational encoder 10 is arranged on feeding winch for detecting rotation distance, power head 4 is connected with drilling tool 9 by multiple conventional drill rods 6 connected with each other, wherein conventional drill rod 6 can be replaced by special drill rod 8 as required;The present application usually uses conventional drill rod 6 to work, and only special drill rod 8 is used when special needs, therefore, in the following formula, if there is no special mark, it is conventional drill rod;If the system judges that the current drill rod is a weighing drill rod,

[0039] As shown in the figure, Figure 2 It is the automatic grouping process of drill rod. 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 1-3 are all weighing drill rods; when m>3, if the manual weighing button is not pressed, i.e. the manual weighing function is not currently used, the drill rod whose serial number modulo 3 is 1 is the weighing drill rod, otherwise it is the non-weighting drill rod. If the current drill rod uses the manual weighing function, the current drill rod is also defined as the weighing drill rod.

[0040] As shown in the figure, Figure 3 It is 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 according to the drill rod grouping result. If it is a weighing drill rod, the system automatically weighs through the steady-state process and performs the program weighing. If it is a non-weighting drill rod, the system directly performs background calculation.

[0041] In the first stage of the steady-state weighing process, the system reads the rotational speed V X and the rotational speed V Z of the last drill rod, then the drill rod is reversed and raised by V X ×5 meters. Then the system controls the power head 4 to uniformly reverse and lower at the rotational speed V X and the rotational speed V Z . During the reverse and lowering stage, the system automatically collects the pressure data of the rodless cavity pressure sensor 11 and the rod cavity pressure sensor 12 and stores them. The suspended weight value of the weighing drill rod is obtained through automatic weighing calculation. After the drilling rig reverses and lowers to the bottom of the drill bit, it enters the second stage. In this stage, the driller operates the drilling rig to maintain the same rotational speed V X and the rotational speed V ZContinue drilling, and during the process 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] G1 - gravity of secondary feed mechanism 1, a constant value, unit: N.

[0051] P 2(N) ——When the number of weighed drill rods is N, in the first stage, the pressure in 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 pressure in the rod chamber of the oil cylinder is in MPa.

[0053] D——the diameter of feed hydraulic cylinder 2, 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. Assume that the current drill rod serial number is m, the current weighing drill rod 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 the weighed 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 weighing the previous drill rod, unit: m;

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

[0062] L ZT ——Length of 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: A method for automatically weighing the suspended weight of a drill pipe of a vehicle-mounted rescue drilling rig comprises a primary feeding mechanism and a secondary feeding mechanism that are interconnected through a feeding hydraulic cylinder, a rodless cavity pressure sensor being provided in the rodless cavity of the feeding hydraulic cylinder, and a rod cavity pressure sensor being 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 further connected to the feeding winch through a feeding wire rope, a speed encoder for measuring the rotation speed of the drill pipe 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 pipes interconnected with each other, wherein the conventional drill pipe can be replaced with a special drill pipe as needed; The specific steps are as follows: All drill pipes are numbered in sequence and grouped in groups of three; When the vehicle-mounted rescue drill is working, the drill rods are added in sequence according to their numbers during the drilling process; 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. 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 the group, the hole depth, and the gravity and length information of the drill bit and drill rod. Repeat the above method to automatically weigh the hanging weight value of drill rods of vehicle-mounted rescue drilling rigs of any length; The automatic steady-state process is during the installation of the weighing 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 adding a weighing drill rod from a set of three drill rods to a vehicle-mounted rescue drilling rig, the end of the newly added weighing drill rod is connected to the original drill rod as a whole. The power head is connected to the entire drill rod with the newly added weighing drill rod. Based on the drilling speed of the end of the previous drill rod, the power head is raised to reverse the entire drill rod and lift it to a specified height. The 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 previous drill rod × the specified time, which can be changed. The vehicle-mounted rescue drill rig's power head is controlled to drive the drill rod downward at a uniform speed, at the same rotational speed and drilling speed as the end of the drill rod before the weighing drill rod was installed, until the drill tool touches the bottom. During the uniform downward movement of the drill rod, the pressure sensor in the two chambers of the feed hydraulic oil cylinder is used to collect multiple sets of pressure values ​​in the two chambers of the feed hydraulic oil cylinder at intervals of 1 second. The multiple sets of data are subjected to denoising and averaging correlation processing to obtain the average pressure value of the two chambers of the feed hydraulic oil cylinder. When the drill bit at the end of the drill pipe of the vehicle-mounted rescue drill rig hits the bottom, the drill head is controlled to drill at the same rotation speed and drilling speed as the end of the previous drill pipe to simulate unmeasurable friction, making the bottom hole weight more accurate in offset calculation. Assume 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 during the automatic steady-state process are as follows, and the hanging weight value of the weighing drill rod is calculated based on the parameters: （1）， in, Indicates the hanging weight value corresponding to the weighing drill rod numbered N; Indicates the gravity of the power head, which is a constant value; Indicates the weight of the wire rope when the number of weighed drill rods is N; Indicates the gravity of conventional drill pipe, which is a constant value; Indicates the weight of the drill bit, which is a constant value; Indicates the gravity of the secondary feeding mechanism, which is a constant value; It indicates the rodless chamber pressure fed into the hydraulic cylinder when the number of weighed drill rods is N; It indicates the rod chamber pressure fed into the hydraulic cylinder when the number of weighed drill rods is N; Indicates the diameter of the feed hydraulic cylinder, which is a fixed value; Indicates the feed hydraulic cylinder rod diameter, which is a fixed value; The drill rods used by vehicle-mounted rescue drills are conventional drill rods with the same model parameters. Special drill rods with different weights may be added according to special needs. Special drill rods are drill rods with different weights than conventional drill rods that are added 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 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 determined 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: （2）， When mN=2 is satisfied, the current non-weighed drill rod is determined to be 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: （3）， in, Indicates the hole depth when the mth drill rod is driven into the ground; Indicates the hole depth corresponding to weighing the previous drill rod; Indicates the length of the drill bit, Indicates the length of the special drill rod, Indicates the gravity of special drill rods, which is a fixed value. Special drill rods are drill rods with a weight different from that of conventional drill rods that are installed according to actual needs, including weighted drill rods and spiral drill rods. Indicates the weight of the drill bit, which is a constant value; Indicates the gravity of the drill pipe with serial number m; Indicates the gravity of the drill rod with serial number m-1; if there is a special drill rod with a weight and length different from the regular drill rod, the length and gravity information of the special drill rod will be substituted into and Fill in formulas (2) and (3) for calculation. If no special drill rod is used in the current drill rod, then in formulas (2) and (3) Fill in "0" in the sum.

2. 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: When the bottom conditions suddenly change during drilling, if the current drill rod is obtained by extrapolation for a non-weighing drill rod, 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 during the automatic steady-state process are obtained to obtain a more accurate hanging weight value, and the drilling parameters are adjusted in time accordingly.

3. 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 and length information, the hanging weight value of the weighed drill rod, the drill rod serial number, the special drill rod weight and length information, the drill bit weight and length hanging weight value, and the drilling depth information.

4. A drilling method using the method for automatically weighing the suspended weight of a drill rod of a vehicle-mounted rescue drilling rig according to any one of claims 1 to 3, 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 drill sticking and avoiding tedious repair work.

5. 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 1-3.

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