Control method, device and equipment for moving drilling machine, medium and drilling machine

Abstract

The invention discloses a drilling machine moving control method, device and equipment, a medium and a drilling machine. The method comprises the steps that current pose information is obtained; the pose information of a target point location is obtained, wherein the target point location is a next passing point location in the advancing process of the drilling machine according to the machine moving planning path; according to the pose information of the target point location and the current pose information, the course angle deviation between the drilling machine and the target point location and the advancing distance from the drilling machine to the target point location are obtained; controlling the drilling machine to adjust the course angle and advance according to the course angle deviation and the advancing distance; and when the deviation between the current pose information of the drilling machine and the pose information of the target point location is within a preset deviation range, the drilling machine is controlled to complete the execution action, and the target point location is updated. Autonomous machine moving control of the drilling machine equipment can be achieved, and the problem that potential safety hazards exist in manual dispatching control is solved.

Description

Technical Field

[0001] The present application relates to the technical field of mining equipment, and in particular to a control method, device, equipment, medium and drilling rig for moving a drilling rig. Background Art

[0002] The drilling and rock drilling of a drilling rig is the first and most important part of the production process of non-coal mines. During the drilling operation, the movement of the drilling rig between different hole positions needs to be controlled. At present, the movement of the rig is often controlled manually on site. However, due to the harsh production environment of mines, remote and difficult workplaces, large open-pit mining equipment, many blind spots, and many potential risks of crushing and collision accidents, manual on-site dispatching and control poses safety risks. Summary of the invention

[0003] The present application aims to propose a control method, device, equipment, medium and drilling rig for drilling rig movement, which can realize autonomous movement control of drilling rig equipment and solve the problem of safety hazards in manual scheduling control.

[0004] According to the first aspect of the present application, a method for controlling the movement of a drilling rig includes:

[0005] Acquire current posture information, wherein the current posture information includes current position information and current heading angle information of the drilling rig;

[0006] Acquire the posture information of the target point, the target point is the next pass point of the drilling rig in the process of moving according to the planned machine moving path, there are multiple pass points, the multiple pass points are obtained according to the planned machine moving path of the drilling rig, and the multiple pass points are sequentially arranged according to the planned machine moving path, and the posture information corresponding to each pass point includes corresponding position information and heading angle information;

[0007] According to the position information of the target point and the current position information, obtain the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point;

[0008] Controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance;

[0009] When the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

[0010] According to some embodiments of the present application, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0011] In the case where the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and move according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point; wherein the point type includes a drilling point and a transition point.

[0012] According to some embodiments of the present application, the preset heading angle deviation range includes a first preset heading angle deviation range, a second preset heading angle deviation range, and a third preset heading angle deviation range, wherein the first preset heading angle deviation range is greater than the second preset heading angle deviation range, and the second preset heading angle deviation range is greater than the preset heading angle deviation range; the preset distance threshold includes a first distance threshold and a second distance threshold, wherein the first distance threshold is greater than the second distance threshold;

[0013] The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation, the preset heading angle deviation range, the travel distance and the point type of the target point includes:

[0014] When the heading angle deviation exceeds the first preset heading angle deviation range, controlling the drilling rig to adjust the heading angle in situ until the heading angle deviation is within the second preset heading angle deviation range;

[0015] When the travel distance is greater than the first distance threshold and the heading angle deviation is within the second preset heading angle deviation range, stop controlling the drilling rig to adjust the heading angle in situ, and control the drilling rig to move according to the travel distance;

[0016] When the travel distance is less than or equal to the first distance threshold and the target point is the drilling point, the drilling rig is controlled to adjust the heading angle in situ until the heading angle deviation is within the third preset heading angle deviation range, and the drilling rig is controlled to move until the travel distance is less than or equal to the second distance threshold;

[0017] When the travel distance is less than or equal to a first distance threshold and the target point is a transition point, the drilling rig is controlled to travel.

[0018] According to some embodiments of the present application, controlling the drilling rig to adjust the heading angle in situ includes:

[0019] Based on the PID control algorithm, the motor control information of the drilling rig is obtained according to the heading angle deviation, and the rotation speed of the single crawler motor of the drilling rig is adjusted according to the motor control information to control the drilling rig to adjust the heading angle in situ.

[0020] According to some embodiments of the present application, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0021] In the case where the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

[0022] According to some embodiments of the present application, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0023] Based on a pure tracking algorithm, the driving data information of the drilling rig is obtained according to the heading angle deviation and the travel distance, and the drilling rig is controlled to adjust the heading angle and travel according to the driving data information; wherein the driving data information includes the left track linear speed, the right track linear speed, the angular velocity and the turning radius of the drilling rig.

[0024] A control device for moving a drilling rig according to a second aspect of the present application includes:

[0025] A first acquisition module is used to acquire current posture information, wherein the current posture information includes current position information and current heading angle information of the drilling rig;

[0026] The second acquisition module is used to acquire the posture information of the target point, the target point is the next pass point of the drilling rig in the process of moving according to the planned machine moving path, there are multiple pass points, the multiple pass points are obtained according to the planned machine moving path of the drilling rig, and the multiple pass points are sequentially arranged according to the planned machine moving path, and the posture information corresponding to each pass point includes corresponding position information and heading angle information;

[0027] An obtaining module, used for obtaining the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point according to the position information of the target point and the current position information;

[0028] A first control module, used for controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance;

[0029] The second control module is used to control the drilling rig to complete the execution action and update the target point when the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range.

[0030] An electronic device according to an embodiment of the third aspect of the present application includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the control method for moving a drilling rig as described in any one of the embodiments of the second aspect are implemented.

[0031] The drilling rig according to the fourth aspect embodiment of the present application includes the electronic device as described in the third aspect embodiment.

[0032] According to the computer-readable storage medium of the fifth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the control method for moving the drilling rig as described in the first aspect embodiment above.

[0033] In the embodiment of the present application, by acquiring the current posture information and the posture information of the target point, the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point are obtained, and then the drilling rig is controlled to move toward the target point according to the heading angle deviation and the travel distance, and the execution action is completed after reaching the target point. The present application realizes the autonomous control of the movement of the drilling rig equipment, without the need for manual on-site planning and scheduling, solves the problem of safety hazards in manual scheduling and control, and at the same time reduces labor costs and improves the overall operating efficiency of the drilling rig.

[0034] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 It is a flow chart of an embodiment of a control method for moving a drilling rig of the present application;

[0037] Figure 2 It is a structural schematic diagram of an embodiment of a control device for moving a drilling rig of the present application;

[0038] Figure 3 It is a schematic diagram of the hardware structure of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0040] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0041] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0042] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0043] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0044] Figure 1 This is a flow chart of an embodiment of the control method for moving a drilling rig provided in the present application. Figure 1 , the embodiments of the present application are further described.

[0045] like Figure 1 As shown, the embodiment of the present application proposes a control method for moving a drilling rig, and the control method for moving a drilling rig includes:

[0046] Step 101, obtaining current posture information, where the current posture information includes current position information and current heading angle information of the drilling rig;

[0047] Step 102, obtaining the position and posture information of the target point, the target point is the next pass point in the process of the drilling rig moving according to the planned machine moving path, there are multiple pass points, the multiple pass points are obtained according to the planned machine moving path of the drilling rig, and the multiple pass points are sequentially set according to the planned machine moving path, and the position and posture information corresponding to each pass point includes corresponding position information and heading angle information;

[0048] Step 103: According to the position information of the target point and the current position information, obtain the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point;

[0049] Step 104, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance;

[0050] Step 105: When the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

[0051] In the embodiment of the present application, by acquiring the current posture information and the posture information of the target point, the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point are obtained, and then the drilling rig is controlled to move toward the target point according to the heading angle deviation and the travel distance, and the execution action is completed after reaching the target point. The present application realizes the autonomous control of the movement of the drilling rig equipment, without the need for manual planning and scheduling, solves the problem of safety hazards in manual scheduling and control, and at the same time reduces labor costs and improves the overall operating efficiency of the drilling rig.

[0052] In the above step 101, current posture information is obtained, and the current posture information includes current position information and current heading angle information of the drilling rig.

[0053] The above current posture information may be RTK (Real-time Kinematic) positioning information.

[0054] The drilling rig may be a drilling rig with RTK positioning information used for drilling in a mine, or a drilling rig that can be remotely operated. Specifically, the drilling rig may be a rotary drill.

[0055] In the above step 102, the posture information of the target point is obtained. The target point is the next passing point in the process of the drilling rig moving according to the planned machine moving path. There are multiple passing points, and the multiple passing points are obtained according to the planned machine moving path of the drilling rig. The multiple passing points are set in sequence according to the planned machine moving path. The posture information corresponding to each passing point includes corresponding position information and heading angle information.

[0056] The above-mentioned machine relocation planning path includes multiple passing points and a path planned according to the machine relocation order. The above-mentioned target point is the next passing point that the current drilling rig will reach during the movement process. It should be noted that after reaching the target point, the next passing point according to the planned path can be updated as the target point.

[0057] The above-mentioned passing points can be drilling points, and the drilling rig needs to stop at such points and drill holes. The above-mentioned passing points can also be transition points generated by path planning during the drilling rig relocation process. The drilling rig only needs to pass through such points without drilling holes.

[0058] Therefore, the above-mentioned passing points may include two types: drilling points and transition points. The above-mentioned target point is the next passing point that the current drilling rig reaches during the moving process. Similarly, the above-mentioned target point may include two types: drilling points and transition points.

[0059] The posture information corresponding to each of the above-mentioned passing points includes the corresponding position information and heading angle information. When the drilling rig is drilling, it is necessary to ensure that the drill rod is at the correct angle to align with the hole to be drilled. Therefore, not only the position information of the passing points but also the heading angle information is required.

[0060] In the above step 103, the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point are obtained according to the position information of the target point and the current position information.

[0061] The above travel distance may be the distance between the drilling rig and the target point.

[0062] The posture information corresponding to each of the above-mentioned passing points includes corresponding position information and heading angle information, which can be continuously updated according to the movement of the drilling rig.

[0063] In the above step 104, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

[0064] Controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance can adjust the heading angle of the drilling rig so that the heading angle deviation does not exceed a certain range, and control the drilling rig to travel to the target point at a more accurate angle.

[0065] The above-mentioned drilling rig may be set with preset speed parameters in advance to maintain a constant speed during the moving process, and the set speed value is relatively small for operational safety considerations.

[0066] In the above step 105, when the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

[0067] The deviation between the current posture information of the drilling rig and the posture information of the target point is within the preset deviation range. The position of the drilling rig is close to the target point and the heading angle is almost consistent and within the preset deviation range, so it can be judged that the target point has been accurately reached.

[0068] The above-mentioned control of the drilling rig to complete the execution action can be determined according to the type of the target point. Specifically, when the target point is a drilling point, the above-mentioned control of the drilling rig to complete the execution action can stop at this target point and perform drilling; when the target point is a transition point, the above-mentioned control of the drilling rig to complete the execution action can pass through this target point without other actions such as drilling.

[0069] At present, there are both new and old drilling rigs being modified in the market. Their driving chassis are crawler chassis, and the chassis performance is different. At present, there are mainly two types of crawler chassis with different performance in the market, namely crawler chassis without differential control and crawler chassis with differential control.

[0070] Among them, the crawler chassis without differential control has imprecise control over the left and right tracks, and there is no difference in the speed of the tracks on both sides. The equipment is relatively old. Specifically, the speeds of the tracks on both sides are the same, so the vehicle can be controlled to move forward and backward. However, when turning, only one track can be controlled to remain stationary while the other track moves, which is called turning on the spot. This makes this type of drilling rig only able to move forward and backward during driving. If turning is required, the rig can only be parked and turned on the spot, and the front of the vehicle can be rotated to the required angle before continuing to drive.

[0071] The above crawler chassis with differential control can realize the forward and backward movement, left and right turning and even rotation on the spot of the drilling rig through the differential control of the left and right crawlers. This design makes the crawler chassis excellent in terms of passability, especially strong obstacle crossing ability. Specifically, the realization of differential control depends on the speed difference of the crawlers on both sides. By controlling the speed difference of the crawlers on both sides, turning and rotation can be achieved, which enables such drilling rigs to turn at the same time during the forward and backward driving process.

[0072] In some embodiments, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0073] When the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and move according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point; wherein the point type includes the drilling point and the transition point.

[0074] In this embodiment, the drilling rig is controlled to adjust the heading angle by presetting the heading angle deviation range, so as to realize the lateral control of the drilling rig whose chassis is a crawler chassis without differential control, so that the moving direction of the drilling rig can be more accurate.

[0075] The drilling rig needs to stop at the above-mentioned drilling points and perform drilling. The transition points can be transition points generated by path planning during the drilling rig relocation process. The drilling rig only needs to pass through such points without drilling.

[0076] In some embodiments, the preset heading angle deviation range includes a first preset heading angle deviation range, a second preset heading angle deviation range, and a third preset heading angle deviation range, wherein the first preset heading angle deviation range is greater than the second preset heading angle deviation range, and the second preset heading angle deviation range is greater than the preset heading angle deviation range; the preset distance threshold includes a first distance threshold and a second distance threshold, wherein the first distance threshold is greater than the second distance threshold;

[0077] According to the heading angle deviation, the preset heading angle deviation range, the travel distance and the point type of the target point, the drilling rig is controlled to adjust the heading angle and travel, including:

[0078] When the heading angle deviation exceeds the first preset heading angle deviation range, controlling the drilling rig to adjust the heading angle in situ until the heading angle deviation is within the second preset heading angle deviation range;

[0079] When the travel distance is greater than the first distance threshold and the heading angle deviation is within the second preset heading angle deviation range, stop controlling the drilling rig to adjust the heading angle in situ, and control the drilling rig to move according to the travel distance;

[0080] When the travel distance is less than or equal to the first distance threshold and the target point is a drilling point, the drilling rig is controlled to adjust the heading angle on the spot until the heading angle deviation is within a third preset heading angle deviation range, and the drilling rig is controlled to move until the travel distance is less than or equal to the second distance threshold;

[0081] When the travel distance is less than or equal to the first distance threshold and the target point is a transition point, the drilling rig is controlled to travel.

[0082] In this embodiment, by setting a plurality of preset heading angle deviation ranges and preset distance thresholds, it is possible to more accurately adjust and control the travel direction and travel distance of a drilling rig having a crawler chassis without differential control.

[0083] In the above case where the heading angle deviation exceeds the first preset heading angle deviation range, the drilling rig is controlled to adjust the heading angle in situ until the heading angle deviation is within the second preset heading angle deviation range;

[0084] When the travel distance is greater than the first distance threshold and the heading angle deviation is within a second preset heading angle deviation range, control of the drilling rig to adjust the heading angle in situ is stopped, and the drilling rig is controlled to move according to the travel distance.

[0085] This is because when the chassis of the drilling rig is a crawler chassis without differential control, the direction may deviate during long-distance driving, that is, the heading angle deviation between the drilling rig and the target point becomes larger, so adjustment control is required to keep the drilling rig in the correct direction of travel.

[0086] Specifically, during the movement of the drilling rig, when the travel distance is greater than the first distance threshold, that is, at this time the drilling rig is far away from the target point and maintains a certain distance, once the heading angle deviation exceeds the first preset heading angle deviation range, the drilling rig will turn on the spot and adjust the heading angle until the heading angle deviation is within the second preset heading angle deviation range, indicating that the direction has been calibrated, and the drilling rig can continue to move straight. Among them, the second preset heading angle deviation range is smaller than the first preset heading angle deviation range, which can well control the heading angle deviation from being too large.

[0087] For example, the first preset heading angle deviation range is within the range of ±1°, the second preset heading angle deviation range is within the range of ±0.5°, and the first distance threshold is 1 meter; when the chassis of the drilling rig is a crawler chassis without differential control, during the straight-line process, if the heading angle deviation exceeds the range of ±1°, on-the-spot steering control is performed until the heading angle deviation is within the range of ±0.5°, and when the travel distance is greater than 1 meter, the straight-line process is continued.

[0088] In the above-mentioned case where the traveling distance is less than or equal to the first distance threshold and the target point is a drilling point, the drilling rig is controlled to adjust the heading angle on the spot until the heading angle deviation is within the third preset heading angle deviation range, and the drilling rig is controlled to move until the traveling distance is less than or equal to the second distance threshold.

[0089] Specifically, during the movement of the drilling rig, when the travel distance is less than or equal to the first distance threshold, that is, the drilling rig is close to the target point at this time, and when the target point is a drilling point, the drilling rig needs to stop at the target point and perform drilling operations, so the drilling rig needs to be accurately parked. Therefore, the heading angle deviation and the travel distance further increase the accuracy requirements. At this time, the accurate parking of the drilling rig requires that the heading angle deviation is kept within the third preset heading angle deviation range and the travel distance is kept less than or equal to the second distance threshold, wherein the third preset heading angle deviation range is less than the second preset heading angle deviation range, and the second distance threshold is less than the first distance threshold, otherwise the accuracy of the drilling cannot be guaranteed; if the above conditions are not met, the drilling rig is controlled to adjust until the conditions are met, so as to facilitate subsequent parking and drilling. In some cases, the adjustment time for the drilling rig to accurately park will also be limited. When the adjustment time is too long and exceeds the preset time threshold, it means that the drilling rig has not been able to successfully park accurately for a long time, and an error prompt warning will be issued, and then manual takeover will be taken, wherein the adjustment time can be counted from when the travel distance is less than the second distance threshold.

[0090] In the above case, when the travel distance is less than or equal to the first distance threshold and the target point is a transition point, the drilling rig is controlled to travel.

[0091] Specifically, during the movement of the drilling rig, when the travel distance is less than or equal to the first distance threshold, that is, at this time the drilling rig is close to the target point, and when the target point is a transition point, the drilling rig only passes through this target point, and there is no need to more finely adjust the heading angle deviation and the travel distance.

[0092] For example, the third preset heading angle deviation range is within the range of ±0.2°, the first distance threshold is 1 meter, and the second distance threshold is 20 centimeters; when the chassis of the drilling rig is a crawler chassis without differential control, during straight driving, when the travel distance is less than 1 meter, if the heading angle deviation exceeds the range of ±0.2°, on-the-spot steering control is performed until the heading angle deviation is within the range of ±0.2°, and then the straight driving is continued until the travel distance is less than 20 centimeters, thereby meeting the conditions for precise parking.

[0093] In some embodiments, controlling the drilling rig to adjust the heading angle in situ includes:

[0094] Based on the PID control algorithm, the motor control information of the drilling rig is obtained according to the heading angle deviation, and the speed of the single crawler motor of the drilling rig is adjusted according to the motor control information to control the drilling rig to adjust the heading angle in situ.

[0095] In this embodiment, a PID (Proportional-Integral-Derivative) control algorithm is used to implement the steering adjustment function. Specifically, the motor control information, i.e., the control amount of the motor, can be calculated according to the heading angle deviation, and the speed of the single-side crawler motor of the drilling rig can be adjusted to control the drilling rig to adjust the heading angle on the spot, thereby realizing the lateral control of the drilling rig whose chassis is a crawler chassis without differential control, and finally achieving the requirement that the heading angle of the target point is aligned with the heading angle of the drilling rig.

[0096] In some embodiments, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0097] When the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

[0098] In this embodiment, since the chassis of the drilling rig is a crawler chassis with differential control, it can achieve simultaneous steering during forward and backward driving and can travel on an arc trajectory, so there is no need to set a preset heading angle deviation range and a preset distance threshold.

[0099] In some embodiments, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0100] Based on the pure tracking algorithm, the driving data information of the drilling rig is obtained according to the heading angle deviation and the travel distance, and the drilling rig is controlled to adjust the heading angle and travel according to the driving data information; wherein the driving data information includes the left track linear speed, the right track linear speed, the angular velocity and the turning radius of the drilling rig.

[0101] In this embodiment, a pure tracking algorithm is used to achieve lateral control of a drilling rig whose chassis is a crawler chassis with differential control, which can make the moving direction of the drilling rig more accurate.

[0102] When the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is a differential model. The principle of the differential model is mainly based on the difference in the speed of the left and right wheels, which causes the entire body to rotate or travel in a straight line. In a two-wheel differential system, when the speeds of the left and right wheels are the same, the robot travels in a straight line; when the speeds of the left and right wheels are different, a rotation movement around the center point will be generated.

[0103] The above-mentioned drilling rig may be set with a preset speed parameter in advance, and maintain a constant speed during the process of moving, and the speed value set is relatively small for the sake of operational safety. The above-mentioned preset speed parameter may be a preset overall linear speed v c .

[0104] The above pure tracking algorithm for realizing lateral control of a drilling rig with a crawler chassis having differential control is constrained by the following formula:

[0105]

[0106] Among them, l d The target point is the preview distance from the rear axle position of the drilling rig to the preview point, ɑ is the angle between the preview point and the center point of the drilling rig, R is the turning radius, e y is the lateral error, that is, the lateral distance from the rear axle position of the drilling rig to the preview point; specifically, the preview point can be the target point, the preview distance can be the travel distance, and ɑ can be obtained according to the heading angle deviation. Thus, the following driving data information of the drilling rig can be calculated:

[0107]

[0108] ω c =ω l =ω r

[0109]

[0110] Among them, v c is the overall linear speed of the drilling rig, v r is the right crawler linear speed of the drilling rig, v l is the linear speed of the left crawler of the drilling rig, ω cis the overall angular velocity of the drilling rig, ω r is the angular velocity of the right track of the drilling rig, ω l is the angular velocity of the left crawler of the drilling rig, and R is the turning radius. Further, the overall linear velocity v c The right track linear speed v of the drilling rig is calculated by the turning radius R r and is the linear speed v of the left track of the drilling rig l .

[0111] In some embodiments, controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance includes:

[0112] The measured speed and preset speed parameters of the drilling rig are obtained; based on the PID control algorithm, the control amount of the motor is obtained according to the deviation between the preset speed parameters of the drilling rig and the measured speed parameters; and the drilling rig is controlled according to the control amount of the motor.

[0113] In this embodiment, a PID control algorithm is used to obtain the control amount of the corresponding crawler motor of the drilling rig according to the speed-related data of the drilling rig, thereby realizing the control of the crawler motor of the drilling rig.

[0114] The above-mentioned drilling rig may be set with preset speed parameters in advance to maintain a constant speed during the moving process, and the set speed value is relatively small for operational safety considerations.

[0115] The measured speed parameters of the above-mentioned drilling rig can be obtained based on the sensors arranged on the drilling rig.

[0116] The control amount of the motor is obtained according to the deviation between the preset speed parameter of the drilling rig and the measured speed parameter. The control amount of the motor can be obtained by controlling the conversion between the motor speed and the corresponding drilling rig speed, as shown in the following formula:

[0117] V=π·d·n / 60

[0118] Wherein, V is the drilling rig speed (m / s), which in this application may be the overall linear speed of the drilling rig, d is the diameter of the crawler chassis (m), and n is the motor speed (rpm).

[0119] The PID control algorithm for realizing the longitudinal control of the drilling rig is constrained by the following formula:

[0120] u(t)=Kp·e(t)+Ki·∫e(t)dt+Kd·de(t) / dt

[0121] Among them, u(t) is the output signal, that is, the speed of the controlled motor; e(t) is the deviation signal, that is, the difference between the set motor speed value and the actual motor speed value; Kp is the proportional gain, which is used to adjust the proportional relationship between the output signal and the deviation signal; Ki is the integral gain, which is used to eliminate the static error of the system; Kd is the differential gain, which is used to improve the dynamic response characteristics of the system, reduce overshoot and shorten the adjustment time.

[0122] The role of the proportional link is to respond to speed deviation. Once a speed deviation occurs, the controller will immediately take control action. The integral link will not increase the control amount only when the deviation is zero, so it will play a role in eliminating static errors. In the differential link, the main expectation is to speed up the adjustment process and make appropriate corrections in advance according to the changing trend of the deviation.

[0123] The control method for moving a drilling rig provided in the embodiment of the present application may be executed by the control device 200 for moving a drilling rig. In the embodiment of the present application, the control device 200 for moving a drilling rig is used as an example to illustrate the control method for moving a drilling rig provided in the embodiment of the present application.

[0124] See also Figure 2 , is a schematic diagram of the structure of a control device 200 for moving a drilling rig provided in an embodiment of the present application. Figure 2 As shown, the control device 200 for moving the drilling rig includes:

[0125] The first acquisition module 201 is used to acquire current posture information, where the current posture information includes current position information and current heading angle information of the drilling rig;

[0126] The second acquisition module 202 is used to acquire the posture information of the target point. The target point is the next passing point of the drilling rig in the process of moving according to the planned machine moving path. There are multiple passing points, and the multiple passing points are obtained according to the planned machine moving path of the drilling rig. The multiple passing points are sequentially set according to the planned machine moving path. The posture information corresponding to each passing point includes corresponding position information and heading angle information;

[0127] The obtaining module 203 is used to obtain the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point according to the position information of the target point and the current position information;

[0128] The first control module 204 is used to control the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance;

[0129] The second control module 205 is used to control the drilling rig to complete the execution action and update the target point when the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range.

[0130] In some implementations, the first control module 204 may be configured to:

[0131] When the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and move according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point; wherein the point type includes the drilling point and the transition point.

[0132] In some embodiments, the preset heading angle deviation range includes a first preset heading angle deviation range, a second preset heading angle deviation range, and a third preset heading angle deviation range, wherein the first preset heading angle deviation range is greater than the second preset heading angle deviation range, and the second preset heading angle deviation range is greater than the preset heading angle deviation range; the preset distance threshold includes a first distance threshold and a second distance threshold, wherein the first distance threshold is greater than the second distance threshold;

[0133] The first control module 204 may be used to:

[0134] When the heading angle deviation exceeds the first preset heading angle deviation range, controlling the drilling rig to adjust the heading angle in situ until the heading angle deviation is within the second preset heading angle deviation range;

[0135] When the travel distance is greater than the first distance threshold and the heading angle deviation is within the second preset heading angle deviation range, stop controlling the drilling rig to adjust the heading angle in situ, and control the drilling rig to move according to the travel distance;

[0136] When the travel distance is less than or equal to the first distance threshold and the target point is a drilling point, the drilling rig is controlled to adjust the heading angle on the spot until the heading angle deviation is within a third preset heading angle deviation range, and the drilling rig is controlled to move until the travel distance is less than or equal to the second distance threshold;

[0137] When the travel distance is less than or equal to the first distance threshold and the target point is a transition point, the drilling rig is controlled to travel.

[0138] In some implementations, the first control module 204 may be configured to:

[0139] Based on the PID control algorithm, the motor control information of the drilling rig is obtained according to the heading angle deviation, and the speed of the single crawler motor of the drilling rig is adjusted according to the motor control information to control the drilling rig to adjust the heading angle in situ.

[0140] In some implementations, the first control module 204 may be configured to:

[0141] When the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

[0142] In some implementations, the first control module 204 may be configured to:

[0143] Based on the pure tracking algorithm, the driving data information of the drilling rig is obtained according to the heading angle deviation and the travel distance, and the drilling rig is controlled to adjust the heading angle and travel according to the driving data information; wherein the driving data information includes the left track linear speed, the right track linear speed, the angular velocity and the turning radius of the drilling rig.

[0144] Since the control device 200 for moving the drilling rig adopts all the technical solutions of the control method for moving the drilling rig in the above-mentioned embodiment, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, which will not be described in detail here.

[0145] Figure 3 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0146] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0147] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0148] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0149] In some embodiments, the memory 302 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0150] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the drilling rig moving control methods in the above embodiments.

[0151] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0152] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0153] Bus 310 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0154] The electronic device can execute the control method of the drilling rig moving machine in the embodiment of the present application, thereby realizing the combination Figure 1 and Figure 2 The invention discloses a control method and device for moving a drilling rig.

[0155] An embodiment of the present application may provide a drilling rig, which includes the above-mentioned electronic device.

[0156] In addition, in combination with the control method for moving a drilling rig in the above embodiments, the present application embodiment may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the control methods for moving a drilling rig in the above embodiments is implemented.

[0157] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0158] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0159] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0160] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box 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, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0161] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for controlling the movement of a drilling rig, characterized in that: include: Acquire current posture information, wherein the current posture information includes current position information and current heading angle information of the drilling rig; Acquire the posture information of the target point, the target point is the next pass point of the drilling rig in the process of moving according to the planned machine moving path, there are multiple pass points, the multiple pass points are obtained according to the planned machine moving path of the drilling rig, and the multiple pass points are sequentially arranged according to the planned machine moving path, and the posture information corresponding to each pass point includes corresponding position information and heading angle information; According to the position information of the target point and the current position information, obtain the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point; Controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance; When the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range, the drilling rig is controlled to complete the execution action and the target point is updated.

2. The control method for moving a drilling rig according to claim 1, characterized in that: The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance comprises: In the case where the chassis of the drilling rig is a crawler chassis without differential control, the drilling rig is controlled to adjust the heading angle and move according to the heading angle deviation, the preset heading angle deviation range, the travel distance, the preset distance threshold and the point type of the target point; wherein the point type includes a drilling point and a transition point.

3. The control method for moving a drilling rig according to claim 2, characterized in that: The preset heading angle deviation range includes a first preset heading angle deviation range, a second preset heading angle deviation range and a third preset heading angle deviation range, wherein the first preset heading angle deviation range is greater than the second preset heading angle deviation range, and the second preset heading angle deviation range is greater than the preset heading angle deviation range; the preset distance threshold includes a first distance threshold and a second distance threshold, wherein the first distance threshold is greater than the second distance threshold; The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation, the preset heading angle deviation range, the travel distance and the point type of the target point includes: When the heading angle deviation exceeds the first preset heading angle deviation range, controlling the drilling rig to adjust the heading angle in situ until the heading angle deviation is within the second preset heading angle deviation range; When the travel distance is greater than the first distance threshold and the heading angle deviation is within the second preset heading angle deviation range, stop controlling the drilling rig to adjust the heading angle in situ, and control the drilling rig to move according to the travel distance; When the travel distance is less than or equal to the first distance threshold and the target point is the drilling point, the drilling rig is controlled to adjust the heading angle in situ until the heading angle deviation is within the third preset heading angle deviation range, and the drilling rig is controlled to travel until the travel distance is less than or equal to the second distance threshold; When the travel distance is less than or equal to a first distance threshold and the target point is a transition point, the drilling rig is controlled to travel.

4. The control method for moving a drilling rig according to claim 3, characterized in that: The controlling the drilling rig to adjust the heading angle in situ comprises: Based on the PID control algorithm, the motor control information of the drilling rig is obtained according to the heading angle deviation, and the rotation speed of the single crawler motor of the drilling rig is adjusted according to the motor control information to control the drilling rig to adjust the heading angle in situ.

5. The control method for moving a drilling rig according to claim 1 or 2, characterized in that: The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance comprises: In the case where the chassis of the drilling rig is a crawler chassis with differential control, the drilling rig is controlled to adjust the heading angle and travel according to the heading angle deviation and the travel distance.

6. The control method for moving a drilling rig according to claim 5, characterized in that: The step of controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance comprises: Based on a pure tracking algorithm, the driving data information of the drilling rig is obtained according to the heading angle deviation and the travel distance, and the drilling rig is controlled to adjust the heading angle and travel according to the driving data information; wherein the driving data information includes the left track linear speed, the right track linear speed, the angular velocity and the turning radius of the drilling rig.

7. A control device for moving a drilling rig, characterized in that: include: A first acquisition module is used to acquire current posture information, wherein the current posture information includes current position information and current heading angle information of the drilling rig; The second acquisition module is used to acquire the posture information of the target point, the target point is the next pass point of the drilling rig in the process of moving according to the planned machine moving path, there are multiple pass points, the multiple pass points are obtained according to the planned machine moving path of the drilling rig, and the multiple pass points are sequentially arranged according to the planned machine moving path, and the posture information corresponding to each pass point includes corresponding position information and heading angle information; An obtaining module, used for obtaining the heading angle deviation between the drilling rig and the target point and the travel distance from the drilling rig to the target point according to the position information of the target point and the current position information; A first control module, used for controlling the drilling rig to adjust the heading angle and travel according to the heading angle deviation and the travel distance; The second control module is used to control the drilling rig to complete the execution action and update the target point when the deviation between the current posture information of the drilling rig and the posture information of the target point is within a preset deviation range.

8. An electronic device, characterized in that: It includes a processor and a memory, the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the control method for moving a drilling rig as described in any one of claims 1 to 6 are implemented.

9. A drilling rig, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the control method for moving a drilling rig as described in any one of claims 1 to 6.

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