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

Abstract

The present application discloses a control method, device, equipment, medium and drilling rig for drilling rig relocation, the method comprising: obtaining current posture information; obtaining posture information of a target point, the target point being the next passing point of the drilling rig in the process of moving according to the planned relocation path; obtaining the heading angle deviation between the drilling rig and the target point and the travel distance of the drilling rig to the target point based on the posture information and current posture information of the target point; controlling the drilling rig to adjust the heading angle and travel based on the heading angle deviation and travel distance; and controlling 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. The present application can realize autonomous relocation control of drilling rig equipment and solve the problem of potential safety hazards in manual scheduling control.

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] Drilling and rock drilling by a drilling rig is the first and most critical step in the production process for non-coal mines. This drilling operation requires control over the movement of the drill rig between different hole locations. Currently, this is often done manually on-site. However, due to the harsh mining environment, remote and difficult work environments, and the large size of open-pit mining equipment, numerous blind spots, and the high risk of crushing and collision accidents, manual on-site scheduling 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] A method for controlling drilling rig movement according to an embodiment of the first aspect of the present application 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] Obtaining position information of a target point, where the target point is the next waypoint of the drilling rig during its movement according to the planned machine relocation path, where there are multiple waypoints, each of which is obtained according to the planned machine relocation path of the drilling rig and is sequentially arranged according to the planned machine relocation path, and the position information corresponding to each waypoint includes corresponding position information and heading angle information;

[0007] Obtaining a heading angle deviation between the drilling rig and the target point and a travel distance between the drilling rig and the target point according to the position information of the target point and the current position information;

[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 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 falls 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] If the travel distance is less than or equal to the first distance threshold and the target point is the drilling point, controlling the drilling rig to adjust the heading angle in situ until the heading angle deviation is within the third preset heading angle deviation range, and controlling the drilling rig to travel 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 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 an embodiment of the 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] a second acquisition module, configured to acquire position and posture information of a target point, wherein the target point is the next waypoint of the drilling rig during its movement according to the planned machine relocation path, wherein there are multiple waypoints, the multiple waypoints are obtained according to the planned machine relocation path of the drilling rig, and the multiple waypoints are sequentially arranged according to the planned machine relocation path, and the position and posture information corresponding to each waypoint includes corresponding position information and heading angle information;

[0027] an obtaining module, configured to obtain a heading angle deviation between the drilling rig and the target point and a travel distance between the drilling rig and the target point according to the position information of the target point and the current position information;

[0028] a first control module, configured to control 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] According to an electronic device of an embodiment of the third aspect of the present application, the device includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs 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 embodiment of the present application includes the electronic device as described in the third embodiment.

[0032] According to the computer-readable storage medium of the fifth 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 embodiment above.

[0033] In an 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 of the drilling rig to the target point are obtained. Then, the drilling rig is controlled to move toward the target point based on the heading angle deviation and travel distance, and the execution action is completed after reaching the target point. This application realizes the autonomous control of the movement of drilling rig equipment, eliminating the need for manual on-site planning and scheduling, solving the safety risks of manual scheduling and control, while reducing labor costs and improving 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 be apparent from the description, or may be learned 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 This is a flow chart of an embodiment of a method for controlling the movement of a drilling rig according to the present application;

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

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

[0039] The following describes in detail embodiments of the present application. 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 are not to be construed 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 this application, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0042] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technical personnel 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 according to the embodiment of the present application. Figure 1 , further elaborating on the embodiments of this application.

[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: Acquire current posture information, which includes the current position information and current heading angle information of the drilling rig;

[0047] Step 102: Acquire the position and posture information of the target point. The target point is the next pass point during the movement of the drilling rig according to the planned machine relocation path. There are multiple pass points, and the multiple pass points are obtained according to the planned machine relocation path. The multiple pass points are sequentially set according to the planned machine relocation path. The position and posture information corresponding to each pass point includes corresponding position information and heading angle information.

[0048] Step 103: Obtain the heading angle deviation between the drilling rig and the target point and the travel distance between the drilling rig and the target point based on the position information of the target point and the current position information;

[0049] Step 104: Control 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 an 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 of the drilling rig to the target point are obtained. Then, the drilling rig is controlled to move toward the target point based on the heading angle deviation and travel distance, and the execution action is completed after reaching the target point. This application realizes the autonomous control of the movement of drilling rig equipment, eliminating the need for manual planning and scheduling, solving the safety risks of manual scheduling and control, while reducing labor costs and improving 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 the current position information and current heading angle information of the drilling rig.

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

[0054] The drilling rig may be a drilling rig equipped with RTK positioning information for drilling holes in mines, or a remotely operated drilling rig. Specifically, the drilling rig may be a cone 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 relocation path. There are multiple passing points, and the multiple passing points are obtained according to the planned machine relocation path of the drilling rig. The multiple passing points are set in sequence according to the planned machine relocation path. The posture information corresponding to each passing point includes corresponding position information and heading angle information.

[0056] The above-mentioned planned machine relocation path includes multiple passing points and a path planned according to the relocation order. The above-mentioned target point is the next passing point that the current drilling rig will reach during its movement. It should be noted that after arriving at 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 can include two types of drilling points and transition points. The above-mentioned target point is the next passing point that the current drilling rig reaches during the movement. Similarly, the above-mentioned target point can include two types of 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. Since the drilling rig needs to ensure that it is at the correct angle to align the drill rod with the hole to be drilled when drilling, 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 between the drilling rig and 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] The above-mentioned control of 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 the drilling rig is controlled to travel toward 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 movement, 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 is within the preset deviation range, so it can be judged that the target point has been accurately reached.

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

[0069] At present, the modified drilling rigs in the market are both new and old. Their chassis are crawler chassis, and the chassis performance is different. At this stage, 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 forward and backward movements can be controlled. 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, it can only be stopped and turned on the spot, and then the front of the vehicle can be rotated to the required angle before continuing to drive.

[0071] The crawler chassis with differential speed control described above enables the drilling rig to move forward and backward, turn left and right, and even rotate on the spot by differentially controlling the speed of the left and right tracks. This design makes the crawler chassis excellent in maneuverability, especially in overcoming obstacles. Specifically, differential speed control relies on the speed difference between the two tracks. By controlling the speed difference between the two tracks, steering and rotation can be achieved, allowing this type of drilling rig to simultaneously turn while moving forward and backward.

[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 drilling points and transition points.

[0074] In this embodiment, the drilling rig is controlled to adjust the heading angle by presetting the heading angle deviation range, thereby realizing lateral control of the drilling rig having a crawler chassis without differential control, which can make the drilling rig's moving direction 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] Control 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, 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 falls within the second preset heading angle deviation range;

[0079] When the travel distance is greater than a first distance threshold and the heading angle deviation is within a second preset heading angle deviation range, stop controlling the drilling rig and adjust the heading angle on the spot, 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, controlling the drilling rig to adjust the heading angle on the spot until the heading angle deviation is within a third preset heading angle deviation range, and controlling the drilling rig 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 achieve more accurate adjustment and control of the travel direction and travel distance of a drilling rig having a crawler chassis without differential control.

[0083] In the 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 is stopped to adjust the heading angle in situ, 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 ensure that the drilling rig maintains the correct direction of travel.

[0086] Specifically, during the drilling rig's travel, if the distance traveled exceeds a first distance threshold, meaning the rig is relatively far from the target point and maintains a certain distance, and the heading angle deviation exceeds a first preset heading angle deviation range, the rig will perform an on-the-spot turn and adjust its heading angle until the heading angle deviation falls within a second preset heading angle deviation range, indicating that the direction has been calibrated and the rig can continue straight ahead. The second preset heading angle deviation range is smaller than the first preset heading angle deviation range, effectively controlling the heading angle deviation from being excessive.

[0087] For example, the first preset heading angle deviation range is within ±1°, the second preset heading angle deviation range is within ±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 straight travel, if the heading angle deviation exceeds the ±1° range, on-the-spot steering control is performed until the heading angle deviation is within the ±0.5° range. If the travel distance is greater than 1 meter, the straight travel is continued.

[0088] In the above-mentioned case where 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 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.

[0089] Specifically, during the drilling process, when the travel distance is less than or equal to the first distance threshold, the drilling rig is close to the target point. If the target point is a drilling point, the drilling rig must stop at the target point and perform drilling operations. Therefore, the drilling rig must be precisely parked. Therefore, the heading angle deviation and travel distance further increase the accuracy requirements. In this case, precise parking of the drilling rig requires the heading angle deviation to remain within a third preset heading angle deviation range and the travel distance to remain less than or equal to a second distance threshold. 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, drilling accuracy cannot be guaranteed. If these conditions are not met, the drilling rig is controlled to adjust until the conditions are met, facilitating subsequent parking and drilling. In some cases, the adjustment time for the drilling rig to precisely park is also limited. If the adjustment time is too long, exceeding the preset time threshold, indicating that the drilling rig has not been able to successfully and precisely park for a long time, an error warning will be issued, and manual control will be taken. The adjustment time can be counted from the time the travel distance falls below 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 has approached the target point. In the case that the target point is a transition point, the drilling rig only passes through this target point, and there is no need to make more precise adjustments to the heading angle deviation and the travel distance.

[0092] For example, the third preset heading angle deviation range is within ±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 ±0.2° range, on-the-spot steering control is performed until the heading angle deviation is within the ±0.2° range, 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, the PID (Proportional-Integral-Derivative) control algorithm is used to implement the steering adjustment function. Specifically, the motor control information, i.e., the control quantity of the motor, can be calculated according to the heading angle deviation, and the speed of the single-sided 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 with 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] 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.

[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 in 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 a pure tracking algorithm, the drilling rig's driving data information is obtained according to the heading angle deviation and travel distance, and the drilling rig is controlled to adjust the heading angle and travel according to the driving data information; among them, the driving data information includes the drilling rig's left track linear speed, right track linear speed, angular velocity and turning radius.

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

[0102] If the drilling rig's chassis is a crawler chassis with differential control, it uses a differential model. The principle of the differential model is based on the difference in left and right wheel speeds, which causes the entire vehicle to rotate or move in a straight line. In a two-wheel differential system, when the left and right wheel speeds are the same, the robot moves in a straight line; when the left and right wheel speeds are different, the robot rotates around a center point.

[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-mentioned pure tracking algorithm for realizing lateral control of a drilling rig with a crawler chassis having differential speed 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 based on 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. c The right crawler linear speed v of the drilling rig is calculated by the turning radius R r and is the linear speed v of the left crawler 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 and the measured speed parameters of the drilling rig; and the drilling rig is controlled according to the control amount of the motor.

[0113] In this embodiment, a PID control algorithm is adopted to obtain the control quantity of the 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 movement, and the set speed value is relatively small for operational safety considerations.

[0115] The measured speed parameters of the drilling rig can be obtained based on sensors provided on the drilling rig.

[0116] The control amount of the motor is obtained based on 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 converting the motor speed to 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 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, which controls the motor speed; e(t) is the deviation signal, which 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 the 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 drilling rig relocation provided in the embodiment of the present application can be executed by the control device 200 for drilling rig relocation. In the embodiment of the present application, the control device 200 for drilling rig relocation is used as an example to illustrate the control method for drilling rig relocation provided in the embodiment of the present application.

[0124] See Figure 2 , is a structural diagram 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 obtain current posture information, which includes the current position information and current heading angle information of the drilling rig;

[0126] The second acquisition module 202 is used to obtain the 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 relocation path. There are multiple pass points, and the multiple pass points are obtained according to the planned machine relocation path of the drilling rig. The multiple pass points are sequentially set according to the planned machine relocation path. The posture information corresponding to each pass point includes corresponding position information and heading angle information;

[0127] An obtaining module 203 is configured to obtain a heading angle deviation between the drilling rig and the target point and a travel distance between the drilling rig and the target point based on the position information of the target point and the current position information;

[0128] A first control module 204 is configured 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 drilling points and transition points.

[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 configured 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 falls within the second preset heading angle deviation range;

[0135] When the travel distance is greater than a first distance threshold and the heading angle deviation is within a second preset heading angle deviation range, stop controlling the drilling rig and adjust the heading angle on the spot, 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, controlling the drilling rig to adjust the heading angle on the spot until the heading angle deviation is within a third preset heading angle deviation range, and controlling the drilling rig 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] 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.

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

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

[0144] Since the control device 200 for drilling rig relocation adopts all the technical solutions of the control method for drilling rig relocation of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above 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. Where appropriate, the memory 302 may include removable or non-removable (or fixed) media. Where appropriate, 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 read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) 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 components of online data flow metering equipment are coupled to each other. For example, but not limitation, bus can include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry 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 can include one or more buses. Although the present application embodiment describes and shows specific bus, the 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 conjunction with the control method for drilling rig relocation in the above embodiments, embodiments of the present application 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 drilling rig relocation in the above embodiments is implemented.

[0157] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of 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, they can be electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, 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 communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), 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. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0160] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments 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 is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0161] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity 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 scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present 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; Obtaining position information of a target point, where the target point is the next waypoint of the drilling rig during its movement according to the planned machine relocation path, where there are multiple waypoints, each of which is obtained according to the planned machine relocation path of the drilling rig and is sequentially arranged according to the planned machine relocation path, and the position information corresponding to each waypoint includes corresponding position information and heading angle information; Obtaining a heading angle deviation between the drilling rig and the target point and a travel distance between the drilling rig and the target point according to the position information of the target point and the current position information; Controlling the drilling rig to adjust its heading angle and travel according to the heading angle deviation and the travel distance; wherein, when the chassis of the drilling rig is a crawler chassis without differential control, controlling the drilling rig to adjust its heading angle and travel 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; When a deviation between the current position information of the drilling rig and the position information of the target point is within a preset deviation range, controlling the drilling rig to complete the execution action and updating the target point; 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 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 falls 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; If the travel distance is less than or equal to the first distance threshold and the target point is the drilling point, controlling the drilling rig to adjust the heading angle in situ until the heading angle deviation is within the third preset heading angle deviation range, and controlling the drilling rig 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.

2. The control method for moving a drilling rig according to claim 1, 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 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.

3. 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 includes: 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.

4. The control method for moving a drilling rig according to claim 3, 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 includes: 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.

5. A control device for moving a drilling rig, characterized in that: The control method for moving a drilling rig according to any one of claims 1 to 4 comprises: 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; a second acquisition module, configured to acquire position and posture information of a target point, wherein the target point is the next waypoint of the drilling rig during its movement according to the planned machine relocation path, wherein there are multiple waypoints, the multiple waypoints are obtained according to the planned machine relocation path of the drilling rig, and the multiple waypoints are sequentially arranged according to the planned machine relocation path, and the position and posture information corresponding to each waypoint includes corresponding position information and heading angle information; an obtaining module, configured to obtain a heading angle deviation between the drilling rig and the target point and a travel distance between the drilling rig and the target point according to the position information of the target point and the current position information; a first control module, configured to control 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.

6. 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 drilling rig movement as described in any one of claims 1 to 4 are implemented.

7. A drilling rig, characterized in that: Comprising the electronic device as claimed in claim 6.

8. 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 drilling rig moving control method according to any one of claims 1 to 4.

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