Automatic drilling control method, system and equipment of drilling machine and storage medium

Abstract

The invention discloses an automatic drilling control method, system and equipment of a drilling machine and a storage medium, and belongs to the technical field of drilling machine control technologies. The automatic drilling control method of the drilling machine comprises the steps that if a drilling starting instruction is received, a power head is controlled to drive a drill bit to descend so that the drill bit can make contact with the ground; the power head is controlled to execute drilling operation; if the power head reaches the maximum stroke position and the drilling depth is smaller than the target depth, drilling operation is stopped, and the power head is controlled to be separated from the operation drill rod and ascends to the top of the mast; the manipulator is controlled to grab the alternative drill rods from the drill rod warehouse and move the alternative drill rods to preset positions; the power head is controlled to be connected with the tail of the alternative drill rod, and the power head is controlled to drive the alternative drill rod to descend and rotate; and after the head of the alternative drill rod is connected with the tail of the operation drill rod, the power head is continuously controlled to execute the drilling operation. Automatic drilling of the drilling machine can be achieved, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of drilling rig control, and in particular to an automatic drilling control method, system, device and storage medium for a drilling rig. Background Art

[0002] In mining and tunnel construction, blast hole drilling plays a vital role and is the cornerstone of the success of the entire drilling and blasting operation. The accuracy and quality of hole drilling have a decisive influence on the entire operation process. When executing this process, many factors must be considered comprehensively, such as geological structure, rock hardness, drilling depth and hole size. If the quality of the blast hole does not meet the standard, it will not only lead to poor blasting effect, but may even cause serious safety accidents. However, since the on-site drilling conditions are greatly affected by environmental factors, the on-site drilling conditions are very harsh, and manual drilling is labor-intensive and poses safety hazards.

[0003] With the continuous improvement of safety production standards and the rapid advancement of digital and intelligent construction, the research and development of intelligent rock drilling equipment and the construction of unmanned and smart mines have far-reaching significance for the mining industry.

[0004] Therefore, how to realize automated drilling of a drilling rig and improve operating efficiency is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0005] The purpose of this application is to provide an automatic drilling control method, system, equipment and storage medium for a drilling rig, which can realize automated drilling of the drilling rig and improve operating efficiency.

[0006] In order to solve the above technical problems, the present application provides an automatic drilling control method for a drilling rig, comprising:

[0007] If a drilling start instruction is received, the power head is controlled to drive the drill bit to descend so that the drill bit contacts the ground; wherein an operating drill rod is connected between the power head and the drill bit;

[0008] After the drill bit contacts the ground, controlling the power head to perform a drilling operation;

[0009] If the power head reaches the maximum stroke position and the drilling depth is less than the target depth, the drilling operation is stopped, and the power head is controlled to separate from the working drill rod and rise to the top of the mast;

[0010] Controlling the manipulator to grab an alternative drill rod from the drill rod library and move it to a preset position so that the central axis of the alternative drill rod coincides with the central axis of the power head;

[0011] Control the power head to connect with the tail of the alternative drill rod, and control the power head to drive the alternative drill rod to descend and rotate, so that the head of the alternative drill rod is connected with the tail of the working drill rod to form a new working drill rod;

[0012] After the head of the alternative drill rod is connected to the tail of the working drill rod, continue to control the power head to perform the drilling operation;

[0013] If the drilling depth reaches the target depth, the drilling operation is stopped.

[0014] Optionally, also include:

[0015] After the drilling depth reaches the target depth and the drilling operation has stopped, determining the number of drill rods in the working drill rod;

[0016] If the number of drill rods is greater than 1, the power head is controlled to drive the working drill rod to rise to the unloading position;

[0017] Controlling the upper clamp to clamp the head of the first drill rod; wherein the first drill rod is the uppermost drill rod among the working drill rods;

[0018] Controlling the lower clamp to clamp the tail of the second drill rod; wherein the second drill rod is the drill rod in the working drill rod connected to the head of the first drill rod;

[0019] Controlling the upper clamp to drive the first drill rod to rotate so that the head of the first drill rod is separated from the tail of the second drill rod;

[0020] Controlling the manipulator to grab the first drill rod, and controlling the power head to separate from the tail of the first drill rod;

[0021] Controlling the upper clamp to release the clamp on the first drill rod and controlling the manipulator to put the first drill rod into the drill rod library;

[0022] The power head is controlled to be connected to the tail of the second drill rod so as to perform a rod unloading operation on the second drill rod.

[0023] Optionally, controlling the power head to separate from the tail of the first drill pipe includes:

[0024] The manipulator is used to clamp the first drill rod, and the power head is controlled to reverse so that the power head is separated from the tail of the first drill rod to which it is connected.

[0025] Optionally, also include:

[0026] The driving depth of the power head is collected by using a depth sensor, and the driving depth when the drill bit contacts the ground is set as a reference depth;

[0027] After the power head is controlled to perform a drilling operation, the drilling depth is calculated according to the current advancement depth of the power head, the reference depth, the number of connecting rods and the length of the drill rod.

[0028] Optionally, before controlling the power head to drive the drill bit to descend, it also includes:

[0029] The mast thrust compensating cylinder is controlled to perform an action so that the bottom of the mast contacts the ground.

[0030] Optionally, controlling the power head to perform a drilling operation includes:

[0031] Controlling the power head to perform drilling operations according to a target propulsion speed and a target rotation speed;

[0032] Collecting the working parameters of the drilling rig; wherein the working parameters include any one or a combination of several of the following: drilling speed, forward pressure of the power head, actual rotation speed of the power head, rock hardness and drill bit sticking condition;

[0033] The target propulsion speed and / or the target rotation speed are adjusted according to the operating condition parameters.

[0034] Optionally, controlling the power head to detach from the working drill pipe and rise to the top of the mast includes:

[0035] Controlling the lower clamp to clamp the tail of the working drill rod;

[0036] Controlling the power head to rotate in the opposite direction so as to disengage from the working drill rod; wherein the power head is connected to the working drill rod through threads;

[0037] After the power head is separated from the working drill rod, the power head is controlled to stop rotating and rise to the top of the mast.

[0038] The present application also provides an automatic drilling control system for a drilling rig, the system comprising:

[0039] A drilling preparation module is used to control the power head to drive the drill bit to descend if a drilling start instruction is received, so that the drill bit contacts the ground; wherein an operating drill rod is connected between the power head and the drill bit;

[0040] A drilling module, used to control the power head to perform a drilling operation after the drill bit contacts the ground;

[0041] The connecting rod module is used to stop the drilling operation if the power head reaches the maximum stroke position and the drilling depth is less than the target depth, and control the power head to detach from the working drill rod and rise to the top of the mast; it is also used to control the manipulator to grab the alternative drill rod from the drill rod library and move it to a preset position so that the central axis of the alternative drill rod coincides with the central axis of the power head; it is also used to control the power head to connect with the tail of the alternative drill rod, and control the power head to drive the alternative drill rod to descend and rotate, so that the head of the alternative drill rod is connected to the tail of the working drill rod to form a new working drill rod;

[0042] The drilling module is also used to continue controlling the power head to perform the drilling operation after the head of the alternative drill rod is connected to the tail of the working drill rod; and is also used to stop the drilling operation if the drilling depth reaches the target depth.

[0043] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the automatic drilling control method of the drilling rig are implemented.

[0044] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the automatic drilling control method of the drilling rig are implemented.

[0045] In summary, the present application provides an automatic drilling control method for a drilling rig. After receiving a drilling start command, the power head is controlled to drive the drill bit to descend until the drill bit contacts the ground, and the drilling operation is started. When the power head reaches the maximum stroke position but the drilling depth is still less than the target depth, the present application stops drilling and controls the power head to detach from the working drill rod and rise to the top of the mast. The present application grabs the alternative drill rod from the drill rod library by a manipulator and moves it to a preset position, and connects the power head and the alternative drill rod; then, the power head drives the alternative drill rod to descend and rotate, and connects with the tail of the working drill rod to form a new working drill rod. After the drill rod is extended, the present embodiment continues to control the power head to perform the drilling operation until the drilling depth reaches the target depth. The above process realizes the automatic extension of the drill rod, avoiding the cumbersome and time-consuming manual replacement of the drill rod. Therefore, the present application can realize the automatic drilling of the drilling rig and improve the working efficiency. The present application also provides an automatic drilling control system, a storage medium and an electronic device for a drilling rig, which have the above beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 A flowchart of an automatic drilling control method for a drilling rig provided in an embodiment of the present application;

[0048] Figure 2 A structural schematic diagram of a drilling rig provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of the structure of a manipulator provided in an embodiment of the present application;

[0050] Figure 4 A block diagram of an automatic drilling control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] See below Figure 1 , Figure 1 A flowchart of an automatic drilling control method for a drilling rig provided in an embodiment of the present application.

[0053] Specific steps may include:

[0054] S101: If a drilling start instruction is received, the power head is controlled to drive the drill bit to descend so that the drill bit contacts the ground;

[0055] Among them, this embodiment can be applied to a drilling rig with a drilling function, which includes a power head, a mast (also called a drilling mast or a drilling mast), a drill rod, a drill bit, a manipulator, a drill rod library, etc. The drill rod installed between the power head and the drill bit is an operating drill rod as a whole; therefore, the operating drill rod can be a single drill rod or multiple drill rods connected end to end, the head of the operating drill rod is connected to the drill bit, and the tail of the operating drill rod is connected to the power head.

[0056] The drilling start instruction may be a command input by a worker through a control panel or a remote control system, or may be a trigger signal from a higher level system or automated process. Prior to this step, there may also be an operation of receiving a drilling task, according to which the target depth of the drilling may be determined.

[0057] After receiving the drilling start command, the drilling rig can control the power head to drive the working drill rod and drill bit down until the drill bit contacts the ground.

[0058] As a feasible implementation, before controlling the power head to drive the drill bit down, the mast propulsion compensation cylinder can also be controlled to perform an action (such as extension or shortening) so that the bottom of the mast contacts the ground. The above operation can improve the stability of the equipment, optimize the drilling angle and protect the equipment.

[0059] S102: After the drill bit contacts the ground, controlling the power head to perform a drilling operation;

[0060] Among them, this embodiment can use a sensor to detect whether the drill bit is in contact with the ground, and control the power head to perform a drilling operation when it is determined that the drill bit is in contact with the ground. At this time, the power head will maintain a certain downward pressure to ensure that the drill bit can stably cut into the formation.

[0061] S103: If the power head reaches the maximum stroke position and the drilling depth is less than the target depth, the drilling operation is stopped, and the power head is controlled to separate from the working drill rod and rise to the top of the mast;

[0062] Among them, during the process of the power head performing the drilling operation, the drilling depth of the drilling rig can be detected; if the drilling depth is still less than the target depth when the power head reaches the maximum stroke position, the drilling rig is controlled to stop the drilling operation, and the power head is controlled to detach from the tail of the working drill rod and rise to the top of the mast to prepare for the subsequent drill rod extension operation.

[0063] S104: Controlling the manipulator to grab an alternative drill rod from the drill rod library and move it to a preset position so that the central axis of the alternative drill rod coincides with the central axis of the power head;

[0064] After the power head is separated from the working drill rod and rises to the top of the mast, the present embodiment further controls the manipulator to grab an alternative drill rod from the drill rod library and move it to a preset position, so that the central axis of the alternative drill rod grabbed by the manipulator coincides with the central axis of the power head. The above-mentioned manipulator can be installed on the mast.

[0065] In this embodiment, the drill rod connected to the drill bit is called the working drill rod, and the drill rod not yet connected to the drill bit is called the alternative drill rod. The drill rod library is a device for storing multiple alternative drill rods, and the alternative drill rods in the drill rod library are arranged in a certain order and manner so that the manipulator can quickly and accurately identify and grab them.

[0066] S105: Control the power head to connect with the tail of the alternative drill rod, and control the power head to drive the alternative drill rod to descend and rotate, so that the head of the alternative drill rod is connected with the tail of the working drill rod to form a new working drill rod;

[0067] Among them, after the power head is separated from the working drill rod and rises to the top of the mast, and the manipulator clamps the alternative drill rod to the preset position, the power head can be controlled to descend and rotate so that the power head is connected to the tail of the alternative drill rod. After the power head is connected to the tail of the alternative drill rod, the power head can continue to be controlled to drive the alternative drill rod to descend and rotate so that the head of the alternative drill rod is connected to the tail of the working drill rod to form a new working drill rod; the above-mentioned new working drill rod is the whole formed by the alternative drill rod connected to the original working drill rod.

[0068] S106: After the head of the alternative drill rod is connected to the tail of the working drill rod, continue to control the power head to perform the drilling operation;

[0069] S107: If the drilling depth reaches the target depth, the drilling operation is stopped.

[0070] The present embodiment provides an automatic drilling control method for a drilling rig. After receiving a drilling start command, the power head is controlled to drive the drill bit to descend until the drill bit contacts the ground, and the drilling operation is started. When the power head reaches the maximum stroke position but the drilling depth is still less than the target depth, the present embodiment stops drilling and controls the power head to detach from the working drill rod and rise to the top of the mast. The present embodiment grabs the alternative drill rod from the drill rod library through a manipulator and moves it to a preset position, and connects the power head and the alternative drill rod; then, the power head drives the alternative drill rod to descend and rotate, and connects with the tail of the working drill rod to form a new working drill rod. After the drill rod is extended, the present embodiment continues to control the power head to perform the drilling operation until the drilling depth reaches the target depth. The above process realizes the automatic extension of the drill rod, avoiding the tedious and time-consuming manual replacement of the drill rod. Therefore, the present embodiment can realize the automatic drilling of the drilling rig and improve the working efficiency.

[0071] As for Figure 1 According to the further description of the corresponding embodiment, the following rod unloading operation can also be performed:

[0072] Step A1: after the drilling depth reaches the target depth and the drilling operation has stopped, determining the number of drill rods in the working drill rod;

[0073] Step A2: If the number of drill rods is greater than 1, the power head is controlled to drive the working drill rod to rise to the unloading position;

[0074] After the drilling task is completed, the embodiment controls the power head to drive the working drill rod to rise to the unloading position. Specifically, the power head can gradually lift the working drill rod while maintaining a stable lifting speed and force. When the working drill rod rises to the unloading position, the power head is controlled to stop the lifting operation and prepare for the subsequent drill rod disassembly work.

[0075] Step A3: controlling the upper clamp to clamp the head of the first drill rod;

[0076] The first drill rod is the topmost drill rod among the working drill rods. In this embodiment, the drill rod whose tail is directly connected to the power head is called the first drill rod (that is, the first drill rod is the drill rod whose tail is connected to the power head among the working drill rods). After the power head drives the working drill rod to rise to the unloading position, the upper clamp can be controlled to clamp the head of the first drill rod. The first drill rod is the drill rod among the working drill rods that is exposed above the ground and / or is being or waiting to be stored for recovery.

[0077] Step A4: controlling the lower clamp to clamp the tail of the second drill pipe;

[0078] The second drill rod is a drill rod in the working drill rod that is connected to the head of the first drill rod. After the power head drives the working drill rod to rise to the unloading position, the lower clamp can be controlled to clamp the tail of the second drill rod. The working drill rod includes multiple drill rods connected in sequence. From top to bottom, the first drill rod is the first drill rod, and the second drill rod is the second drill rod.

[0079] Step A5: controlling the upper clamp to drive the first drill rod to rotate so that the head of the first drill rod is separated from the tail of the second drill rod;

[0080] In this embodiment, the lower clamp can be controlled to keep clamping the second drill rod, and the upper clamp can be controlled to drive the first drill rod to rotate, so that the head of the first drill rod is separated from the tail of the second drill rod. The second drill rod is the drill rod in the working drill rod that has been drilled into the ground.

[0081] Step A6: controlling the manipulator to grab the first drill rod, and controlling the power head to separate from the tail of the first drill rod;

[0082] Among them, after the head of the alternative drill rod is separated from the tail of the working drill rod, this embodiment can control the power head to be separated from the tail of the first drill rod.

[0083] As a feasible implementation mode, this embodiment can control the upper clamp to keep clamping the first drill rod, and control the power head to rotate and rise, so that the power head is separated from the tail of the first drill rod.

[0084] As another feasible implementation, this embodiment can also control the power head and the upper clamp to rotate so that the power head is separated from the tail of the first drill rod; wherein the rotation direction of the power head is opposite to the rotation direction of the upper clamp.

[0085] As another feasible implementation, this embodiment can also control the manipulator to clamp the first drill rod, and control the power head to reverse, so that the power head is separated from the tail of the first drill rod to which it is connected.

[0086] Step A7: controlling the upper clamp to release the clamping of the first drill rod, and controlling the manipulator to put the first drill rod into the drill rod library;

[0087] Among them, during the process of the power head being separated from the first drill rod, if the manipulator does not grab the first drill rod, the upper clamp continues to clamp the first drill rod; after the power head is separated from the first drill rod, the manipulator can be controlled to grab the first drill rod, the upper clamp can be controlled to release the clamp on the first drill rod, and the manipulator can be controlled to put the first drill rod into the drill rod library.

[0088] Step A8: Control the power head to connect to the tail of the second drill rod so as to perform a rod unloading operation on the second drill rod.

[0089] Among them, after the first drill rod is placed in the drill rod warehouse, the power head can be controlled to connect with the tail of the second drill rod. At this time, the second drill rod becomes the new first drill rod, and the drill rod below the second drill rod and connected to the head of the second drill rod is called the new second drill rod. This embodiment can perform the rod unloading operation of steps A1 to A7 again.

[0090] As for Figure 1 Further introduction to the corresponding embodiment, in this embodiment, a depth sensor can be used to collect the advancement depth of the power head, and the advancement depth when the drill bit contacts the ground is set as a reference depth; after controlling the power head to perform the drilling operation, the drilling depth is calculated based on the current advancement depth of the power head, the reference depth, the number of connecting rods and the length of the drill rod.

[0091] The formula for calculating the drilling depth can be: L=L1+n×Ld-L0;

[0092] L represents the drilling depth, L1 represents the current advancement depth, n represents the number of connecting rods (that is, the number of drill rods in the working drill rod minus 1), Ld represents the drill rod length of a single drill rod, and L0 represents the reference depth.

[0093] As for Figure 1 Further introduction to the corresponding embodiment can be achieved by controlling the power head to perform drilling operations in the following ways: controlling the power head to perform drilling operations according to a target propulsion speed and a target rotation speed; collecting the operating parameters of the drilling rig; wherein the operating parameters include any one or a combination of several of the drilling speed, the forward pressure of the power head, the actual rotation speed of the power head, the rock hardness and the stuck drill condition; and adjusting the target propulsion speed and / or the target rotation speed according to the operating parameters.

[0094] As for Figure 1 According to a further introduction to the corresponding embodiment, the power head can be controlled to detach from the working drill rod and rise to the top of the mast in the following manner: the lower clamp is controlled to clamp the tail of the working drill rod; the power head is controlled to rotate in the opposite direction so as to detach from the working drill rod; wherein the power head is connected to the working drill rod by threads; after the power head detaches from the working drill rod, the power head is controlled to stop rotating and rise to the top of the mast.

[0095] The process described in the above embodiment is explained below through an embodiment in actual application.

[0096] The present embodiment provides an open-pit drilling rig automatic drilling control system and control method. The open-pit drilling rig is equipped with an operating table, a working device, a central controller, and a human-computer interactive display screen. Various sensors are installed on the working device. After receiving the drilling task and the automatic drilling instruction, the central controller collects sensor signals, performs data processing and control algorithm calculations, feeds back data to the display screen, and outputs control signals to various solenoid valves; various solenoid valves respectively control the start and stop of power devices such as the engine, air compressor, hydraulic pump, and dust removal fan, control the start and stop, movement direction and speed of the hydraulic cylinder and motor, control the addition and reduction of the drill rod, control the start and stop, movement direction and speed of the power head, control the start and stop of the impactor, control the lubrication of the impactor, realize the impact, rotation and propulsion of the drill bit, and thus realize rock breaking drilling; the central controller also controls the start and stop of the dust removal device and the wind speed flow rate to ensure safe and environmentally friendly construction. Finally, safe and environmentally friendly automatic drilling control of the open-pit drilling rig is realized.

[0097] The working device includes a drill mast, an upper / lower clamp, a rod unloading device, a power head, a drill rod storage, an upper / lower manipulator, a drill rod, and a drill bit. The drill bit can be a bottom-hole impact rock-breaking drill bit including an impactor, or a rotary rock-breaking drill bit. The sensors in the drilling rig include: a pressure sensor, an exhaust pressure sensor, a proximity switch, a depth sensor, a compensation length sensor, a power head speed sensor, a dust removal wind speed sensor, etc. The pressure sensor includes a hydraulic pressure sensor for measuring the extension of the compensation cylinder, the contraction of the compensation cylinder, the push-down, the push-up, the manipulator swinging in, the manipulator swinging out, the clamping claws tightening, the clamping claws loosening, the extension of the rod unloading cylinder, the contraction of the rod unloading cylinder, the upper clamping, the upper clamping loosening, the lower clamping, the lower clamping loosening, the drill support device tightening, the drill support device loosening, the dust hood up, the dust hood down, the power head reversing, the power head forward rotation, etc. The proximity switch includes: a rod change detection switch, a drill rod storage proximity switch, an upper / lower clamping claw proximity switch, and an upper / lower manipulator limit proximity switch.

[0098] The solenoid valves in the drilling rig include the compensation cylinder extension solenoid valve, the compensation cylinder retraction solenoid valve, the propulsion push-down solenoid valve, the propulsion lift-up solenoid valve, the propulsion speed adjustment solenoid valve, the rotation speed adjustment solenoid valve, the power head reversal solenoid valve, the power head forward solenoid valve, the fast propulsion solenoid valve, the rod unloading cylinder extension solenoid valve, the rod unloading cylinder retraction solenoid valve, the upper clamp clamping solenoid valve, the upper clamp loosening solenoid valve, the lower clamp clamping solenoid valve, the lower clamp loosening solenoid valve, the dust cover raising solenoid valve, the dust cover lowering solenoid valve, the drill support tightening solenoid valve, the drill support The electro-hydraulic valves controlled by the actions include loosening solenoid valve, upper / lower manipulator swing-in solenoid valve, manipulator swing-out solenoid valve, upper / lower claw clamping solenoid valve, upper / lower claw loosening solenoid valve, upper / lower claw floating solenoid valve, drill rod warehouse forward solenoid valve, drill rod warehouse reverse solenoid valve, rod unloading protection solenoid valve, rod connecting protection solenoid valve, anti-jamming solenoid valve, dust removal fan start and stop solenoid valve, drilling mode protection solenoid valve, rod changing solenoid valve, etc., and also include pulse solenoid valve, oil mist switch valve, air compressor unloading solenoid valve, air compressor high and low pressure solenoid valve and other pneumatic valves.

[0099] Based on the above-mentioned open-pit drilling rig, the automatic drilling control method of the drilling rig provided in this embodiment includes: after the drill rod is aligned with the drilling position and angle, the central controller receives the drilling task and the automatic drilling instruction, collects the sensor signal, performs data processing and control logic operation, and outputs the control signal. The controller then collects the feedback signals of the pressure sensor, proximity switch, length sensor, power head speed sensor, etc. corresponding to the output action of all solenoid valves to determine whether the action is in place as required; wherein the power head lifting, claw clamping, manipulator swinging and other actions simultaneously collect the pressure sensor and proximity switch signals, the compensation cylinder action simultaneously collects the pressure sensor and compensation length sensor signals, and the power head action simultaneously collects the pressure sensor, speed, depth and proximity switch signals, implements double or multiple protections, and ensures safe and reliable operation; fault diagnosis can be realized through the changes in the corresponding sensor signals collected after the solenoid valve output.

[0100] The open-pit drilling rig automatic drilling control method also includes protection measures such as anti-stuck drill, drilling protection, rod unloading protection, rod connection protection, rod replacement protection, sensor fault protection, etc. During the drilling process, the central controller collects the signals of each sensor in real time. In order to improve the drilling efficiency and prevent the drill rod from being stuck or even scrapped, when the forward pressure of the power head is greater than the set anti-stuck drill pressure value, the controller outputs the anti-stuck drill valve opening signal, and the hydraulic system automatically implements the anti-stuck drill measures to reduce the risk of sticking drill. When the rod connection control is performed, the rod connection protection valve is opened to reduce the propulsion pressure to prevent the drill rod from being pushed due to excessive propulsion pressure, so as to prevent the drill rod from falling off. When the rod unloading control is performed, the rod unloading protection valve is opened to reduce the propulsion pressure to prevent the drill rod from being pushed due to excessive propulsion pressure, so as to prevent the drill rod from falling off and affecting the continued unloading of the next section of the drill rod. When entering the drilling working mode, the drilling protection valve is opened to cut off the hydraulic oil circuit for the open-pit drilling rig to travel and the mechanical arm to move, so as to prevent the open-pit drilling rig from traveling or the mechanical arm from moving due to misoperation, thereby protecting the drill rod and the entire machine. When the rod connection and unloading control is performed, the rod change solenoid valve is opened to provide the oil circuit for the rod change action cylinder to prevent malfunction. The open-pit drilling rig automatic drilling control system is also equipped with a rod change detection proximity switch. When unloading the rod, the power head needs to be lifted to the predetermined unloading height position. Generally, the unloading height position is detected by the depth sensor. If the depth sensor fails and the lifting height exceeds the predetermined height and reaches the rod change detection proximity switch position, the lifting is stopped. Thus, double protection is achieved.

[0101] The above-mentioned drilling rig may also have the following rapid propulsion function: when the power head is lifted or lowered without the drill pipe, the power head propulsion rapid valve may be opened, and the power head propulsion lifting / pushing down solenoid valve may be used to control the rapid lifting / lowering of the power head, thereby improving production efficiency.

[0102] During the drilling operation, the control system can adaptively adjust the drilling speed and pressure of the drill bit according to the geological conditions and operation requirements to ensure the efficiency and safety of the entire drilling process. It can be widely used in different types of open-pit drilling rigs to provide methods for intelligent drilling operations in the fields of mining, construction, infrastructure construction, etc. This embodiment can achieve precise automatic control of the drilling process of the drilling rig, thereby significantly enhancing the operating performance of the open-pit drilling rig, improving the drilling efficiency, and greatly reducing the workload of the operator, ensuring the safety of the operation process.

[0103] See also Figure 2 and Figure 3 , Figure 2 A structural schematic diagram of a drilling rig provided in an embodiment of the present application is shown in FIG. Figure 3A schematic diagram of the structure of a manipulator provided in an embodiment of the present application. In the figure, 1 represents a dust hood, 2 represents a drill support, 3 represents a lower clamp, 4 represents a rod unloading cylinder, 5 represents an upper clamp, 6 represents an impactor, 7 represents a drill rod storage proximity switch, 8 represents a drill rod, 9 represents a drill rod storage, 10 represents a lower manipulator, 11 represents a rod change valve, 12 represents a slide, 13 represents an upper manipulator, 14 represents a drilling mast, 15 represents a compensation cylinder, 16 represents a joint, 17 represents a buffer device, 18 represents a power head, 19 represents a power head speed sensor, 20 represents a propulsion depth sensor, 21 represents a power head propulsion motor, 22 represents a rod change detection proximity switch, 23 represents a compensation length sensor, 24 represents a dust hood lifting cylinder, 25 represents a drill bit / drill bit, 26 represents a manipulator limit proximity switch, 27 represents a pinching claw, 28 represents a pinching claw proximity switch, 29 represents a manipulator swing cylinder, and 30 represents a pinching claw cylinder. Figure 3 The position of the power head center is shown in FIG.

[0104] In this embodiment, the rotary cylinder of the drill rod magazine can also adopt a cylinder + ratchet mechanism, and the rotation of the drill rod magazine can also be driven by a rotary motor. When the reverse torque of the power head is insufficient to loosen the power head joint and the drill rod, the two sections of the drill rod can be loosened by clamping the power head joint with the upper clamp.

[0105] See also Figure 4 , Figure 4A block diagram of an automatic drilling control system provided in an embodiment of the present application, wherein the central controller can control the upper manipulator to swing in and out based on a solenoid valve, a pressure sensor, and a proximity switch; the central controller can control the upper manipulator to clamp, float, and release its claws based on a solenoid valve, a pressure sensor, and a proximity switch; the central controller can control the rotation of the drill rod magazine (including forward and reverse rotation) based on a solenoid valve, a pressure sensor, and a proximity switch; the central controller can control the lower manipulator to swing in and out based on a solenoid valve, a pressure sensor, and a proximity switch; the central controller can control the lower manipulator to clamp, float, and release its claws based on a solenoid valve, a pressure sensor, and a proximity switch; the central controller can control the rod change valve based on a solenoid valve; the central controller can control the oil mist switch based on a solenoid valve; the central controller can control the start-up, output of high and low pressures, and unloading of the air compressor based on the solenoid valve and the pressure sensor; the lubricating oil pipeline of the oil mist switch is connected to the air compressor and the impactor so that the lubricating oil is mixed with the compressed air to form an oil mist, and the impactor is lubricated with oil mist; the central controller can The start and stop and blowing of the dust removal fan are controlled based on the solenoid valve, pulse valve and pressure sensor; the central controller can control the extension and retraction of the compensation cylinder based on the solenoid valve, length sensor and pressure sensor; the central controller can control the advancement and lifting of the power head based on the solenoid valve, pressure sensor and proximity switch; the central controller can perform operations such as rod unloading protection, rod connection protection, rapid advancement and speed adjustment on the power head; the central controller can realize anti-stuck drill protection based on the solenoid valve; the central controller can adjust the speed based on the solenoid valve, speed sensor and pressure sensor to control the rotation of the power head (including forward and reverse rotation); the central controller can control the clamping and loosening of the lower clamp based on the solenoid valve and pressure sensor; the central controller can control the clamping and loosening of the upper clamp based on the solenoid valve and pressure sensor; the central controller can control the extension and retraction of the unloading cylinder based on the solenoid valve and pressure sensor; the central controller can control the clamping and loosening of the drill support based on the solenoid valve and pressure sensor; the central controller can control the lifting and lowering of the dust hood based on the solenoid valve and pressure sensor. Based on the above structure, the central controller can realize the mast top ground processing, the rod receiving and unloading processing of the drill rod warehouse, the anti-stuck drill processing and the dust prevention processing.

[0106] After the central controller receives the drilling task and the automatic drilling instruction, it can realize the safe and environmentally friendly automatic drilling control of the open-pit drilling rig, thereby realizing the one-button drilling function or the unmanned drilling function. This embodiment can adaptively adjust the drilling speed and pressure of the drill bit according to the geological conditions and operation requirements, thereby improving the efficiency of the entire drilling process. While improving the drilling efficiency of the drilling rig and reducing the labor intensity of the operator, the automatic drilling control system also significantly enhances the safety performance and stability and reliability of the drilling rig, providing effective measures for intelligent drilling operations in the fields of mining, construction, and infrastructure construction.

[0107] After the open-pit drilling rig drives to the target drilling location, the operating angle of the drill mast reaches the drilling direction accuracy requirement, and the drill bit is aligned with the drilling position, the central controller receives the drilling task and automatic drilling instructions, collects sensor signals, performs data processing and control logic operations, makes control decisions, outputs control signals, and realizes the automatic drilling function.

[0108] The automatic drilling control method comprises the following steps:

[0109] Step B1: Drill the mast head tight to the ground.

[0110] The drill mast is pushed forward to execute the action of the compensation cylinder by controlling the compensation cylinder solenoid valve, and the controller collects the signal of the compensation cylinder pressure sensor to make the drill mast press against the ground.

[0111] Step B2: Preparation before drilling.

[0112] The central controller controls the rod change solenoid valve to open; closes the air compressor unloading solenoid valve to allow the air compressor to provide air pressure and collect the exhaust pressure sensor signal; controls the dust hood to descend through the dust hood lowering solenoid valve, collects the dust hood lowering pressure sensor signal, and makes the dust hood close to the ground. The drill supporter clamping solenoid valve controls the drill supporter to be clamped, and collects the drill supporter tightening pressure sensor signal, so that the drill supporter is close to the drill rod to guide the drilling and prevent the drill rod from shaking; controls the dust removal fan to operate through the dust removal fan start and stop solenoid valve; opens the drilling protection valve to cut off the hydraulic oil circuit for the open-pit drilling rig to travel and the mechanical arm to move, to prevent the open-pit drilling rig from traveling or the mechanical arm from moving due to misoperation, thereby protecting the drill rod in the borehole and the entire machine.

[0113] Step B3: Drilling control.

[0114] Close the rod-changing solenoid valve to stop the rod-changing action; control the descent of the power head through the power head push-down solenoid valve, and collect the push-down pressure sensor signal, so that the drill bit is pressed against the ground rock, and collect the depth encoder signal L0 at this time. At this time, the drilling depth is zero.

[0115] The power head is controlled to descend through the power head propulsion and descent solenoid valve, and the propulsion and push-down pressure sensor signal is collected; at the same time, the power head is controlled to rotate forward through the power head forward rotation solenoid valve, and the power head forward rotation pressure sensor signal and the power head speed sensor signal are collected at the same time; according to the working conditions, the air compressor output is controlled to be high / low air pressure through the high and low pressure solenoid valves to drive the impactor / drill bit to work; the controller performs adaptive parameter adjustment algorithm processing according to the working condition parameters, and controls the output of appropriate power head propulsion speed and rotation speed by adjusting the propulsion speed adjustment solenoid valve and the rotation speed adjustment solenoid valve opening, so as to obtain higher drilling efficiency, thereby realizing efficient automatic rock drilling.

[0116] During the drilling process, the central controller collects the signals of each sensor in real time. To improve the drilling efficiency and prevent the drill rod from getting stuck or even being scrapped, when the forward pressure of the power head is greater than the set anti-jamming pressure value, the controller outputs the anti-jamming valve opening signal, and the hydraulic system automatically implements anti-jamming measures to reduce the risk of jamming. During the drilling process, the controller also collects the drilling depth sensor signal L1 and calculates the actual drilling depth L=L1-L0. To ensure a better plane flatness after blasting, the controller calculates the target drilling depth based on the drilling attitude angle and the surface height when the hole is opened to ensure that the blasting holes have a common bottom surface.

[0117] If a drill bit with an impactor is used, during the drilling process, the controller simultaneously controls the oil mist lubrication through the oil mist switch solenoid valve to mix the lubricating oil into the air flow driving the impactor, so that the impactor is fully lubricated while producing the impact action. If a rotary rock breaking drill bit is used, there is no need to control the oil mist switch solenoid valve.

[0118] The high-pressure air blown out from the drill bit blows up the dust and debris generated during the drilling process. At the same time, the controller controls the operation of the dust removal fan through the dust removal fan start and stop solenoid valve to absorb the raised dust and debris, causing them to fall into and be deposited in the dust removal box. The wind speed sensor signal is collected to reflect the operating status of the dust removal fan, and multiple groups of pulse solenoid valves (such as 4 groups) are controlled to intermittently control the discharge of sediment deposited in the dust removal box to avoid dust flying around the machine.

[0119] Step B4: Joint control.

[0120] When the power head reaches the maximum stroke position and the drilling depth has not yet reached the required target depth, the central controller performs the following rod control:

[0121] (1) Stop drilling operation: Open the air compressor unloading solenoid valve to stop the air compressor from providing air pressure to the drill bit; control the pulse solenoid valve to reverse the dust removal fan, and then stop the dust removal fan operation through the dust removal fan start and stop solenoid valve, and stop the lubricating oil delivery through the oil mist switch solenoid valve; control the power head to stop lifting by closing the power head push-down solenoid valve; control the power head to stop rotating by closing the power head forward solenoid valve. The controller controls the rod change solenoid valve to open and provide oil pressure for the rod change action cylinder; open the rod connection protection solenoid valve to limit the pressure of the power head to push up and prevent the drill rod from being pushed due to excessive push pressure.

[0122] (2) The power head is separated from the drill pipe: the controller controls the lower clamping cylinder to clamp the tail of the drilled drill pipe (hereinafter referred to as the second drill pipe) through the lower clamp clamping solenoid valve, and collects the signal of the lower clamp clamping pressure sensor; the controller controls the power head to reverse through the power head reversal solenoid valve, and collects the signal of the power head reversal pressure sensor, so that the power head joint is separated from the second drill pipe; the controller controls the fast propulsion solenoid valve to open, and controls the power head to be quickly lifted through the power head propulsion and lifting solenoid valve. At the same time, the controller collects the rod change detection proximity switch, the power head drilling depth sensor and the propulsion and lifting pressure sensor signals to quickly lift the power head to the top of the mast; the fast propulsion solenoid valve and the propulsion and lifting solenoid valve are closed to stop lifting.

[0123] (3) Drill rod out of the warehouse: The controller controls the drill rod warehouse to rotate forward around the central axis by one position through the forward rotation solenoid valve of the drill rod warehouse, and collects the signal of the forward rotation pressure sensor of the drill rod warehouse and the signal output by the proximity switch of the drill rod warehouse, so that the drill rod to be received stops at the entrance and exit of the drill rod warehouse; then the upper / lower manipulator swings out through the solenoid valve to control the synchronous movement of the upper / lower manipulator swing cylinder, and collects the signal of the manipulator swing out pressure sensor, so that the manipulator swings out to the entrance and exit of the drill rod warehouse to grab the drill rod. At this time, the controller receives the signal output by the manipulator limit proximity switch. The controller receives the signal output by the claw proximity switch, and then controls the upper / lower manipulator swing cylinder movement through the upper / lower manipulator clamping solenoid valve, and collects the signal of the claw clamping pressure sensor to make the claw clamp the drill rod (hereinafter referred to as the first drill rod) at the entrance and exit of the drill rod warehouse. At this time, the controller receives the signal output by the claw proximity switch, and then controls the upper / lower manipulator swing cylinder movement through the upper / lower manipulator swing-in solenoid valve, collects the signal of the manipulator swing-in pressure sensor, and makes the drill rod leave the warehouse. At this time, the manipulator limit switch has no signal output, and makes the drill rod swing to the center axis position of the power head.

[0124] (4) The power head joint is connected to the drill pipe: the power head is controlled to rotate forward through the power head forward solenoid valve, and the power head is controlled to descend through the power head thrust and descent solenoid valve at the same time. The signals of the power head forward pressure sensor and the power head thrust and descent pressure sensor are collected, and the power head speed sensor signal is collected at the same time, so that the power head is connected to the tail of the first drill pipe.

[0125] (5) Drill pipe connection: The upper / lower claw floating solenoid valves are used to synchronously control the floating of the upper / lower manipulator claws, so that the drill pipe will not slip due to gravity, but can move under the torque and push of the power head, and continue to control the power head to continue to rotate forward and descend. The power head forward pressure sensor, power head push-down pressure sensor and power head speed sensor signals are collected to connect the first drill pipe head with the second drill pipe tail;

[0126] (6) Manipulator return: The upper / lower gripper release solenoid valve controls the upper / lower gripper cylinder to move synchronously to release the gripper, and collects the gripper release pressure sensor signal. After the gripper is released, the gripper proximity switch has no output signal; the upper / lower gripper swing solenoid valve controls the upper / lower gripper swing cylinder to move synchronously, and collects the manipulator swing pressure sensor signal, so that the upper and lower grippers swing back to their original positions. At this time, the controller receives the signal output by the manipulator limit proximity switch; the lower clamp release solenoid valve controls the lower clamp cylinder to release, and collects the lower clamp release pressure sensor signal, so that the lower clamp releases the tail of the second drill rod that has been drilled, completing a rod connection.

[0127] Step B5: Continue drilling.

[0128] After completing the rod connection, the controller closes the rod change solenoid valve and cuts off the oil circuit of the rod change action cylinder; closes the rod connection protection solenoid valve and restores the propulsion pressure of the power head, and can continue to enter the drilling control program.

[0129] Step B6: Depth measurement.

[0130] The controller collects the signals from each sensor and determines that each time a rod connection is completed, the number of drill rods n increases by 1, and the actual drilling depth increases by the length of one drill rod Ld, and the actual drilling depth is obtained = L1+n*Ld-L0. By accumulating the length of the connecting and unconnecting rods, the measurement of the drilling depth of medium and deep holes can be achieved.

[0131] Step B7: Unload the rod control.

[0132] The controller receives the sensor signal and determines that after the drill bit has drilled to the designed depth, if the drilling depth is greater than one drill rod, the following rod unloading control is required:

[0133] (1) Stop drilling operation: open the air compressor unloading solenoid valve to stop the air compressor from providing air pressure to the drill bit; control the pulse solenoid valve to make the dust removal fan blow back, and then stop the dust removal fan operation through the dust removal fan start and stop solenoid valve, stop the delivery of lubricating oil through the oil mist switch solenoid valve, and control the power head to stop lifting and lowering by closing the power head push-down solenoid valve; control the power head to stop rotating by closing the power head forward solenoid valve, and stop drilling operation. The controller controls the rod change solenoid valve to open and connect the rod change action hydraulic oil circuit; open the rod unloading protection valve to limit the pressure of the power head pushing down.

[0134] (2) Drill rod detachment: The controller outputs a control signal to control the lifting of the power head through the power head push-up solenoid valve. At the same time, the power head drilling depth sensor, rod change detection proximity switch and push-up pressure sensor signals are collected to lift the power head to the predetermined rod unloading height. If the depth sensor fails, it is judged by the rod change proximity switch signal. For example, due to the error of the depth sensor, the collected sensor reading does not reach the predetermined rod unloading height, and the rod change proximity switch has responded, which means that the lifting height has exceeded the predetermined rod unloading height. The controller stops the lifting of the power head through the push-up solenoid valve; the lower clamp is controlled by the lower clamp clamping solenoid valve. The cylinder clamps the tail of the second drill rod, and at the same time collects the signal of the clamping pressure sensor of the lower clamp; the upper clamping cylinder is controlled by the clamping solenoid valve of the upper clamp to clamp the head of the first drill rod, and at the same time collects the signal of the clamping pressure sensor of the upper clamp; the action of the unloading cylinder is controlled by the unloading cylinder solenoid valve, and at the same time collects the signal of the pressure sensor of the unloading cylinder, so that the first drill rod is rotated and loosened from the second drill rod; the upper clamping cylinder is controlled by the upper clamping release solenoid valve to release the first drill rod, and at the same time collects the signal of the upper clamping release pressure sensor; the action of the unloading cylinder is controlled by the unloading cylinder solenoid valve, and at the same time collects the signal of the pressure sensor of the unloading cylinder, so that the upper clamp returns to its original position.

[0135] (3) The power head joint is separated from the drill pipe: the upper / lower manipulator swing-in solenoid valve is used to simultaneously control the swing cylinder movement of the upper and lower manipulators, and the manipulator swing-in pressure sensor signal is collected to make the manipulator swing to the drill pipe position along the center axis of the power head. At this time, the manipulator limit switch has no signal output; the upper / lower claw clamping solenoid valve is used to simultaneously control the claw cylinder movement of the upper / lower manipulators, and the claw clamping pressure sensor signal is collected to make the claw clamp the first drill pipe. At this time, the controller will receive the signal output by the claw proximity switch; the power head reversal solenoid valve is used to control the power head to reverse, and the power head push-up solenoid valve is used to control the power head to lift at the same time. The power head speed sensor signal, the power head reversal pressure sensor signal and the power head push-up pressure sensor signal are collected to make the power head separate from the first drill pipe.

[0136] (4) Drill rod storage: The upper / lower manipulator swings out the solenoid valve and controls the upper / lower manipulator swing cylinder to move synchronously, and collects the manipulator swing pressure sensor signal at the same time, so that the first drill rod stops at the entrance and exit position in the drill rod storage. At this time, the controller will receive the signal output by the manipulator limit proximity switch; the upper / lower claw release solenoid valve controls the upper / lower manipulator claw cylinder to move synchronously to release the claw, and collects the claw release pressure sensor signal at the same time. After the claw is released, the claw proximity switch has no output signal; the controller then controls the drill rod storage to reverse one position around the central axis through the drill rod storage reversal solenoid valve, and collects the drill rod storage reversal pressure sensor signal. After the controller receives the signal output by the drill rod storage proximity switch, the controller determines that the first drill rod has entered the storage based on the pressure sensor signal and the drill rod storage proximity switch signal.

[0137] (5) The power head connector is connected to the drill pipe: the controller opens the power head push-down rapid valve and controls the power head to descend rapidly through the power head push-down solenoid valve. At the same time, the controller collects the power head drilling depth sensor and push-down pressure sensor signals to make the power head descend close to the tail of the second drill pipe, and then closes the push-down rapid solenoid valve; then the power head is controlled to rotate forward through the power head forward solenoid valve, and at the same time, the power head is controlled to descend through the power head push-down solenoid valve, and the power head speed sensor signal, the power head forward pressure sensor signal and the power head push-down pressure sensor signal are collected to connect the power head to the tail of the second drill pipe.

[0138] Step B8: Complete drilling.

[0139] Repeat the above unloading rod control to put the second drill rod into the warehouse. Repeat this process until the last drill rod is lifted and the power head is raised to the top.

[0140] The dust hood lifting solenoid valve is used to control the dust hood lifting, and the dust hood lowering pressure sensor signal is collected to retract the dust hood. The drill supporter is clamped by the drill supporter tightening solenoid valve, and the drill supporter clamping pressure sensor signal is collected to make the drill supporter clamp the drill bit to prevent the drill bit from shaking; the compensation cylinder solenoid valve is used to control the drilling mast to advance the compensation cylinder, and the controller collects the compensation cylinder pressure sensor signal to make the mast leave the ground; the rod unloading protection valve, rod changing solenoid valve, and drilling protection valve are closed. Wait for the next drilling task.

[0141] An automatic drilling control system for a drilling rig provided in an embodiment of the present application includes:

[0142] A drilling preparation module is used to control the power head to drive the drill bit to descend if a drilling start instruction is received, so that the drill bit contacts the ground; wherein an operating drill rod is connected between the power head and the drill bit;

[0143] A drilling module, used to control the power head to perform a drilling operation after the drill bit contacts the ground;

[0144] The connecting rod module is used to stop the drilling operation if the power head reaches the maximum stroke position and the drilling depth is less than the target depth, and control the power head to detach from the working drill rod and rise to the top of the mast; it is also used to control the manipulator to grab the alternative drill rod from the drill rod library and move it to a preset position so that the central axis of the alternative drill rod coincides with the central axis of the power head; it is also used to control the power head to connect with the tail of the alternative drill rod, and control the power head to drive the alternative drill rod to descend and rotate, so that the head of the alternative drill rod is connected to the tail of the working drill rod to form a new working drill rod;

[0145] The drilling module is also used to continue controlling the power head to perform the drilling operation after the head of the alternative drill rod is connected to the tail of the working drill rod; and is also used to stop the drilling operation if the drilling depth reaches the target depth.

[0146] The present embodiment provides an automatic drilling control method for a drilling rig. After receiving a drilling start command, the power head is controlled to drive the drill bit to descend until the drill bit contacts the ground, and the drilling operation is started. When the power head reaches the maximum stroke position but the drilling depth is still less than the target depth, the present embodiment stops drilling and controls the power head to detach from the working drill rod and rise to the top of the mast. The present embodiment grabs the alternative drill rod from the drill rod library through a manipulator and moves it to a preset position, and connects the power head and the alternative drill rod; then, the power head drives the alternative drill rod to descend and rotate, and connects with the tail of the working drill rod to form a new working drill rod. After the drill rod is extended, the present embodiment continues to control the power head to perform the drilling operation until the drilling depth reaches the target depth. The above process realizes the automatic extension of the drill rod, avoiding the tedious and time-consuming manual replacement of the drill rod. Therefore, the present embodiment can realize the automatic drilling of the drilling rig and improve the working efficiency.

[0147] Optionally, also include:

[0148] A rod unloading module is used to determine the number of drill rods in the working drill rod after the drilling depth reaches the target depth and the drilling operation has stopped; it is also used to control the power head to drive the working drill rod to rise to the rod unloading position if the number of drill rods is greater than 1; it is also used to control the upper clamp to clamp the head of the first drill rod; wherein the first drill rod is the uppermost drill rod in the working drill rod; it is also used to control the lower clamp to clamp the tail of the second drill rod; wherein the second drill rod is the drill rod in the working drill rod that is connected to the head of the first drill rod; it is also used to control the upper clamp to drive the first drill rod to rotate so that the head of the first drill rod is separated from the tail of the second drill rod; it is also used to control the manipulator to grab the first drill rod and control the power head to separate from the tail of the first drill rod; it is also used to control the upper clamp to release the clamping of the first drill rod and control the manipulator to put the first drill rod into the drill rod library; it is also used to control the power head to be connected to the tail of the second drill rod so as to perform the rod unloading operation on the second drill rod.

[0149] Optionally, the process of controlling the power head to detach from the tail of the first drill rod by the rod unloading module includes: using the manipulator to clamp the first drill rod, and controlling the power head to reverse so that the power head detaches from the tail of the connected first drill rod.

[0150] Furthermore, it also includes:

[0151] The depth detection module is used to collect the advancement depth of the power head using a depth sensor and set the advancement depth when the drill bit contacts the ground as a reference depth; it is also used to calculate the drilling depth according to the current advancement depth of the power head, the reference depth, the number of connecting rods and the length of the drill rod after controlling the power head to perform a drilling operation.

[0152] Furthermore, it also includes:

[0153] The mast propulsion module is used to control the mast propulsion compensation cylinder to perform an action before controlling the power head to drive the drill bit to descend, so that the bottom of the mast contacts the ground.

[0154] Furthermore, the process of the drilling module controlling the power head to perform the drilling operation includes: controlling the power head to perform the drilling operation according to the target propulsion speed and the target rotation speed; collecting the operating parameters of the drilling rig; wherein the operating parameters include any one or a combination of several of the drilling speed, the forward pressure of the power head, the actual rotation speed of the power head, the rock hardness and the stuck drill condition; and adjusting the target propulsion speed and / or the target rotation speed according to the operating parameters.

[0155] Furthermore, the process of the connecting rod module controlling the power head to detach from the working drill rod and rise to the top of the mast includes: controlling the lower clamp to clamp the tail of the working drill rod; controlling the power head to rotate in the opposite direction so as to detach from the working drill rod; wherein the power head is connected to the working drill rod by threads; after the power head detaches from the working drill rod, controlling the power head to stop rotating and rise to the top of the mast.

[0156] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0157] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0158] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0159] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0160] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. An automatic drilling control method for a drilling rig, characterized in that: include: If a drilling start instruction is received, the power head is controlled to drive the drill bit to descend so that the drill bit contacts the ground; wherein an operating drill rod is connected between the power head and the drill bit; After the drill bit contacts the ground, controlling the power head to perform a drilling operation; If the power head reaches the maximum stroke position and the drilling depth is less than the target depth, the drilling operation is stopped, and the power head is controlled to separate from the working drill rod and rise to the top of the mast; Controlling the manipulator to grab an alternative drill rod from the drill rod library and move it to a preset position so that the central axis of the alternative drill rod coincides with the central axis of the power head; Control the power head to connect with the tail of the alternative drill rod, and control the power head to drive the alternative drill rod to descend and rotate, so that the head of the alternative drill rod is connected with the tail of the working drill rod to form a new working drill rod; After the head of the alternative drill rod is connected to the tail of the working drill rod, continue to control the power head to perform the drilling operation; If the drilling depth reaches the target depth, the drilling operation is stopped.

2. The automatic drilling control method of a drilling rig according to claim 1, characterized in that: Also includes: After the drilling depth reaches the target depth and the drilling operation has stopped, determining the number of drill rods in the working drill rod; If the number of drill rods is greater than 1, the power head is controlled to drive the working drill rod to rise to the unloading position; Controlling the upper clamp to clamp the head of the first drill rod; wherein the first drill rod is the uppermost drill rod among the working drill rods; Controlling the lower clamp to clamp the tail of the second drill rod; wherein the second drill rod is the drill rod in the working drill rod connected to the head of the first drill rod; Controlling the upper clamp to drive the first drill rod to rotate so that the head of the first drill rod is separated from the tail of the second drill rod; Controlling the manipulator to grab the first drill rod, and controlling the power head to separate from the tail of the first drill rod; Controlling the upper clamp to release the clamp on the first drill rod and controlling the manipulator to put the first drill rod into the drill rod library; The power head is controlled to be connected to the tail of the second drill rod so as to perform a rod unloading operation on the second drill rod.

3. The automatic drilling control method of a drilling rig according to claim 2, characterized in that: Controlling the power head to separate from the tail of the first drill pipe comprises: The manipulator is used to clamp the first drill rod, and the power head is controlled to reverse so that the power head is separated from the tail of the first drill rod to which it is connected.

4. The automatic drilling control method of a drilling rig according to claim 1, characterized in that: Also includes: The driving depth of the power head is collected by using a depth sensor, and the driving depth when the drill bit contacts the ground is set as a reference depth; After the power head is controlled to perform a drilling operation, the drilling depth is calculated according to the current advancement depth of the power head, the reference depth, the number of connecting rods and the length of the drill rod.

5. The automatic drilling control method of a drilling rig according to claim 1, characterized in that: Before controlling the power head to drive the drill bit down, it also includes: The mast thrust compensating cylinder is controlled to perform an action so that the bottom of the mast contacts the ground.

6. The automatic drilling control method of a drilling rig according to claim 1, characterized in that: Controlling the power head to perform a drilling operation includes: Controlling the power head to perform drilling operations according to a target propulsion speed and a target rotation speed; Collecting the working parameters of the drilling rig; wherein the working parameters include any one or a combination of several of the following: drilling speed, forward pressure of the power head, actual rotation speed of the power head, rock hardness and drill bit sticking condition; The target propulsion speed and / or the target rotation speed are adjusted according to the operating condition parameters.

7. The automatic drilling control method of a drilling rig according to claim 1, characterized in that: Controlling the power head to separate from the working drill pipe and rise to the top of the mast includes: Controlling the lower clamp to clamp the tail of the working drill rod; Controlling the power head to rotate in the opposite direction so as to disengage from the working drill rod; wherein the power head is connected to the working drill rod through threads; After the power head is separated from the working drill rod, the power head is controlled to stop rotating and rise to the top of the mast.

8. An automatic drilling control system for a drilling rig, characterized in that: include: A drilling preparation module is used to control the power head to drive the drill bit to descend if a drilling start instruction is received, so that the drill bit contacts the ground; wherein an operating drill rod is connected between the power head and the drill bit; A drilling module, used to control the power head to perform a drilling operation after the drill bit contacts the ground; The connecting rod module is used to stop the drilling operation if the power head reaches the maximum stroke position and the drilling depth is less than the target depth, and control the power head to detach from the working drill rod and rise to the top of the mast; it is also used to control the manipulator to grab the alternative drill rod from the drill rod library and move it to a preset position so that the central axis of the alternative drill rod coincides with the central axis of the power head; it is also used to control the power head to connect with the tail of the alternative drill rod, and control the power head to drive the alternative drill rod to descend and rotate, so that the head of the alternative drill rod is connected to the tail of the working drill rod to form a new working drill rod; The drilling module is also used to continue controlling the power head to perform the drilling operation after the head of the alternative drill rod is connected to the tail of the working drill rod; and is also used to stop the drilling operation if the drilling depth reaches the target depth.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the automatic drilling control method of the drilling rig as claimed in any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the automatic drilling control method of the drilling rig as claimed in any one of claims 1 to 7 are implemented.

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