An automatic drilling control method, system, device and storage medium of a drilling rig

Abstract

The application discloses a kind of automatic drilling control method, system, equipment and storage medium of rig, and the technical field belongs to rig control technology.The automatic drilling control method of the rig includes: if receiving drilling start instruction, control power head to drive drill bit to descend, so that drill bit is contacted with ground;Control power head to perform drilling operation;If power head reaches maximum stroke position and drilling depth is less than target depth, stop drilling operation, control power head to disengage work drill rod and rise to the top of mast;Control manipulator to grab alternative drill rod from drill rod warehouse and move to preset position;Control power head and the tail of alternative drill rod are connected, control power head drives alternative drill rod to descend and rotate;After the head of alternative drill rod is connected with the tail of work drill rod, continue to control power head to perform drilling operation.The application can realize the automatic drilling of rig, improve work efficiency.

Description

Technical Field

[0001] This application relates to the field of drilling rig control technology, and in particular to an automatic drilling control method, system, equipment and storage medium for a drilling rig. Background Technology

[0002] In mining and tunnel construction, drilling blasting holes plays a crucial role, serving as the cornerstone of successful drilling and blasting operations. The accuracy and quality of hole drilling have a decisive impact on the entire process. This process requires comprehensive consideration of numerous factors, including geological structure, rock hardness, drilling depth, and hole diameter. Failure to meet quality standards for blasting holes can not only lead to poor blasting results but may also cause serious safety accidents. Furthermore, on-site drilling conditions are highly susceptible to environmental influences, resulting in extremely harsh conditions, high labor intensity, and safety hazards associated with manual drilling operations.

[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 profound significance for the mining industry.

[0004] Therefore, how to achieve automated drilling and improve operational efficiency is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

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

[0006] To solve the above-mentioned technical problems, this application provides an automatic drilling control method for a drilling rig, comprising:

[0007] If a drilling start command is received, the power head is controlled to lower the drill bit so that the drill bit contacts the ground; wherein, a working drill rod is connected between the power head and the drill bit;

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

[0009] If the power head reaches its 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 detach from the working drill rod and rise to the top of the mast.

[0010] The robotic arm is controlled to grab a candidate drill rod from the drill rod magazine and move it to a preset position so that the central axis of the candidate drill rod coincides with the central axis of the power head;

[0011] The power head is controlled to connect to the tail of the alternative drill rod, and the power head is 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.

[0012] After the head of the alternative drill pipe is connected to the tail of the working drill pipe, the power head continues to be controlled to perform drilling operations;

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

[0014] Optional, also includes:

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

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

[0017] The upper clamp is controlled 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] The lower clamp is controlled to clamp the tail of the second drill rod; wherein, the second drill rod is the drill rod that is connected to the head of the first drill rod in the working drill rod;

[0019] The upper clamp is controlled to rotate the first drill rod so that the head of the first drill rod disengages from the tail of the second drill rod.

[0020] Control the robotic arm to grasp the first drill rod, and control the power head to detach from the tail of the first drill rod;

[0021] Control the upper gripper to release the gripper from the first drill pipe and control the robotic arm to put the first drill pipe into the drill pipe magazine;

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

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

[0024] The robotic arm grips the first drill rod, and the power head is controlled to reverse so that the power head disengages from the tail of the first drill rod to which it is connected.

[0025] Optional, also includes:

[0026] The depth of the drill bit is collected using a depth sensor, and the depth of the drill bit when it contacts the ground is set as the reference depth.

[0027] After controlling the power head to perform drilling operations, the drilling depth is calculated based on the current advance 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 lower the drill bit, the following steps are also included:

[0029] The mast advance compensation 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 drilling operations includes:

[0031] The power head is controlled to perform drilling operations according to the target propulsion speed and the target rotation speed;

[0032] Collect the operating parameters of the drilling rig; wherein, the operating parameters include any one or a combination of any of the following: drilling speed, forward rotation pressure of the power head, actual rotation speed of the power head, rock hardness, and jamming condition;

[0033] Adjust the target propulsion speed and / or the target rotation speed according to the operating parameters.

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

[0035] The lower clamp is controlled to clamp the tail of the working drill rod;

[0036] The power head is controlled to rotate in the opposite direction to disengage from the working drill rod; wherein the power head and the working drill rod are connected by a thread;

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

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

[0039] The drilling preparation module is used to control the power head to lower the drill bit when a drilling start command is received, so that the drill bit contacts the ground; wherein, a working drill rod is connected between the power head and the drill bit;

[0040] The drilling module is used to control the power head to perform drilling operations after the drill bit contacts the ground;

[0041] The connecting rod module is used to stop drilling operations and control the power head to detach from the working drill rod and rise to the top of the mast if the power head reaches its maximum stroke position and the drilling depth is less than the target depth; it is also used to control the robot arm to grab a candidate drill rod from the drill rod magazine and move it to a preset position so that the central axis of the candidate 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 candidate drill rod, and control the power head to drive the candidate drill rod to descend and rotate so that the head of the candidate drill rod connects with the tail of the working drill rod to form a new working drill rod;

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

[0043] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described automatic drilling control method for drilling rigs.

[0044] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described automatic drilling control method for drilling rigs.

[0045] In summary, this application provides an automatic drilling control method for a drilling rig. Upon receiving a drilling start command, the power head is controlled to lower the drill bit until it contacts the ground, and drilling operations begin. When the power head reaches its maximum stroke position but the drilling depth is still less than the target depth, drilling is stopped, and the power head is controlled to detach from the working drill rod and rise to the top of the mast. A robotic arm retrieves a candidate drill rod from the drill rod magazine and moves it to a preset position, connecting the power head and the candidate drill rod. Subsequently, the power head lowers and rotates the candidate drill rod, connecting it to the tail of the working drill rod to form a new working drill rod. After the drill rod is extended, this embodiment continues to control the power head to perform drilling operations until the drilling depth reaches the target depth. The above process achieves automated drill rod extension, avoiding the tedious and time-consuming manual drill rod replacement. Therefore, this application can achieve automated drilling of the drilling rig, improving operational efficiency. This application also provides an automatic drilling control system for a drilling rig, a storage medium, and an electronic device, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0046] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0048] Figure 2 This is a schematic diagram of the structure of a drilling rig provided in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application;

[0050] Figure 4 This is a block diagram of an automatic drilling control system provided in an embodiment of this application. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] Please see below. Figure 1 , Figure 1 This is a flowchart illustrating an automatic drilling control method for a drilling rig, as provided in an embodiment of this application.

[0053] Specific steps may include:

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

[0055] This embodiment can be applied to drilling rigs with drilling functions. The drilling rig includes a power head, a mast (also known as a drill frame mast or drill mast), drill rods, drill bits, a robotic arm, a drill rod magazine, and other devices. The drill rod installed between the power head and the drill bit is the working drill rod; therefore, the working drill rod can be a single drill rod or multiple drill rods connected end to end. The head of the working drill rod is connected to the drill bit, and the tail of the working drill rod is connected to the power head.

[0056] The drilling start command can be a command entered by the operator through a control panel or remote control system, or it can be a trigger signal from a higher-level system or automated process. Prior to this step, there may be an operation to receive the drilling task, based on which the target drilling depth can be determined.

[0057] Upon 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 lower the drill bit, the mast advance compensation cylinder can be controlled to perform actions (such as extension or retraction) to bring the bottom of the mast into contact with the ground. This operation improves equipment stability, optimizes the drilling angle, and protects the equipment.

[0059] S102: After the drill bit contacts the ground, control the power head to perform drilling operations;

[0060] In this embodiment, a sensor can be used to detect whether the drill bit is in contact with the ground, and when it is determined that the drill bit is in contact with the ground, the power head is controlled to perform drilling operations. 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, then stop the drilling operation, control the power head to detach from the working drill rod and rise to the top of the mast;

[0062] During the drilling operation, the drilling depth of the drill can be detected. If the drilling depth is still less than the target depth when the drill reaches the maximum stroke position, the drill is controlled to stop drilling, and the drill 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: Control the robotic arm to grab a candidate drill rod from the drill rod magazine and move it to a preset position so that the central axis of the candidate drill rod coincides with the central axis of the power head;

[0064] In this embodiment, after the power head detaches from the working drill rod and rises to the top of the mast, a robotic arm is also controlled to grab a candidate drill rod from the drill rod magazine and move it to a preset position, so that the central axis of the candidate drill rod grabbed by the robotic arm coincides with the central axis of the power head. The robotic arm can be mounted 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 that stores multiple alternative drill rods. The alternative drill rods in the drill rod library are arranged in a certain order and manner so that the robot arm can quickly and accurately identify and grasp 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 connects with the tail of the working drill rod to form a new working drill rod;

[0067] Specifically, after the power head detaches from the working drill rod and rises to the top of the mast, and the robotic arm grips the alternative drill rod to a preset position, the power head can be controlled to descend and rotate to connect with 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 connects with the tail of the working drill rod to form a new working drill rod; the new working drill rod is the entire assembly formed by connecting the alternative drill rod and the original working drill rod.

[0068] S106: After the head of the alternative drill pipe is connected to the tail of the working drill pipe, the power head continues to be controlled to perform drilling operations;

[0069] S107: If the drilling depth reaches the target depth, then stop the drilling operation.

[0070] This embodiment provides an automatic drilling control method for a drilling rig. Upon receiving a drilling start command, the power head is controlled to lower the drill bit until it contacts the ground, and drilling begins. When the power head reaches its maximum stroke position but the drilling depth is still less than the target depth, drilling stops, and the power head is controlled to detach from the working drill rod and rise to the top of the mast. A robotic arm then retrieves a backup drill rod from the drill rod magazine, moves it to a preset position, and connects the power head and the backup drill rod. Subsequently, the power head lowers and rotates the backup drill rod, connecting it to the tail of the working drill rod to form a new working drill rod. After the drill rod is extended, the power head continues to perform drilling operations until the target drilling depth is reached. This process achieves automated drill rod extension, avoiding the tedious and time-consuming manual drill rod replacement. Therefore, this embodiment enables automated drilling, improving operational efficiency.

[0071] As for Figure 1 In a further description of the corresponding embodiments, the following rod unloading operation can also be performed:

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

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

[0074] In this embodiment, after completing the drilling task, the power head raises the working drill rod to the unloading position. Specifically, the power head can gradually raise the working drill rod while maintaining a stable lifting speed and force. When the working drill rod reaches the unloading position, the power head stops lifting and prepares for subsequent drill rod disassembly.

[0075] Step A3: Control the upper clamp to clamp the head of the first drill pipe;

[0076] In this embodiment, the first drill rod is the uppermost drill rod among the working drill rods. The drill rod whose tail is directly connected to the power head is referred to as the first drill rod (i.e., the first drill rod is the working drill rod whose tail is connected to the power head). After the power head drives the working drill rod 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 working drill rod that is exposed above the ground and / or is being processed or awaiting warehousing and recycling.

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

[0078] The second drill rod is the drill rod connected to the head of the first drill rod in the working drill rod. After the power head drives the working drill rod 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: Control the upper clamp to drive the first drill rod to rotate, so that the head of the first drill rod disengages from the tail of the second drill rod;

[0080] In this embodiment, the lower clamp can be controlled to keep the second drill rod stationary, while the upper clamp can be controlled to rotate the first drill rod, so that the head of the first drill rod disengages from the tail of the second drill rod. The second drill rod is the drill rod that has already been drilled into the ground among the working drill rods.

[0081] Step A6: Control the robotic arm to grasp the first drill rod, and control the power head to detach from the tail of the first drill rod;

[0082] In this embodiment, after the head of the alternative drill pipe detaches from the tail of the working drill pipe, the power head can be controlled to detach from the tail of the first drill pipe.

[0083] As a feasible implementation method, this embodiment can control the upper clamp to keep the first drill pipe in place, and control the power head to rotate and rise so that the power head disengages from the tail of the first drill pipe.

[0084] As another feasible implementation, this embodiment can also control both the power head and the upper clamp to rotate, so that the power head disengages from the tail of the first drill pipe; 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 robotic arm to grip the first drill rod and control the power head to reverse, so that the power head disengages from the tail of the first drill rod to which it is connected.

[0086] Step A7: Control the upper clamp to release the clamp on the first drill pipe, and control the robot arm to put the first drill pipe into the drill pipe magazine;

[0087] During the process of the power head disengaging from the first drill pipe, if the robotic arm fails to grasp the first drill pipe, the upper gripper continues to hold the first drill pipe. After the power head disengages from the first drill pipe, the robotic arm can be controlled to grasp the first drill pipe, the upper gripper can be controlled to release its grip on the first drill pipe, and the robotic arm can be controlled to place the first drill pipe into the drill pipe magazine.

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

[0089] In this embodiment, after the first drill pipe is placed into the drill pipe magazine, the power head can be controlled to connect with the tail of the second drill pipe. At this time, the second drill pipe becomes the new first drill pipe, and the drill pipe located below the second drill pipe and connected to the head of the second drill pipe is called the new second drill pipe. In this embodiment, the unloading operation of steps A1 to A7 can be performed again.

[0090] As for Figure 1 In a further description of the corresponding embodiment, this embodiment can use a depth sensor to collect the propulsion depth of the power head and set the propulsion depth when the drill bit contacts the ground as the reference depth; after controlling the power head to perform drilling operations, the drilling depth is calculated based on the current propulsion 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 borehole depth is: L = L1 + n × Ld - L0;

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

[0093] As for Figure 1 A further description of the corresponding embodiment shows that the power head can be controlled to perform drilling operations in the following ways: controlling the power head to perform drilling operations according to the target advance 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 any of the following: drilling speed, forward rotation pressure of the power head, actual rotation speed of the power head, rock hardness, and jamming situation; adjusting the target advance speed and / or the target rotation speed according to the operating parameters.

[0094] As for Figure 1 A further description of the corresponding embodiment shows that 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: controlling the lower clamp to clamp the tail of the working drill rod; controlling the power head to rotate in the opposite direction to detach from the working drill rod; wherein the power head and the working drill rod are connected 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.

[0095] The process described in the above embodiments is illustrated below through examples in practical applications.

[0096] This embodiment provides an automatic drilling control system and method for an open-pit drilling rig. The open-pit drilling rig is equipped with an operating platform, working device, central controller, and human-machine interface display screen. Various sensors are installed on the working device. After receiving the drilling task and automatic drilling command, 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. The various solenoid valves 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, direction and speed of hydraulic cylinders and motors; control the addition and removal of drill rods; control the start and stop, direction and speed of the power head; control the start and stop of the impactor; and control the lubrication of the impactor, thereby realizing the impact, rotation, and propulsion of the drill bit, thus achieving rock breaking and drilling. The central controller also controls the start and stop of the dust removal device and the wind speed and flow rate to ensure construction safety and environmental protection. Ultimately, safe and environmentally friendly automatic drilling control of the open-pit drilling rig is achieved.

[0097] The aforementioned working device includes a drill mast, upper / lower grippers, rod unloading device, power head, drill rod magazine, upper / lower manipulator, drill rod, and drill bit. The drill bit can be a bottom-hole impact rock-breaking drill bit with an impactor, or a rotary rock-breaking drill bit. Sensors in the drilling rig include: pressure sensors, exhaust pressure sensors, proximity switches, depth sensors, compensation length sensors, power head speed sensors, and dust removal wind speed sensors. The pressure sensors include hydraulic pressure sensors that measure actions such as extending and retracting the compensation cylinder, pushing down and lifting the feeder, swinging the manipulator in and out, tightening and loosening the gripper, extending and retracting the rod unloading cylinder, tightening and loosening the upper gripper, tightening and loosening the lower gripper, tightening and loosening the drill bit holder, raising and lowering the dust cover, reversing the power head, and rotating the power head forward. Proximity switches include: rod change detection switches, drill rod magazine proximity switches, upper / lower gripper proximity switches, and upper / lower manipulator limit proximity switches.

[0098] The solenoid valves in the drilling rig include: compensating cylinder extension solenoid valve, compensating cylinder retraction solenoid valve, feed downward solenoid valve, feed upward solenoid valve, feed speed regulating solenoid valve, rotation speed regulating solenoid valve, power head reverse solenoid valve, power head forward solenoid valve, rapid feed solenoid valve, rod unloading cylinder extension solenoid valve, rod unloading cylinder retraction solenoid valve, upper clamp clamping solenoid valve, upper clamp releasing solenoid valve, lower clamp clamping solenoid valve, lower clamp releasing solenoid valve, dust hood raising solenoid valve, dust hood lowering solenoid valve, drill string tightening solenoid valve, and drill string support solenoid valve. Electro-hydraulic valves for motion control, including solenoid valves for releasing solenoid valves, solenoid valves for moving / moving manipulators (forward / outward and backward rotation), solenoid valves for moving / moving manipulators (forward / backward rotation), solenoid valves for moving / moving manipulators ( ...

[0099] Based on the aforementioned open-pit drilling rig, the automatic drilling control method provided in this embodiment includes: after the drill rod is aligned with the borehole position and angle, the central controller receives the drilling task and automatic drilling command, collects sensor signals, performs data processing and control logic operations, and outputs control signals. The controller then collects feedback signals from pressure sensors, proximity switches, length sensors, and power head speed sensors corresponding to the output actions of all solenoid valves to determine whether the actions are performed as required; among them, actions such as lifting the power head, gripping with the claw, and swinging the robotic arm simultaneously collect signals from pressure sensors and proximity switches; actions of the compensation cylinder simultaneously collect signals from pressure sensors and compensation length sensors; and actions of the power head simultaneously collect signals from pressure sensors, speed, depth, and proximity switches, implementing dual or multiple safeguards to ensure safe and reliable operation; fault diagnosis can be achieved by observing the changes in the corresponding sensor signals collected after the solenoid valve output.

[0100] The automatic drilling control method for open-pit drilling rigs also includes protective measures such as anti-jamming, borehole protection, rod unloading protection, rod connection protection, rod replacement protection, and sensor fault protection. During drilling, the central controller collects signals from various sensors in real time. To improve drilling efficiency and prevent jamming or even rod failure, when the forward rotation pressure of the power head exceeds the set anti-jamming pressure value, the controller outputs an anti-jamming valve opening signal, and the hydraulic system automatically implements anti-jamming measures to reduce the risk of jamming. When rod connection control is performed, the rod connection protection valve is opened to reduce the propulsion pressure and prevent the drill rod from being pushed due to excessive propulsion pressure, thus preventing the drill rod from falling off. When rod unloading control is performed, the rod unloading protection valve is opened to reduce the propulsion pressure and prevent the drill rod from being pushed due to excessive propulsion pressure, thus preventing the drill rod from falling off and affecting the continued unloading of the next section of drill rod. When entering the borehole working mode, the borehole protection valve is opened to cut off the hydraulic oil circuit for the travel of the open-pit drilling rig and the movement of the robotic arm, preventing the open-pit drilling rig from traveling or the robotic arm from moving due to misoperation, thereby protecting the drill rod and the entire machine. During rod connection and unloading control, the rod-changing solenoid valve opens, facilitating the oil circuit of the rod-changing cylinder and preventing malfunctions. The automatic drilling control system of the open-pit drilling rig also features a rod-changing detection proximity switch. During rod unloading, the power head must be raised to the predetermined unloading height, typically detected by a depth sensor. If the depth sensor malfunctions, and the lifting height exceeds the predetermined height and reaches the rod-changing detection proximity switch position, lifting stops. This provides dual protection.

[0101] The aforementioned drilling rig can also have the following rapid propulsion function: when the power head is raised or lowered without the drill rod, the power head propulsion rapid valve can be opened, and the power head can be rapidly raised / lowered by the power head propulsion lifting / lowering solenoid valve, thereby improving production efficiency.

[0102] During drilling operations, the control system can adaptively adjust the drilling speed and pressure of the drill bit according to geological conditions and operational requirements to ensure the efficiency and safety of the entire drilling process. It can be widely applied to different types of open-pit drilling rigs, providing a method for intelligent drilling operations in mining, construction, and infrastructure development. This embodiment enables precise automatic control of the drilling process, thereby significantly enhancing the operational performance of open-pit drilling rigs, improving drilling efficiency, greatly reducing the workload of operators, and ensuring the safety of the operation.

[0103] Please see Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the structure of a drilling rig provided in an embodiment of this application. Figure 3This is a schematic diagram of a robotic arm provided in an embodiment of this application. In the figure, 1 represents a dust collector, 2 represents a drill bit holder, 3 represents a lower gripper, 4 represents a rod unloading cylinder, 5 represents an upper gripper, 6 represents an impactor, 7 represents a drill rod magazine proximity switch, 8 represents a drill rod, 9 represents a drill rod magazine, 10 represents a lower robotic arm, 11 represents a rod changing valve, 12 represents a slide, 13 represents an upper robotic arm, 14 represents a drill frame mast, 15 represents a compensation cylinder, 16 represents a connector, 17 represents a buffer device, 18 represents a power head, 19 represents a power head speed sensor, 20 represents a feed depth sensor, 21 represents a power head propulsion motor, 22 represents a rod changing detection proximity switch, 23 represents a compensation length sensor, 24 represents a dust collector lifting cylinder, 25 represents a drill bit, 26 represents a robotic arm limit proximity switch, 27 represents a gripper, 28 represents a gripper proximity switch, 29 represents a robotic arm swing cylinder, and 30 represents a gripper cylinder. Figure 3 The location of the center of the power head is shown in the figure.

[0104] In this embodiment, the rotary cylinder of the drill pipe magazine can also be a cylinder + ratchet mechanism, and the rotation of the drill pipe magazine can also be driven by a rotary motor. When the reverse torque of the power head is insufficient to loosen the power head connector from the drill pipe, the two sections of drill pipe can be loosened by using the upper clamp to hold the power head connector for loosening.

[0105] Please see Figure 4 , Figure 4This application provides a block diagram of an automatic drilling control system. The central controller can control the upper robotic arm's movement (swinging in and out) based on solenoid valves, pressure sensors, and proximity switches; the central controller can control the upper robotic arm's gripper gripping, floating, and releasing based on solenoid valves, pressure sensors, and proximity switches; the central controller can control the rotation (including forward and reverse rotation) of the drill pipe magazine based on solenoid valves, pressure sensors, and proximity switches; the central controller can control the lower robotic arm's movement (swinging in and out) based on solenoid valves, pressure sensors, and proximity switches; the central controller can control the lower robotic arm's gripper gripping, floating, and releasing based on solenoid valves, pressure sensors, and proximity switches; the central controller can control the rod changing valve based on solenoid valves; the central controller can control the oil mist switch based on solenoid valves; the central controller can control the air compressor's start-up, high / low pressure output, and unloading based on solenoid valves and pressure sensors; the lubricating oil pipeline of the oil mist switch is connected to the air compressor and the impactor, allowing the lubricating oil to mix with compressed air to form an oil mist, which lubricates the impactor; the central controller can... The central controller controls the start / stop and pulse jetting of the dust removal fan using solenoid valves, pulse valves, and pressure sensors. It also controls the extension and retraction of the compensation cylinder using solenoid valves, length sensors, and pressure sensors. Furthermore, the central controller controls the propulsion and lifting of the power head using solenoid valves, pressure sensors, and proximity switches. It provides protection for the power head during rod removal, rod connection, rapid propulsion, and speed regulation. The central controller also provides anti-jamming protection using solenoid valves. It regulates the speed of the power head (including forward and reverse rotation) using solenoid valves, speed sensors, and pressure sensors. The central controller controls the clamping and releasing of the lower and upper clamps using solenoid valves and pressure sensors. It controls the extension and retraction of the unloading cylinder, the clamping and releasing of the drill bit holder, and the raising and lowering of the dust collection hood using solenoid valves and pressure sensors. Based on this structure, the central controller can handle mast grounding, drill rod connection and unloading in the drill rod magazine, anti-jamming, and dust prevention.

[0106] After receiving the drilling task and automatic drilling command, the central controller can realize safe and environmentally friendly automatic drilling control of the open-pit drilling rig, thereby achieving one-button drilling or unmanned drilling functions. This embodiment can adaptively adjust the drilling speed and pressure of the drill bit according to geological conditions and operational requirements, thereby improving the efficiency of the entire drilling process. While improving drilling efficiency and reducing the labor intensity of operators, the automatic drilling control system significantly enhances the safety performance and stability of the drilling rig, providing effective measures for intelligent drilling operations in mining, construction, and infrastructure development.

[0107] Once the open-pit drilling rig reaches the target borehole, the drilling frame mast reaches the required drilling direction accuracy, and the drill bit is aligned with the borehole position. The central controller then receives the drilling task and automatic drilling instructions, collects sensor signals, performs data processing and control logic operations, makes control decisions, and outputs control signals to achieve automatic drilling.

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

[0109] Step B1: Tighten the mast to the ground.

[0110] The solenoid valve of the compensating cylinder controls the drilling mast propulsion compensating cylinder to perform the action, and the controller collects the pressure sensor signal of the compensating cylinder to make the drilling mast press against the ground.

[0111] Step B2: Preparation before drilling.

[0112] The central controller controls the opening of the rod-changing solenoid valve; closes the air compressor unloading solenoid valve, allowing the air compressor to provide air pressure and collecting the exhaust pressure sensor signal; controls the descent of the dust collector hood via the dust collector hood lowering solenoid valve and collects the dust collector hood lowering pressure sensor signal to ensure the dust collector hood is flush with the ground. The drill bit clamping solenoid valve controls the clamping of the drill bit clamp and collects the drill bit clamping pressure sensor signal to ensure the drill bit clamps tightly against the drill rod, guiding the drilling and preventing drill rod swaying; the dust collector fan start / stop solenoid valve controls the operation of the dust collector fan; and the borehole protection valve opens, cutting off the hydraulic oil circuit for the outdoor drilling rig's movement and the robotic arm's movement, preventing accidental movement of the outdoor drilling rig or robotic arm due to misoperation, thereby protecting the drill rod and the entire machine in the borehole.

[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 propulsion descent solenoid valve, and collect the propulsion descent pressure sensor signal. After the drill bit is pressed against the ground rock, collect the depth encoder signal L0 at this time, at which point the borehole depth is zero.

[0115] The power head descends via a solenoid valve that controls its descent, and the controller acquires a pressure sensor signal from the descent push. Simultaneously, the power head rotates via a solenoid valve that controls its forward rotation, acquiring both a pressure sensor signal from the forward rotation and a speed sensor signal from the power head. Depending on the working conditions, the controller uses high / low pressure solenoid valves to control the air compressor output to high / low pressure to drive the impactor / drill bit. The controller then uses an adaptive parameter adjustment algorithm to process the working parameters, adjusting the opening of the solenoid valves for both the descent and rotation speeds to control the output of appropriate power head descent and rotation speeds, thereby achieving high drilling efficiency and enabling highly efficient automatic rock drilling.

[0116] During drilling, the central controller collects signals from various sensors in real time. To improve drilling efficiency and prevent jamming or even drill rod failure, when the forward rotation pressure of the power head exceeds the set anti-jamming pressure value, the controller outputs an anti-jamming valve opening signal, and the hydraulic system automatically implements anti-jamming measures to reduce the risk of jamming. Simultaneously, the controller collects the drilling depth sensor signal L1 during drilling and calculates the actual drilling depth L = L1 - L0. To ensure good flatness after blasting, the controller calculates the target drilling depth based on the drilling attitude angle and the surface height at the time of opening, ensuring that the blasting hole shares a common bottom surface.

[0117] If a drill bit with an impactor is used, during drilling, the controller simultaneously activates oil mist lubrication via an oil mist switching solenoid valve, mixing lubricating oil into the airflow driving the impactor, ensuring the impactor is adequately lubricated while performing its impact action. If a rotary rock-breaking drill bit is used, the oil mist switching solenoid valve does not need to be controlled.

[0118] The high-pressure air blown out by 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 collector fan through the start / stop solenoid valve to suck up the dust and debris, causing it to fall into and settle in the dust collector box. The controller also collects the wind speed sensor signal to reflect the operating status of the dust collector fan and controls multiple sets of pulse solenoid valves (such as 4 sets) to intermittently control the discharge of the sediment settled in the dust collector box, thus preventing dust from flying around the machine.

[0119] Step B4: Rod control.

[0120] When the power head pushes down to its maximum stroke position, but the drilling depth has not yet reached the required target depth, the central controller performs the following linkage control:

[0121] (1) Stop drilling operation: Open the air compressor unloading solenoid valve to stop the air compressor from supplying air pressure to the drill bit; control the pulse solenoid valve to make the dust removal fan backflush, and then control the dust removal fan to stop running through the dust removal fan start / stop solenoid valve, and control the lubricating oil supply to stop through the oil mist switch solenoid valve; control the power head to stop lifting and lowering by closing the power head advance and descent solenoid valve; control the power head to stop rotating by closing the power head forward rotation solenoid valve. The controller controls the rod changing solenoid valve to open, providing oil pressure to the rod changing action cylinder; opens the rod connection protection solenoid valve to limit the pressure of the power head advance and lift, preventing the drill rod from being pushed due to excessive advance pressure.

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

[0123] (3) Drill pipe removal: The controller then controls the drill pipe magazine to rotate clockwise around the central axis by one stop via the drill pipe magazine forward rotation solenoid valve. Simultaneously, it collects the forward rotation pressure sensor signal and the signal output from the drill pipe magazine proximity switch, causing the drill pipe to be received to stop at the drill pipe magazine's inlet / outlet position. Next, the controller simultaneously controls the upper / lower manipulator swing cylinder to move synchronously via the upper / lower manipulator swing solenoid valve, while simultaneously collecting the manipulator swing pressure sensor signal, causing the manipulator to swing out to the drill pipe magazine's inlet / outlet position to grab the drill pipe. At this time, the controller will receive the signal output from the manipulator limit proximity switch. The signal is then transmitted through the upper / lower gripper clamping solenoid valve to simultaneously control the action of the gripper cylinder of the upper / lower manipulator, and at the same time, the gripper clamping pressure sensor signal is collected to make the gripper clamp the drill rod (hereinafter referred to as the first drill rod) at the drill rod magazine entrance / exit position. At this time, the controller will receive the signal output by the gripper proximity switch, and then control the action of the upper / lower manipulator swing cylinder through the upper / lower manipulator swing solenoid valve, collect the manipulator swing pressure sensor signal, and make the drill rod exit the magazine. At this time, the manipulator limit switch has no signal output, and the drill rod is swung in to the position of the power head center axis.

[0124] (4) Power head connector connects to drill pipe: The power head is controlled to rotate forward by the power head forward solenoid valve, and the power head is controlled to descend by the power head propulsion and descent solenoid valve. The power head forward pressure sensor and the power head propulsion and descent pressure sensor signals 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 rod connection: The upper / lower gripper floating solenoid valve synchronously controls the floating of the gripper of the upper / lower manipulator, so that the drill rod will not slip due to gravity, and 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, the power head propulsion and descent pressure sensor and the power head speed sensor signals are collected to connect the head of the first drill rod with the tail of the second drill rod.

[0126] (6) Robot arm return: The upper / lower gripper release solenoid valve is used to control the gripper cylinder of the upper / lower robot arm to move synchronously to release the gripper. At the same time, the gripper release pressure sensor signal is collected. After the gripper is released, the gripper proximity switch has no output signal. Then, the upper / lower robot arm swing solenoid valve is used to control the upper / lower robot arm swing cylinder to move synchronously. At the same time, the robot arm swing pressure sensor signal is collected to make the upper and lower robot arms swing back to their original positions. At this time, the controller will receive the signal output by the robot arm limit proximity switch. Then, the lower gripper release solenoid valve is used to control the lower gripper cylinder to release. At the same time, the lower gripper release pressure sensor signal is collected to make the lower gripper release the tail of the drilled second drill rod, completing one rod connection.

[0127] Step B5: Continue drilling.

[0128] After the rod connection is completed, the controller closes the rod-changing solenoid valve, cutting off the oil circuit of the rod-changing action cylinder; it also closes the rod-connection protection solenoid valve, restoring the power head propulsion pressure, and can then continue into the drilling control program.

[0129] Step B6: Depth Measurement.

[0130] The controller collects signals from various sensors and determines that for each completed connection, the number of drill rods (n) increases by 1, and the actual drilling depth increases by the length of one drill rod (Ld). The actual drilling depth is calculated as L1 + n * Ld - L0. By accumulating the lengths of the connecting and disconnecting rods, the drilling depth of medium-deep holes can be measured.

[0131] Step B7: Rod unloading control.

[0132] The controller receives sensor signals and determines whether the drill bit has reached the designed depth. If the drilling depth is greater than that of 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 supplying air pressure to the drill bit; control the pulse solenoid valve to make the dust removal fan backflush, and then control the dust removal fan to stop running through the dust removal fan start / stop solenoid valve; control the lubricating oil supply to stop through the oil mist switch solenoid valve; control the power head to stop lifting and lowering through the power head push-down solenoid valve; control the power head to stop rotating through the power head forward rotation solenoid valve, and stop drilling operation. The controller controls the rod changing solenoid valve to open, connecting the hydraulic oil circuit for rod changing action; opens the rod unloading protection valve to limit the pressure of the power head pushing down.

[0134] (2) Drill pipe disengagement: The controller outputs a control signal to control the lifting of the power head via the solenoid valve, while simultaneously acquiring signals from the power head drilling depth sensor, the rod replacement detection proximity switch, and the lifting pressure sensor to raise the power head to the predetermined rod unloading height. If the depth sensor malfunctions, the signal from the rod replacement proximity switch is used to determine the problem. For example, if the depth sensor malfunctions and the sensor reading does not reach the predetermined rod unloading height, but the rod replacement proximity switch has responded, it indicates that the lifting height has exceeded the predetermined rod unloading height. The controller then stops the lifting of the power head via the solenoid valve and controls the lower clamp via the clamping solenoid valve. The hydraulic cylinder clamps the tail of the second drill pipe, while simultaneously acquiring the clamping pressure sensor signal from the lower clamper; the upper clamping cylinder clamps the head of the first drill pipe via the upper clamping solenoid valve, while simultaneously acquiring the upper clamping pressure sensor signal from the upper clamper; the unloading cylinder moves via the unloading cylinder solenoid valve, while simultaneously acquiring the unloading cylinder pressure sensor signal, causing the first drill pipe to rotate and loosen from the second drill pipe; the upper clamping cylinder releases via the upper clamping release solenoid valve, while simultaneously acquiring the upper clamping release pressure sensor signal from the upper clamper; the unloading cylinder returns to its original position via the unloading cylinder solenoid valve.

[0135] (3) Power head connector disengages from drill pipe: The upper / lower manipulator swing-in solenoid valve is used to control the upper and lower manipulator swing cylinders to move, and the manipulator swing-in pressure sensor signal is collected to make the manipulator swing in to the drill pipe position of the center axis of the power head. At this time, the manipulator limit switch has no signal output. Then, the upper / lower gripper clamping solenoid valve is used to control the gripper cylinders of the upper / lower manipulator to move, and the gripper clamping pressure sensor signal is collected to make the gripper clamp the first drill pipe. At this time, the controller will receive the signal output by the gripper proximity switch. The power head is reversed by the power head reversal solenoid valve, and the power head is lifted by the power head push-up solenoid valve. 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 disengage from the first drill pipe.

[0136] (4) Drill rod insertion: The upper / lower manipulator swing solenoid valve is used to control the upper / lower manipulator swing cylinder to move synchronously. At the same time, the manipulator swing pressure sensor signal is collected to make the first drill rod stop at the entrance / exit position in the drill rod magazine. At this time, the controller will receive the signal output by the manipulator limit proximity switch. The upper / lower gripper release solenoid valve is used to control the upper / lower manipulator gripper cylinder to move synchronously to release the gripper. At the same time, the gripper release pressure sensor signal is collected. After the gripper is released, the gripper proximity switch has no output signal. The controller then controls the drill rod magazine to rotate around the central axis by one position through the drill rod magazine reversal solenoid valve. At the same time, the drill rod magazine reversal pressure sensor signal is collected. After receiving the signal output by the drill rod magazine proximity switch, the controller determines that the first drill rod is inserted into the magazine based on the pressure sensor signal and the drill rod magazine proximity switch signal.

[0137] (5) Power head connector connection to drill pipe: The controller opens the power head push quick valve and controls the power head to descend quickly 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 quick solenoid valve. Then, the power head is controlled to rotate forward through the power head forward solenoid valve, and the power head is controlled to descend at the same time through the power head push down solenoid valve. 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 control to insert the second drill pipe into the storage compartment. Repeat this process until the last drill pipe is lifted and the power head is at the top.

[0140] The dust hood is raised by a solenoid valve and retracted by a pressure sensor signal from the dust hood depressor. The drill bit clamping mechanism is tightened by a solenoid valve and a clamping pressure sensor signal from the clamping mechanism is collected, ensuring the drill bit is firmly clamped to prevent wobbling. The drill mast propulsion compensation cylinder is activated by a solenoid valve, and the controller collects a pressure sensor signal from the compensation cylinder, causing the drill mast to lift off the ground. The rod unloading protection valve, rod changing solenoid valve, and borehole protection valve are closed. The system then awaits the next drilling task.

[0141] An automatic drilling control system for a drilling rig provided in this application includes:

[0142] The drilling preparation module is used to control the power head to lower the drill bit when a drilling start command is received, so that the drill bit contacts the ground; wherein, a working drill rod is connected between the power head and the drill bit;

[0143] The drilling module is used to control the power head to perform drilling operations after the drill bit contacts the ground;

[0144] The connecting rod module is used to stop drilling operations and control the power head to detach from the working drill rod and rise to the top of the mast if the power head reaches its maximum stroke position and the drilling depth is less than the target depth; it is also used to control the robot arm to grab a candidate drill rod from the drill rod magazine and move it to a preset position so that the central axis of the candidate 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 candidate drill rod, and control the power head to drive the candidate drill rod to descend and rotate so that the head of the candidate drill rod connects with the tail of the working drill rod to form a new working drill rod;

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

[0146] This embodiment provides an automatic drilling control method for a drilling rig. Upon receiving a drilling start command, the power head is controlled to lower the drill bit until it contacts the ground, and drilling begins. When the power head reaches its maximum stroke position but the drilling depth is still less than the target depth, drilling stops, and the power head is controlled to detach from the working drill rod and rise to the top of the mast. A robotic arm then retrieves a backup drill rod from the drill rod magazine, moves it to a preset position, and connects the power head and the backup drill rod. Subsequently, the power head lowers and rotates the backup drill rod, connecting it to the tail of the working drill rod to form a new working drill rod. After the drill rod is extended, the power head continues to perform drilling operations until the target drilling depth is reached. This process achieves automated drill rod extension, avoiding the tedious and time-consuming manual drill rod replacement. Therefore, this embodiment enables automated drilling, improving operational efficiency.

[0147] Optional, also includes:

[0148] The unloading module is used to determine the number of drill rods in the working drill rods 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 the 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 rods; 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 rods 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 disengaged from the tail of the second drill rod; it is also used to control the robot arm to grasp the first drill rod and control the power head to disengage from the tail of the first drill rod; it is also used to control the upper clamp to release the clamp on the first drill rod and control the robot arm to put the first drill rod into the drill rod magazine; it is also used to control the power head to connect to the tail of the second drill rod so as to perform an unloading operation on the second drill rod.

[0149] Optionally, the process of the unloading module controlling the power head to detach from the tail of the first drill pipe includes: using the robotic arm to grip the first drill pipe and controlling the power head to reverse so that the power head detaches from the tail of the connected first drill pipe.

[0150] Furthermore, it also includes:

[0151] The depth detection module is used to collect the advance depth of the power head using a depth sensor and set the advance depth when the drill bit contacts the ground as the reference depth; it is also used to calculate the drilling depth based on the current advance 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 drilling operations.

[0152] Furthermore, it also includes:

[0153] The mast propulsion module is used to control the mast propulsion compensation cylinder to perform an action before the control power head drives 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 drilling operations includes: controlling the power head to perform drilling operations according to the target advance 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 any of the following: drilling speed, power head forward rotation pressure, power head actual rotation speed, rock hardness, and jamming situation; and adjusting the target advance speed and / or the target rotation speed according to the operating parameters.

[0155] Furthermore, the process by which the connecting rod module controls 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 to detach from the working drill rod; wherein the power head and the working drill rod are connected 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, and they will not be repeated here.

[0157] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0158] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0159] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0160] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. An automatic drilling control method for a drilling rig, characterized in that, include: If a drilling start command is received, the power head is controlled to lower the drill bit so that the drill bit contacts the ground; wherein, a working drill rod is connected between the power head and the drill bit; After the drill bit contacts the ground, the power head is controlled to perform the drilling operation; If the power head reaches its 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 detach from the working drill rod and rise to the top of the mast. The robotic arm is controlled to grab a candidate drill rod from the drill rod magazine and move it to a preset position so that the central axis of the candidate drill rod coincides with the central axis of the power head; The power head is controlled to connect to the tail of the alternative drill rod, and the power head is 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. After the head of the alternative drill pipe is connected to the tail of the working drill pipe, the power head continues to be controlled to perform drilling operations; If the drilling depth reaches the target depth, the drilling operation is stopped; After the borehole depth reaches the target depth and the drilling operation has stopped, determine the number of drill rods in the working drill rod; If the number of drill rods is greater than 1, then control the power head to drive the working drill rod to rise to the unloading position; The upper clamp is controlled to clamp the head of the first drill rod; wherein, the first drill rod is the uppermost drill rod among the working drill rods; The lower clamp is controlled to clamp the tail of the second drill rod; wherein, the second drill rod is the drill rod that is connected to the head of the first drill rod in the working drill rod; The upper clamp is controlled to rotate the first drill rod so that the head of the first drill rod disengages from the tail of the second drill rod. Control the robotic arm to grasp the first drill rod, and control the power head to detach from the tail of the first drill rod; Control the upper gripper to release the gripper from the first drill pipe and control the robotic arm to put the first drill pipe into the drill pipe magazine; The power head is connected to the tail of the second drill pipe to perform a rod unloading operation on the second drill pipe; The depth of the drill bit is collected using a depth sensor, and the depth of the drill bit when it contacts the ground is set as the reference depth. After controlling the power head to perform drilling operations, the drilling depth is calculated based on the current advance depth of the power head, the reference depth, the number of connecting rods, and the length of the drill rod.

2. The automatic drilling control method for the drilling rig according to claim 1, characterized in that, Controlling the power head to disengage from the tail of the first drill pipe includes: The robotic arm grips the first drill rod, and the power head is controlled to reverse so that the power head disengages from the tail of the first drill rod to which it is connected.

3. The automatic drilling control method for the drilling rig according to claim 1, characterized in that, Before controlling the power head to drive the drill bit downward, the following steps are also included: The mast advance compensation cylinder is controlled to perform an action so that the bottom of the mast contacts the ground.

4. The automatic drilling control method for the drilling rig according to claim 1, characterized in that, Controlling the power head to perform drilling operations includes: The power head is controlled to perform drilling operations according to the target propulsion speed and the target rotation speed; Collect the operating parameters of the drilling rig; wherein, the operating parameters include any one or a combination of any of the following: drilling speed, forward rotation pressure of the power head, actual rotation speed of the power head, rock hardness, and jamming condition; Adjust the target propulsion speed and / or the target rotation speed according to the operating parameters.

5. The automatic drilling control method for the drilling rig according to claim 1, characterized in that, Controlling the power head to detach from the working drill pipe and rise to the top of the mast includes: 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 to disengage from the working drill rod; wherein the power head and the working drill rod are connected by a thread; After the power head disengages from the working drill pipe, the power head is controlled to stop rotating and rise to the top of the mast.

6. An automatic drilling control system for a drilling rig, characterized in that, The automatic drilling control system of the drilling rig is used to implement the automatic drilling control method of the drilling rig according to any one of claims 1 to 5, and the automatic drilling control system of the drilling rig includes: The drilling preparation module is used to control the power head to lower the drill bit when a drilling start command is received, so that the drill bit contacts the ground; wherein, a working drill rod is connected between the power head and the drill bit; The drilling module is used to control the power head to perform drilling operations after the drill bit contacts the ground; The connecting rod module is used to stop drilling operations and control the power head to detach from the working drill rod and rise to the top of the mast if the power head reaches its maximum stroke position and the drilling depth is less than the target depth; it is also used to control the robot arm to grab a candidate drill rod from the drill rod magazine and move it to a preset position so that the central axis of the candidate 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 candidate drill rod, and control the power head to drive the candidate drill rod to descend and rotate so that the head of the candidate drill rod connects with the tail of the working drill rod to form a new working drill rod; The drilling module is further configured to continue controlling the power head to perform drilling operations after the head of the alternative drill rod is connected to the tail of the working drill rod; and to stop drilling operations if the borehole depth reaches the target depth.

7. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the automatic drilling control method for the drilling rig as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the automatic drilling control method for the drilling rig as described in any one of claims 1 to 5.

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