Drilling tool control system of rotary drilling rig, control method of drilling tool control system and rotary drilling rig

Abstract

The invention discloses a drilling tool control system of a rotary drilling rig, a control method of the drilling tool control system and the rotary drilling rig. The system comprises a controller, an operation handle and at least two driving units, wherein the operation handle and the driving units are connected with the controller. Wherein the controller is configured to obtain a target action signal input through the operation handle in a manual control mode, and drive the at least two driving units based on the target action signal so as to control a main winch and / or a pressurizing winch of the rotary drilling rig to execute corresponding operation. In this way, the main winch and the pressurizing winch of the rotary drilling rig can be controlled by the single handle to work cooperatively, and operation convenience and working efficiency are improved.

Description

Technical Field

[0001] This application relates to the technical field of rotary drilling rigs, and particularly to a drilling tool control system for a rotary drilling rig, its control method, and a rotary drilling rig. Background Art

[0002] In the continuous spiral drilling and pouring operation condition of a rotary drilling rig, a long spiral drill tool is usually required for drilling and pulling out operations. The traditional drill tool control system relies on multi-handle combined operations, and the coordination between the main hoist and the pressure hoist is poor, resulting in low work efficiency and complex operations. Summary of the Invention

[0003] The purpose of this application is to provide a drilling tool control system for a rotary drilling rig, its control method, and a rotary drilling rig, so as to solve at least the problems in the related technologies.

[0004] To achieve the above purpose: In the first aspect, an embodiment of this application provides a drilling tool control system for a rotary drilling rig. The system includes: a controller, an operation handle, and at least two driving units respectively connected to the controller; wherein, The controller is configured to: in the manual control mode, obtain a target action signal input through the operation handle, and drive the at least two driving units based on the target action signal to control the main hoist and / or the pressure hoist of the rotary drilling rig to perform corresponding operations.

[0005] In a possible implementation manner, when the operation handle is a hydraulic handle, the system further includes: a first pilot pressure sensor respectively connected to the controller and the hydraulic handle for detecting whether a pressure hoist pressurizing action is performed on the hydraulic handle, a second pilot pressure sensor for detecting whether a pressure hoist pulling out action is performed on the hydraulic handle, a third pilot pressure sensor for detecting whether a main hoist rising action is performed on the hydraulic handle, and a fourth pilot pressure sensor for detecting whether a main hoist descending action is performed on the hydraulic handle; the first pilot pressure sensor is installed on the pressure hoist pressurizing pilot oil path at the output end of the hydraulic handle, the second pilot pressure sensor is installed on the pressure hoist pulling out pilot oil path at the output end of the hydraulic handle, the third pilot pressure sensor is installed on the main hoist rising pilot oil path at the output end of the hydraulic handle, and the fourth pilot pressure sensor is installed on the main hoist descending pilot oil path at the output end of the hydraulic handle. In a possible implementation manner, the system further includes a speed control knob and a display, and the display is provided with a switching button for the automatic control mode; wherein, The controller is configured to: in response to detecting that the switching key of the automatic control mode is triggered, obtain the pressure value of the speed control knob; and map the pressure value of the speed control knob to a control instruction for the at least two drive units, and control the at least two drive units to execute the corresponding control instruction.

[0006] In a possible implementation manner, the at least two drive units include a first proportional valve arranged at the inlet of the lifting oil circuit of the main hoist, a second proportional valve arranged at the inlet of the lifting oil circuit of the pressure hoist, a first pilot cut-off valve arranged on the pilot oil circuit between the operating handle and the main hoist control valve group, a second pilot cut-off valve arranged on the pilot oil circuit between the operating handle and the pressure hoist control valve group, a first floating valve arranged in the oil drain circuit of the main hoist motor, a second floating valve arranged in the oil drain circuit of the pressure hoist motor, and a hoist confluence valve bridging between the hydraulic oil circuits of the main hoist and the pressure hoist; The controller is configured to: In response to the continuous spiral drilling and pouring working condition, control the hoist confluence valve to open, so that the hydraulic oil circuits of the main hoist and the pressure hoist are confluent; In the manual control mode, control the first pilot cut-off valve and the second pilot cut-off valve to open, obtain the target action signal input through the operating handle, determine the target valve and the target operation instruction to be controlled based on the target action signal, and control the target valve to execute the corresponding target operation instruction; In the automatic control mode, control the first pilot cut-off valve and the second pilot cut-off valve to close, obtain the pressure value of the speed control knob, and determine the current corresponding to the target opening according to the mapping relationship between the opening of the proportional valve and the current, and output the current corresponding to the target opening to the first proportional valve and the second proportional valve; the target opening is the desired opening corresponding to the pressure value.

[0007] In a possible implementation manner, the controller is configured to, after opening the first pilot cut-off valve, delay a preset delay time before opening the second pilot cut-off valve; and / or, after sending an opening instruction to the first proportional valve, delay a preset delay time before sending an opening instruction to the second proportional valve.

[0008] In a possible implementation manner, the controller is configured to perform at least one of the following operations: In response to the target action signal being the main hoist rising signal, output corresponding current signals to the first proportional valve and the second proportional valve respectively according to the target action signal, so as to correspondingly drive the main hoist to perform a rising action and drive the pressure hoist to perform a pulling-out action; In response to the target action signal being a signal for pressurizing the hoist, a corresponding current signal is output to the second proportional valve according to the target action signal to drive the pressurizing hoist motor to rotate forward to lift the drill tool, and the first floating valve is controlled to open so that the main hoist motor is in a floating state; In response to the target action signal being a signal for the main hoist to lower, the first floating valve is controlled to open so that the main hoist motor enters a floating state; In response to the target action signal being a signal for the pressurizing hoist to pull out, a corresponding current signal is output to the second proportional valve according to the target action signal to drive the pressurizing hoist motor to rotate forward to lift the drill tool; In response to the target action signal being a floating signal, the first floating valve and the second floating valve are controlled to open, and the first pilot cut-off valve and the second pilot cut-off valve are closed.

[0009] In a possible implementation manner, the at least two drive units include a first drive motor and a second drive motor; the first drive motor is connected to the input end of the main hoist speed reducer, and the second drive motor is connected to the power input shaft of the pressurizing hoist mechanism; The controller is configured to: In the manual control mode, obtain the target action signal input through the operation handle, and issue corresponding control instructions to the first drive motor and the second drive motor according to the target action signal to drive the first drive motor and the second drive motor to perform corresponding operations; In the automatic control mode, obtain the pressure value of the speed control knob; and map the pressure value of the speed control knob to a target speed, and control the first drive motor and the second drive motor to run synchronously at the target speed.

[0010] In a possible implementation manner, the system further includes a drilling depth sensor, and the controller is configured to obtain the depth collected by the drilling depth sensor, and in response to the depth collected by the drilling depth sensor reaching a preset target depth, control the main hoist and the pressurizing hoist to stop pulling out through the at least two drive units.

[0011] In a second aspect, an embodiment of the present application provides a control method for a drill tool control system of a rotary drilling rig according to any one of the above, and the control method includes: In the manual control mode, obtain the target action signal input through the operation handle; Based on the target action signal, drive at least two drive units to control the main hoist and / or the pressurizing hoist of the rotary drilling rig.

[0012] In a third aspect, an embodiment of the present application provides a rotary drilling rig, comprising a drilling tool control system of the rotary drilling rig described in any one of the above items.

[0013] The embodiment of the present application provides a drilling tool control system for a rotary drilling rig, a control method thereof, and a rotary drilling rig, wherein the system includes: a controller, an operating handle respectively connected to the controller, and at least two drive units; wherein the controller is configured to: in a manual control mode, obtain a target action signal input through the operating handle, and drive the at least two drive units based on the target action signal to control the main winch and / or the pressure winch of the rotary drilling rig to perform a corresponding operation. In this way, after obtaining the action signal input by the user through the operating handle, the at least two drive units are driven based on the obtained action signal to control the main winch and / or the pressure winch of the rotary drilling rig to perform a corresponding operation. There is no need to operate multiple handles to control the main winch and the pressure winch of the rotary drilling rig separately. A single handle can be used to control the main winch and the pressure winch of the rotary drilling rig to work in coordination, thereby improving operational convenience and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the structure of the drilling tool control system of the rotary drilling rig provided in the embodiment of the present application Figure One .

[0015] Figure 2 Schematic diagram of the structure of the drilling tool control system of the rotary drilling rig provided in the embodiment of the present application Figure Two .

[0016] Figure 3 Schematic diagram of the structure of the drilling tool control system of the rotary drilling rig provided in the embodiment of the present application Figure Three .

[0017] Figure 4 Schematic diagram of the structure of the drilling tool control system of the rotary drilling rig provided in the embodiment of the present application Figure Four .

[0018] Figure 5 Schematic diagram of the structure of the drilling tool control system of the rotary drilling rig provided in the embodiment of the present application Figure Five .

[0019] Figure 6 Schematic diagram of the structure of the drilling tool control system of the rotary drilling rig provided in the embodiment of the present application Figure Six .

[0020] Figure 7 A process diagram of a control method for a drilling tool control system of a rotary drilling rig provided in an embodiment of the present application.

[0021] Figure 8 A schematic diagram of the specific structure of the drilling tool control system of the rotary drilling rig provided in an embodiment of the present application. Detailed implementation manners

[0022] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0023] It should be noted that in this document, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or may have different meanings, and their specific meanings need to be determined based on their explanations in the specific embodiments or further in combination with the context in the specific embodiments.

[0024] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this document, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining". Furthermore, as used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should be further understood that the terms "comprising", "including" indicate the presence of the stated features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition only occurs when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.

[0025] It should be understood that although the steps in the flowcharts in the embodiments of the present application are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction for the execution of these steps, and they can be executed in other orders. Moreover, some steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or in turn with other steps or parts of the sub-steps or stages of other steps.

[0026] It should be noted that in this article, step codes such as S101 and S102 are used. The purpose is to more clearly and briefly express the corresponding content and do not constitute a substantial limitation in order. Those skilled in the art may execute S102 first and then S101 during specific implementation, etc., but these should all be within the protection scope of the present application.

[0027] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] In subsequent descriptions, suffixes such as "module", "component", or "unit" used to represent components are only for the convenience of explaining the present application and have no specific meaning in themselves. Therefore, "module", "component", or "unit" can be used interchangeably.

[0029] Refer to Figure 1 , the embodiments of the present application provide a drilling tool control system for a rotary drilling rig. The drilling tool control system for the rotary drilling rig provided in this embodiment includes: a controller 1 and an operation handle 2 and at least two driving units 3 respectively connected to the controller 1; wherein, The controller 1 is configured to: in the manual control mode, obtain a target action signal input through the operation handle 2, and drive at least two driving units 3 based on the target action signal 2 to control the main hoist and / or the pressure hoist of the rotary drilling rig to perform corresponding operations.

[0030] Among them, the manual control mode refers to the mode in which the user manually controls the main hoist and / or the pressure hoist by operating the operating handle. The operating handle 2 is used to provide an operation entry for the user to the rotary drilling rig in the manual control mode, and can specifically be a hydraulic handle or an electric control handle. When the operating handle 2 is a hydraulic handle, i.e., a multi-directional joystick, the hydraulic handle may include a longitudinal push-pull shaft for controlling the operation of the main hoist, a transverse push-pull shaft for controlling the operation of the pressure hoist, and a top button for triggering the floating function. When the operating handle is an electric control handle, i.e., a multi-axis electronic rocker, the electric control handle may include a two-axis potentiometer (including a longitudinal axis for controlling the operation of the main hoist and a transverse axis for controlling the operation of the pressure hoist) and an independent button for triggering the floating function. The user can operate the operating handle 2 based on requirements to input a corresponding target action signal through the operating handle 2. The target action signal is an action signal that the rotary drilling rig needs to execute, and can be represented as a pressure signal, and specifically may include at least one of the following: floating signal, main hoist lowering signal, main hoist raising signal, pressure hoist pressurizing signal, pressure hoist pulling out signal.

[0031] Among them, after the controller 1 obtains the target action signal input by the user through the operating handle 2, it can drive at least two driving units 3 based on the target action signal to control the main hoist and / or the pressure hoist of the rotary drilling rig to perform corresponding operations, so as to enable the main hoist and / or the pressure hoist of the rotary drilling rig to complete the target action. It should be noted that the controller 1 can directly obtain the target action signal from the operating handle 2, or can indirectly obtain the target action signal from the operating handle 2 through an information collection device such as a sensor. The at least two driving units 3 can specifically be control valves or driving motors, etc. It should be noted that the control logic of the drilling tool control system of the rotary drilling rig provided in this embodiment is realized when the rotary drilling rig is in the whole machine pressure hoist mode.

[0032] In summary, in the drilling tool control system of the rotary drilling rig provided in the above embodiment, after obtaining the action signal input by the user through the operating handle, at least two driving units are driven based on the obtained action signal to control the main hoist and / or the pressure hoist of the rotary drilling rig to perform corresponding operations, without the need to operate multiple handles separately to control the main hoist and the pressure hoist of the rotary drilling rig, and the main hoist and the pressure hoist of the rotary drilling rig can be controlled to work together with a single handle, improving the operation convenience and work efficiency.

[0033] In one embodiment, when the operating handle 2 is a hydraulic handle, refer to Figure 2, the system further includes: a first pilot pressure sensor 4 respectively connected to the controller 1 and the hydraulic handle 2 for detecting whether a pressurized winch pressurizing action is performed on the hydraulic handle 2, a second pilot pressure sensor 5 for detecting whether a pressurized winch up-pulling action is performed on the hydraulic handle 2, a third pilot pressure sensor 6 for detecting whether a main winch ascending action is performed on the hydraulic handle 2, and a fourth pilot pressure sensor 7 for detecting whether a main winch descending action is performed on the hydraulic handle 2; the first pilot pressure sensor 4 is installed on the pressurized winch pressurizing pilot oil path at the output end of the hydraulic handle 2, the second pilot pressure sensor 5 is installed on the pressurized winch up-pulling pilot oil path at the output end of the hydraulic handle 2, the third pilot pressure sensor 6 is installed on the main winch ascending pilot oil path at the output end of the hydraulic handle 2, and the fourth pilot pressure sensor 7 is installed on the main winch descending pilot oil path at the output end of the hydraulic handle 2.

[0034] Wherein, each pilot pressure sensor can detect whether a corresponding action is performed on the hydraulic handle by comparing the pressure value detected from the corresponding pilot oil path with the preset pressure threshold value corresponding to the pilot oil path, that is, when the pressure value detected from the corresponding pilot oil path exceeds the preset pressure threshold value corresponding to the pilot oil path, it is considered that a corresponding action is detected on the hydraulic handle, otherwise it is considered that no corresponding action is detected on the hydraulic handle. For example, when the first pilot pressure sensor detects that the pressure value on the pressurized winch pressurizing pilot oil path exceeds the preset pressure threshold value corresponding to the pressurized winch pressurizing pilot oil path, it is determined that a pressurized winch pressurizing action is detected on the hydraulic handle. Another example is that when the third pilot pressure sensor detects that the pressure value on the main winch ascending pilot oil path exceeds the preset pressure threshold value corresponding to the main winch ascending pilot oil path, it is determined that a main winch ascending action is detected on the hydraulic handle. In this way, accurate detection of the action signal input through the operating handle can be realized, and the control accuracy of the rotary drilling rig is improved.

[0035] In one embodiment, referring to Figure 3 , the system further includes a speed control knob 8 and a display 9 respectively connected to the controller 1, and the display 9 is provided with a switching button for the automatic control mode; wherein, The controller 1 is configured to: in response to detecting that the switching button for the automatic control mode is triggered, obtain the pressure value of the speed control knob 8; and map the pressure value of the speed control knob 8 to a control instruction for at least two drive units 3, and control the at least two drive units 3 to execute the control instruction.

[0036] Among them, when it is necessary to switch from the manual control mode to the automatic control mode (which can also be called the automatic pulling-out mode), the switching button for the automatic control mode displayed on the monitor 9 can be triggered to switch to the automatic control mode. The core objective of the automatic control mode is to accurately and controllably lift the drill string (that is, the main hoist and the pressurized hoist synchronously lift the power head and the drill string). In the automatic control mode, if the user needs to adjust the working speeds of the main hoist and the pressurized hoist, the pressure value of the speed control knob 8 can be changed by rotating or pressing the speed control knob 8. Correspondingly, the controller 1 maps the obtained pressure value of the speed control knob 8 into a control instruction for at least two drive units 3 and controls at least two drive units 3 to execute the control instruction to correspondingly control the main hoist and the pressurized hoist. For example, when at least two drive units 3 include proportional valves, the control instruction can be a current control instruction to control the opening degree of the proportional valve; for another example, when at least two drive units 3 include motors, the control instruction can be a speed control instruction to control the speed of the motor. In this way, automatic synchronous control of the main hoist and the pressurized hoist can be achieved, further improving the operation convenience and work efficiency.

[0037] In one embodiment, referring to Figure 4 , at least two drive units 3 include a first proportional valve 30 arranged at the inlet of the lifting oil circuit of the main hoist, a second proportional valve 31 arranged at the inlet of the lifting oil circuit of the pressurized hoist, a first pilot cut-off valve 32 arranged on the pilot oil circuit between the operating handle and the main hoist control valve group, a second pilot cut-off valve 33 arranged on the pilot oil circuit between the operating handle and the pressurized hoist control valve group, a first floating valve 34 arranged in the oil discharge circuit of the main hoist motor, a second floating valve 35 arranged in the oil discharge circuit of the pressurized hoist motor, and a hoist confluence valve 36 bridging between the hydraulic oil circuits of the main hoist and the pressurized hoist; The controller 1 is configured to: In response to the continuous spiral drilling and pouring working condition, control the hoist confluence valve 36 to open so that the hydraulic oil circuits of the main hoist and the pressurized hoist are confluent; In the manual control mode, control the first pilot cut-off valve 32 and the second pilot cut-off valve 33 to open, obtain the target action signal input through the operating handle 2, and determine the target valve and the target operation instruction to be controlled based on the target action signal, and control the target valve to execute the corresponding target operation instruction; In the automatic control mode, control the first pilot cut-off valve 32 and the second pilot cut-off valve 33 to close, obtain the pressure value of the speed control knob 8, and determine the current corresponding to the target opening degree according to the mapping relationship between the opening degree of the proportional valve and the current, and output the current corresponding to the target opening degree to the first proportional valve 30 and the second proportional valve 31; the target opening degree is the expected opening degree corresponding to the pressure value.

[0038] Among them, the first proportional valve 30 can also be called the main winch hoisting proportional valve, which is installed at the inlet of the hoisting oil circuit of the main winch hydraulic system. It can directly control the hydraulic oil flow and direction of the main winch motor, that is, adjust the spool opening according to the current signal output by the controller 1 to achieve precise control of the main winch hoisting speed. The second proportional valve 31 can also be called the pressurized winch hoisting proportional valve, which is installed at the inlet of the hoisting oil circuit of the pressurized winch hydraulic system. It can control the hydraulic oil supply of the pressurized winch motor, that is, respond to the instruction of the controller 1 to adjust the speed and force of the pressurized winch pulling-up action. The first floating valve 34 can also be called the main winch floating valve, which is integrated in the oil replenishing circuit or oil draining circuit of the main winch motor and is installed close to the motor. When it is opened, it connects the two chambers of the main winch cylinder, making the main winch motor in a floating state (i.e., no hydraulic locking), allowing the drill tool to freely rise and fall with the formation resistance. For example, when the operation handle 2 triggers the pressurized winch pressurizing action, the controller 1 synchronously opens the first floating valve 34 to ensure that the main winch does not apply a reverse pulling force and avoid damage to the drill tool due to bidirectional stress. The second floating valve 35 can also be called the pressurized winch floating valve, which is located in the oil replenishing circuit or oil draining circuit of the pressurized winch motor and is directly connected to the motor oil port. It can release pressure under specific working conditions (such as during drilling) to avoid jamming of the drill tool.

[0039] Among them, the first pilot cut-off valve 32 can also be called the main winch pilot cut-off valve. Its core role in the control system is to achieve a safe switch between manual and automatic control modes. Its functional essence is a physical isolator for hydraulic control rights. In the manual control mode, it is necessary to open the first pilot cut-off valve 32 to keep the spool of the first pilot cut-off valve 32 conducting. The pilot pressure oil output by the operation handle 2 is directly conducted to the main winch control valve group to achieve manual operation dominance. In the automatic control mode, it is necessary to close the first pilot cut-off valve 32 to keep the spool of the first pilot cut-off valve 32 closed and physically cut off the oil circuit from the operation handle 2 to the main winch control valve group. That is to say, the first pilot cut-off valve 32 is connected in series in the pilot oil circuit between the operation handle 2 and the main winch control valve group, and responds to the instruction of the controller 1 to switch the on-off state of the oil circuit, that is, cut off the oil circuit from the operation handle 2 to the main winch control valve group in the automatic control mode and keep the oil circuit conducting in the manual control mode. It should be noted that in the automatic control mode, since the first pilot cut-off valve 32 has cut off the oil circuit from the operation handle 2 to the main winch control valve group, even if the user accidentally touches the operation handle 2, it can effectively avoid the equipment impact phenomenon caused by the conflict between manual operation and automatic control (such as the main winch suddenly reversing and causing the drill tool to break), thereby effectively improving the working safety of the rotary drilling rig.

[0040] Among them, the second pilot cut-off valve 33, which can also be called the pressurized winch pilot cut-off valve, plays a core hub role in the coordinated control of the dual winches in the control system. Its function is symmetrical with the first pilot cut-off valve 32, but has working condition specificity. In manual control mode, the second pilot cut-off valve 33 needs to be opened to keep the valve core of the second pilot cut-off valve 33 normally open, and the pressurization / extraction pilot oil output by the operating handle 2 is directly connected to the pressurized winch control valve group. In automatic control mode, the second pilot cut-off valve 33 needs to be closed to keep the valve core of the second pilot cut-off valve 33 closed, physically cutting off the oil circuit from the operating handle 2 to the pressurized winch control valve group. It should be noted that the first pilot cut-off valve 32 and the second pilot cut-off valve 33 work together to ensure that the control rights of the dual winches are switched synchronously. For example, when switching to automatic control mode, the first pilot cut-off valve 32 and the second pilot cut-off valve 33 simultaneously cut off the oil circuit of the operating handle 2. The winch merging valve 36 is installed between the hydraulic oil circuits of the main winch and the booster winch, specifically between the oil inlet lines. This allows the flow of the two hydraulic systems to be combined to ensure synchronized operation. Under CFA conditions, the winch merging valve 36 remains normally open, merging the hydraulic oil circuits of the main winch and the booster winch.

[0041] Specifically, the first proportional valve 30 and the second proportional valve 31 control the hoisting speed, the first float valve 34 and the second float valve 35 release hydraulic constraints, and the first pilot shut-off valve 32 and the second pilot shut-off valve 33 switch between manual and automatic control modes. Furthermore, the first float valve 34 and the second float valve 35 can be two-position, two-way normally closed solenoid valves; the first proportional valve 30 and the second proportional valve 31 can be electric proportional directional flow valves; and the first pilot shut-off valve 32 and the second pilot shut-off valve 33 can be two-position, three-way hydraulically controlled priority solenoid valves. By controlling the hoisting merging valve 36 to open, the hydraulic oil circuits of the main hoist and the pressurized hoist can be continuously merged, reducing flow distribution delays.

[0042] In manual control mode, the controller 1 first controls the opening of the first pilot shut-off valve 32 and the second pilot shut-off valve 33 to switch control of the main hoist and the pressure hoist to the operating handle 2. The controller 1 then obtains a target action signal input via the operating handle 2 and, based on the target action signal, determines the target valve to be controlled and the target operation instruction to be executed on the target valve. The controller then controls the target valve to execute the corresponding target operation instruction. For example, when the target action signal is the main hoist raising signal, the target valves include the first proportional valve 30 and the second proportional valve 31, and the target operation instruction includes, for example, a current signal.

[0043] Among them, in the automatic control mode, the controller 1 first controls the first pilot shut-off valve 32 and the second pilot shut-off valve 33 to close, so as to switch to the main winch and the pressure winch controlled by the speed regulating knob 8, and then obtains the pressure value of the speed regulating knob 8, determines the expected opening corresponding to the pressure value, that is, the target opening, and determines the current corresponding to the target opening according to the mapping relationship between the opening and the current of the proportional valve, and then outputs the current corresponding to the target opening to the first proportional valve 30 and the second proportional valve 31, so that the valve core of the first proportional valve 30 and the second proportional valve 31 moves to the target opening to realize automatic pulling.

[0044] In one embodiment, the controller 1 is configured to open the first pilot shut-off valve 32 and then delay for a preset delay time before opening the second pilot shut-off valve 33; and / or, after sending an opening instruction to the first proportional valve 30, send an opening instruction to the second proportional valve 31 and then delay for a preset delay time.

[0045] The preset delay time can be set according to actual needs, for example, to 10ms, 30ms, or 50ms. Considering that in the hydraulic control scheme, the response speed of the pressure winch is faster than that of the main winch, if the response difference between the pressure winch and the main winch is not reduced or eliminated, the pressure winch will operate first, causing drilling tool tilt or hydraulic shock. Therefore, when the controller 1 controls the opening of the first pilot cut-off valve 32 and the second pilot cut-off valve 33, it can be configured to open the first pilot cut-off valve 32 and then open the second pilot cut-off valve 33 after a preset delay time, and / or, before outputting the current corresponding to the target opening to the first proportional valve 30 and the second proportional valve 31, it can first send an opening instruction to the first proportional valve 30 and then send an opening instruction to the second proportional valve 31 after a preset delay time. In addition, when the controller 1 controls the closing of the first pilot cut-off valve 32 and the second pilot cut-off valve 33, it can be configured to close the second pilot cut-off valve 33 and then close the first pilot cut-off valve 32 after a preset delay time. In this way, the problem of asynchronous start and stop of the main winch and the pressure winch can be solved, the smoothness of the main winch and the pressure winch can be ensured, and the tilting of the drill tool or hydraulic shock can be effectively avoided, thereby improving the service life of the rotary drilling rig.

[0046] In one embodiment, the controller 1 is configured to perform at least one of the following operations: In response to the target action signal being a main winch raising signal, corresponding current signals are output to the first proportional valve 30 and the second proportional valve 31 according to the target action signal, so as to drive the main winch to perform the raising action and the pressure winch to perform the pulling action respectively; In response to the target action signal being the pressure winch pressurization signal, output a corresponding current signal to the second proportional valve 31 according to the target action signal to drive the pressure winch motor to rotate forward to lift the drill tool, and control the first floating valve 34 to open so that the main winch motor is in a floating state; In response to the target action signal being the main winch lowering signal, control the first floating valve 34 to open so that the main winch motor enters a floating state; In response to the target action signal being the pressure winch pulling out signal, output a corresponding current signal to the second proportional valve 31 according to the target action signal to drive the pressure winch motor to rotate forward to lift the drill tool; In response to the target action signal being the floating signal, control the first floating valve 34 and the second floating valve 35 to open, and close the first pilot cut-off valve 32 and the second pilot cut-off valve 33.

[0047] It should be noted that the target action signal can include not only the type of action signal, such as the main winch rising signal, the pressure winch pressurization signal, etc., but also the operation handle information, such as the opening or voltage of the operation handle 2. Based on the operation handle information in the target action signal, the current signal that needs to be input to the proportional valve can be calculated correspondingly. For example, according to the opening of the hydraulic handle, based on the preset proportional valve current-opening characteristic curve, the current that needs to be output to the proportional valve can be determined. Another example is that according to the output voltage value of the electric control handle, the expected opening corresponding to this output voltage value can be determined, and then based on the preset proportional valve current-opening characteristic curve, the current that needs to be output to the proportional valve can be determined.

[0048] Among them, when the target action signal is the main winch rising signal, the current signal that needs to be output to the first proportional valve 30 and the current signal that needs to be output to the second proportional valve 31 can be determined according to the target action signal. Then, based on the current signal that needs to be output to the first proportional valve 30, control the first proportional valve 30 to drive the main winch to perform a rising action, and based on the current signal that needs to be output to the second proportional valve 31, control the second proportional valve 31 to drive the pressure winch to perform a pulling out action, so as to realize the overall synchronous rising of the power head and the drill tool, that is, when the main winch rises, the pressure winch automatically follows and pulls out. Here, in order to avoid the drill tool being out of sync due to the too fast action of the pressure winch, the current signal that needs to be output to the second proportional valve 31 can be smaller than the current signal that needs to be output to the first proportional valve 30 to control the opening of the second proportional valve 31 to be smaller than that of the first proportional valve. Here, the user only needs to input the main winch rising signal through the operation handle 2 to synchronously control the main winch and the pressure winch to lift the drill tool together, without the need to additionally set and operate the pressure winch handle, realizing single-handle pulling out, and at the same time ensuring the synchronism of the drill tool.

[0049] Among them, when the target action signal is the pressurized hoist pressurization signal, the current signal to be output to the second proportional valve 31 can be determined according to the target action signal. By outputting this current signal to the second proportional valve 31, the pressurized hoist motor is driven to rotate forward to lift the drill tool, and the first floating valve 34 is controlled to open, so that the main hoist motor is in a floating state (i.e., the hydraulic lock is released), preventing the main hoist hydraulic lock from hindering the drill tool from drilling downward. Thus, the drill tool connected to the main hoist can freely move downward following the downward pressure of the pressurized hoist. That is, the user only needs to input the pressurized hoist pressurization signal through the operation handle 2 to synchronously complete the downhole drilling operation, without the need to additionally set and operate the main hoist handle, realizing single-handle drilling. It should be noted that by controlling the first floating valve 34 to open when the drill tool of the rotary drilling rig is being lowered, the risk of drill tool jamming or hydraulic shock caused by human misoperation can be eliminated, improving safety.

[0050] Among them, when the target action signal is the main hoist lowering signal, by controlling the first floating valve 34 to open, the main hoist motor enters a floating state. At this time, the hydraulic oil directly enters the main hoist motor lowering oil cavity through the control valve of the operation handle 2, driving the motor to reverse, thereby releasing the drill tool, that is, the drill tool falls by its own weight.

[0051] Among them, when the target action signal is the pressurized hoist pulling-out signal, the current signal to be output to the second proportional valve 31 can be determined according to the target action signal. By outputting this current signal to the second proportional valve 31, the pressurized hoist motor can be driven to rotate forward to lift the drill tool. At this time, the main hoist is in a hydraulic lock state.

[0052] Among them, when the target action signal is the floating signal, the first floating valve 34 and the second floating valve 35 are controlled to open, so that the A / B oil ports of the corresponding hoist motor are connected to the fuel tank. At the same time, the first pilot cut-off valve 32 and the second pilot cut-off valve 33 are closed to block the pilot oil circuit of the operation handle 2 to the control oil circuits of the first proportional valve 30 and the second proportional valve 31, isolating the manual operation signal, thereby controlling the drill tool to enter the free suspension state.

[0053] In an embodiment, refer to Figure 5 , at least two drive units 3 include a first drive motor 3a and a second drive motor 3b; the first drive motor 3a is connected to the input end of the main hoist reducer, and the second drive motor 3b is connected to the power input shaft of the pressurized hoist mechanism; The controller 1 is configured to: In the manual control mode, obtain the target action signal input through the operation handle 2, and issue corresponding control commands to the first drive motor 3a and the second drive motor 3b according to the target action signal, so as to drive the first drive motor 3a and the second drive motor 3b to perform corresponding operations; In the automatic control mode, obtain the pressure value of the speed control knob 8; and map the pressure value of the speed control knob 8 to a target speed, and control the first drive motor 3a and the second drive motor 3b to run synchronously at the target speed.

[0054] Among them, the first drive motor 3a can also be called the main hoist drive motor, which is installed at the input end of the main hoist reducer and is directly connected to the main hoist drum transmission shaft through a coupling or a gearbox, and it can directly output torque to drive the lifting action of the main hoist. The second drive motor 3b can also be called the pressure hoist drive motor, which is connected to the power input shaft of the pressure hoist mechanism, and it can independently control the lifting or pressurizing stroke of the pressure hoist. In the manual control mode, the controller 1 converts the target action signal into a corresponding speed control command or torque control command for the drive motor. Specifically, map the main hoist up signal and the main hoist down signal to speed control commands, map the pressure hoist pressurizing signal to a torque control command, and map the pressure hoist lifting signal to a speed control command. When the target action signal is a floating signal, control the first drive motor 3a and the second drive motor 3b to switch to the zero torque output mode. It should be noted that the specific implementation process of generating a control command according to the target action signal and sending the corresponding control command to the first drive motor 3a and the second drive motor 3b to drive the first drive motor 3a and the second drive motor 3b to perform corresponding operations can refer to the prior art and will not be elaborated here.

[0055] In the automatic control mode, the controller 1 determines the target speed corresponding to the pressure value of the speed control knob 8 based on the corresponding relationship between the pressure value of the speed control knob 8 and the speed of the motor according to the obtained pressure value of the speed control knob 8, and then controls the first drive motor 3a and the second drive motor 3b to run synchronously at the target speed. In this way, by directly controlling the main hoist and the pressure hoist with the drive motor, the response speed is improved, the hydraulic system delay can be eliminated or reduced, the energy consumption is effectively reduced at the same time, and it is easy to maintain.

[0056] In an embodiment, refer to Figure 6 , the system further includes a drilling depth sensor 10, and the controller 1 is configured to obtain the depth collected by the drilling depth sensor 10, and in response to the depth collected by the drilling depth sensor 10 reaching a preset target depth, control the main hoist and the pressure hoist to stop lifting through at least two drive units.

[0057] Specifically, when at least two driving units include a first proportional valve and a second proportional valve, the main hoist and the pressure hoist can be controlled to stop pulling out by the at least two driving units. It can be that the controller 1 sends a stop instruction to the first proportional valve and the second proportional valve to synchronously close the first proportional valve and the second proportional valve. When at least two driving units include a first driving motor and a second driving motor, the main hoist and the pressure hoist can be controlled to stop pulling out by the at least two driving units. It can be that the controller 1 sends a cooperative stop instruction to the first driving motor and the second driving motor to reduce the motor speed to zero and switch to the position holding mode. In addition, in order to avoid false triggering due to the jitter of the drilling depth sensor 10, the average depth collected by the drilling depth sensor 10 within a preset time period, such as 3 seconds, can be compared with a preset target depth. Among them, the preset target depth can be set by the user through the display 9. It should be noted that when the depth collected by the drilling depth sensor 10 reaches the preset target depth, the controller 1 can control the first floating valve 34 to open to release the constraint of the main hoist system on the drill tool, so that the drill tool connected to the main hoist is in a floating state. In this way, the excavation depth of the drill tool can be accurately and safely controlled to avoid over-excavation or under-excavation.

[0058] In one embodiment, the controller 1 is configured to synchronously open the first floating valve 34 and the second floating valve 35 when it is detected that the drilling speed decrease rate exceeds a preset drilling speed threshold. Among them, the drilling speed decrease rate can be determined according to the depth collected by the drilling depth sensor 10 within a plurality of adjacent unit time periods.

[0059] Based on the same inventive concept as the foregoing embodiments, refer to Figure 7 , an embodiment of the present application provides a control method for a drill tool control system of a rotary drilling rig. The control method provided in this embodiment includes: Step S101, in the manual control mode, obtain a target action signal input through an operation handle.

[0060] Step S102, drive at least two driving units based on the target action signal to control the main hoist and / or the pressure hoist of the rotary drilling rig.

[0061] In one embodiment, the control method further includes: In response to detecting that the switching key of the automatic control mode is triggered, obtain the pressure value of the speed regulation knob; and map the pressure value of the speed regulation knob to a control instruction for at least two driving units, and control the at least two driving units to execute the control instruction.

[0062] It should be noted that the specific implementation process of the control method provided in this embodiment can refer to the embodiments of the drill tool control system of the rotary drilling rig described above, and will not be elaborated here.

[0063] In summary, in the control method of the drilling tool control system of the rotary drilling rig provided in the above embodiments, after obtaining the action signal input by the user through the operating handle, at least two driving units are driven based on the obtained action signal to control the main hoist and / or the pressurizing hoist of the rotary drilling rig to perform corresponding operations. There is no need to operate multiple handles to control the main hoist and the pressurizing hoist of the rotary drilling rig respectively. The main hoist and the pressurizing hoist of the rotary drilling rig can be controlled by a single handle to work together, improving the operation convenience and work efficiency.

[0064] Based on the same inventive concept as the foregoing embodiments, the drilling tool control system of the rotary drilling rig provided in this embodiment will be illustrated by a specific example below. In this example, the operating handle 2 is a hydraulic handle, the first pilot pressure sensor 4 is a pressurizing hoist pressurizing pilot pressure sensor, the second pilot pressure sensor 5 is a pressurizing hoist pulling-out pilot pressure sensor, the third pilot pressure sensor 6 is a main hoist rising pilot pressure sensor, the fourth pilot pressure sensor 7 is a main hoist descending pilot pressure sensor, the first proportional valve 30 is a main hoist lifting proportional valve, the second proportional valve is a pressurizing hoist lifting proportional valve, the first pilot cut-off valve is a main hoist pilot cut-off valve, the second pilot cut-off valve is a pressurizing hoist pilot cut-off valve, the first floating valve 34 is a main hoist floating valve, and the second floating valve 35 is a pressurizing hoist floating valve.

[0065] Refer to Figure 8 , the drilling tool control system of the rotary drilling rig provided in this embodiment includes a controller 1, a hydraulic handle 2, a pressurizing hoist pressurizing pilot pressure sensor 4, a pressurizing hoist pulling-out pilot pressure sensor 5, a main hoist rising pilot pressure sensor 6, a main hoist descending pilot pressure sensor 7, a speed regulating knob 8, a display 9, a drilling depth sensor 10, a main hoist lifting proportional valve 30, a pressurizing hoist lifting proportional valve 31, a main hoist pilot cut-off valve 32, a pressurizing hoist pilot cut-off valve 33, a main hoist floating valve 34, a pressurizing hoist floating valve 35, and a hoist confluence valve 36.

[0066] Among them, the display 9, the speed regulation knob 8, and the drilling depth sensor 10 are connected to the controller 1 through wires. The display 9 is used for interaction with the user. The speed regulation knob 8 is used to collect speed regulation signals. The drilling depth sensor 10 is used to collect the depth of the drill pipe. The pressure boosting winch pressure boosting pilot pressure sensor 4, the pressure boosting winch pulling-out pilot pressure sensor 5, the main winch rising pilot pressure sensor 6, and the main winch falling pilot pressure sensor 7 are not only connected to the controller 1 through wires, but also installed on the hydraulic pipelines at the output end of the hydraulic handle 2, and are used to collect the actions of the hydraulic handle 2. The main winch lifting proportional valve 30, the pressure boosting winch lifting proportional valve 31, the main winch pilot cut-off valve 32, the pressure boosting winch pilot cut-off valve 33, the main winch floating valve 34, the pressure boosting winch floating valve 35, and the winch confluence valve 36 are not only connected to the controller 1 through wires, but also installed in the corresponding oil circuits of the hydraulic system, and are used to perform corresponding actions. For example, the winch confluence valve 36 is installed between the oil circuits of the main winch and the pressure boosting winch, and is used to perform the confluence action of the two oil circuits when it is opened.

[0067] Among them, based on the collected data of each sensor and the data of the speed regulation knob 8, the controller 1 outputs control instructions to the main winch lifting proportional valve 30, the pressure boosting winch lifting proportional valve 31, the main winch pilot cut-off valve 32, the pressure boosting winch pilot cut-off valve 33, the main winch floating valve 34, the pressure boosting winch floating valve 35, the winch confluence valve 36, and the display 9 of the hydraulic system after logical processing; the display 9 displays the CFA-related parameters, interacts with the user, and sends the user input parameters to the controller 1. The drilling tool control system of the rotary drilling rig provided in this embodiment can achieve the following purposes under the CFA working condition: 1. The drilling and pulling-out are respectively operated with a single handle, without compound actions; 2. The main winch and the pressure boosting winch automatically pull out and regulate the speed; 3. The main winch and the pressure boosting winch are confluent to synchronously lift the power head and the drilling tool.

[0068] In the manual control mode (i.e., the default mode of the system), the winch confluence valve 36 is controlled to be always open under the CFA working condition, so that the main winch and the pressure boosting winch are confluent and synchronous. In addition, during manual control, by monitoring the pilot pressure of the hydraulic handle 2, when the pressure value at the corresponding position exceeds the preset critical point, it is considered that the driver manipulates the hydraulic handle 2 to make the corresponding action, that is, any one of floating, main winch descending, main winch ascending, pressure boosting winch pressure boosting, and pressure boosting winch pulling-out. Among them, the floating action can be used when the CFA is turned on, and the other four actions can only be used in the whole machine pressure boosting winch mode. Further, when the main winch is operated to rise through the hydraulic handle 2, the pressure boosting winch automatically follows and pulls out, and when the pressure boosting winch is operated to boost pressure through the hydraulic handle 2, the main winch automatically floats.

[0069] When in the CFA working condition, if the one-key extraction button on the display 9 is pressed, the automatic control mode is entered. At this time, the controller 1 determines the desired opening based on the voltage value of the speed control knob 8 (such as a potentiometer), and converts the desired opening into a current value according to the current and opening characteristic curves of the main hoist lifting proportional valve and the pressure hoist lifting proportional valve. Then, based on this current value, the controller drives the main hoist lifting proportional valve and the pressure hoist lifting proportional valve to act, thereby realizing automatic CFA extraction. During the extraction process, the controller 1 calculates the current depth of the drill pipe according to the depth value collected by the depth sensor 10, and compares it with the target depth set by the user. When the target depth is reached, the automatic extraction stops.

[0070] In addition, by controlling the hoist confluence valve 36 to be always open in the CFA working condition, the start-stop time difference between the main hoist and the pressure hoist is shortened as much as possible. At the same time, a delay of Δt can be added to the opening sequence of the main hoist pilot switching valve 32, the pressure hoist pilot switching valve 33, the main hoist lifting proportional valve 30, and the pressure hoist lifting proportional valve 31 to ensure the smoothness of the actions of the main hoist and the pressure hoist.

[0071] In this way, drilling / extraction can be achieved through a single handle, simplifying the operation and reducing the driver's burden; at the same time, through the design of the confluence valve and the timing delay, hydraulic shock is effectively eliminated, and the equipment life is extended; in addition, based on the closed-loop control of the depth sensor, over-excavation / under-excavation is avoided, and automatic precise control is realized.

[0072] Based on the same inventive concept as the foregoing embodiments, an embodiment of the present invention provides a rotary drilling rig, which includes the drill tool control system of the rotary drilling rig as described above.

[0073] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0074] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A drilling tool control system for a rotary drilling rig, characterized in that, The system includes: a controller, an operating handle, and at least two driving units respectively connected to the controller; wherein, The controller is configured to: in the manual control mode, obtain a target action signal input through the operating handle, and drive the at least two driving units based on the target action signal to control the main hoist and / or the pressurized hoist of the rotary drilling rig to perform corresponding operations.

2. The system according to claim 1, wherein When the operating handle is a hydraulic handle, the system further includes: a first pilot pressure sensor respectively connected to the controller and the hydraulic handle for detecting whether a pressurized hoist pressurizing action is performed on the hydraulic handle, a second pilot pressure sensor for detecting whether a pressurized hoist pulling-up action is performed on the hydraulic handle, a third pilot pressure sensor for detecting whether a main hoist rising action is performed on the hydraulic handle, and a fourth pilot pressure sensor for detecting whether a main hoist lowering action is performed on the hydraulic handle; the first pilot pressure sensor is installed on the pressurized hoist pressurizing pilot oil circuit at the output end of the hydraulic handle, the second pilot pressure sensor is installed on the pressurized hoist pulling-up pilot oil circuit at the output end of the hydraulic handle, the third pilot pressure sensor is installed on the main hoist rising pilot oil circuit at the output end of the hydraulic handle, and the fourth pilot pressure sensor is installed on the main hoist lowering pilot oil circuit at the output end of the hydraulic handle.

3. The system according to claim 1, wherein The system further includes a speed control knob and a display respectively connected to the controller, and the display is provided with a switching button for the automatic control mode; wherein, The controller is configured to: in response to detecting that the switching button for the automatic control mode is triggered, obtain the pressure value of the speed control knob; and map the pressure value of the speed control knob to a control instruction for the at least two driving units, and control the at least two driving units to execute the control instruction.

4. The system according to any one of claims 1 to 3, characterized in that The at least two driving units include a first proportional valve arranged at the inlet of the lifting oil circuit of the main hoist, a second proportional valve arranged at the inlet of the lifting oil circuit of the pressurized hoist, a first pilot cut-off valve arranged on the pilot oil circuit between the operating handle and the main hoist control valve group, a second pilot cut-off valve arranged on the pilot oil circuit between the operating handle and the pressurized hoist control valve group, a first floating valve arranged in the oil discharge circuit of the main hoist motor, a second floating valve arranged in the oil discharge circuit of the pressurized hoist motor, and a hoist confluence valve bridging between the hydraulic oil circuits of the main hoist and the pressurized hoist; The controller is configured to: In response to the continuous spiral drilling and pouring working condition, control the hoist confluence valve to open so that the hydraulic oil circuits of the main hoist and the pressurized hoist are confluent; In the manual control mode, control the first pilot cut-off valve and the second pilot cut-off valve to open, obtain a target action signal input through the operating handle, determine a target valve and a target operation instruction to be controlled based on the target action signal, and control the target valve to execute the corresponding target operation instruction; In the automatic control mode, control the first pilot cut-off valve and the second pilot cut-off valve to close, obtain the pressure value of the speed control knob, and determine the current corresponding to the target opening according to the mapping relationship between the opening of the proportional valve and the current, and output the current corresponding to the target opening to the first proportional valve and the second proportional valve; The target opening is the desired opening corresponding to the pressure value.

5. The system according to claim 4, characterized in that The controller is configured to, after opening the first pilot cut-off valve, open the second pilot cut-off valve after a preset delay time; and / or, after sending an opening instruction to the first proportional valve, send an opening instruction to the second proportional valve after a preset delay time.

6. The system according to claim 4, wherein The controller is configured to perform at least one of the following operations: In response to the target action signal being the main hoist rising signal, output corresponding current signals to the first proportional valve and the second proportional valve according to the target action signal, so as to correspondingly drive the main hoist to perform a rising action and drive the pressure hoist to perform a pulling-out action; In response to the target action signal being the pressure hoist pressurizing signal, output a corresponding current signal to the second proportional valve according to the target action signal, so as to drive the pressure hoist motor to rotate forward to lift the drill tool, and control the first floating valve to open, so that the main hoist motor is in a floating state; In response to the target action signal being the main hoist lowering signal, control the first floating valve to open, so that the main hoist motor enters a floating state; In response to the target action signal being the pressure hoist pulling-out signal, output a corresponding current signal to the second proportional valve according to the target action signal, so as to drive the pressure hoist motor to rotate forward to lift the drill tool; In response to the target action signal being the floating signal, control the first floating valve and the second floating valve to open, and close the first pilot cut-off valve and the second pilot cut-off valve.

7. The system according to any one of claims 1 to 3, characterized in that, The at least two driving units include a first driving motor and a second driving motor; the first driving motor is connected to the input end of the main hoist speed reducer, and the second driving motor is connected to the power input shaft of the pressure hoist mechanism; The controller is configured to: In the manual control mode, obtain the target action signal input through the operation handle, and issue corresponding control instructions to the first driving motor and the second driving motor according to the target action signal, so as to drive the first driving motor and the second driving motor to perform corresponding operations; In the automatic control mode, obtain the pressure value of the speed control knob; And map the pressure value of the speed control knob to a target speed, and control the first driving motor and the second driving motor to run synchronously at the target speed.

8. The system according to any one of claims 1 to 3, characterized in that, The system further includes a drilling depth sensor, and the controller is configured to obtain the depth collected by the drilling depth sensor, and in response to the depth collected by the drilling depth sensor reaching a preset target depth, control the main hoist and the pressure hoist to stop pulling out through the at least two driving units.

9. A control method for a drilling tool control system of a rotary drilling rig according to any one of claims 1 to 8, characterized in that, The control method includes: In the manual control mode, obtain the target action signal input through the operation handle; Drive at least two drive units based on the target action signal to control the main hoist and / or the pressurized hoist of the rotary drilling rig.

10. A rotary drilling rig, characterized in that, Include the drilling tool control system of the rotary drilling rig according to any one of claims 1 to 8.

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