Automatic screwing-on and screwing-off control system, method and device for truck-mounted drilling rig

Abstract

The invention discloses an automatic screwing-on and screwing-off control system, method and device for a truck-mounted drilling rig in the technical field of truck-mounted drilling rigs, and aims to solve the problems that in the prior art, manual work is adopted, multi-action combination is prone to discordance, and the action response speed is low. The hydraulic control system comprises a hydraulic oil tank, a load-sensitive pump, a shackle device oil supply pressure limiting valve group and a shackle device valve group, a first port of the load-sensitive pump is connected with a first port of the shackle device oil supply pressure-limiting valve bank, and a third port of the shackle device oil supply pressure-limiting valve bank is connected with a first port of the shackle device valve bank. A second port of the load-sensitive pump, a second port of the shackle device oil supply pressure-limiting valve group and a second port of the shackle device oil supply pressure-limiting valve group are all connected with the hydraulic oil tank; according to the invention, the screwing-on and screwing-off work of the truck-mounted drilling rig can be automatically completed, the screwing-on and screwing-off work does not need to be manually participated, the composite action can be conveniently realized, the working efficiency is greatly improved, and the manual dependence is reduced.

Description

Technical Field

[0001] The invention relates to a control system, method and device for automatic make-up and break-out of a vehicle-mounted drilling rig, belonging to the technical field of vehicle-mounted drilling rigs. Background Art

[0002] Drilling rigs, such as vehicle-mounted drills, are increasingly used as primary equipment for underground accident rescue operations. They rely primarily on the rotation and feed of a power head to achieve drilling, and a shackle to connect drill rods. Because rescue drilling rigs work against the clock, the need for faster and more accurate drill rod connection is paramount. Currently, the vast majority of domestic drilling rigs utilize manual drill rod connection, which can lead to inconsistent coordination and slow response times, failing to meet the requirements for efficient construction.

[0003] In summary, most vehicle-mounted drill rigs in the prior art use manual labor to make and break the fasteners. The combination of multiple actions is prone to incoordination and slow action response, which affects the efficiency of the make-up and break-out work. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a control system, method and device for automatic make-up and break-out of a vehicle-mounted drilling rig. Through the coordinated operation of a hydraulic oil tank, a load-sensing pump, a break-out device oil supply pressure-limiting valve group and a break-out device valve group, the make-up and break-out operations of the vehicle-mounted drilling rig are automatically completed. No manual participation in the make-up and break-out operations is required, which facilitates the realization of compound actions, greatly improves work efficiency, reduces manual dependence, and enhances the safety of the device.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a vehicle-mounted drilling rig automatic make-up and break-out control system, comprising a hydraulic oil tank, a load-sensing pump, a shackle oil supply and pressure-limiting valve group, and a shackle valve group;

[0007] The first port of the load sensing pump is connected to the first port of the shackle oil supply pressure limiting valve group, the third port of the shackle oil supply pressure limiting valve group is connected to the first port of the shackle valve group, the second port of the load sensing pump, the second port of the shackle oil supply pressure limiting valve group, and the second port of the shackle oil supply pressure limiting valve group are all connected to the hydraulic oil tank, the third port of the load sensing pump is connected to the fourth port of the shackle oil supply pressure limiting valve group, and the fifth port of the shackle oil supply pressure limiting valve group is connected to the hydraulic oil tank;

[0008] The breaker valve group includes a first switching valve, a second switching valve, a third switching valve, a fourth switching valve, and a fifth switching valve connected to the third port of the breaker oil supply and pressure limiting valve group, the first switching valve is connected to the breaker upper clamping cylinder, the second switching valve is connected to the breaker lower clamping cylinder, the third switching valve is connected to the breaker lifting cylinder, the fourth switching valve is connected to the breaker upper breaker cylinder, and the fifth switching valve is connected to the breaker inner and outer swing motor;

[0009] The first switching valve, the second switching valve, the third switching valve, the fourth switching valve, and the fifth switching valve are all connected to a hydraulic oil tank.

[0010] Furthermore, the first switching valve includes a shackle upper tiger tooth releasing valve and a shackle upper tiger tooth clamping valve for switching, the second switching valve includes a shackle lower tiger tooth releasing valve and a shackle lower tiger tooth clamping valve for switching, the third switching valve includes a shackle lowering valve and a shackle raising valve for switching, the fourth switching valve includes a shackle shackle valve and a shackle upper valve for switching, and the fifth switching valve includes a shackle outer swing valve and a shackle inner swing valve for switching.

[0011] Furthermore, the breaker oil supply pressure limiting valve group includes a sixth switching valve, and the sixth switching valve includes a breaker oil supply proportional valve and a breaker pressure limiting proportional valve for switching.

[0012] Furthermore, a pressure sensor is connected to the breaker cylinder.

[0013] Furthermore, it also includes a main controller, which is electrically connected to an automatic make-up button, an automatic detachment button, a detacher height wire encoder, a detacher rotation angle encoder, and a visual recognition controller. The pressure sensor is electrically connected to the main controller, and the detacher upper tiger tooth release valve, the detacher upper tiger tooth clamping valve, the detacher lower tiger tooth release valve, the detacher lower tiger tooth clamping valve, the detacher descending valve, the detacher ascending valve, the detacher detaching valve, the detacher make-up valve, the detacher outer swing valve, the detacher inner swing valve, the detacher oil supply proportional valve and the detacher pressure limiting proportional valve are all electrically connected to the main controller; the visual recognition controller is electrically connected to a visual recognition camera.

[0014] In a second aspect, the present invention provides a method for controlling automatic make-up and break-out of a vehicle-mounted drilling rig, based on the automatic make-up and break-out control system for the vehicle-mounted drilling rig described in the first aspect, comprising a make-up operation and a break-out operation;

[0015] The make-up work comprises the following steps:

[0016] The position of the drill rod joint and the size of the drill rod are obtained through the visual recognition controller;

[0017] Press the automatic buckle button;

[0018] According to the position of the drill pipe joint, the target height is obtained, and the shackle lowering valve and the shackle raising valve are controlled to operate so that the shackle lifting cylinder reaches the target height;

[0019] Control the operation of the shackle outer swing valve and the shackle inner swing valve so that the shackle rotation angle encoder reaches the set value;

[0020] Control the upper and lower tiger-tooth clamping valves of the shackle to complete the clamping work;

[0021] Obtain the make-up pressure setting value based on the drill pipe size;

[0022] Control the operation of the shackle make-up valve and obtain the make-up pressure in real time. When the make-up pressure reaches the set value, the make-up work is completed.

[0023] Furthermore, the shackle operation includes the following steps:

[0024] The position of the drill rod joint and the size of the drill rod are obtained through the visual recognition controller;

[0025] Press the automatic shackle button;

[0026] According to the position of the drill pipe joint, the target height is obtained, and the shackle lowering valve and the shackle raising valve are controlled to operate so that the shackle lifting cylinder reaches the target height;

[0027] Control the operation of the shackle outer swing valve and the shackle inner swing valve so that the shackle rotation angle encoder reaches the set value;

[0028] Control the upper and lower tiger-tooth clamping valves of the shackle to complete the clamping work;

[0029] Obtain the shackle pressure setting value based on the drill pipe size;

[0030] Control the operation of the shackle valve of the shackle device, obtain the shackle pressure in real time, and complete the shackle work when the shackle pressure reaches the shackle pressure set value.

[0031] In the third aspect, the present invention provides an automatic buckle-up and buckle-down control device for a vehicle-mounted drilling rig, comprising the automatic buckle-up and buckle-down control system for a vehicle-mounted drilling rig described in the first aspect, comprising the inward and outward swing motor of the buckle-up device, a support arm is provided on one side of the outer wall of the inward and outward swing motor of the buckle-up device, a support block is provided on one side of the outer wall of the support arm, a sliding rod is provided in the support block, and the outer wall of the support block is provided with the buckle-up device lifting cylinder for driving the sliding rod to lift and lower the sliding rod, a lower clamping cylinder of the buckle-up device is provided on the sliding rod, and the sliding rod is rotatably connected to the upper clamping cylinder of the buckle-up device above the lower clamping cylinder of the buckle-up device, and the sliding rod is provided with the upper buckle-up device buckle cylinder for driving the upper clamping cylinder of the buckle-up device to rotate.

[0032] Furthermore, the shackle rotation angle encoder is installed on the output shaft of the shackle inner and outer swing motor.

[0033] Furthermore, the shackle height wire encoder is installed on the support arm.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The vehicle-mounted drilling rig automatic make-up and break-out control system automatically completes the make-up and break-out operations of the vehicle-mounted drilling rig through the coordinated operation of the hydraulic oil tank, load-sensing pump, break-out device oil supply pressure-limiting valve group and break-out device valve group. It eliminates the need for manual participation in the make-up and break-out operations, facilitates the realization of compound actions, greatly improves work efficiency, reduces manual dependence, and enhances the safety of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 2 is a schematic diagram of the system structure of an automatic make-up and break-out control system for a vehicle-mounted drilling rig provided according to an embodiment of the present invention;

[0037] Figure 2 This is a control schematic diagram of an automatic make-up and break-out control system for a vehicle-mounted drilling rig provided according to an embodiment of the present invention;

[0038] Figure 3 The figure is a schematic structural diagram of an automatic make-up and break-out control device for a vehicle-mounted drilling rig provided according to an embodiment of the present invention.

[0039] In the figure: 1. Hydraulic oil tank; 2. Load sensing pump; 3. Shackle oil supply pressure limiting valve group; 4. Shackle valve group; 5. Shackle upper clamping cylinder; 6. Shackle lower clamping cylinder; 7. Shackle lifting cylinder; 8. Shackle upper shackle cylinder; 9. Shackle inner and outer swing motor; 10. Pressure sensor; 11. Support arm; 12. Shackle height wire encoder; 13. Shackle rotation angle encoder; 14. Visual recognition controller; 15. Visual recognition camera; 16. Automatic make-up button; 17. Automatic make-up button; 18. Main controller; 19. Release valve for upper fangs of shackle; 20. Clamping valve for upper fangs of shackle; 21. Release valve for lower fangs of shackle; 22. Clamping valve for lower fangs of shackle; 23. Lowering valve of shackle; 24. Ascending valve of shackle; 25. Shackle shackle valve; 26. Make-up valve of shackle; 27. Outward swing valve of shackle; 28. Inward swing valve of shackle; 29. Oil supply proportional valve of shackle; 30. Pressure limiting proportional valve of shackle. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0042] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] Example 1:

[0044] like Figure 1-Figure 2 As shown, the present invention provides a vehicle-mounted drilling rig automatic make-up and break-out control system, comprising a hydraulic oil tank 1, a load-sensing pump 2, a shackle oil supply pressure-limiting valve group 3, and a shackle valve group 4;

[0045] The first port of the load sensing pump 2 is connected to the first port of the shackle oil supply pressure limiting valve group 3, the third port of the shackle oil supply pressure limiting valve group 3 is connected to the first port of the shackle valve group 4, the second port of the load sensing pump 2, the second port of the shackle oil supply pressure limiting valve group 3 and the second port of the shackle oil supply pressure limiting valve group 3 are all connected to the hydraulic oil tank 1, the third port of the load sensing pump 2 is connected to the fourth port of the shackle oil supply pressure limiting valve group 3, and the fifth port of the shackle oil supply pressure limiting valve group 3 is connected to the hydraulic oil tank 1;

[0046] The breaker valve group 4 includes a first switching valve, a second switching valve, a third switching valve, a fourth switching valve, and a fifth switching valve connected to the third port of the breaker oil supply and pressure limiting valve group 3. The first switching valve is connected to the breaker upper clamping cylinder 5, the second switching valve is connected to the breaker lower clamping cylinder 6, the third switching valve is connected to the breaker lifting cylinder 7, the fourth switching valve is connected to the breaker upper breaker cylinder 8, and the fifth switching valve is connected to the breaker inner and outer swing motor 9;

[0047] The first switching valve, the second switching valve, the third switching valve, the fourth switching valve, and the fifth switching valve are all connected to the hydraulic oil tank 1 .

[0048] Specifically, Figure 1 Port A is the first port of the load sensing pump 2; port S is the second port of the load sensing pump 2; port x is the third port of the load sensing pump 2; port P is the first port of the breaker oil supply pressure limiting valve group 3; port Y is the second port of the breaker oil supply pressure limiting valve group 3; port A1 is the third port of the breaker oil supply pressure limiting valve group 3; port Ls is the fourth port of the breaker oil supply pressure limiting valve group 3; and port T is the fifth port of the breaker oil supply pressure limiting valve group 3.

[0049] The A port of the load sensing pump 2 is connected to the P port of the shackle oil supply pressure limiting valve group 3 through a hydraulic pipeline, and then connected to the shackle valve group 4 through the A1 port of the shackle oil supply pressure limiting valve group 3. The T port of the shackle oil supply pressure limiting valve group 3 and the T port of the shackle valve group 4 return to the hydraulic oil tank 1; wherein the shackle oil supply pressure limiting valve group 3 includes a shackle oil supply proportional valve 29 and a shackle pressure limiting proportional valve 30, and the shackle valve group 4 includes a shackle upper tiger tooth release valve 19, a shackle upper tiger tooth clamping valve 20, a shackle lower tiger tooth release valve 21, a shackle lower tiger tooth clamping valve 22, a shackle descending valve 23, a shackle ascending valve 24, a shackle shackle valve 25, a shackle upper clamping valve 26, a shackle outer swing valve 27, and a shackle inner swing valve 28.

[0050] In one embodiment, the first switching valve includes a shackle upper tiger tooth release valve 19 and a shackle upper tiger tooth clamping valve 20 for switching, the second switching valve includes a shackle lower tiger tooth release valve 21 and a shackle lower tiger tooth clamping valve 22 for switching, the third switching valve includes a shackle lowering valve 23 and a shackle rising valve 24 for switching, the fourth switching valve includes a shackle shackle valve 25 and a shackle upper buckle valve 26 for switching, and the fifth switching valve includes a shackle outer swing valve 27 and a shackle inner swing valve 28 for switching.

[0051] Specifically, the upper tiger tooth release valve 19 of the shackle and the upper tiger tooth clamping valve 20 of the shackle are respectively connected to the rod chamber and the rodless chamber of the upper clamping cylinder 5 of the shackle, the lower tiger tooth release valve 21 of the shackle and the lower tiger tooth clamping valve 22 of the shackle are respectively connected to the rod chamber and the rodless chamber of the lower clamping cylinder 6 of the shackle, the shackle descending valve 23 and the shackle ascending valve 24 are respectively connected to the rod chamber and the rodless chamber of the shackle lifting cylinder 7, the shackle shackle valve 25 of the shackle and the shackle upper valve 26 of the shackle are respectively connected to the rod chamber and the rodless chamber of the upper shackle cylinder 8 of the shackle, the rod chamber and the rodless chamber are connected to the upper shackle pressure sensor 10, the shackle outer swing valve 27 and the shackle inner swing valve 28 of the shackle are respectively connected to the forward and reverse rotation of the inner and outer swing motors 9 of the shackle.

[0052] In one embodiment, the breaker oil supply pressure limiting valve group 3 includes a sixth switching valve, and the sixth switching valve includes a breaker oil supply proportional valve 29 and a breaker pressure limiting proportional valve 30 for switching. The breaker upper breaker cylinder 8 is connected to a pressure sensor 10.

[0053] like Figure 2 As shown, an embodiment further includes a main controller 18, which is electrically connected to an automatic make-up button 16, an automatic shackle button 17, a shackle height wire encoder 12, a shackle rotation angle encoder 13, and a visual recognition controller 14. The pressure sensor 10 is electrically connected to the main controller 18, and the shackle upper tiger tooth release valve 19, the shackle upper tiger tooth clamping valve 20, the shackle lower tiger tooth release valve 21, the shackle lower tiger tooth clamping valve 22, the shackle descending valve 23, the shackle ascending valve 24, the shackle shackle valve 25, the shackle make-up valve 26, the shackle outer swing valve 27, the shackle inner swing valve 28, the shackle oil supply proportional valve 29, and the shackle pressure limiting proportional valve 30 are all electrically connected to the main controller 18; the visual recognition controller 14 is electrically connected to a visual recognition camera 15.

[0054] Specifically, the positive pole of the DC24V power supply is connected through the circuit to the 101 terminal of the main controller 18, the automatic buckle button 16, the automatic buckle button 17, the 2 terminals of the buckle height wire encoder 12, the 2 terminals of the buckle rotation angle encoder 13, the positive power pole of the visual recognition controller 14, and the positive power pole of the buckle pressure sensor 10; the 3 terminals of the automatic buckle button 16, the 3 terminals of the automatic buckle button 17, the buckle upper tiger tooth release valve 19, the buckle upper tiger tooth clamping valve 20, the buckle lower tiger tooth release valve 21, the buckle lower tiger tooth clamping valve 22, the buckle lowering valve 23, the buckle rising valve 24, the buckle The shackle valve 25, the shackle upper valve 26, the shackle outer swing valve 27, the shackle inner swing valve 28, the shackle oil supply proportional valve 29 and the shackle pressure limiting proportional valve 30 are respectively connected to the terminals 210, 211, 127, 288, 287, 286, 285, 284, 283, 282, 281, 280, 279, 278 and 277 of the main controller 18. The shackle height pull wire encoder 12, the shackle rotation angle encoder 13 and the visual recognition controller 14 are connected to the CANH and CANL terminals in parallel with the main controller 18. The visual recognition controller 14 is connected to the visual recognition camera 15 through a network cable.

[0055] The present invention automatically completes the make-up and make-out operations of the vehicle-mounted drilling rig through the coordinated operation of the hydraulic oil tank 1, the load-sensing pump 2, the breaker oil supply pressure-limiting valve group 3, and the breaker valve group 4. No manual intervention is required in the make-up and make-out operations, which facilitates the realization of compound actions, greatly improves work efficiency, reduces manual dependence, and enhances the safety of the device.

[0056] Example 2:

[0057] The present invention provides a method for controlling automatic make-up and break-out of a vehicle-mounted drilling rig, based on the automatic make-up and break-out control system of the vehicle-mounted drilling rig described in the first embodiment, including make-up and break-out operations;

[0058] The make-up work comprises the following steps:

[0059] The position of the drill rod joint and the size of the drill rod are obtained by the visual recognition controller 14; wherein the unit of the position is centimeters and the unit of the size is millimeters;

[0060] Press the automatic buckle button 16;

[0061] According to the position of the drill pipe joint, the target height is obtained, and the shackle lowering valve 23 and the shackle raising valve 24 are controlled to operate so that the shackle lifting cylinder 7 reaches the target height. The height of the shackle lifting cylinder 7 is detected by the shackle height pull wire encoder 12.

[0062] Control the shackle outer swing valve 27 and the shackle inner swing valve 28 to operate so that the shackle rotation angle encoder 13 reaches the set value;

[0063] Control the upper tiger tooth clamping valve 20 of the shackle and the lower tiger tooth clamping valve 22 of the shackle to work and complete the clamping work;

[0064] Obtain the make-up pressure setting value based on the drill pipe size;

[0065] The breaker make-up valve 26 is controlled to operate, and the make-up pressure is obtained in real time. When the make-up pressure reaches the set value of the make-up pressure, the make-up work is completed.

[0066] The shackle work includes the following steps:

[0067] Obtaining the position of the drill rod joint and the drill rod size through the visual recognition controller 14;

[0068] Press the automatic shackle button 17;

[0069] According to the position of the drill pipe joint, the target height is obtained, and the shackle lowering valve 23 and the shackle raising valve 24 are controlled to operate so that the shackle lifting cylinder 7 reaches the target height;

[0070] Control the shackle outer swing valve 27 and the shackle inner swing valve 28 to operate so that the shackle rotation angle encoder 13 reaches the set value;

[0071] Control the upper tiger tooth clamping valve 20 of the shackle and the lower tiger tooth clamping valve 22 of the shackle to work and complete the clamping work;

[0072] Obtain the shackle pressure setting value based on the drill pipe size;

[0073] The shackle valve 25 of the shackle device is controlled to work, and the shackle pressure is obtained in real time. When the shackle pressure reaches the shackle pressure set value, the shackle work is completed.

[0074] Specifically, when the vehicle-mounted drilling rig is connecting drill rods for construction, the drill rods need to be put on / off through a breakout device, and the drill rod joint position A1 and the drill rod size B1 are detected by visual recognition.

[0075] Press the automatic make-up button 16 to start the automatic make-up function.

[0076] The main controller 18 receives the value of A1 and controls the shackle lowering valve 23 and the shackle raising valve 24 to make the shackle lifting cylinder 7 reach the position of A1±0.5 value.

[0077] The inner swing valve 28 of the shackle is controlled to make the inner and outer swing motor 9 of the shackle rotate inward. When the shackle rotation angle encoder 13 reaches the set value, the inner and outer swing motor 9 of the shackle stops rotating.

[0078] The upper tiger tooth clamping valve 20 of the shackle is energized to clamp the upper portion of the shackle, and the lower tiger tooth clamping valve 22 of the shackle is energized to clamp the lower portion of the shackle.

[0079] The breaker upper breaker valve 26 is energized to make the breaker upper breaker cylinder 8 work.

[0080] According to the drill pipe size B1, the make-up pressure setting value C1 is obtained. When the make-up pressure reaches C1, the make-up is completed, the upper clamp of the shackle is tightened and loosened, the lower clamp of the shackle is tightened and loosened, the shackle is swung outward, and the shackle is lowered to return to its original position.

[0081] The same applies to pressing the automatic shackle button 17:

[0082] Detect drill pipe joint position A2 and drill pipe size B2 through visual recognition;

[0083] Press the automatic shackle button 17 to start the automatic make-up function.

[0084] The main controller 18 receives the value of A2 and controls the shackle lowering valve 23 and the shackle raising valve 24 to make the shackle lifting cylinder 7 reach the position of A2±0.5 value.

[0085] The inner swing valve 28 of the shackle is controlled to make the inner and outer swing motor 9 of the shackle rotate inward. When the shackle rotation angle encoder 13 reaches the set value, the inner and outer swing motor 9 of the shackle stops rotating.

[0086] The upper tiger tooth clamping valve 20 of the shackle is energized to clamp the upper portion of the shackle, and the lower tiger tooth clamping valve 22 of the shackle is energized to clamp the lower portion of the shackle.

[0087] The shackle valve 25 of the shackle device is energized to make the shackle oil cylinder 8 of the shackle device work.

[0088] According to the drill pipe size B2, the shackle pressure setting value C2 is obtained. When the shackle pressure reaches C2, the shackle is completed, the upper clamp of the shackle is tightened and loosened, the lower clamp of the shackle is tightened and loosened, the shackle is swung outward, and the shackle is lowered to return to its original position.

[0089] In one embodiment, the ROI region of the drill pipe joint position can be detected through online reasoning of the network model. Based on the detected ROI region, the least squares method can be used to fit the functional relationship between pixel coordinates and drill pipe joint height to obtain the drill pipe joint spatial parameters. The implementation steps are as follows:

[0090] First, the pixel coordinates of the drill pipe joint can be obtained through deep learning. The pixel coordinates of the lower left corner are selected, and the actual physical height of the lower left corner of the drill bit is measured. After selecting and recording multiple groups, the relationship between the pixel coordinates and the actual physical height is fitted using the least squares method. In other words, in order to obtain the estimated curve that is considered to be "best" fit to each observation point, the sum of the squares of the deviations from each observation point to the curve should be minimized. The calculation formula is as follows:

[0091] ;

[0092] Where: is the number of times, i is not greater than An integer with a value range of ; and are the parameters of the fitted straight line; is the actual physical height of the i-th time; is the square value of the error of the i-th time; is the variable value of the i-th time;

[0093] Solve the parameters under this condition and At this time, the mapping equation between the pixel coordinates and the actual height of the drill rod joint is fitted, thereby realizing the calculation of the physical height of the drill rod joint and the drill rod size.

[0094] Example 3:

[0095] like Figure 3 As shown, the present invention provides an automatic buckling and unbuckling control device for a vehicle-mounted drilling rig, including the automatic buckling and unbuckling control system for a vehicle-mounted drilling rig described in Example 1, characterized in that it includes the buckle breaker inner and outer swing motor 9, and a support arm 11 is provided on one side of the outer wall of the buckle breaker inner and outer swing motor 9, and a support block is provided on one side of the outer wall of the support arm 11, and a sliding rod is provided in the support block for sliding connection, and the outer wall of the support block is provided with the buckle breaker lifting cylinder 7 for driving the sliding rod to lift and lower, and a buckle breaker lower clamping cylinder 6 is provided on the sliding rod, and the sliding rod is rotatably connected to the buckle breaker upper clamping cylinder 5 above the buckle breaker lower clamping cylinder 6, and the sliding rod is provided with the buckle breaker upper unbuckling cylinder 8 for driving the buckle breaker upper clamping cylinder 5 to rotate.

[0096] The breaker rotation angle encoder 13 is mounted on the output shaft of the breaker inner and outer swing motor 9 , and the breaker height wire encoder 12 is mounted on the support arm 11 .

[0097] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle-mounted drilling rig automatic make-up and break-out control system, characterized in that: It includes a hydraulic oil tank, a load sensing pump, a breaker oil supply pressure limiting valve group and a breaker valve group; The first port of the load sensing pump is connected to the first port of the shackle oil supply pressure limiting valve group, the third port of the shackle oil supply pressure limiting valve group is connected to the first port of the shackle valve group, the second port of the load sensing pump, the second port of the shackle oil supply pressure limiting valve group, and the second port of the shackle oil supply pressure limiting valve group are all connected to the hydraulic oil tank, the third port of the load sensing pump is connected to the fourth port of the shackle oil supply pressure limiting valve group, and the fifth port of the shackle oil supply pressure limiting valve group is connected to the hydraulic oil tank; The breaker valve group includes a first switching valve, a second switching valve, a third switching valve, a fourth switching valve, and a fifth switching valve connected to the third port of the breaker oil supply and pressure limiting valve group, the first switching valve is connected to the breaker upper clamping cylinder, the second switching valve is connected to the breaker lower clamping cylinder, the third switching valve is connected to the breaker lifting cylinder, the fourth switching valve is connected to the breaker upper breaker cylinder, and the fifth switching valve is connected to the breaker inner and outer swing motor; The first switching valve, the second switching valve, the third switching valve, the fourth switching valve, and the fifth switching valve are all connected to a hydraulic oil tank.

2. The vehicle-mounted drilling rig automatic make-up and break-out control system according to claim 1 is characterized in that: The first switching valve includes a shackle upper tiger tooth release valve and a shackle upper tiger tooth clamping valve for switching, the second switching valve includes a shackle lower tiger tooth release valve and a shackle lower tiger tooth clamping valve for switching, the third switching valve includes a shackle lowering valve and a shackle raising valve for switching, the fourth switching valve includes a shackle shackle valve and a shackle upper valve for switching, and the fifth switching valve includes a shackle outer swing valve and a shackle inner swing valve for switching.

3. The automatic make-up and break-out control system for a vehicle-mounted drilling rig according to claim 2, characterized in that: The breaker oil supply pressure limiting valve group includes a sixth switching valve, and the sixth switching valve includes a breaker oil supply proportional valve and a breaker pressure limiting proportional valve for switching.

4. The automatic make-up and break-out control system for a vehicle-mounted drilling rig according to claim 3 is characterized in that: The breaker upper breaker cylinder is connected to a pressure sensor.

5. The automatic make-up and break-out control system for a vehicle-mounted drilling rig according to claim 4, characterized in that: It also includes a main controller, which is electrically connected to an automatic make-up button, an automatic detachment button, a detacher height pull wire encoder, a detacher rotation angle encoder, and a visual recognition controller. The pressure sensor is electrically connected to the main controller, and the detacher upper tiger tooth release valve, the detacher upper tiger tooth clamping valve, the detacher lower tiger tooth release valve, the detacher lower tiger tooth clamping valve, the detacher descending valve, the detacher ascending valve, the detacher detaching valve, the detacher make-up valve, the detacher outer swing valve, the detacher inner swing valve, the detacher oil supply proportional valve and the detacher pressure limiting proportional valve are all electrically connected to the main controller; the visual recognition controller is electrically connected to a visual recognition camera.

6. A method for controlling automatic make-up and break-out of a vehicle-mounted drilling rig, based on the automatic make-up and break-out control system of claim 5, characterized in that: Including make-up and break-out work; The make-up work comprises the following steps: The position of the drill rod joint and the size of the drill rod are obtained through the visual recognition controller; Press the automatic buckle button; According to the position of the drill pipe joint, the target height is obtained, and the shackle lowering valve and the shackle raising valve are controlled to operate so that the shackle lifting cylinder reaches the target height; Control the operation of the shackle outer swing valve and the shackle inner swing valve so that the shackle rotation angle encoder reaches the set value; Control the upper and lower tiger-tooth clamping valves of the shackle to complete the clamping work; Obtain the make-up pressure setting value based on the drill pipe size; Control the operation of the shackle make-up valve and obtain the make-up pressure in real time. When the make-up pressure reaches the set value, the make-up work is completed.

7. The automatic make-up and break-out control method for a vehicle-mounted drilling rig according to claim 6, characterized in that: The shackle work includes the following steps: The position of the drill rod joint and the size of the drill rod are obtained through the visual recognition controller; Press the automatic shackle button; According to the position of the drill pipe joint, the target height is obtained, and the shackle lowering valve and the shackle raising valve are controlled to operate so that the shackle lifting cylinder reaches the target height; Control the operation of the shackle outer swing valve and the shackle inner swing valve so that the shackle rotation angle encoder reaches the set value; Control the upper and lower tiger tooth clamping valves of the shackle to complete the clamping work; Obtain the shackle pressure setting value based on the drill pipe size; Control the operation of the shackle valve of the shackle device, obtain the shackle pressure in real time, and complete the shackle work when the shackle pressure reaches the shackle pressure set value.

8. An automatic make-up and break-out control device for a vehicle-mounted drilling rig, comprising the automatic make-up and break-out control system for a vehicle-mounted drilling rig according to claim 5, characterized in that: The breaker comprises an inner and outer swing motor for the breaker, a support arm is provided on one side of the outer wall of the motor for the breaker, a support block is provided on one side of the outer wall of the support arm, a sliding rod is provided in the support block for sliding connection, and the outer wall of the support block is provided with the breaker lifting cylinder for driving the sliding rod to lift the sliding rod, a breaker lower clamping cylinder is provided on the sliding rod, the sliding rod is rotatably connected to the breaker upper clamping cylinder above the breaker lower clamping cylinder, and the sliding rod is provided with the breaker upper breaker cylinder for driving the breaker upper clamping cylinder to rotate.

9. The automatic make-up and break-out control device for a vehicle-mounted drilling rig according to claim 8, characterized in that: The breaker rotation angle encoder is installed on the output shaft of the breaker inner and outer swing motor.

10. The automatic make-up and break-out control device for a vehicle-mounted drilling rig according to claim 8, characterized in that: The shackle height wire encoder is installed on the support arm.

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