Drill rod thread screwing detection method based on multi-source data fusion

Abstract

The invention relates to a drill rod thread screwing detection method based on multi-source data fusion, and aims to improve the success rate of drill rod screwing operation on the premise that the number of sensors is not changed and the operation function requirement is met. According to the invention, on-line real-time monitoring of the screwing operation of the drill rod is realized, the situation that the screwing operation is not tight is found in time, the screwing operation of the drill rod is effectively ensured, the operation efficiency is improved, and meanwhile, the reliability and stability of the system are ensured. The performance of the automatic drilling machine under the coal mine is greatly optimized, and the efficiency and safety of whole-process operation are improved. By reducing the risk of manual judgment errors and improper operation, the accident rate and loss in the operation process are effectively reduced, meanwhile, the safety of equipment and personnel is protected to the greatest extent, and important technical progress is brought to the operation of the underground drilling machine of the coal mine.

Description

Technical Field

[0001] The present application relates to the technical field of automatic drilling rigs in coal mines, and in particular to a drill rod thread fastening detection method based on multi-source data fusion. Background Art

[0002] In tunnel drilling operations underground in coal mines, the tightening and unscrewing of drill rods is one of the key processes. When installing the drill rod, there are three processes: tightening the pre-threading of the drill rod to be tightened, tightening the post-threading of the drill rod to be tightened, and unscrewing the active drill rod. When unscrewing the drill rod, there are two processes: unscrewing the pre-threading of the drill rod to be unscrewed, and unscrewing the post-threading of the drill rod to be unscrewed. During the drilling operation, because the drill rod is subjected to complex bending forces, torsion, and combined forces, if the drill rod threads are not tightened properly, it may cause the drill rod to bend, the female thread to be squeezed and deformed, or the male thread to break. In severe cases, it may even cause equipment damage and economic losses. Similarly, incomplete unscrewing or improper loosening will also affect the safety and efficiency of subsequent operations, which may cause equipment collision or damage, thereby affecting production efficiency and safety.

[0003] Currently, the commonly used detection method relies primarily on the time it takes to complete the screwing and unscrewing operations. This method, which is open-loop control, presents two major problems: First, it is time-consuming, requiring significant time to ensure that each operation is fully executed; second, it relies solely on position and time, making it impossible to detect the completion of the operation in real time. This can easily lead to inadequate operation, accidents, or equipment damage. Third, the current drill pipe processing length dimensional error is large (4-10mm), and the placement of the drill pipe in the material box has large deviations (-10mm to 10mm). This results in the actual screwing point position being in a state of constant dynamic change. Traditional fixed-point screwing methods often fail to meet the real-time operational requirements of dynamic point screwing, further increasing the difficulty and risk of the operation. Summary of the Invention

[0004] In order to overcome at least one shortcoming in the prior art, the present application provides a drill pipe thread fastening detection method based on multi-source data fusion.

[0005] In a first aspect, a drill pipe thread fastening detection method based on multi-source data fusion is provided, comprising:

[0006] Step S1, determining whether the drilling rig has the conditions for screwing;

[0007] Step S2, when the drilling rig is ready for threading, threading the drill pipe is performed;

[0008] Step S3, determining the initial positions of the threaded portion of the screwdriver according to the current position parameter of the power head and the current feed pressure of the power head, respectively, and recording them as the first initial position and the second initial position;

[0009] Step S4, determining the final position of the thread of the button;

[0010] Step S5, determining a first effective thread length according to the first initial position and the final position, and determining a second effective thread length according to the second initial position and the final position;

[0011] Step S6, comparing the first effective thread length and the second effective thread length with the thread length interval to determine whether the thread is tightened;

[0012] Step S7: When it is determined that the thread is not tightened, the drill pipe thread tightening operation is performed again, and the process returns to step S4.

[0013] In one embodiment, step S1, determining whether the drilling rig has the conditions for threading, includes:

[0014] If the front clamp pressure is greater than 15Mpa or the rear clamp pressure is greater than 15Mpa, and when the rear thread tightening command is received, the power head position is in the range of 0-30mm; when the front thread tightening command is received, the power head position is in the range of 115-135mm, the drilling rig is judged to have the tightening conditions.

[0015] In one embodiment, step S3, determining the initial position of the threaded portion according to the current position parameters of the power head, includes:

[0016] Determine the current speed of the power head according to the current position parameter of the power head;

[0017] Calculate the absolute value of the difference between the current speed of the power head and the relative average speed change;

[0018] If the absolute value of the difference is greater than or equal to the theoretical speed change value of the threading point, the power head position corresponding to the current position parameter of the power head is the determined initial position of the threading initial thread.

[0019] In one embodiment, step S3, determining the initial position of the threaded portion according to the current feed pressure of the power head, includes:

[0020] Get the current feed pressure of the power head;

[0021] Calculate the absolute value of the difference between the current feed pressure of the power head and the relative average feed pressure change;

[0022] If the absolute value of the difference is greater than or equal to the theoretical feed pressure change value of the threading point, the power head position corresponding to the current position parameter of the power head is the determined initial position of the threading.

[0023] In one embodiment, step S4, determining the final position of the thread of the screw thread, includes:

[0024] When the feed speed of the power head is 0 and the rotation speed of the power head is 0, the position parameters of the power head at this time are recorded, which is the determined final position of the screw thread.

[0025] In one embodiment, step S5, determining a first effective thread length according to the first initial position and the final position, and determining a second effective thread length according to the second initial position and the final position, comprises:

[0026] Calculate the absolute value of the difference between the first initial position and the final position, which is the determined first effective thread length;

[0027] The absolute value of the difference between the second initial position and the final position is calculated to be the determined second effective threading length.

[0028] In one embodiment, step S6, comparing the first effective thread length and the second effective thread length with the thread length interval to determine whether the thread is tightened, includes:

[0029] If the first effective thread length and the second effective thread length are both within the thread length interval, it is determined that the thread is tightened; otherwise, it is determined that the thread is not tightened.

[0030] In a second aspect, a drill pipe thread fastening detection device based on multi-source data fusion is provided, comprising:

[0031] The first judgment module is used to judge whether the drilling rig has the conditions for screwing;

[0032] The screw threading module is used to screw the drill pipe thread when the drilling rig is ready for screw threading.

[0033] An initial position determination module is used to determine the initial positions of the threaded fastener according to the current position parameter of the power head and the current feed pressure of the power head, which are recorded as the first initial position and the second initial position;

[0034] A final position determination module is used to determine the final position of the thread of the screw thread;

[0035] a length determination module, configured to determine a first effective thread length according to the first initial position and the final position, and to determine a second effective thread length according to the second initial position and the final position;

[0036] The second judgment module is used to compare the first effective thread tightening length and the second effective thread tightening length with the thread tightening length interval respectively to determine whether the thread is tightened; when it is determined that the thread is not tightened, the drill pipe thread tightening operation is performed again and the final position determination module is entered.

[0037] In a third aspect, a drill pipe thread fastening detection system based on multi-source data fusion is provided, comprising: a drilling rig body, an intelligent sensing unit, an algorithm decision unit, and a control unit;

[0038] The various components in the drilling rig body cooperate with each other to realize the thread tightening operation of the drill pipe;

[0039] The intelligent sensing unit includes multiple sensors for obtaining the power head position parameters, power head feed pressure, and power head speed;

[0040] The algorithm decision unit is used to implement the above-mentioned drill pipe thread fastening detection method based on multi-source data fusion;

[0041] The control unit is used to control the drilling rig body to realize the drill pipe thread tightening operation according to the detection results of the algorithm decision unit.

[0042] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the above-mentioned drill pipe thread fastening detection method based on multi-source data fusion is implemented.

[0043] Compared with the prior art, this application has the following beneficial effects:

[0044] 1. This application improves the success rate of drill pipe screwing operations without changing the number of sensors and meeting the operational function requirements.

[0045] 2. This application realizes online real-time monitoring of drill pipe fastening operations, promptly discovers situations where fastening is not tight, effectively ensures drill pipe fastening operations, improves operating efficiency, and ensures system reliability and stability.

[0046] 3. This application will significantly optimize the performance of automated drilling rigs in underground coal mines, improving the efficiency and safety of the entire operational process. By reducing the risk of human error and inadequate operation, it effectively reduces the accident rate and losses during operation, while maximizing the safety of equipment and personnel, bringing significant technological advancements to underground coal mine drilling rig operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present application may be better understood by referring to the following description in conjunction with the accompanying drawings, which together with the following detailed description are incorporated into and form a part of this specification. In the drawings:

[0048] Figure 1 A flow chart of a drill pipe thread fastening detection method based on multi-source data fusion is shown;

[0049] Figure 2The present invention shows a structural block diagram of a drill pipe thread fastening detection device based on multi-source data fusion. DETAILED DESCRIPTION

[0050] Exemplary embodiments of the present application are described below with reference to the accompanying drawings. For the sake of clarity and conciseness, not all features of actual embodiments are described in this specification. However, it should be understood that in the process of developing any such actual embodiment, many implementation-specific decisions may be made to achieve the developer's specific goals, and these decisions may vary from one implementation to another.

[0051] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, the accompanying drawings only show the device structure closely related to the solution according to the present application, while other details that are not closely related to the present application are omitted.

[0052] It should be understood that the present application is not limited to the described embodiments due to the following description with reference to the accompanying drawings. In this document, where feasible, the embodiments may be combined with each other, features between different embodiments may be replaced or borrowed, and one or more features may be omitted in one embodiment.

[0053] In response to the shortcomings of existing coal mine underground drilling rigs in detecting whether the threads are tightened in place, this application designs a drill pipe thread tightening detection method based on multi-source data fusion. The purpose is to solve the technical problems that the drill pipe tightening operation of existing coal mine underground drilling rigs relies on open-loop control, whether the threads are tightened cannot be monitored, and it only relies on extending the action time to ensure that each actuator moves in place, resulting in long execution time and low production efficiency. At the same time, it is impossible to detect whether the execution action is in place, causing great safety hazards and poor reliability.

[0054] An embodiment of the present application provides a drill pipe thread unfastening detection system based on multi-source data fusion, including a drilling rig body, an intelligent sensing unit, an algorithm decision unit and a control unit.

[0055] The various components of the drill rig work together to complete the threading of the drill pipe. Specifically, the drill rig mainly consists of: the machine body, front clamp, rear clamp, breaker, power head, active drill pipe, and control brain. The body is installed at the front end of the drilling rig, and the control brain is installed at the rear end of the drilling rig; the body is equipped with a front clamp, a rear clamp, and a power head from front to back, the front clamp and the rear clamp are at the front end of the body, the power head is at the rear end of the body, and the breaker is installed on the right side of the body, on the same plane as the front clamp. The extension and retraction of the breaker will drive the front clamp to rotate along the central axis of the drill pipe; an active drill rod is installed in front of the power head, and the drill rod to be fastened is generally located between the front clamp and the active drill rod. The drill rod is clamped by the rear clamp, and the power head rotates through the active drill rod to achieve thread tightening between the active drill rod and the female thread of the drill rod to be fastened; when the rear clamp releases the front clamp, the power head rotates through the active drill rod to drive the drill rod to be fastened to rotate forward together, thereby achieving thread tightening between the male thread of the drill rod to be fastened and the already fastened drill rod.

[0056] The intelligent sensing unit includes multiple sensors for acquiring the power head's position parameters, feed pressure, and rotational speed. These sensors primarily include a displacement sensor, a rotational speed sensor, and a feed pressure sensor. The displacement sensor, located on the machine body, has one end fixed to the rear end and the other connected to the power head. It detects the position and length of the power head relative to the rear end of the guide rail. The rotational speed sensor, mounted at the rear end of the power head, detects its rotational speed. The feed pressure sensor primarily detects the feed oil pressure during forward movement.

[0057] The algorithm decision unit is used to implement a drill pipe thread tightening detection method based on multi-source data fusion to obtain a detection result of whether the tightening is tight. The specific implementation process is described in the subsequent embodiments.

[0058] The control unit is used to control the drilling rig body to realize the drill pipe thread tightening operation according to the detection results of the algorithm decision unit.

[0059] Both the algorithm decision unit and control unit are installed in a control box for explosion-proof protection to meet the explosion-proof requirements of coal mines. The algorithm decision unit is primarily used to store the thread monitoring algorithm program, perform data storage, logical calculations, and numerical calculations. These algorithms not only accurately determine the effectiveness of thread tightening but also perform adaptive processing when tightening fails, ensuring smooth operation. The control unit, primarily composed of a control circuit board, parses the control instructions from the algorithm decision unit, forming the execution language of the drill rig's mainframe, and controlling the various components of the drill rig to operate according to the specified process actions.

[0060] The entire system design takes into account the unique environment and safety requirements of underground coal mines. All core components are explosion-proof to mitigate potential safety risks. The algorithm decision-making unit is protected within the control box, ensuring secure data storage and real-time computation. This drill pipe thread fastening detection system, based on multi-source data fusion, not only improves the accuracy and efficiency of underground coal mine drilling rig operations but also significantly reduces human error and safety hazards during operation, providing reliable technical support and assurance for underground coal mine operations.

[0061] The present application also provides a method for detecting drill pipe thread fastening based on multi-source data fusion. Figure 1 The flowchart of the drill pipe thread fastening detection method based on multi-source data fusion is shown in FIG. Figure 1 , methods include:

[0062] Step S1, determining whether the drilling rig has the conditions for screwing.

[0063] Specifically, if the front clamp pressure is greater than 15Mpa or the rear clamp pressure is greater than 15Mpa, and when the rear thread tightening command is received, the power head position is in the 0-30mm range; when the front thread tightening command is received, the power head position is in the 115-135mm range, it is judged that the drilling rig has the tightening conditions.

[0064] Step S2: When the drilling rig is ready for threading, the drill pipe threading operation is performed.

[0065] Step S3, determining the initial positions of the threaded portion according to the current position parameter of the power head and the current feed pressure of the power head, respectively, and recording them as the first initial position and the second initial position.

[0066] Specifically, determining the initial position of the threaded portion according to the current position parameters of the power head includes:

[0067] First, the current speed of the power head is determined based on the current position parameters of the power head. Here, the absolute value of the difference between the position parameters of the power head recorded at the current moment and the position parameters of the power head recorded at the previous moment is calculated. The ratio of the absolute value of the difference to the sampling time is the current position parameter of the power head.

[0068] Then, the absolute value of the difference between the current speed of the power head and the relative average speed change is calculated;

[0069] Here, the speed of the power head at a group of adjacent moments is calculated based on the position parameters of the power head recorded at adjacent sampling moments, and the average speed of the power head at multiple groups of adjacent moments is calculated, which is the relative average speed change.

[0070] If the absolute value of the difference is greater than or equal to the theoretical speed change at the threading point, the power head position corresponding to the current position parameter is the determined initial position of the threaded part. The theoretical speed change at the threading point is derived from data analysis of large data sets from industrial field applications. Based on field applications and testing, the theoretical speed change at the threading point for typical threading operations is set at 2 mm / s.

[0071] Specifically, determining the initial position of the threaded portion according to the current feed pressure of the power head includes:

[0072] First, obtain the current feed pressure of the power head;

[0073] Then, the absolute value of the difference between the current feed pressure of the power head and the relative average feed pressure change is calculated;

[0074] Here, based on the feed pressure of the power head recorded at adjacent sampling moments, the feed pressure change at this group of adjacent moments is calculated, and the average value of the feed pressure change at multiple groups of adjacent moments is calculated, which is the relative average feed pressure change.

[0075] If the absolute value of the difference is greater than or equal to the theoretical feed pressure change at the threading point, the power head position corresponding to the current position parameter is the determined initial position for the initial threading. The theoretical feed pressure change at the threading point is obtained through data analysis of big data obtained from on-site industrial applications.

[0076] Step S4, determining the final position of the thread of the screw thread.

[0077] Specifically, when the feed speed of the power head is 0 and the rotation speed of the power head is 0, the position parameters of the power head at this time are recorded, which is the determined final position of the threaded fastener.

[0078] Step S5: determining a first effective thread length according to the first initial position and the final position, and determining a second effective thread length according to the second initial position and the final position.

[0079] Specifically, the absolute value of the difference between the first initial position and the final position is calculated, which is the determined first effective threading length;

[0080] The absolute value of the difference between the second initial position and the final position is calculated to be the determined second effective threading length.

[0081] Step S6: Compare the first effective thread length and the second effective thread length with the thread length interval respectively to determine whether the thread is tightened.

[0082] Specifically, if both the first effective thread length and the second effective thread length are within the threaded length range, the thread is considered tightened; otherwise, the thread is considered loose. The threaded length range is primarily determined by the designed drill pipe thread drawings. The minimum threaded length is determined from the drill pipe thread drawings, and the maximum threaded length is determined through field industrial application, testing, and data analysis.

[0083] Step S7: When it is determined that the thread is not tightened, the drill pipe thread tightening operation is performed again, and the process returns to step S4.

[0084] Here, when performing the drill pipe thread tightening operation again, the power head needs to be reversed one circle, the male and female threads need to be loosened one circle first, and then retreat to advance, and prepare for the tightening operation again. At this time, the control system should adjust the control parameters such as speed and feed pressure to half of the normal thread tightening parameters to achieve low rotation and slow feed thread tightening operation.

[0085] Adopting the same inventive concept as the drill pipe thread fastening detection method based on multi-source data fusion, this embodiment also provides a corresponding drill pipe thread fastening detection device based on multi-source data fusion. Figure 2 The structure block diagram of the drill pipe thread fastening detection device based on multi-source data fusion is shown, including:

[0086] The first judgment module 21 is used to judge whether the drilling rig has the conditions for screwing;

[0087] The screwing module 22 is used to screw the drill pipe thread when the drilling rig has the screwing conditions;

[0088] An initial position determination module 23 is used to determine the initial positions of the threaded portion of the screwdriver according to the current position parameter of the screwdriver and the current feed pressure of the screwdriver, which are recorded as the first initial position and the second initial position;

[0089] A final position determination module 24 is used to determine the final position of the threaded part;

[0090] a length determination module 25 for determining a first effective thread length according to the first initial position and the final position, and determining a second effective thread length according to the second initial position and the final position;

[0091] The second judgment module 26 is used to compare the first effective thread tightening length and the second effective thread tightening length with the thread tightening length interval respectively to determine whether the thread is tightened; when it is determined that the thread is not tightened, the drill pipe thread tightening operation is performed again and the final position determination module 24 is entered.

[0092] The drill pipe thread fastening detection device based on multi-source data fusion of this embodiment has the same inventive concept as the drill pipe thread fastening detection method based on multi-source data fusion mentioned above. Therefore, the specific implementation method of the device can be seen in the embodiment part of the drill pipe thread fastening detection method based on multi-source data fusion mentioned above, and its technical effect corresponds to the technical effect of the above method, which will not be repeated here.

[0093] An embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for detecting drill pipe thread fastening based on multi-source data fusion is implemented.

[0094] Compared with the existing technology, this application has the following technical effects:

[0095] 1. Online monitoring of thread tightening is achieved. Without changing the number of sensors, data from multiple sensors, such as force sensors, angle sensors, and displacement sensor parameters, can be integrated to perform multi-source data fusion, enabling online monitoring of drill pipe tightening operations and monitoring whether the drill pipe threads are tightened.

[0096] 2. Improve thread tightening accuracy. An effective screw length algorithm is developed to accurately determine whether a screw is in place, improving thread tightening accuracy. The development of an effective screw length algorithm enables real-time analysis and identification of anomalies during drill pipe tightening, such as inadequate tightening.

[0097] 3. Redundant design effectively ensures the safety of the screwing operation. A screwing length algorithm based on speed mutation + speed and a screwing length algorithm based on feed pressure + speed are proposed. Redundant design is implemented to improve the accuracy of measurement and judgment.

[0098] 4. Significantly improve operational efficiency. Through accurate real-time monitoring and feedback, the complete execution of each operation is ensured, avoiding equipment damage and production stagnation caused by operational errors, thereby improving operational efficiency and safety.

[0099] 5. Environmental adaptability and efficient resource utilization. In the harsh underground coal mine environment, maintaining an efficient number of sensors and developing efficient detection algorithms are major challenges. This application achieves online, real-time monitoring of drill pipe thread fastenings without increasing the number of sensors by optimizing algorithms and data processing methods. This innovation ensures efficient and reliable monitoring even in harsh environments.

[0100] 6. Improved precision and reliability. Traditional thread tightening operations often rely on open-loop control of time and speed, which cannot ensure operational precision and accuracy. This application introduces a detection algorithm based on multi-source data fusion, utilizing data from multiple sensors (such as force sensors, angle sensors, etc.) for comprehensive analysis, thereby enabling accurate determination of the thread tightening status, including key steps such as tightening to full strength.

[0101] 7. Improved efficiency and safety. Traditional drill pipe threading operations are inefficient and can easily lead to prolonged pressure buildup, which can damage the equipment. This application can accurately determine whether the operation is in place, effectively improving threading efficiency, saving valuable production time, and significantly reducing the risk of damage to equipment caused by pressure buildup.

[0102] 8. Enhanced Safety. To further improve the safety of drill pipe thread tightening operations, this invention employs a redundant design strategy. Through multiple detection algorithms and data redundancy, it effectively monitors and confirms whether the threads are tightened properly, significantly improving the safety and reliability of equipment operation.

[0103] In summary, this application not only solves many bottleneck problems in the existing technology, but also introduces advanced monitoring and control methods for the drill pipe thread tightening operation of underground coal mine drilling rigs, providing a new technical solution for industrial production.

[0104] The above descriptions are merely examples of various embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A drill pipe thread fastening detection method based on multi-source data fusion, characterized in that: include: Step S1, determining whether the drilling rig has the conditions for screwing; Step S2, when the drilling rig is ready for threading, threading the drill pipe is performed; Step S3, determining the initial positions of the threaded portion of the screwdriver according to the current position parameter of the power head and the current feed pressure of the power head, respectively, and recording them as the first initial position and the second initial position; Step S4, determining the final position of the thread of the button; Step S5, determining a first effective thread length according to the first initial position and the final position, and determining a second effective thread length according to the second initial position and the final position; Step S6, comparing the first effective thread length and the second effective thread length with the thread length interval to determine whether the thread is tightened; Step S7: When it is determined that the thread is not tightened, the drill pipe thread tightening operation is performed again, and the process returns to step S4.

2. The method according to claim 1, wherein Step S1, determining whether the drilling rig has the conditions for threading, includes: If the front clamp pressure is greater than 15Mpa or the rear clamp pressure is greater than 15Mpa, and when the rear thread tightening command is received, the power head position is in the range of 0-30mm; when the front thread tightening command is received, the power head position is in the range of 115-135mm, the drilling rig is judged to have the tightening conditions.

3. The method according to claim 1, wherein Step S3, determining the initial position of the threaded portion according to the current position parameters of the power head, includes: Determine the current speed of the power head according to the current position parameter of the power head; Calculating the absolute value of the difference between the current speed of the power head and the relative average speed change; If the absolute value of the difference is greater than or equal to the theoretical speed change value of the threading point, the power head position corresponding to the current position parameter of the power head is the determined initial position of the threading initial stage.

4. The method according to claim 1, wherein Step S3, determining the initial position of the threaded portion according to the current feed pressure of the power head, includes: Get the current feed pressure of the power head; Calculating the absolute value of the difference between the current feed pressure of the power head and the relative average feed pressure change; If the absolute value of the difference is greater than or equal to the theoretical feed pressure change value of the threading point, the power head position corresponding to the current position parameter of the power head is the determined initial position of the threading initial thread.

5. The method according to claim 1, wherein Step S4, determining the final position of the thread of the button, includes: When the feed speed of the power head is 0 and the rotation speed of the power head is 0, the position parameters of the power head at this time are recorded, which is the determined final position of the screw thread.

6. The method according to claim 1, wherein Step S5, determining a first effective thread length according to the first initial position and the final position, and determining a second effective thread length according to the second initial position and the final position; comprising: Calculating an absolute value of a difference between the first initial position and the final position, which is the determined first effective threading length; The absolute value of the difference between the second initial position and the final position is calculated to be the determined second effective threading length.

7. The method according to claim 1, wherein Step S6, comparing the first effective thread length and the second effective thread length with the thread length interval to determine whether the thread is tightened, including: If the first effective thread length and the second effective thread length are both within the thread length interval, it is determined that the thread is tightened; otherwise, it is determined that the thread is not tightened.

8. A drill pipe thread fastening detection device based on multi-source data fusion, characterized in that: include: The first judgment module is used to judge whether the drilling rig has the conditions for screwing; The screw threading module is used to screw the drill pipe thread when the drilling rig is ready for screw threading. An initial position determination module is used to determine the initial positions of the threaded fastener according to the current position parameter of the power head and the current feed pressure of the power head, which are recorded as the first initial position and the second initial position; A final position determination module is used to determine the final position of the thread of the screw thread; a length determination module, configured to determine a first effective thread length according to the first initial position and the final position, and to determine a second effective thread length according to the second initial position and the final position; The second judgment module is used to compare the first effective thread tightening length and the second effective thread tightening length with the thread tightening length interval respectively to determine whether the thread is tightened; when it is determined that the thread is not tightened, the drill pipe thread tightening operation is performed again and the final position determination module is entered.

9. A drill pipe thread fastening detection system based on multi-source data fusion, characterized in that: include: Drilling rig body, intelligent sensing unit, algorithm decision unit and control unit; The various components in the drilling rig body cooperate with each other to realize the thread tightening operation of the drill rod; The intelligent sensing unit includes a plurality of sensors for obtaining the position parameters of the power head, the feed pressure of the power head, and the rotation speed of the power head; The algorithm decision unit is used to implement the drill pipe thread fastening detection method based on multi-source data fusion according to any one of claims 1 to 7; The control unit is used to control the drilling rig body to perform the drill rod thread tightening operation according to the detection result of the algorithm decision unit.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the drill pipe thread fastening detection method based on multi-source data fusion according to any one of claims 1 to 7.

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