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

Abstract

The application relates to a drilling rod thread screwing detection method based on multi-source data fusion, which improves the success rate of drilling rod screwing operation without changing the number of sensors and meeting the operation function requirements. The application realizes online real-time monitoring of drilling rod screwing operation, timely finds the screwing not tight condition, effectively guarantees the drilling rod screwing operation, improves the operation efficiency, and ensures the reliability and stability of the system. The application greatly optimizes the performance of the automatic drilling machine in the coal mine, improves the efficiency and safety of the whole process operation. By reducing the error of human judgment and the risk of operation not in place, the accident rate and loss in the operation process are effectively reduced, the safety of equipment and personnel is maximally protected, and important technical progress is brought to the coal mine drilling machine operation.

Description

Technical Field

[0001] This application relates to the field of automatic drilling rig technology in coal mines, and more specifically, to a method for detecting thread tightening of drill rods based on multi-source data fusion. Background Technology

[0002] In underground tunnel drilling operations in coal mines, threading and unthreading of drill rods are critical processes. The process of threading drill rods involves three steps: threading the pre-thread, threading the post-thread, and unthreading. Unthreading drill rods involves two steps: unthreading the pre-thread and unthreading the post-thread. During drilling, drill rods are subjected to complex bending, torsional, and combined forces. If the threads are not properly threaded, it can lead to drill rod bending, deformation of the female thread, or breakage of the male thread, potentially causing equipment damage and economic losses. Similarly, incomplete unthreading or improper loosening can affect the safety and efficiency of subsequent operations, potentially leading to equipment collisions or damage, thus impacting production efficiency and safety.

[0003] Currently, commonly used detection methods primarily rely on the timing of tightening and loosening operations to determine completion. This method is an open-loop control approach, which has two main problems: First, it incurs significant time overhead, requiring substantial time to ensure each operation is executed completely. Second, controlling only by position and time cannot provide real-time detection of operation completion, easily leading to incomplete operations, accidents, or equipment damage. Third, the current drill rod machining length dimensional error is relatively large (4-10mm), coupled with significant deviations in the drill rod placement within the hopper (-10mm to 10mm), causing the actual tightening point position to frequently change dynamically. Traditional fixed-point tightening methods often cannot meet the real-time requirements of dynamic tightening operations, further increasing the difficulty and risk of operation. Summary of the Invention

[0004] To overcome at least one deficiency in the prior art, this application provides a method for detecting thread tightening of drill pipes based on multi-source data fusion.

[0005] Firstly, a method for detecting thread tightening in drill pipes based on multi-source data fusion is provided, including:

[0006] Step S1: Determine whether the drilling rig is ready for screwing.

[0007] Step S2: When the drilling rig is ready for thread tightening, perform the thread tightening operation on the drill rod.

[0008] Step S3: Determine the initial position of the screw thread based on the current position parameters of the power head and the current feed pressure of the power head, and record them as the first initial position and the second initial position respectively.

[0009] Step S4: Determine the final position of the screw thread;

[0010] Step S5: Determine the first effective threading length based on the first initial position and the final position, and determine the second effective threading length based on the second initial position and the final position;

[0011] Step S6: Compare the first effective thread length and the second effective thread length with the thread length range to determine whether the thread is tightened.

[0012] Step S7: If it is determined that the thread is not tightened, perform the drill pipe thread tightening operation again and return to step S4.

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

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

[0015] In one embodiment, step S3, determining the initial position of the threaded joint based on the current position parameters of the power head, includes:

[0016] The current speed of the power head is determined based on the current position parameters of the power head;

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

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

[0019] In one embodiment, step S3, determining the initial position of the threaded joint based on the current feed pressure of the power head, includes:

[0020] Obtain 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 change in the relative average feed pressure;

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

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

[0024] When the feed rate of the power head is 0 and the rotation speed of the power head is 0, record the position parameters of the power head at this time, which is the final position of the threaded connection.

[0025] In one embodiment, step S5, determining the first effective threading length based on the first initial position and the final position, and determining the second effective threading length based on the second initial position and the final position, includes:

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

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

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

[0029] If both the first and second effective thread lengths are within the thread length range, the thread is considered tightened; otherwise, the thread is considered not tightened.

[0030] Secondly, a drill pipe thread tightening detection device based on multi-source data fusion is provided, comprising:

[0031] The first judgment module is used to determine whether the drilling rig meets the conditions for screwing.

[0032] The threading module is used to perform threading operations on drill rods when the drilling rig is ready for threading.

[0033] The initial position determination module is used to determine the initial position of the screw thread based on the current position parameters of the power head and the current feed pressure of the power head, and is denoted as the first initial position and the second initial position respectively.

[0034] The final position determination module is used to determine the final position of the threaded connection;

[0035] The length determination module is used to determine the first effective threading length based on the first initial position and the final position, and to determine the second effective threading length based on the second initial position and the final position.

[0036] The second judgment module is used to compare the first effective thread length and the second effective thread length with the thread length range 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] Thirdly, a drill pipe thread tightening detection system based on multi-source data fusion is provided, including: a drilling rig body, an intelligent sensing unit, an algorithm decision-making unit, and a control unit;

[0038] The various components in the drilling rig body work together to achieve the threading operation of the drill rod;

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

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

[0041] The control unit is used to control the drilling rig body to perform drill rod thread tightening operation based on the detection results of the algorithm decision unit.

[0042] Fourthly, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the aforementioned method for detecting thread tightening of drill pipes based on multi-source data fusion.

[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 or meeting the operational functional requirements.

[0045] 2. This application enables online real-time monitoring of drill pipe tightening operations, promptly detecting situations where tightening is not tight, effectively ensuring drill pipe tightening operations, improving work efficiency, and ensuring the reliability and stability of the system.

[0046] 3. This application will significantly optimize the performance of automatic drilling rigs in coal mines, improving the efficiency and safety of the entire operation process. By reducing the risks of human error and improper operation, it effectively reduces the accident rate and losses during operation, while maximizing the protection of equipment and personnel safety, bringing significant technological advancements to the operation of underground drilling rigs in coal mines. Attached Figure Description

[0047] This application can be better understood by referring to the description given below in conjunction with the accompanying drawings, which, together with the detailed description below, are incorporated in and form part of this specification. In the drawings:

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

[0049] Figure 2A structural block diagram of a drill pipe thread tightening detection device based on multi-source data fusion is shown. Detailed Implementation

[0050] Exemplary embodiments of the present application will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of the actual embodiments are described in the specification. However, it should be understood that many embodiment-specific decisions can be made in the development of any such actual embodiment to achieve the developer’s specific objectives, and these decisions may vary as the embodiments differ.

[0051] It should also be noted that, in order to avoid obscuring this application with unnecessary details, only the device structure closely related to the solution according to this application is shown in the accompanying drawings, while other details that are not closely related to this application are omitted.

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

[0053] To address the shortcomings of existing methods for detecting whether the threads of underground coal mine drilling rigs are properly tightened, this application proposes a method for detecting the threads of drill rods based on multi-source data fusion. The aim is to solve the technical problems of existing underground coal mine drilling rigs that rely on open-loop control for drill rod tightening operations, cannot monitor whether the threads are tightened, and only rely on extending the action time to ensure that each actuator moves in place, resulting in long action time, low production efficiency, and significant safety hazards and poor reliability due to the inability to detect whether the action is in place.

[0054] This application provides a drill pipe thread tightening 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 within the drilling rig work together to perform the threading operation on the drill rod. Specifically, the drilling rig mainly consists of: the frame, front clamp, rear clamp, unclamp, power head, active drill rod, and control unit. The drilling rig has a main body at the front and a control unit at the rear. From front to back, the main body consists of a front clamp, a rear clamp, and a power head. The front and rear clamps are at the front, and the power head is at the rear. A release mechanism is mounted on the right side of the main body, on the same plane as the front clamp. The extension and retraction of the release mechanism causes the front clamp to rotate along the drill rod's central axis. An active drill rod is mounted in front of the power head. The drill rod to be threaded is typically located between the front clamp and the active drill rod. The rear clamp clamps the drill rod, and the power head rotates to tighten the threads between the active drill rod and the drill rod to be threaded. When the rear clamp releases the front clamp, the power head rotates, causing the drill rod to rotate and advance, thus tightening the threads between the drill rod to be threaded and the drill rod already threaded.

[0056] The intelligent sensing unit includes multiple sensors for acquiring power head position parameters, power head feed pressure, and power head rotation speed; these mainly include a displacement sensor, a rotation speed sensor, and a feed pressure sensor. The displacement sensor is located on the machine body, with one end fixed to the rear end and the other end connected to the power head, used to detect the position length of the power head relative to the rear end of the guide rail; the rotation speed sensor is installed at the rear end of the power head to detect its rotational speed; and the feed pressure sensor is mainly used to detect the oil pressure supplied to the power head when it is moving forward.

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

[0058] The control unit is used to control the drilling rig body to perform drill rod thread tightening operation based on the detection results of the algorithm decision unit.

[0059] Both the algorithm decision unit and the control unit are installed inside a control box with explosion-proof protection to meet the explosion-proof requirements of underground coal mines. The algorithm decision unit is mainly used for storing thread monitoring algorithm programs, including data storage, logical calculations, and numerical calculations. These algorithms can not only accurately determine the thread tightening effect but also adaptively handle tightening failures, ensuring smooth operation. The control unit mainly consists of a control circuit board, used to parse the control commands from the algorithm decision unit, forming the execution language of the drilling rig host, and controlling the various components of the drilling rig host to operate according to the specified process.

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

[0061] This application also provides a method for detecting thread tightening in drill pipes based on multi-source data fusion. Figure 1 A flowchart of a drill pipe thread tightening detection method based on multi-source data fusion is shown. (See attached image) Figure 1 The methods include:

[0062] Step S1: Determine whether the drilling rig is ready for threading.

[0063] Specifically, if the pressure of the front clamp is greater than 15 MPa or the pressure of the rear clamp is greater than 15 MPa, and the power head position is in the 0-30 mm range when the rear thread tightening command is received, and the power head position is in the 115-135 mm range when the front thread tightening command is received, then the drilling rig is deemed to have the tightening conditions.

[0064] Step S2: When the drilling rig is ready for thread tightening, perform the thread tightening operation on the drill rod.

[0065] Step S3: Determine the initial position of the screw thread based on the current position parameters of the power head and the current feed pressure of the power head, and record them as the first initial position and the second initial position.

[0066] Specifically, the initial position of the threaded joint is determined based on the current position parameters of the power head, including:

[0067] First, the current velocity of the power head is determined based on its current position parameters. Here, the absolute value of the difference between the current position parameters of the power head 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, calculate the absolute value of the difference between the current speed of the power head and the change in relative average speed;

[0069] Here, based on the position parameters of the power head recorded at adjacent sampling times, the velocity of the power head at that adjacent time is calculated, and the average value of the velocity of the power head at multiple adjacent time times is calculated, which is the relative average velocity change.

[0070] Then, if the absolute value of the difference is greater than or equal to the theoretical speed change value of the tightening point, the position of the power head corresponding to the current position parameter of the power head is the determined initial position of the tightening thread. Here, the theoretical speed change value of the tightening point is obtained by data analysis of big data obtained from field industrial applications. Based on field applications and experiments, the theoretical speed change value of the tightening point is determined to be 2 mm / s for general tightening operations.

[0071] Specifically, the initial position of the threaded joint is determined based on the current feed pressure of the power head, including:

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

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

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

[0075] Then, if the absolute value of the difference is greater than or equal to the theoretical feed pressure change value at the tightening point, the position of the power head corresponding to the current position parameter of the power head is the determined initial position of the tightening thread. Here, the theoretical feed pressure change value at the tightening point is obtained through data analysis of big data obtained from field industrial applications.

[0076] Step S4: Determine the final position 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 final position of the threaded connection.

[0078] Step S5: Determine the first effective threading length based on the first initial position and the final position, and determine the second effective threading length based on 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 thread length;

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

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

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

[0083] Step S7: If it is determined that the thread is not tightened, perform the drill pipe thread tightening operation again and return to step S4.

[0084] Here, when performing the drill pipe thread tightening operation again, the power head needs to be reversed one turn to loosen the male and female threads one turn first, in order to move forward again and prepare for the tightening operation. 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] Employing the same inventive concept as the drill pipe thread tightening detection method based on multi-source data fusion, this embodiment also provides a corresponding drill pipe thread tightening detection device based on multi-source data fusion. Figure 2 The diagram shows the structural block diagram of a drill pipe thread tightening detection device based on multi-source data fusion, including:

[0086] The first judgment module 21 is used to determine whether the drilling rig has the conditions for tightening.

[0087] The threading module 22 is used to perform threading operations on drill rods when the drilling rig is ready for threading.

[0088] The initial position determination module 23 is used to determine the initial position of the screw thread based on the current position parameters of the power head and the current feed pressure of the power head, and is denoted as the first initial position and the second initial position respectively.

[0089] Final position determination module 24 is used to determine the final position of the screw thread;

[0090] The length determination module 25 is used to determine the first effective threading length based on the first initial position and the final position, and to determine the second effective threading length based on the second initial position and the final position.

[0091] The second judgment module 26 is used to compare the first effective thread length and the second effective thread length with the thread length range 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 tightening detection device based on multi-source data fusion in this embodiment has the same inventive concept as the drill pipe thread tightening detection method based on multi-source data fusion described above. Therefore, the specific implementation of this device can be found in the embodiment section of the drill pipe thread tightening detection method based on multi-source data fusion described above, and its technical effects correspond to the technical effects of the above method, so it will not be repeated here.

[0093] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the above-described method for detecting thread tightening of drill pipes based on multi-source data fusion.

[0094] Compared with the prior art, this application has the following technical effects:

[0095] 1. Online monitoring of thread tightening has been 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 thread tightening operations and detecting whether the drill pipe threads are tightened properly.

[0096] 2. Improve the accuracy of thread tightening. Propose an effective tightening length algorithm to accurately determine whether the tightening is complete, thereby improving the accuracy of thread tightening. Develop an effective tightening length algorithm that can analyze and identify abnormal situations during the drill pipe tightening process in real time, such as incomplete tightening.

[0097] 3. Redundant design effectively ensures the safety of screwing operations. A screwing length algorithm based on speed change + rotational speed and a screwing / unscrewing length algorithm based on feed pressure + rotational speed are proposed, implementing a redundant design to improve the accuracy of measurement and judgment.

[0098] 4. Significantly improves operational efficiency. Accurate real-time monitoring and feedback ensure the complete execution of each operation, preventing equipment damage and production stoppages caused by operational errors, thereby improving operational efficiency and safety.

[0099] 5. Environmental adaptability and efficient resource utilization. In the harsh underground environment of coal mines, achieving a sufficient number of sensors and demanding efficient detection algorithms is a major challenge. This application, through optimized algorithms and data processing methods, achieves online real-time monitoring of drill pipe thread tightening without increasing the number of sensors. This innovation ensures efficient and reliable completion of monitoring tasks even in harsh environments.

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

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

[0102] 8. Enhanced Safety Performance. 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 properly tightened, thereby 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 threading operation of drill rods in underground coal mine drilling rigs, providing a brand-new technical solution for industrial production.

[0104] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for detecting the screwing of drill pipe threads based on multi-source data fusion, characterized in that, include: Step S1: Determine whether the drilling rig is ready for screwing. Step S2: When the drilling rig is ready for thread tightening, perform the thread tightening operation on the drill rod. Step S3: Determine the initial position of the screw thread based on the current position parameters of the power head and the current feed pressure of the power head, and record them as the first initial position and the second initial position respectively. Step S4: Determine the final position of the screw thread; Step S5: Determine the first effective threading length based on the first initial position and the final position, and determine the second effective threading length based on the second initial position and the final position; Step S6: Compare the first effective thread length and the second effective thread length with the thread length range to determine whether the thread is tightened. Step S7: If it is determined that the thread is not tightened, perform the drill pipe thread tightening operation again and return to step S4.

2. The method of claim 1, wherein, Step S1, determine whether the drilling rig meets the requirements for threading, including: If the pressure of the front clamp is greater than 15 MPa or the pressure of the rear clamp is greater than 15 MPa, and the power head position is in the 0-30 mm range when the rear thread tightening command is received, or the power head position is in the 115-135 mm range when the front thread tightening command is received, then the drilling rig is deemed to have the tightening conditions.

3. The method as described in claim 1, characterized in that, Step S3, determine the initial position of the threaded joint based on the current position parameters of the power head, including: The current speed of the power head is determined based on the current position parameters of the power head; Calculate the absolute value of the difference between the current speed of the power head and the change in relative average speed; If the absolute value of the difference is greater than or equal to the theoretical speed change value of the tightening point, then the position of the power head corresponding to the current position parameter of the power head is the determined initial position of the tightening thread.

4. The method as described in claim 1, characterized in that, Step S3, determine the initial position of the threaded joint based on the current feed pressure of the power head, including: Obtain the current feed pressure of the power head; Calculate the absolute value of the difference between the current feed pressure of the power head and the change in the relative average feed pressure; If the absolute value of the difference is greater than or equal to the theoretical feed pressure change value at the screwing point, then the position of the power head corresponding to the current position parameter of the power head is the determined initial position of the screwing thread.

5. The method as described in claim 1, characterized in that, Step S4, determine the final position of the screw thread, including: When the feed rate of the power head is 0 and the rotation speed of the power head is 0, record the position parameters of the power head at this time, which is the final position of the threaded connection.

6. The method as described in claim 1, characterized in that, Step S5, determining the first effective threading length based on the first initial position and the final position, and determining the second effective threading length based on the second initial position and the final position; including: The absolute value of the difference between the first initial position and the final position is the determined first effective thread length. The absolute value of the difference between the second initial position and the final position is calculated, which is the determined second effective thread length.

7. The method as described in claim 1, characterized in that, Step S6, comparing the first effective thread length and the second effective thread length with the thread length range respectively to determine whether the thread is tightened, including: If both the first effective thread length and the second effective thread length are within the thread length range, the thread is determined to be tightened; otherwise, the thread is determined to be loose.

8. A drill pipe thread tightening detection device based on multi-source data fusion, characterized in that, include: The first judgment module is used to determine whether the drilling rig meets the conditions for screwing. The threading module is used to perform threading operations on drill rods when the drilling rig is ready for threading. The initial position determination module is used to determine the initial position of the screw thread based on the current position parameters of the power head and the current feed pressure of the power head, and is denoted as the first initial position and the second initial position respectively. The final position determination module is used to determine the final position of the threaded connection; The length determination module is used to determine a first effective threading length based on the first initial position and the final position, and to determine a second effective threading length based on the second initial position and the final position; The second judgment module is used to compare the first effective thread length and the second effective thread length with the thread length range 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 tightening detection system based on multi-source data fusion, characterized in that, include: Drilling rig body, intelligent sensing unit, algorithm decision-making unit, and control unit; The various components in the drilling rig body cooperate with each other to achieve the drilling rod thread tightening operation; The intelligent sensing unit includes multiple sensors for acquiring power head position parameters, power head feed pressure, and power head rotation speed; The algorithm decision unit is used to implement the drill pipe thread buckling detection method based on multi-source data fusion as described in any one of claims 1-7; The control unit is used to control the drilling rig body to perform drill rod thread tightening operation based on the detection results of the algorithm decision unit.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the drill pipe thread tightening detection method based on multi-source data fusion as described in any one of claims 1-7.

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