Method and system for detecting real grounding specific pressure of rotary drilling rig and rotary drilling rig

Abstract

The invention discloses a method and system for detecting the real ground pressure of a rotary drilling rig and the rotary drilling rig. The method comprises the steps that mass center measurement data of all parts of the rotary drilling rig in an initial state and initial coordinates of original points of all coordinate systems are obtained; acquiring data of each sensor after the whole machine acts; calculating complete machine equivalent barycentric coordinates and complete machine equivalent gravity after the complete machine acts according to the mass center measurement data of each part of the rotary drilling rig in the initial state, the initial coordinates of the original point of each coordinate system and the data of each sensor after the complete machine acts; and calculating the maximum value and the minimum value of the grounding specific pressure of the two crawler belts and the positions of the maximum value and the minimum value of the grounding specific pressure in the length direction of the crawler belts according to the complete machine equivalent barycentric coordinates and the complete machine equivalent gravity. The maximum value and the minimum value of the grounding specific pressure of the two crawler belts and the positions of the maximum value and the minimum value of the grounding specific pressure in the length direction of the crawler belts are visually displayed, safety reminding is carried out, and the safety risk of site construction is effectively reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and in particular relates to a method and system for detecting the true ground pressure ratio of a rotary drilling rig, and a rotary drilling rig. Background Art

[0002] Ground pressure is a critical parameter for on-site construction of rotary drilling rigs. Construction parties typically impose restrictions on the ground pressure of the entire rotary drilling rig based on the on-site geological conditions. Furthermore, due to the forward center of gravity of the rotary drilling rig, the ground pressure of the crawler baseplate is unevenly distributed, resulting in excessive ground pressure in certain areas of the crawler during construction. Furthermore, if the length of one end of the crawler track where the ground pressure is zero is excessive, the entire machine also risks tipping over. The construction conditions of rotary drilling rigs are complex, and the reaction forces generated by the boom position, the drill mast position, the slewing platform rotation angle, the crawler track climbing angle, the main reel lifting force, and the pressurization system pressure on the entire machine all affect the ground pressure, making it difficult to measure and display the true ground pressure.

[0003] Currently, the ground pressure ratio of a rotary drilling rig is usually calculated by dividing the total weight of the rig by the track contact area. This cannot reflect the actual ground pressure ratio value of the rotary drilling rig during construction, posing a construction safety risk. Summary of the Invention

[0004] The purpose of this application is to overcome the deficiencies in the prior art and to provide a method, system and rotary drilling rig for detecting the true ground pressure ratio of a rotary drilling rig. The method and system can use the sensors already configured in the existing traditional rotary drilling rig to perform real-time ground pressure ratio detection, embed a ground pressure ratio visualization function and realize real-time display of the ground pressure ratio of the rotary drilling rig.

[0005] To achieve the above objectives, this application is implemented using the following technical solutions:

[0006] In a first aspect, the present application provides a method for detecting the true ground pressure ratio of a rotary drilling rig, comprising:

[0007] Obtain the center of mass measurement data of each component of the rotary drilling rig and the initial coordinates of the origin of each coordinate system in the initial state;

[0008] Acquire the data of each sensor after the whole machine moves. The sensors include the main winch lifting force sensor, the drill mast inclination sensor, the boom inclination sensor, the rotation angle sensor, the crawler inclination sensor and the pressure sensor; the main winch lifting force sensor is used to measure the tension of the drill rod on the main winch wire rope, the drill mast inclination sensor is used to measure the angle between the drill mast on the central symmetry plane and the vertical direction of the ground, the boom inclination sensor is used to measure the angle between the lower boom on the central symmetry plane and the vertical direction of the ground, the rotation angle sensor is used to measure the angle between the rotary platform and the central symmetry plane of the walking crawler, the crawler inclination sensor is used to measure the climbing angle of the crawler chassis, and the pressure sensor is used to measure the pressure of the pressurization system on the power head;

[0009] Based on the center of mass measurement data of each component of the rotary drilling rig in the initial state, the initial coordinates of the origin of each coordinate system, and the sensor data after the whole machine moves, the equivalent center of gravity coordinates and the equivalent gravity of the whole machine after the whole machine moves are calculated;

[0010] The maximum and minimum ground contact pressure ratios of the two tracks and their positions along the track length are calculated based on the coordinates of the equivalent center of gravity of the entire machine and the equivalent gravity of the entire machine.

[0011] In a second aspect, the present application provides a controller, comprising a processor and a storage medium;

[0012] The storage medium is used to store instructions;

[0013] The processor is configured to operate according to the instructions to execute the method of the first aspect.

[0014] In a third aspect, the present application provides a rotary drilling rig true ground pressure ratio detection system, including the controller described above.

[0015] In some embodiments, the real ground pressure ratio detection system of the rotary drilling rig further includes: a main winch lifting force sensor, a drill mast inclination sensor, a variable amplitude inclination sensor, a return angle sensor, a crawler inclination sensor, a pressure sensor and a display. The main winch lifting force sensor is used to measure the tension of the drill rod on the main winch wire rope; the drill mast inclination sensor is used to measure the angle between the drill mast on the central symmetry plane and the vertical direction of the ground; the variable amplitude inclination sensor is used to measure the angle between the lower boom on the central symmetry plane and the vertical direction of the ground; the return angle sensor is used for the angle between the rotary platform and the central symmetry plane of the walking crawler; the crawler inclination sensor is used to measure the climbing angle of the crawler chassis; the pressure sensor is used to measure the pressure of the pressurization system on the power head; the display is used to display the maximum and minimum ground pressure ratios and the positions of the maximum and minimum ground pressure ratios in the crawler length direction and provide safety reminders;

[0016] The main winch lifting force sensor, the drill mast inclination sensor, the luffing inclination sensor, the return angle sensor, the crawler inclination sensor, the pressure sensor and the display are respectively connected to the controller signal.

[0017] In some embodiments, the rotary drilling rig real ground pressure ratio detection system also includes: a safety module, which is used to: issue a safety prompt when the maximum ground pressure ratio is greater than a first safety threshold; and issue an anti-overturning prompt when the area where the minimum ground pressure ratio is less than the second safety threshold is larger than a set area.

[0018] In a fourth aspect, the present application provides a rotary drilling rig equipped with the controller or the rotary drilling rig true ground pressure ratio detection system.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present application provides a method, system and rotary drilling rig for detecting the actual ground pressure ratio of a rotary drilling rig. The method utilizes sensors already configured in existing traditional rotary drilling rigs and embeds a ground pressure ratio visualization function to achieve real-time display of the ground pressure ratio of the rotary drilling rig. The sensors used in the rotary drilling rig in the present application include: main winch lifting force sensor, drill mast inclination sensor, variable amplitude inclination sensor, return angle sensor, crawler inclination sensor, and pressure sensor. Combined with the measurement of the center of mass of the components and the establishment of a spatial coordinate system group, the controller realizes the calculation of the equivalent gravity and equivalent center of gravity coordinates of the rotary drilling rig in real time, and the ground pressure ratio calculation program, and finally displays the ground pressure ratio of the whole machine in real time on the display. It has the following advantages:

[0021] 1) This application provides a method and system for detecting the actual ground pressure ratio of a rotary drilling rig, and a rotary drilling rig, which can realize the real-time display of the ground pressure ratio during the construction of the rotary drilling rig, effectively reducing the safety risks of on-site construction.

[0022] 2) This application provides a method, system and rotary drilling rig for detecting the actual ground pressure ratio of a rotary drilling rig, which can embed the function of visualizing the actual ground pressure ratio without making any changes to the hardware equipment of the rotary drilling rig, with low cost and high feasibility.

[0023] 3) The present application provides a method, system and rotary drilling rig for detecting the actual ground pressure ratio of a rotary drilling rig, which comprehensively considers the influence of the entire rotary drilling rig's boom position, the drill mast's position, the slewing platform's rotation angle, the crawler climbing angle, the main reel's lifting force and the pressurization system's pressure on the entire machine's reaction force on the actual ground pressure ratio, realizes the real numerical display of the ground pressure ratio during construction, and solves the technical problem of visualizing the ground pressure ratio.

[0024] 4) This application provides a method and system for detecting the true ground pressure ratio of a rotary drilling rig, and a rotary drilling rig, which can simultaneously meet the requirements of the true ground pressure ratio detection in both the working state and the transportation state. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the real ground pressure detection system for a rotary drilling rig provided in this embodiment;

[0026] Figure 2 Schematic diagram of the display content provided by the display in this embodiment.

[0027] Figure 3 A schematic diagram is provided for establishing the spatial coordinate system of this embodiment;

[0028] In the figure: 1. Main winch lifting force sensor, 2. Drill mast inclination sensor, 3. Luffing inclination sensor, 4. Return angle sensor, 5. Track inclination sensor, 6. Pressure sensor, 7. Machine weight equivalent gravity and equivalent center of gravity coordinate calculation program, 8. Ground pressure ratio calculation program, 9. Controller, 10. Display, 11. Track chassis, 12. Rotating platform, 13. Lower boom, 14. Upper boom, 15. Tripod, 16. Drill mast, 17. Drill pipe, 18. Pressurization system, 19. Main winch wire rope. DETAILED DESCRIPTION

[0029] The present application will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are not intended to limit the scope of protection of the present application.

[0030] Example 1: Figure 1 As shown, this embodiment provides a method for detecting the true ground pressure ratio of a rotary drilling rig, comprising the following steps:

[0031] Step S1: Obtain the center of mass measurement data of each component of the rotary drilling rig and the initial coordinates of the origin of each coordinate system in the initial state.

[0032] Specifically in this embodiment, obtaining the center of mass measurement data of each component of the rotary drilling rig and the initial coordinates of the origin of each coordinate system in the initial state includes:

[0033] The steps to establish a spatial coordinate system group are as follows: Figure 3 As shown, the crawler chassis 11 is taken as the reference, and the intersection of the rotary axis of the rotary platform and the ground is taken as the origin O O , establish a spatial coordinate system {O}; take the rotary platform 12 as the reference, and the intersection of the rotary platform axis and the bottom surface of the rotary platform as the origin A O , establish the spatial coordinate system {A}; take the lower boom 13 as the reference, and the intersection of the lower boom lower rotation axis and the lower boom center symmetry plane as the origin B O, establish a spatial coordinate system {B}; take the upper boom 14 as the reference, and the intersection of the upper boom lower rotation axis and the lower boom center symmetry plane as the origin C O , establish the spatial coordinate system {C}; take the tripod 15 as the reference, and the intersection of the lower rotary axis of the tripod and the central symmetry plane of the lower boom as the origin D O , establish the spatial coordinate system {D}; take the drill mast 16 as the reference, and the intersection of the drill mast rotation axis and the center symmetry plane of the lower boom as the origin E O , establish the spatial coordinate system {E}; the positive directions of the spatial coordinate system group are established using the right-hand rule.

[0034] The rotary drilling rig is in the state of vertical mast and minimum amplitude change on the horizontal plane as the initial state, and the angle between the lower boom and the vertical direction of the ground on the central symmetry plane detected by the lower boom 13 inclination sensor in the initial state is recorded. ; Record the initial state, and measure the mass m of the crawler chassis 11 in the spatial coordinate system {O} b and centroid coordinates O b. Measure the mass m of the rotary platform 12 in the spatial coordinate system {A} p and centroid coordinates A p; measure the mass m of the lower boom 13 in the spatial coordinate system {B} d and centroid coordinates B d; Measure the mass m of the upper boom 14 in the spatial coordinate system {C} u and centroid coordinates C u; measure the mass m of the tripod 15 in the spatial coordinate system {D} t and centroid coordinates D t; The mass m of the drill mast 16 is measured in the spatial coordinate system {E} h and its centroid coordinates E h, the coordinates of the highest point of the drill rod 17 measured in the spatial coordinate system {E} are E s1, the coordinates of the lowest point of the drill rod 17 measured in the spatial coordinate system {E} are E s2, the coordinates of the upper hinge point of the pressurizing system 18 are measured in the spatial coordinate system {E} as E s3, the coordinates of the lower hinge point of the pressurizing system 18 are measured in the spatial coordinate system {E} as E s4; At the same time, record the initial coordinates of the origin of each coordinate system in the initial state: record the origin of the spatial coordinate system {A} The initial coordinates in the spatial coordinate system {O} are ;Remember the origin of the space coordinate system {B} The initial coordinates in the spatial coordinate system {A} are ;Remember the origin of the space coordinate system {C} The initial coordinates in the spatial coordinate system {A} are , the origin of the space coordinate system {D} The initial coordinates in the spatial coordinate system {B} are , the origin of the space coordinate system {E} The initial coordinates in the spatial coordinate system {D} are .

[0035] Step S2: Acquire sensor data after the whole machine is in motion.

[0036] It should be noted that the sensors in this application include a main winch lifting force sensor 1, a drill mast inclination sensor 2, a boom inclination sensor 3, a rotation angle sensor 4, a crawler inclination sensor 5 and a pressure sensor 6; the main winch lifting force sensor 1 is used to measure the tension of the drill rod on the main winch wire rope. The drill mast inclination sensor 2 is used to measure the angle between the drill mast and the vertical direction of the ground on the central symmetry plane. The boom inclination sensor 3 is used to measure the angle between the lower boom and the vertical direction of the ground on the central symmetry plane. The rotation angle sensor 4 is used to measure the angle between the rotary platform and the central symmetry plane of the walking track. The track inclination sensor 5 is used to measure the climbing angle of the track chassis. , pressure sensor 6 is used to measure the pressure of the pressurization system on the power head .

[0037] Step S3: Calculate the equivalent center of gravity coordinates and equivalent gravity of the entire machine after the entire machine moves based on the center of mass measurement data of each component of the rotary drilling rig in the initial state, the initial coordinates of the origins of each coordinate system, and the sensor data after the entire machine moves.

[0038] Specifically in this embodiment, calculating the equivalent center of gravity coordinates and equivalent gravity of the entire machine after the entire machine moves includes:

[0039] S31, based on the center of mass measurement data of each component of the rotary drilling rig in the initial state, the initial coordinates of the origin of each coordinate system, and the sensor data after the whole machine moves, calculate the gravity vector force of the whole machine in the spatial coordinate system {O} after the whole machine moves , the tension vector force on the main winch wire rope 19 , the vector force of the reaction force of the pressurization system 18 , Ground support for the entire machine , the ground's support vector force on the entire machine , and the gravity vector force of the whole machine on the origin O O Radius vector , the tension vector force of the main winch wire rope 19 on the origin O O The radius vector is The vector force of the reaction force of the pressure on the pressurizing system 18 is directed to the origin O O Radius vector ;

[0040] More specifically, the gravity vector force of the entire machine in the spatial coordinate system {O} is And the gravity vector force of the whole machine to the origin O O Radius vector The calculation methods include:

[0041] After the whole machine moves, the center of mass coordinates of the lower boom 13 in the space coordinate system {A} for

[0042] ;

[0043] The coordinates of the center of mass of the upper boom 14 in the spatial coordinate system {A} for:

[0044] ;

[0045] The coordinates of the center of mass of the tripod 15 in the space coordinate system {A} for:

[0046] ;

[0047] The coordinates of the center of mass of the drill mast 16 in the spatial coordinate system {A} for:

[0048] ;

[0049] in is the coordinate transformation matrix of the spatial coordinate system {B} rotating around its x-axis, It is the angle between the lower boom on the central symmetry plane and the vertical direction of the ground after the whole machine moves. is the angle between the boom on the central symmetry plane and the vertical direction of the ground in the initial state, It is the angle between the drill mast and the vertical direction of the ground on the central symmetry plane after the whole machine moves. It is the climbing angle of the crawler chassis after the whole machine moves. is the coordinate change matrix of the spatial coordinate system {C} rotating around its x-axis, The coordinate transformation matrix of the spatial coordinate system {E} rotating around its x-axis;

[0050] The upper part includes a rotary platform 12, a lower boom 13, an upper boom 14, a tripod 15, and a drill mast 16. After the whole machine moves, the mass of the upper part is , the coordinates of the center of mass of the vehicle in the space coordinate system {A} for:

[0051] ;

[0052] The coordinates of the center of mass of the vehicle in the space coordinate system {O} are ;in, 、 、 、 、 、 They are the masses of the superstructure, slewing platform, lower boom, upper boom, tripod and drill mast respectively; is the angle between the slewing platform and the central symmetry plane of the walking track, is the coordinate transformation matrix of the spatial coordinate system {A} rotating around its z-axis;

[0053] After the whole machine moves, the mass of the whole machine is , the coordinates of the center of mass of the whole machine in the space coordinate system {O} are ;in, 、 They are the mass of the complete machine and crawler chassis respectively;

[0054] After the whole machine moves, in the space coordinate system {O}, the unit direction vector of the whole machine's gravity is , the gravity vector force of the whole machine is , the gravity vector force of the whole machine is about the origin O O The radius vector is .

[0055] The tension vector force on the main hoisting wire rope 19 in the spatial coordinate system {O} The tension vector force of the main winch wire rope 19 is about the origin O O Radius vector The calculation methods include:

[0056] After the whole machine moves, the coordinates of the highest point of the drill rod 17 in the space coordinate system {O} are for:

[0057] ;

[0058] After the whole machine moves, the coordinates of the lowest point of the drill rod 17 in the space coordinate system {O} are for:

[0059] ;

[0060] in, is the coordinate transformation matrix of the spatial coordinate system {A} rotating around its z-axis, It is the angle between the rotary platform and the central symmetry plane of the walking track after the whole machine moves. It is the angle between the lower boom on the central symmetry plane and the vertical direction of the ground after the whole machine moves. is the angle between the boom on the central symmetry plane and the vertical direction of the ground in the initial state, It is the angle between the drill mast and the vertical direction of the ground on the central symmetry plane after the whole machine moves. It is the climbing angle of the crawler chassis after the whole machine moves. is the coordinate transformation matrix of the spatial coordinate system {B} rotating around its x-axis, is the coordinate transformation matrix of the spatial coordinate system {E} rotating around its x-axis;

[0061] After the whole machine moves, the tension vector force on the main hoisting wire rope 19 in the space coordinate system {O} is , the tension vector force on the main winch wire rope To the origin O O The radius vector is .

[0062] The vector force of the reaction force of the pressurization system 18 in the space coordinate system {O} is The vector force of the reaction force of the pressure on the pressurizing system 18 is directed to the origin O O Radius vector The calculation methods include:

[0063] After the whole machine moves, the coordinates of the highest point of the pressurizing system 18 in the space coordinate system {O} are for:

[0064] ;

[0065] The coordinates of the lowest point of the pressurization system 18 in the space coordinate system {O} for:

[0066] ;

[0067] in, is the coordinate transformation matrix of the spatial coordinate system {A} rotating around its z-axis, It is the angle between the rotary platform and the central symmetry plane of the walking track after the whole machine moves. It is the angle between the lower boom on the central symmetry plane and the vertical direction of the ground after the whole machine moves. is the angle between the boom on the central symmetry plane and the vertical direction of the ground in the initial state, It is the angle between the drill mast and the vertical direction of the ground on the central symmetry plane after the whole machine moves. It is the climbing angle of the crawler chassis after the whole machine moves. is the coordinate transformation matrix of the spatial coordinate system {B} rotating around its x-axis, is the coordinate transformation matrix of the spatial coordinate system {E} rotating around its x-axis;

[0068] After the whole machine is in motion, the unit direction vector of the reaction force of the pressurizing system 18 in the space coordinate system {O} is ;

[0069] After the whole machine moves, the vector force of the pressure reaction force on the pressurizing system 18 in the space coordinate system {O} is , the vector force of the reaction force of the pressure on the pressurizing system 18 To the origin O O The radius vector is .

[0070] The ground support force on the whole machine in the spatial coordinate system {O} , the ground's support vector force on the entire machine The calculation methods include:

[0071] After the whole machine moves, in the space coordinate system {O}, the unit direction vector of the z axis is , the tension on the main winding wire rope 19 The projected force in the z-axis direction is , the reaction force of the pressure on the pressurizing system 18 The projected force in the z-axis direction is , whole machine gravity The projected force on the z-axis is ;

[0072] In the spatial coordinate system {O}, the ground support force on the whole machine is , the unit direction vector of the ground's support force on the entire machine is the same as the unit direction vector of the z-axis, which is , the vector force of the ground supporting the whole machine is .

[0073] S32. In the spatial coordinate system {O}, assume that the ground supports the entire machine To the origin O O The radius vector is , according to the spatial moment equilibrium equation: 0, calculate the ground support force vector force on the whole machine To the origin O O The radius vector is , get the equivalent center of gravity coordinates of the whole machine after the whole machine moves , is the coordinate of the equivalent center of gravity of the whole machine in the space coordinate system {O}, the equivalent gravity of the whole machine .

[0074] Step S4: Calculate the maximum and minimum ground contact pressures of the two tracks and their positions along the track length direction based on the coordinates of the equivalent center of gravity of the entire machine and the equivalent gravity of the entire machine.

[0075] Furthermore, the equivalent center of gravity coordinates of the whole machine , equivalent gravity of the whole machine Substitute in the "Ground Pressure Calculation Table for Track-Ground Contact Points" in "GB26545 Safety Specifications for Construction Machinery and Equipment", and calculate the maximum and minimum ground pressure ratios of the two tracks, as well as the positions of the maximum and minimum ground pressure ratios along the length of the tracks.

[0076] In some embodiments, the method further includes displaying the maximum and minimum ground contact pressure values ​​of the two tracks and the positions of the maximum and minimum ground contact pressure values ​​along the length direction of the tracks. Real-time display of the ground contact pressure values ​​on the display is achieved through software.

[0077] A first safety threshold and a second safety threshold may also be input based on on-site construction safety requirements. In some embodiments, the method further includes providing a safety prompt when the maximum ground pressure ratio exceeds the first safety threshold; and providing an anti-overturning prompt when the area where the minimum ground pressure ratio is less than the second safety threshold is larger than a set area.

[0078] Embodiment 2: This embodiment provides a controller, including a processor and a storage medium;

[0079] The storage medium is used to store instructions;

[0080] The processor is configured to operate according to the instructions to execute the method described in Example 1.

[0081] Example 3: Figure 1 As shown, this embodiment provides a real ground pressure ratio detection system for a rotary drilling rig, including the controller 9, and also including: a main winch lifting force sensor 1, a drill mast inclination sensor 2, a variable amplitude inclination sensor 3, a return angle sensor 4, a crawler inclination sensor 5, a pressure sensor 6 and a display 10. The main winch lifting force sensor 1 is used to measure the tension of the drill rod on the main winch wire rope; the drill mast inclination sensor 2 is used to measure the angle between the drill mast on the central symmetry plane and the vertical direction of the ground; the variable amplitude inclination sensor 3 is used to measure the angle between the lower boom on the central symmetry plane and the vertical direction of the ground; the return angle sensor 4 is used for the angle between the rotary platform and the central symmetry plane of the walking crawler; the crawler inclination sensor 5 is used to measure the climbing angle of the crawler chassis; the pressure sensor 6 is used to measure the pressure of the pressurization system on the power head; the display 10 is used to display the maximum and minimum ground pressure ratios and the positions of the maximum and minimum ground pressure ratios in the crawler length direction and safety reminders, such as Figure 2 As shown;

[0082] The main winch lifting force sensor 1, the drill mast inclination sensor 2, the luffing inclination sensor 3, the return angle sensor 4, the crawler inclination sensor 5, the pressure sensor 6, and the display 10 are respectively connected to the controller 9 for signal transmission.

[0083] In some embodiments, the real ground pressure ratio detection system of the rotary drilling rig also includes: a safety module, which is used to: issue a safety prompt when the maximum ground pressure ratio is greater than a first safety threshold; and issue an anti-overturning prompt when the area where the minimum ground pressure ratio is less than the second safety threshold is larger than a set area.

[0084] Furthermore, in the embodiment of the present application, the controller 9 is configured with a whole-machine weight equivalent gravity and equivalent center-of-gravity coordinate calculation program 7 and a ground pressure ratio calculation program 8.

[0085] Embodiment 4: This embodiment provides a rotary drilling rig, which is equipped with the above-mentioned controller or the above-mentioned rotary drilling rig true ground pressure ratio detection system.

[0086] In summary, the present application provides a method, system and rotary drilling rig for detecting the actual ground pressure ratio of a rotary drilling rig. The method utilizes sensors already configured in existing conventional rotary drilling rigs and embeds a ground pressure ratio visualization function to achieve real-time display of the ground pressure ratio of the rotary drilling rig. The sensors used in the rotary drilling rig include: a main winch lifting force sensor, a drill mast inclination sensor, a variable amplitude inclination sensor, a return angle sensor, a crawler inclination sensor and a pressure sensor. Combined with the measurement of the center of mass of the components and the establishment of a spatial coordinate system, the controller realizes the calculation of the equivalent gravity and equivalent center of gravity coordinates of the rotary drilling rig in real time, and the ground pressure ratio calculation program. Finally, the actual ground pressure ratio of the whole machine is displayed in real time on the display and a safety reminder is given, effectively reducing the safety risk of on-site construction.

[0087] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present embodiments. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0091] The above is only a preferred embodiment of the present application. 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 application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for detecting the true ground pressure ratio of a rotary drilling rig, characterized in that: include: Obtain the center of mass measurement data of each component of the rotary drilling rig and the initial coordinates of the origin of each coordinate system in the initial state; Acquire the data of each sensor after the whole machine moves. The sensors include the main winch lifting force sensor, the drill mast inclination sensor, the boom inclination sensor, the rotation angle sensor, the crawler inclination sensor and the pressure sensor; the main winch lifting force sensor is used to measure the tension of the drill rod on the main winch wire rope, the drill mast inclination sensor is used to measure the angle between the drill mast on the central symmetry plane and the vertical direction of the ground, the boom inclination sensor is used to measure the angle between the lower boom on the central symmetry plane and the vertical direction of the ground, the rotation angle sensor is used to measure the angle between the rotary platform and the central symmetry plane of the walking crawler, the crawler inclination sensor is used to measure the climbing angle of the crawler chassis, and the pressure sensor is used to measure the pressure of the pressurization system on the power head; Based on the center of mass measurement data of each component of the rotary drilling rig in the initial state, the initial coordinates of the origin of each coordinate system, and the sensor data after the whole machine moves, the equivalent center of gravity coordinates and the equivalent gravity of the whole machine after the whole machine moves are calculated; The maximum and minimum ground contact pressure ratios of the two tracks and their positions along the track length are calculated based on the coordinates of the equivalent center of gravity of the entire machine and the equivalent gravity of the entire machine.

2. The method for detecting the true ground pressure ratio of a rotary drilling rig according to claim 1, characterized in that: Obtaining the center of mass measurement data of each component of the rotary drilling rig and the initial coordinates of the origin of each coordinate system in the initial state includes: Take the crawler chassis as the reference and the intersection of the slewing platform axis and the ground as the origin O O , establish the spatial coordinate system {O}; take the rotary platform as the reference, and the intersection of the rotary platform's rotation axis and the rotary platform's bottom surface as the origin A O , establish the spatial coordinate system {A}; take the lower boom as the reference, and the intersection of the lower boom's lower rotation axis and the lower boom's central symmetry plane as the origin B O , establish the spatial coordinate system {B}; take the upper boom as the reference, and the intersection of the upper boom lower rotation axis and the lower boom central symmetry plane as the origin C O , establish the spatial coordinate system {C}; take the tripod as the reference, and the intersection of the rotation axis under the tripod and the central symmetry plane of the lower boom as the origin D O , establish the spatial coordinate system {D}; take the drill mast as the reference, and the intersection of the drill mast rotation axis and the center symmetry plane of the lower boom as the origin E O , establish the space coordinate system {E}; The rotary drilling rig is in the state of vertical mast and minimum amplitude change on the horizontal plane as the initial state. The angle between the lower boom and the vertical direction of the ground on the central symmetry plane detected by the lower boom inclination sensor in the initial state is recorded. ; Record the initial state and measure the crawler chassis mass m in the spatial coordinate system {O} b and centroid coordinates O b; Measure the mass m of the rotary platform in the spatial coordinate system {A} p and centroid coordinates A p; measure the mass m of the lower boom in the spatial coordinate system {B} d and centroid coordinates B d; Measure the upper boom mass m in the spatial coordinate system {C} u and centroid coordinates C u; tripod mass m measured in the spatial coordinate system {D} t and centroid coordinates D t; The mass m of the drill mast is measured in the spatial coordinate system {E} h and its centroid coordinates E h, the coordinates of the highest point of the drill pipe measured in the spatial coordinate system {E} are E s1, the coordinates of the lowest point of the drill pipe measured in the spatial coordinate system {E} are E s2, the coordinates of the upper hinge point of the pressurized system measured in the spatial coordinate system {E} are E s3, the coordinates of the lower hinge point of the pressurized system measured in the spatial coordinate system {E} are E s4; At the same time, record the initial coordinates of the origin of each coordinate system in the initial state: record the origin of the spatial coordinate system {A} The initial coordinates in the spatial coordinate system {O} are ;Remember the origin of the space coordinate system {B} The initial coordinates in the spatial coordinate system {A} are ;Remember the origin of the space coordinate system {C} The initial coordinates in the spatial coordinate system {A} are , the origin of the space coordinate system {D} The initial coordinates in the spatial coordinate system {B} are , the origin of the space coordinate system {E} The initial coordinates in the spatial coordinate system {D} are .

3. The method for detecting the true ground pressure ratio of a rotary drilling rig according to claim 2, characterized in that: Calculate the equivalent center of gravity coordinates and equivalent gravity of the whole machine after the whole machine moves, including: According to the center of mass measurement data of each component of the rotary drilling rig in the initial state, the initial coordinates of the origin of each coordinate system and the sensor data after the whole machine moves, the gravity vector force of the whole machine in the spatial coordinate system {O} after the whole machine moves is calculated. , the tension vector force on the main winch wire rope , the vector force of the reaction force of the pressurized system , Ground support for the entire machine , the ground's support vector force on the entire machine , and the gravity vector force of the whole machine on the origin O O Radius vector , the tension vector force of the main winch wire rope to the origin O O The radius vector is The vector force of the reaction force of the pressure on the pressurized system is the origin O O Radius vector ; In the spatial coordinate system {O}, assume that the ground supports the entire machine To the origin O O The radius vector is , according to the spatial moment equilibrium equation: 0, calculate the ground support force vector force on the whole machine To the origin O O The radius vector is , get the equivalent center of gravity coordinates of the whole machine after the whole machine moves , is the coordinate of the equivalent center of gravity of the whole machine in the space coordinate system {O}, the equivalent gravity of the whole machine .

4. The method for detecting the true ground pressure ratio of a rotary drilling rig according to claim 3, characterized in that: The gravity vector force of the whole machine in the spatial coordinate system {O} And the gravity vector force of the whole machine to the origin O O Radius vector The calculation methods include: After the whole machine moves, the coordinates of the center of mass of the lower boom in the space coordinate system {A} are ; The coordinates of the center of mass of the upper boom in the spatial coordinate system {A} are ; The coordinates of the center of mass of the tripod in the space coordinate system {A} are The coordinates of the center of mass of the drill mast in the spatial coordinate system {A} are ; in is the coordinate transformation matrix of the spatial coordinate system {B} rotating around its x-axis, It is the angle between the lower boom on the central symmetry plane and the vertical direction of the ground after the whole machine moves. is the angle between the boom on the central symmetry plane and the vertical direction of the ground in the initial state, It is the angle between the drill mast and the vertical direction of the ground on the central symmetry plane after the whole machine moves. It is the climbing angle of the crawler chassis after the whole machine moves. is the coordinate change matrix of the spatial coordinate system {C} rotating around its x-axis, The coordinate transformation matrix of the spatial coordinate system {E} rotating around its x-axis; The upper part includes the slewing platform, lower boom, upper boom, tripod and drill mast. After the whole machine moves, the mass of the upper part is , the coordinates of the center of mass of the vehicle in the space coordinate system {A} are ; The coordinates of the center of mass of the boarding part in the space coordinate system {O} are ;in, 、 、 、 、 、 They are the masses of the superstructure, slewing platform, lower boom, upper boom, tripod and drill mast respectively; is the angle between the slewing platform and the central symmetry plane of the walking track, is the coordinate transformation matrix of the spatial coordinate system {A} rotating around its z-axis; After the whole machine moves, the mass of the whole machine is , the coordinates of the center of mass of the whole machine in the space coordinate system {O} are ;in, 、 They are the mass of the complete machine and crawler chassis respectively; After the whole machine moves, in the space coordinate system {O}, the unit direction vector of the whole machine's gravity is , the gravity vector force of the whole machine is , the gravity vector force of the whole machine is about the origin O O The radius vector is .

5. The method for detecting the true ground pressure ratio of a rotary drilling rig according to claim 3, characterized in that: The tension vector force on the main hoist wire rope in the space coordinate system {O} The tension vector force of the main winch wire rope is about the origin O O Radius vector The calculation methods include: After the whole machine moves, the coordinates of the highest point of the drill pipe in the space coordinate system {O} are ; After the whole machine moves, the coordinates of the lowest point of the drill pipe in the space coordinate system {O} are ; in, is the coordinate transformation matrix of the spatial coordinate system {A} rotating around its z-axis, It is the angle between the rotary platform and the central symmetry plane of the walking track after the whole machine moves. It is the angle between the lower boom on the central symmetry plane and the vertical direction of the ground after the whole machine moves. is the angle between the boom on the central symmetry plane and the vertical direction of the ground in the initial state, It is the angle between the drill mast and the vertical direction of the ground on the central symmetry plane after the whole machine moves. It is the climbing angle of the crawler chassis after the whole machine moves. is the coordinate transformation matrix of the spatial coordinate system {B} rotating around its x-axis, is the coordinate transformation matrix of the spatial coordinate system {E} rotating around its x-axis; After the whole machine moves, the tension vector force on the main winch wire rope in the space coordinate system {O} is , the tension vector force on the main winch wire rope To the origin O O The radius vector is .

6. The method for detecting the true ground pressure ratio of a rotary drilling rig according to claim 3, characterized in that: The reaction force vector force of the pressurized system in the spatial coordinate system {O} The vector force of the reaction force of the pressure on the pressurized system is the origin O O Radius vector The calculation methods include: After the whole machine moves, the coordinates of the highest point of the pressurization system in the space coordinate system {O} are ; The coordinates of the lowest point of the pressurization system in the space coordinate system {O} are ; in, is the coordinate transformation matrix of the spatial coordinate system {A} rotating around its z-axis, It is the angle between the rotary platform and the central symmetry plane of the walking track after the whole machine moves. It is the angle between the lower boom on the central symmetry plane and the vertical direction of the ground after the whole machine moves. is the angle between the boom on the central symmetry plane and the vertical direction of the ground in the initial state, It is the angle between the drill mast and the vertical direction of the ground on the central symmetry plane after the whole machine moves. It is the climbing angle of the crawler chassis after the whole machine moves. is the coordinate transformation matrix of the spatial coordinate system {B} rotating around its x-axis, is the coordinate transformation matrix of the spatial coordinate system {E} rotating around its x-axis; After the whole machine moves, the unit direction vector of the reaction force of the pressurization system in the space coordinate system {O} is ; After the whole machine moves, the vector force of the pressure reaction force on the pressurization system in the space coordinate system {O} is , the vector force of the reaction force of the pressurized system To the origin O O The radius vector is .

7. The method for detecting the true ground pressure ratio of a rotary drilling rig according to claim 3, characterized in that: The ground support force on the whole machine in the spatial coordinate system {O} , the ground's support vector force on the entire machine The calculation methods include: After the whole machine moves, in the space coordinate system {O}, the unit direction vector of the z axis is , the tension on the main winding wire rope The projected force in the z-axis direction is , the reaction force of the pressurization system The projected force in the z-axis direction is , whole machine gravity The projected force on the z-axis is ; In the spatial coordinate system {O}, the ground support force on the whole machine is , the unit direction vector of the ground's support force on the entire machine is the same as the unit direction vector of the z-axis, which is , the vector force of the ground supporting the whole machine is .

8. A controller, characterized in that: including processors and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the method according to any one of claims 1 to 7.

9. A rotary drilling rig real ground pressure detection system, characterized in that: The controller comprises the controller as claimed in claim 8, and further comprises: a main winch lifting force sensor, a drill mast inclination sensor, a variable amplitude inclination sensor, a return angle sensor, a crawler inclination sensor, a pressure sensor and a display, wherein the main winch lifting force sensor is used to measure the tension of the drill rod on the main winch wire rope; the drill mast inclination sensor is used to measure the angle between the drill mast on the central symmetry plane and the vertical direction of the ground; the variable amplitude inclination sensor is used to measure the angle between the lower boom on the central symmetry plane and the vertical direction of the ground; the return angle sensor is used for the angle between the rotary platform and the central symmetry plane of the walking crawler; the crawler inclination sensor is used to measure the climbing angle of the crawler chassis; the pressure sensor is used to measure the pressure of the pressurization system on the power head; the display is used to display the maximum and minimum ground pressure ratios and the positions of the maximum and minimum ground pressure ratios in the direction of the crawler length and a safety reminder; The main winch lifting force sensor, the drill mast inclination sensor, the luffing inclination sensor, the return angle sensor, the crawler inclination sensor, the pressure sensor and the display are respectively connected to the controller signal.

10. The rotary drilling rig true ground pressure detection system according to claim 9, characterized in that: Also includes: A safety module is configured to: issue a safety prompt when the maximum ground voltage ratio is greater than a first safety threshold; Furthermore, when the area where the minimum ground contact pressure ratio is less than the second safety threshold is larger than a set area, an anti-overturning prompt is issued.

11. A rotary drilling rig, characterized in that: The invention is provided with the controller according to claim 8 or the true ground pressure detection system of the rotary drilling rig according to any one of claims 9 to 10.

Images