A method, system, device and medium for lowering a drill rod of a rotary drilling rig

Abstract

The application discloses a drill rod lowering control method, system, device and medium of a rotary drilling rig, and belongs to the technical field of engineering machinery control. The drill rod lowering control method of the rotary drilling rig comprises the following steps: if a drill rod lowering instruction is received, a telescopic drill rod is lowered to a target drill hole by controlling an electric main winch mechanism; the current lowering depth of the telescopic drill rod is determined; the difference between the hole depth of the target drill hole and the current lowering depth is set as a to-be-lowered depth; if the to-be-lowered depth is greater than a depth threshold, the current lowering speed of the telescopic drill rod is set according to the current bearing weight, the power head height, the current lowering depth and the length of a sub drill rod; if the to-be-lowered depth is less than or equal to the depth threshold, the motor of the electric main winch mechanism outputs a reverse torque, and the motor of the electric main winch mechanism is controlled to stop rotating when a preset condition is met. The application can reasonably control the lowering speed of the telescopic drill rod and improve the service life of the rotary drilling rig.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery control, and in particular to a drill rod lowering control method, system, device and medium for a rotary drilling rig. BACKGROUND

[0002] With the trend of engineering machinery gradually moving towards electrification and intelligentization, the winch mechanism of the rotary drilling rig is also changing from hydraulic motor driving to motor driving, and there is a further requirement for the automatic operation of the equipment. When the rotary drilling rig uses a telescopic drill rod for construction, the telescopic drill rod is usually lowered at a fixed speed, and each section of the sub-drill rod of the telescopic drill rod will impact the power head when it is extended, and the telescopic drill rod is prone to over-lowering of the winch when it is lowered to the hole bottom, resulting in a tangled wire rope.

[0003] Therefore, how to reasonably control the lowering speed of the telescopic drill rod and improve the service life of the rotary drilling rig is a technical problem that needs to be solved by those skilled in the art at present. SUMMARY

[0004] The purpose of the present application is to provide a drill rod lowering control method, system, device and medium for a rotary drilling rig, which can reasonably control the lowering speed of the telescopic drill rod and improve the service life of the rotary drilling rig.

[0005] To solve the above technical problems, the present application provides a drill rod lowering control method for a rotary drilling rig, the rotary drilling rig comprising an electric main winch mechanism, a pin shaft sensor, a mast, a power head, a load cell and a telescopic drill rod, the load cell being arranged on the power head, the load cell being used to detect the current load of the power head, the electric main winch mechanism being used to hoist or lower the telescopic drill rod through a wire rope, the pin shaft sensor being used to detect the tension value of the wire rope, the drill rod lowering control method for the rotary drilling rig comprising:

[0006] If a drill rod lowering instruction is received, the hole depth of a target drill hole is determined, and the electric main winch mechanism is controlled to lower the telescopic drill rod to the target drill hole, so that the power head carries the weight of the multiple sections of the sub-drill rod of the telescopic drill rod;

[0007] The current lowering depth of the telescopic drill rod is determined; wherein the current lowering depth is used to describe the distance between the lowermost end of the telescopic drill rod and the lowermost end of the mast;

[0008] The difference between the hole depth of the target drill hole and the current lowering depth is set as the to-be-lowered depth;

[0009] if the to-be-lowered depth is greater than the depth threshold, setting a current lowering speed of the telescopic drill rod according to a current load weight, a power head height, the current to-be-lowered depth and lengths of the sub drill rods; wherein the current load weight is used to describe weights of all the sub drill rods lowered to the power head, and the power head height is used to describe a distance between a lowermost end of the power head and a lowermost end of the mast;

[0010] if the to-be-lowered depth is less than or equal to the depth threshold, controlling the motor of the electric main hoist mechanism to output a reverse torque, and controlling the motor of the electric main hoist mechanism to stop rotating when a preset condition is met; wherein the preset condition is that the lowermost end of the telescopic drill rod reaches a hole bottom of the target borehole, and a tension value of the steel wire rope is equal to a value of a target pretightening force.

[0011] Optionally, the setting of the current lowering speed of the telescopic drill rod according to the current load weight, the power head height, the current to-be-lowered depth and the lengths of the sub drill rods comprises:

[0012] calculating a current relative distance according to the power head height and the current to-be-lowered depth; wherein the current relative distance is used to describe a distance between the lowermost end of the telescopic drill rod and the lowermost end of the power head;

[0013] determining weights and lengths of each of the sub drill rods in the telescopic drill rod;

[0014] initializing a value of i to 0;

[0015] setting a value obtained by subtracting the current relative distance from a sum of the lengths of the first i+1 sub drill rods as a reference distance;

[0016] setting a sum of the weights of the first i+1 sub drill rods as a reference weight;

[0017] judging whether the reference distance is greater than a buffer distance; if yes, setting a first lowering speed as the current lowering speed of the telescopic drill rod; if no, setting a second lowering speed as the current lowering speed of the telescopic drill rod; wherein the first lowering speed is greater than the second lowering speed;

[0018] if the current load weight is greater than or equal to the reference weight, adding 1 to the value of i so as to update the reference distance and the reference weight.

[0019] Optionally, before the judging of whether the reference distance is greater than the buffer distance, further comprising:

[0020] setting the buffer distance according to the value of i and the reference weight; wherein the buffer distance is positively correlated with the value of i, and the buffer distance is positively correlated with the reference weight.

[0021] Optionally, the method further comprises:

[0022] controlling the motor of the electric main hoist to output a reverse torque, wherein the reverse torque value output by the motor of the electric main hoist is less than the tension value of the steel wire rope; and

[0023] Optionally, the method further comprises:

[0024] determining whether the difference between the tension value of the steel wire rope and the reverse torque value output by the motor of the electric main hoist is greater than a threshold value; and

[0025] if yes, generating an alarm prompt on the human-computer interaction interface.

[0026] Optionally, the rotary drilling rig further comprises a drill rod depth measuring device.

[0027] Correspondingly, before receiving the drill rod lowering instruction, the method further comprises:

[0028] controlling the electric main hoist to raise or lower the telescopic drill rod, so that the rotary drilling rig is in a first state; wherein the first state is a state in which the lowermost end of the telescopic drill rod is at the same horizontal plane as the lowermost end of the mast.

[0029] when the rotary drilling rig is in the first state, clearing the current lowering depth detected by the drill rod depth measuring device.

[0030] Optionally, the rotary drilling rig further comprises a power head hoist and a power head distance measuring device.

[0031] Correspondingly, before receiving the drill rod lowering instruction, the method further comprises:

[0032] controlling the power head hoist to lower the power head, so that the rotary drilling rig is in a second state; wherein the second state is a state in which the lowermost end of the power head is at the same horizontal plane as the lowermost end of the mast.

[0033] when the rotary drilling rig is in the second state, clearing the power head height detected by the power head distance measuring device.

[0034] The application further provides a drill rod lowering control system of a rotary drilling rig, the rotary drilling rig comprising an electric main winch mechanism, a pin shaft sensor, a mast, a power head, a load sensor and a telescopic drill rod, the load sensor being arranged on the power head and used for detecting a current load bearing weight of the power head, the electric main winch mechanism being used for hoisting or lowering the telescopic drill rod through a wire rope, and the pin shaft sensor being used for detecting a tension value of the wire rope, the drill rod lowering control system of the rotary drilling rig comprising:

[0035] a lowering control module, configured to determine a hole depth of a target drill hole and control the electric main winch mechanism to lower the telescopic drill rod to the target drill hole so that the power head bears the weight of multiple sections of sub drill rods of the telescopic drill rod if a drill rod lowering instruction is received;

[0036] a depth detection module, configured to determine a current lowering depth of the telescopic drill rod, wherein the current lowering depth is used to describe a distance between a lowermost end of the telescopic drill rod and a lowermost end of the mast;

[0037] a depth comparison module, configured to set a difference between the hole depth of the target drill hole and the current lowering depth as a to-be-lowered depth;

[0038] a first speed adjustment module, configured to set a current lowering speed of the telescopic drill rod according to the current load bearing weight, a power head height, the current lowering depth and a length of the sub drill rod if the to-be-lowered depth is greater than a depth threshold, wherein the current load bearing weight is used to describe the weight of all the sub drill rods lowered to the power head, and the power head height is used to describe a distance between the lowermost end of the power head and the lowermost end of the mast;

[0039] a second speed adjustment module, configured to control a motor of the electric main winch mechanism to output a reverse torque and stop rotating when a preset condition is met if the to-be-lowered depth is less than or equal to the depth threshold, wherein the preset condition is that the lowermost end of the telescopic drill rod reaches a hole bottom of the target drill hole and the tension value of the wire rope is equal to a value of a target pretightening force.

[0040] The application further provides a storage medium having a computer program stored thereon, the computer program being used to implement the steps of the drill rod lowering control method of the rotary drilling rig when executed.

[0041] The application further provides an electronic device comprising a memory and a processor, the memory having a computer program stored therein, and the processor being used to implement the steps of the drill rod lowering control method of the rotary drilling rig when the computer program in the memory is invoked.

[0042] The application discloses a drill rod lowering control method of a rotary drilling rig, and the method determines the hole depth of a target drill hole, sets the difference between the hole depth of the target drill hole and a current lowering depth as a to-be-lowered depth, adjusts the lowering speed of a telescopic drill rod according to a current bearing weight, a power head height, the current lowering depth and the length of a sub drill rod if the to-be-lowered depth is greater than a depth threshold, so as to reduce the impact on the power head when the sub drill rod is fully extended, and controls the motor output of the electric main winch mechanism to output a reverse torque and makes the motor stop rotating and the steel wire rope keep a target pretightening force when the telescopic drill rod reaches the bottom of the hole if the to-be-lowered depth is less than or equal to the depth threshold, so as to avoid the situation that the steel wire rope is tangled due to over-lowering of the winch. Therefore, the application can reasonably control the lowering speed of the telescopic drill rod and improve the service life of the rotary drilling rig. The application also provides a drill rod lowering control system of a rotary drilling rig, a storage medium and an electronic device, which have the above beneficial effects and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0044] Figure 1 A flow chart of a drill rod lowering control method of a rotary drilling rig provided by the embodiments of the present application;

[0045] Figure 2 A structural schematic diagram of a rotary drilling rig provided by the embodiments of the present application;

[0046] Figure 3 A telescopic drill rod lowering principle schematic diagram provided by the embodiments of the present application;

[0047] Figure 4 A telescopic drill rod lowering flow chart provided by the embodiments of the present application;

[0048] Figure 5 A bottom touch protection flow chart provided by the embodiments of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0050] Please refer to the following Figure 1 , Figure 1 A flow chart of a drill rod lowering control method of a rotary drilling rig provided by an embodiment of the present application.

[0051] The specific steps can include:

[0052] S101: If a drill rod lowering instruction is received, the hole depth of a target drill hole is determined, and the electric main winch mechanism is controlled to lower the telescopic drill rod to the target drill hole, so that the power head bears the weight of the multiple sections of sub drill rods of the telescopic drill rod.

[0053] In this embodiment, the control device of the rotary drilling rig can also include an electric main winch mechanism, a pin shaft sensor, a mast, a power head, a load cell, and a telescopic drill rod. The load cell is arranged on the power head and is used to detect the current bearing weight of the power head. The electric main winch mechanism is used to hoist or lower the telescopic drill rod through a wire rope. The pin shaft sensor is used to detect the tension value of the wire rope. The telescopic drill rod includes multiple sections of sub drill rods, which are sequentially extended from the outside to the inside during the lowering of the telescopic drill rod.

[0054] After receiving the drill rod lowering instruction, the target drill hole to which the telescopic drill rod needs to be lowered can be determined, and the depth of the target drill hole can be detected by a measuring device or queried from the previously stored depth of the target drill hole. According to the drill rod lowering instruction, the electric main winch mechanism can be controlled to lower the telescopic drill rod to the target drill hole, and the telescopic drill rod passes through the center hole of the power head during the lowering process.

[0055] The telescopic drill rod includes multiple sections of sub drill rods, which are connected together by a specific connection method (such as threaded connection or mechanical locking device). During the lowering process, the power head needs to gradually bear the weight of these sub drill rods.

[0056] After receiving the drill rod lowering instruction, the electric main winch mechanism can be continuously controlled to lower the telescopic drill rod to the target drill hole until the bottom of the hole is reached. When performing the operations of S102-S104, the above operation of controlling the electric main winch mechanism to lower the telescopic drill rod to the target drill hole is still performed, and the lowering speed can be adjusted according to the execution results of S103 and S104.

[0057] S102: Determine the current lowering depth of the telescopic drill rod.

[0058] The current lowering depth is used to describe the distance between the lowermost end of the telescopic drill rod and the lowermost end of the mast; the lowermost end of the telescopic drill rod is the end of the telescopic drill rod, and the lowermost end of the mast is the position where the mast is connected to the base.

[0059] In this embodiment, the current lowering depth of the telescopic drill rod can be detected by a sensor, or can be determined based on the length of the steel wire rope paid out by the electric main winch mechanism.

[0060] S103: Set the difference between the hole depth of the target drill hole and the current lowering depth as the to-be-lowered depth.

[0061] In this embodiment, the to-be-lowered depth is obtained by subtracting the current lowering depth from the hole depth of the target drill hole, that is, the depth that needs to be lowered in order to make the telescopic drill rod reach the bottom of the target drill hole.

[0062] S104: If the to-be-lowered depth is greater than the depth threshold, set the current lowering speed of the telescopic drill rod according to the current carrying weight, the power head height, the current lowering depth, and the length of the sub-drill rod.

[0063] If the to-be-lowered depth is greater than the depth threshold, it indicates that the telescopic drill rod still needs a larger distance to reach the bottom, and at this time, the current lowering speed of the telescopic drill rod can be set according to the current carrying weight, the power head height, the current lowering depth, and the length of the sub-drill rod.

[0064] The current carrying weight is used to describe the weight of all the sub-drill rods lowered to the power head, that is, the sum of the weights of all the completely extended sub-drill rods and the first section sub-drill rod, which is the outermost sub-drill rod in the telescopic drill rod; the serial number of the sub-drill rod increases from outside to inside. The power head height is used to describe the distance between the lowermost end of the power head and the lowermost end of the mast; the lowermost end of the power head is the end closest to the bottom of the hole.

[0065] Specifically, in this step, the current lowering speed of the telescopic drill rod can be set according to the following anti-impact strategy: let i represent the number of drill rods placed in the power head, set the initial speed of lowering the first section sub-drill rod as the first lowering speed, set the second lowering speed as the current lowering speed of the telescopic drill rod within the buffer distance before the i+1 section sub-drill rod being placed in the power head, and set the first lowering speed as the current lowering speed of the telescopic drill rod when the i+1 section sub-drill rod is lowered to the power head.

[0066] In this embodiment, whether the i+1 section sub-drill rod being extended is within the buffer distance before being placed in the power head can be determined according to the power head height, the current lowering depth, and the length of the sub-drill rod, and whether the i+1 section sub-drill rod has been lowered to the power head can be determined according to the change of the current carrying weight.

[0067] S105: If the depth to be lowered is less than or equal to the depth threshold, control the motor of the electric main hoist mechanism to output a reverse torque, and control the motor of the electric main hoist mechanism to stop rotating when a preset condition is met.

[0068] If the depth to be lowered is less than or equal to the depth threshold, it means that the telescopic drill rod is about to touch the bottom, at which time the motor of the electric main hoist mechanism can be controlled to output a reverse torque to reduce the speed, so as to reduce the lowering speed of the telescopic drill rod, and the motor of the electric main hoist mechanism is controlled to stop rotating (i.e., stop lowering) when a preset condition is met.

[0069] The preset condition is that the lowermost end of the telescopic drill rod reaches the hole bottom of the target borehole, and the tension value of the steel wire rope is equal to the value of the target pretightening force. In this way, when the depth to be lowered is less than or equal to the depth threshold, the telescopic drill rod can be controlled to lower at a reduced speed, and when the lowermost end of the telescopic drill rod reaches the hole bottom of the target borehole, the lowering is stopped and the steel wire rope is kept at a certain pretightening force, so as to avoid the impact of the rope and the hole bottom.

[0070] In this embodiment, the hole depth of the target borehole is determined, and the difference between the hole depth of the target borehole and the current lowering depth is set as the depth to be lowered. If the depth to be lowered is greater than the depth threshold, the lowering speed of the telescopic drill rod is dynamically adjusted according to the current load, the height of the power head, the current lowering depth, and the length of the sub drill rod, so as to reduce the impact on the power head when the sub drill rod is fully extended. If the depth to be lowered is less than or equal to the depth threshold, it means that the telescopic drill rod is about to touch the bottom, at which time the motor of the electric main hoist mechanism is controlled to output a reverse torque, and the motor is stopped when the telescopic drill rod reaches the hole bottom, and the steel wire rope is kept at a target pretightening force, so as to avoid the situation of the rope caused by over-lowering of the hoist. Therefore, this embodiment can reasonably control the lowering speed of the telescopic drill rod and improve the service life of the rotary drilling rig.

[0071] As for Figure 1 Further to the corresponding embodiment, the process of setting the current lowering speed of the telescopic drill rod according to the current load, the height of the power head, the current lowering depth, and the length of the sub drill rod includes the following steps:

[0072] Step 1: Calculate the current relative distance according to the height of the power head and the current lowering depth.

[0073] The current relative distance is used to describe the distance between the lowermost end of the telescopic drill rod and the lowermost end of the power head. Specifically, if the lowermost end of the telescopic drill rod is higher than the lowermost end of the mast, the height of the power head and the current lowering depth can be added to obtain the current relative distance. If the lowermost end of the telescopic drill rod is not higher than the lowermost end of the mast, the height of the power head can be subtracted from the current lowering depth to obtain the current relative distance.

[0074] Step 2: Determine the weight and length of each sub-drill pipe in the telescopic drill pipe.

[0075] wherein the length of the above sub-drill pipe refers to the length change of the telescopic drill pipe when the current sub-drill pipe is fully extended relative to the telescopic drill pipe when the previous sub-drill pipe is fully extended.

[0076] Step 3: Initialize the value of i to 0.

[0077] The parameter i is used to describe the number of sub-drill pipes placed in the power head.

[0078] Step 4: Set the value of the reference distance as the sum of the lengths of the first i+1 sub-drill pipes minus the current relative distance.

[0079] The reference distance refers to the distance that the telescopic drill pipe needs to continue to lower in order to reach the condition that the first i+1 sub-drill pipes are fully extended. In this embodiment, the lowering depth of the i+1 sub-drill pipe when it is just placed in the power head can be determined according to the sum of the lengths of the first i+1 sub-drill pipes.

[0080] Step 5: Set the value of the reference weight as the sum of the weights of the first i+1 sub-drill pipes.

[0081] Step 6: Determine whether the reference distance is greater than the buffer distance; if yes, set the first lowering speed as the current lowering speed of the telescopic drill pipe; if no, set the second lowering speed as the current lowering speed of the telescopic drill pipe.

[0082] wherein the first lowering speed is greater than the second lowering speed. The buffer distance is a preset safety distance used to prevent impact of the drill pipe during lowering due to excessive speed.

[0083] The first lowering speed is a faster lowering speed, which is suitable for the case where the reference distance is greater than the buffer distance; in this case, the drill pipe is still a distance away from the hole bottom, and can be lowered at a faster speed to improve construction efficiency.

[0084] The second lowering speed is a slower lowering speed, which is suitable for the case where the reference distance is less than or equal to the buffer distance; in this case, the drill pipe is close to the hole bottom, and needs to be lowered at a slower speed to avoid impact due to excessive speed, protecting the drill pipe and the drill bit.

[0085] Step 7: If the current carrying weight is greater than or equal to the reference weight, increase the value of i by 1 to update the reference distance and the reference weight.

[0086] The current load weight refers to the total weight of the drill pipe and its accessories currently carried by the power head. The reference weight refers to the sum of the weights of the first i+1 sub-drill pipes, which can be calculated in advance according to the design parameters of the drill pipe and set in the control system. The reference weight is used to determine whether the current load weight meets the expectation, so as to decide whether it is necessary to adjust the lowering speed or update the control parameters.

[0087] If the current load weight is greater than or equal to the reference weight, it means that the first i+1 sub-drill pipes have been lowered to the power head (i.e., fully extended), at which time the i+2 sub-drill pipe is started to be lowered, the value of i can be increased by 1 and the reference distance and the reference weight are updated, so as to re-execute step 6. The operations of steps 4 to 7 in this embodiment are performed until the depth to be lowered is less than or equal to the depth threshold.

[0088] Further, before determining whether the reference distance is greater than the buffer distance, this embodiment can set the buffer distance according to the value of i and the reference weight; wherein the buffer distance is positively correlated with the value of i, and the buffer distance is positively correlated with the reference weight.

[0089] As the sub-drill pipes are lowered, the weight borne by the power head gradually increases, and the above-mentioned mode dynamically updates the buffer distance based on the number i of the sub-drill pipes placed in the power head, thereby reducing the impact on the power head during the extension and retraction of the drill pipe.

[0090] As an improvement to the prior art, Figure 1 For further introduction of the corresponding embodiment, the motor output reverse torque of the electric main winch mechanism can be controlled in the following manner: the motor output reverse torque of the electric main winch mechanism is controlled according to the motor speed, so that the reverse torque value output by the motor of the electric main winch mechanism is less than the tension value of the steel wire rope; wherein the motor speed is the speed of the motor of the electric main winch mechanism at the current time.

[0091] As can be seen, during the lowering of the drill pipe of the rotary drilling rig, this embodiment adjusts the reverse torque output by the motor of the electric main winch mechanism by controlling the motor speed, and then slows down the lowering speed to achieve smooth bottoming. At this time, the motor outputs a reverse torque, the size of which is less than the tension value of the steel wire rope; the tension of the steel wire rope can overcome the reverse torque of the motor, so that the drill pipe is slowly lowered.

[0092] Further, in the process of controlling the motor output reverse torque of the electric main winch mechanism, the difference between the tension value of the steel wire rope and the reverse torque value output by the motor of the electric main winch mechanism can be detected by using the pin shaft sensor to determine whether it is greater than a critical value; if so, an alarm prompt is generated on the human-computer interaction interface, so as to artificially intervene in the control process.

[0093] As an improvement to the prior art,Figure 1 Further to the corresponding embodiment, the rotary drilling rig further comprises a drill rod depth measuring device, the drill rod depth measuring device is arranged on the electric main winch mechanism, the drill rod depth measuring device generates a pulse signal when the drum of the electric main winch mechanism rotates, the length of the wire rope that is wound and unwound can be determined based on the number of pulse signals, and then the current lowering depth of the telescopic drill rod is converted.

[0094] Correspondingly, before receiving the drill rod lowering instruction, the electric main winch mechanism can be controlled to raise or lower the telescopic drill rod, so that the rotary drilling rig is in a first state; wherein the first state is a state in which the lowermost end of the telescopic drill rod is at the same horizontal plane as the lowermost end of the mast; when the rotary drilling rig is in the first state, the current lowering depth detected by the drill rod depth measuring device is cleared. After the above-mentioned clearing operation is performed, the current lowering depth detected by the drill rod depth measuring device is the distance between the lowermost end of the telescopic drill rod and the lowermost end of the mast.

[0095] As for the above-mentioned problems, Figure 1 Further to the corresponding embodiment, the rotary drilling rig further comprises a power head winch mechanism and a power head distance measuring device, the power head winch mechanism is used to control the power head to rise or fall, and the power head distance measuring device is installed on the power head winch mechanism; the power head distance measuring device generates a pulse signal when the drum of the power head winch mechanism rotates, the length of the wire rope that is wound and unwound can be determined based on the number of pulse signals, and then the height of the power head is converted. The power head winch mechanism is an electric winch mechanism.

[0096] Correspondingly, before receiving the drill rod lowering instruction, the power head winch mechanism can be controlled to lower the power head, so that the rotary drilling rig is in a second state; wherein the second state is a state in which the lowermost end of the power head is at the same horizontal plane as the lowermost end of the mast; when the rotary drilling rig is in the second state, the height of the power head detected by the power head distance measuring device is cleared. After the above-mentioned clearing operation is performed, the height of the power head detected by the power head distance measuring device is the distance between the lowermost end of the power head and the lowermost end of the mast.

[0097] In the related art, the conventional scheme usually adopts fixed torque control, which is difficult to adapt to load changes and complex working conditions, resulting in unstable drill rod lowering and intensified equipment wear. In view of the above-mentioned problems, the embodiment has the improved mode in this aspect, which is as follows: by monitoring the wire rope tension, motor speed and current in real time, the PID controller is used to dynamically adjust the motor output torque, so as to ensure that it is less than the wire rope tension, and to realize smooth lowering. The scheme combines intelligent algorithms, can automatically optimize torque output, reduces manual intervention, improves construction efficiency and equipment life, enhances system anti-interference ability, and adapts to complex and variable geological conditions.

[0098] The above-described flow is illustrated below by an example in actual application.

[0099] In the process of telescopic drill rod construction of the rotary drilling rig, when the main winch mechanism is lowered at full speed, the speed should be reduced when each section of the telescopic drill rod is extended, otherwise the drill rod will impact the power head. The above impact will produce an impact effect similar to hitting a rod, which will seriously shorten the service life of the buffer mechanism on the power head, seriously affect the service life of the power head pressure cylinder, pressure winch wire rope, etc., and even damage the related structure of the power head, causing hidden dangers to equipment use and huge economic property losses to customers. To avoid the above situation, the operator needs to be very familiar with the length of the drill rod and pay close attention to the depth of the drill rod during operation to analyze whether the next section of the telescopic drill rod will be extended and operate the handle to reduce the speed; this has a great impact on construction efficiency and cannot completely avoid the impact on the power head. In addition, attention should also be paid to the relationship between the hole depth and the current lowering depth when lowering the telescopic drill rod, otherwise the winch may be over-lowered, causing the wire rope to be tangled, accelerating the wear of the wire rope, and even directly damaging the wire rope.

[0100] To solve the technical problems in the above related technologies, the embodiment provides a control scheme for automatic control of the whole process of electric hoist lowering, which provides motor control, multi-sensor fusion, and redundant control strategy. The scheme calculates the relative distance between the power head and the lowermost end of the drill rod through the sensor, and accurately controls the timing and amplitude of the speed reduction according to the distance. The scheme provides a control method for safe speed reduction and accurate parking of the electric hoist motor. After applying the scheme, the operator only needs to pull the operating handle to the maximum or press the automatic lowering button, and the telescopic drill rod will be lowered automatically, and the speed will be controlled automatically during the lowering process to prevent impact, and the telescopic drill rod will automatically stop when it touches the bottom. The scheme provides convenience for the operator and greatly improves the construction efficiency.

[0101] Please refer to Figure 2 , Figure 2 A structure diagram of a rotary drilling rig provided by the embodiment of the application is shown in the figure. 1 represents a pin shaft sensor, 2 represents a telescopic drill rod, 3 represents a mast, 4 represents a power head distance measuring device, 5 represents a weighing sensor, 6 represents a power head winch mechanism, 7 represents a drill rod depth measuring device, 8 represents a power head, 9 represents an electric main winch mechanism, L1 represents the height of the power head, and L2 represents the current lowering depth.

[0102] Please refer to Figure 3 , Figure 3A telescopic drill rod lowering principle schematic diagram provided by the embodiment of the application is shown in the figure, and the drill rod depth measuring device, the pin shaft sensor, the power head distance measuring device, the weighing sensor, the controller, the power supply, the motor driver, the motor and the power battery are shown. The motor can be the motor in the electric main winch mechanism and the power head winch mechanism. The drill rod depth measuring device, the pin shaft sensor, the power head distance measuring device and the weighing sensor can input detection signals to the controller, and the controller can respectively communicate with the motor driver and the power battery through a bus. The power supply provides low-voltage (24V) power supply for the controller and each sensor, the power battery provides high-voltage direct-current power supply for the motor driver, and the motor driver controls the operation of the motor.

[0103] The drill rod depth measuring device detects the rotation angle of the drum from zero to calculate the corresponding pulse number, and the formula is as follows:

[0104] ;

[0105] L2 represents the current lowering depth, that is, the length of the steel wire rope released by the electric main winch mechanism, represents the pulse number detected by the drill rod depth measuring device, is a constant value of the pulse number of the drum rotation sensor of the electric main winch mechanism, represents the radius of the drum of the electric main winch mechanism, is the diameter of the steel wire rope on the drum of the electric main winch mechanism. When the lowermost end of the drill rod is flush with the lowermost end of the mast, the corresponding winch depth zero operation is performed to make L2 = 0. During the detection process, if L2 > 0, it indicates that the lowermost end of the drill rod is below the bottom of the mast, and if L2 < 0, it indicates that the lowermost end of the drill rod is above the bottom of the mast.

[0106] The pin shaft sensor calculates the tension of the steel wire rope through the transmitted data to obtain the current tension value of the steel wire rope.

[0107] The power head distance measuring device also detects the rotation angle of the drum from zero to calculate the corresponding pulse number, and the formula is as follows:

[0108] ;

[0109] L1 represents the power head height, that is, the length of the steel wire rope released by the power head winch mechanism, is the pulse number detected by the sensor, is the pulse number detected by the power head distance measuring device when the drum of the power head winch rotates one circle, is the radius of the drum of the power head winch, is the diameter of the steel wire rope of the power head winch. When the power head is placed at the lowermost end of the mast, the corresponding winch depth zero operation is performed to make L1 = 0.

[0110] The power head weighing sensor can calculate the weight of the drill pipe on the power head except the weight of the power head itself.

[0111] Based on the above calculation, the relative distance between the bottom of the drill pipe and the power head is L1+L2.

[0112] Through the structure of the drill pipe, the length of the first section of the drill pipe is C1, the length of the second section of the drill pipe is C2, the length of the third section of the drill pipe is C3, and so on. The weight of the first section of the drill pipe is G1, the weight of the second section of the drill pipe is G2, the weight of the third section of the drill pipe is G3, and so on.

[0113] After obtaining the above key data, the following calculation can be performed:

[0114] If L1+L2=C1, it means that the first section of the drill pipe is just lowered onto the power head, and the power head starts to bear the weight of the first section of the drill pipe. The weighing device on the power head is used to verify this. A buffer distance is set ; when C1- (L1+L2)= , it means that the lowering position of the telescopic drill pipe is to the first section of the drill pipe completely falling onto the power head, and there is a distance of at this time, the lowering speed can be controlled. The lowering speed is reduced to a target speed through the PID (Proportion-Integration-Differentiation) calculation of the controller, and the first section of the drill pipe can be slowly lowered onto the power head. When the weighing device on the power head detects the weight G1 of the first section of the drill pipe, it means that the first section of the drill pipe has fallen onto the power head during the main reel lowering process, and at this time the lowering speed can be controlled to the original maximum speed to achieve the buffer function. The main reel lowering process is the process of lowering the telescopic drill pipe by the electric main winch mechanism.

[0115] If L1+L2=C1+C2, it means that the second section of the drill pipe is just lowered onto the power head, and the power head starts to bear the weight of the first section of the drill pipe and the second section of the drill pipe. When C1+C2- (L1+L2)= , it means that the lowering position of the telescopic drill pipe is to the second section of the drill pipe completely extended and there is a distance of at this time, the lowering speed can be controlled. The lowering speed is reduced to a target speed through the PID calculation of the controller until the second section of the drill pipe is completely extended. When the weighing device on the power head detects the total weight G1+G2 of the first section of the drill pipe and the second section of the drill pipe, it means that the second section of the drill pipe has been completely extended during the main reel lowering process, and at this time the lowering speed can be controlled to the original maximum speed.

[0116] In this way, the embodiment can calculate the running speed of the remaining drill pipes in the above manner.

[0117] Please refer to Figure 4 , Figure 4 The process of the running flowchart of the telescopic drill pipe provided by the embodiment comprises: handle control running action; judging whether the running speed is greater than the set speed during buffering; if the running speed is not greater than the set speed during buffering, not controlling the speed; if the running speed is greater than the set speed during buffering, calculating the position information of the lowest part of the drill pipe and the power head and the force information of the power head; judging whether the speed needs to be controlled according to the position information; if yes, outputting an instruction by the controller to control the running speed; if no, not controlling the speed.

[0118] For the motor control of the winch mechanism, the embodiment can control the main winding speed by bus communication motor speed control. When deceleration is needed, a target speed is given to the motor, which is balanced with the downward tension of the steel wire rope. A reverse torque force size is given to the motor by the PID regulator driver, so that the motor speed reaches the desired speed, thereby controlling the slow decline of the main winding speed. At the same time, when acceleration is needed again, the size of the acceleration can be reasonably controlled to ensure smooth acceleration and reduce the instantaneous tension of the steel wire rope.

[0119] The maximum steel wire rope running length of the last time is calculated by program logic when the drill pipe reaches the bottom, and is saved for comparison with the depth of the next running.

[0120] Please refer to Figure 5 , Figure 5 The process of the bottom protection flowchart provided by the embodiment is as follows:

[0121] Operation handle main winding running; driver controls motor normal running.

[0122] Judging whether the current depth is close to the last hole depth; if no, the driver controls the motor normal running; if yes, sending an instruction to control the main winding into a floating state, which is no longer controlled by the handle, and starts to reduce the speed.

[0123] Judging whether the force condition is met; if no, continue to send an instruction to control the main winding into a floating state; if yes, the motor speed is reduced to 0, and the main winding stops running.

[0124] The process of judging whether the force condition is met is as follows: judging whether the force of the motor reaches the set value of the bottom protection, and synchronously judging whether the tension value of the pin shaft sensor data reaches the set value of the bottom protection; if yes, it is determined that the force condition is met; if no, it is determined that the force condition is not met.

[0125] The motor control logic of the winch mechanism is as follows: when entering the floating stage, the drill rod has not yet reached the bottom, and there is still a relatively large downward tension on the steel wire rope. A reverse torque force is applied to the motor through the driver, but the force is smaller than the tension on the steel wire rope, so that the motor is dragged down under the driving of the steel wire rope. At this time, the motor down speed is taken as a target value, and the reverse torque force of the motor is adjusted through the PID algorithm to control the speed of the motor dragged down to ensure that it remains at a set low speed. When the drill rod starts to contact the bottom, the tension on the main winding steel wire rope slowly decreases, and the adjusted reverse torque force also slowly decreases. When it is reduced to only the pre-tightening force of the steel wire rope, the motor stops rotating, and the reducer brake is delayed, achieving the function of bottom protection, and thus the whole process of the drill rod down is completed.

[0126] In the above process, the tension value of the pin shaft sensor can be used as a tension evidence to verify whether the reverse torque force of the motor is correct. The tension of the pin shaft sensor should be slightly greater than the reverse torque force of the motor during floating. If the difference is large, corresponding alarm prompts are performed.

[0127] The above process can be fully automatic, in addition to operating the handle, it can also be controlled through a one-key down button, or even through the screen.

[0128] The embodiment can effectively reduce the impact of the rapid down of the drill rod on the structure of the power head, effectively prolong the service life of the equipment and the drill rod, and avoid economic losses. Through the depth, tension and other parameters, the embodiment can realize safe deceleration and accurate parking of the winch, reduce mechanical wear and maintenance cost. The embodiment provides convenience for the operator, and greatly improves the construction efficiency.

[0129] The drill rod down control system of the rotary drilling rig provided in the embodiment of the application, the rotary drilling rig comprises an electric main winch mechanism, a pin shaft sensor, a mast, a power head, a weighing sensor and a telescopic drill rod, the weighing sensor is arranged on the power head, the weighing sensor is used to detect the current bearing weight of the power head, the electric main winch mechanism is used to hoist or lower the telescopic drill rod through a steel wire rope, the pin shaft sensor is used to detect the tension value of the steel wire rope, and the drill rod down control system of the rotary drilling rig comprises:

[0130] A down control module is configured to, if a drill rod down instruction is received, determine the hole depth of a target drill hole, and control the electric main winch mechanism to lower the telescopic drill rod to the target drill hole, so that the power head bears the weight of the multiple sections of drill rods of the telescopic drill rod.

[0131] A depth detection module is configured to determine the current down depth of the telescopic drill rod, wherein the current down depth is used to describe the distance between the lowermost end of the telescopic drill rod and the lowermost end of the mast.

[0132] a depth comparison module configured to set a difference between the target hole depth and the current drop depth as a to-be-dropped depth;

[0133] a first speed adjustment module configured to, if the to-be-dropped depth is greater than a depth threshold, set a current drop speed of the telescopic drill rod according to a current load weight, a power head height, the current drop depth and a length of the sub-drill rod, wherein the current load weight is used to describe a weight of all the sub-drill rods dropped to the power head, and the power head height is used to describe a distance between a lowermost end of the power head and a lowermost end of the mast;

[0134] a second speed adjustment module configured to, if the to-be-dropped depth is less than or equal to the depth threshold, control the motor of the electric main hoist mechanism to output a reverse torque, and control the motor of the electric main hoist mechanism to stop rotating when a preset condition is met, wherein the preset condition is that the lowermost end of the telescopic drill rod reaches a hole bottom of the target hole, and a tension value of the steel wire rope is equal to a value of the target pretightening force.

[0135] The embodiment determines a hole depth of a target hole, sets a difference between the hole depth of the target hole and a current drop depth as a to-be-dropped depth, if the to-be-dropped depth is greater than a depth threshold, dynamically adjusts a drop speed of the telescopic drill rod according to a current load weight, a power head height, the current drop depth and a length of the sub-drill rod, so as to reduce an impact on the power head when the sub-drill rod is completely extended, if the to-be-dropped depth is less than or equal to the depth threshold, it is indicated that the telescopic drill rod is about to touch the bottom, at this time, the motor of the electric main hoist mechanism is controlled to output a reverse torque, and the motor is stopped rotating when the telescopic drill rod reaches the hole bottom and the steel wire rope maintains the target pretightening force, so as to avoid a situation that the steel wire rope is tangled due to hoist overrunning. Therefore, the embodiment can reasonably control the drop speed of the telescopic drill rod, and improve the service life of the rotary drilling rig.

[0136] Further, the process of setting the current running speed of the telescopic drill pipe by the first speed adjusting module according to the current load weight, the height of the power head, the current running depth and the length of the sub drill pipe comprises: calculating a current relative distance according to the height of the power head and the current running depth; wherein the current relative distance is used to describe the distance between the lowermost end of the telescopic drill pipe and the lowermost end of the power head; determining the weight and length of each sub drill pipe in the telescopic drill pipe; initializing the value of i to 0; setting the value of the sum of the lengths of the first i+1 sub drill pipes minus the current relative distance as a reference distance; setting the sum of the weights of the first i+1 sub drill pipes as a reference weight; judging whether the reference distance is greater than a buffer distance; if yes, setting a first running speed as the current running speed of the telescopic drill pipe; if no, setting a second running speed as the current running speed of the telescopic drill pipe; wherein the first running speed is greater than the second running speed; if the current load weight is greater than or equal to the reference weight, increasing the value of i by 1 so as to update the reference distance and the reference weight.

[0137] Further, the method further comprises:

[0138] The parameter setting module is configured to set the buffer distance according to the value of i and the reference weight before judging whether the reference distance is greater than the buffer distance; wherein the buffer distance is positively correlated with the value of i, and the buffer distance is positively correlated with the reference weight.

[0139] Further, the process of controlling the motor of the electric main hoist mechanism to output the reverse torque by the second speed adjusting module comprises: controlling the motor of the electric main hoist mechanism to output the reverse torque according to the motor speed, so that the value of the reverse torque output by the motor of the electric main hoist mechanism is less than the tension value of the steel wire rope; wherein the motor speed is the speed of the motor of the electric main hoist mechanism at the current moment.

[0140] Further, the method further comprises:

[0141] The judging module is configured to judge whether the difference between the tension value of the steel wire rope and the value of the reverse torque output by the motor of the electric main hoist mechanism is greater than a critical value during the process of controlling the motor of the electric main hoist mechanism to output the reverse torque; if yes, generating an alarm prompt on the human-computer interaction interface.

[0142] Further, the rotary drilling rig further comprises a drill pipe depth measuring device;

[0143] Correspondingly, the method further comprises:

[0144] The first setting module is configured to control the electric main hoist to hoist or lower the telescopic drill rod, so that the rotary drilling rig is in a first state; wherein the first state is a state in which the lowermost end of the telescopic drill rod is at the same horizontal plane as the lowermost end of the mast; and the first setting module is further configured to clear the current lowering depth detected by the drill rod depth measuring device when the rotary drilling rig is in the first state.

[0145] Further, the rotary drilling rig further comprises a power head hoist and a power head distance measuring device.

[0146] Correspondingly, the rotary drilling rig further comprises:

[0147] The second setting module is configured to control the power head hoist to lower the power head, so that the rotary drilling rig is in a second state; wherein the second state is a state in which the lowermost end of the power head is at the same horizontal plane as the lowermost end of the mast; and the second setting module is further configured to clear the power head height detected by the power head distance measuring device when the rotary drilling rig is in the second state.

[0148] Since the embodiments of the system part correspond to the embodiments of the method part, the embodiments of the system part are described in the description of the embodiments of the method part, and will not be described here.

[0149] The application further provides a storage medium having a computer program stored thereon, and the computer program can implement the steps provided by the above embodiments when executed. The storage medium can include a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0150] The application further provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above embodiments when calling the computer program in the memory. Of course, the electronic device can also include various network interfaces, power supplies and other components.

[0151] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that, for ordinary skilled in the art, without departing from the principles of the application, some improvements and modifications can be made to the application, and these improvements and modifications also fall within the protection scope of the application.

[0152] It is further noted that the terminology "first", "second" and the like used in the specification are solely used for differentiating between two entities or operations, and do not imply or suggest any actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a", "comprising... a", does not, without further restriction, exclude the existence of additional elements of those elements that have been recited before the word "a" or "an".

Claims

1. A method of controlling lowering of a drill pipe of a rotary drilling rig, characterized by, The rotary drilling machine comprises an electric main winch, a pin shaft sensor, a mast, a power head, a weight sensor, and a telescopic drill rod, the weight sensor is arranged on the power head and is used to detect a current load of the power head, the electric main winch is used to hoist or lower the telescopic drill rod through a wire rope, and the pin shaft sensor is used to detect a tension value of the wire rope. If a drill rod lowering instruction is received, the hole depth of a target drill hole is determined, and the electric main winch is controlled to lower the telescopic drill rod to the target drill hole, so that the power head bears the weight of the telescopic drill rod and multiple sub drill rods. The current lowering depth of the telescopic drill rod is determined, wherein the current lowering depth is used to describe the distance between the lowermost end of the telescopic drill rod and the lowermost end of the mast. The difference between the hole depth of the target drill hole and the current lowering depth is set as a to-be-lowered depth. If the to-be-lowered depth is greater than a depth threshold, the current lowering speed of the telescopic drill rod is set according to the current load, the power head height, the current lowering depth, and the length of the sub drill rod, wherein the current load is used to describe the weight of all the sub drill rods lowered to the power head, and the power head height is used to describe the distance between the lowermost end of the power head and the lowermost end of the mast. If the to-be-lowered depth is less than or equal to the depth threshold, the motor of the electric main winch is controlled to output a reverse torque, and the motor of the electric main winch is controlled to stop rotating when a preset condition is met, wherein the preset condition is that the lowermost end of the telescopic drill rod reaches the bottom of the target drill hole, and the tension value of the wire rope is equal to the value of the target pretightening force. The current lowering speed of the telescopic drill rod is set according to the current load, the power head height, the current lowering depth, and the length of the sub drill rod, which comprises: The current relative distance is calculated according to the power head height and the current lowering depth, wherein the current relative distance is used to describe the distance between the lowermost end of the telescopic drill rod and the lowermost end of the power head. The weight and length of each sub drill rod in the telescopic drill rod are determined. The value of i is initialized to 0. The sum of the lengths of the first i+1 sub drill rods is subtracted from the value of the current relative distance to obtain a reference distance. The sum of the weights of the first i+1 sub drill rods is set as a reference weight. It is judged whether the reference distance is greater than a buffer distance, if yes, a first lowering speed is set as the current lowering speed of the telescopic drill rod, and if no, a second lowering speed is set as the current lowering speed of the telescopic drill rod, wherein the first lowering speed is greater than the second lowering speed. If the current load is greater than or equal to the reference weight, the value of i is increased by 1 so as to update the reference distance and the reference weight. Before judging whether the reference distance is greater than the buffer distance, the buffer distance is set according to the value of i and the reference weight, wherein the buffer distance is positively correlated with the value of i, and the buffer distance is positively correlated with the reference weight.

2. The method of claim 1, wherein, The motor of the electric main winch is controlled to output a reverse torque, which comprises: The motor output reverse torque of the electric main hoist mechanism is controlled according to the motor speed, so that the reverse torque value of the motor output of the electric main hoist mechanism is less than the tension value of the steel wire rope; wherein the motor speed is the speed of the motor of the electric main hoist mechanism at the current time.

3. The method of claim 2, wherein, In the process of controlling the motor output reverse torque of the electric main hoist mechanism, further comprising: determining whether the difference between the tension value of the steel wire rope and the reverse torque value of the motor output of the electric main hoist mechanism is greater than a critical value; if so, an alarm prompt is generated on the human-computer interaction interface.

4. The method of claim 1, wherein, The rotary drilling rig further comprises a drill rod depth measuring device; Correspondingly, before receiving the drill rod lowering instruction, further comprising: controlling the electric main hoist mechanism to raise or lower the telescopic drill rod, so that the rotary drilling rig is in a first state; wherein the first state is a state in which the lowermost end of the telescopic drill rod is at the same horizontal plane as the lowermost end of the mast; when the rotary drilling rig is in the first state, the current lowering depth detected by the drill rod depth measuring device is cleared.

5. The method of claim 1, wherein, The rotary drilling rig further comprises a power head hoist mechanism and a power head distance measuring device; Correspondingly, before receiving the drill rod lowering instruction, further comprising: controlling the power head hoist mechanism to lower the power head, so that the rotary drilling rig is in a second state; wherein the second state is a state in which the lowermost end of the power head is at the same horizontal plane as the lowermost end of the mast; when the rotary drilling rig is in the second state, the power head height detected by the power head distance measuring device is cleared.

6. A drill pipe lowering control system of a rotary drilling rig, characterized by, The rotary drilling rig comprises an electric main hoist mechanism, a pin shaft sensor, a mast, a power head, a load cell and a telescopic drill rod, the load cell is arranged on the power head, the load cell is used to detect the current load bearing weight of the power head, the electric main hoist mechanism is used to raise or lower the telescopic drill rod through a steel wire rope, the pin shaft sensor is used to detect the tension value of the steel wire rope, and a drill rod lowering control system of the rotary drilling rig comprises: a lowering control module, configured to determine the hole depth of a target drill hole and control the electric main hoist mechanism to lower the telescopic drill rod to the target drill hole, so that the power head bears the weight of the multiple sections of sub drill rods of the telescopic drill rod, if a drill rod lowering instruction is received; a depth detection module, configured to determine the current lowering depth of the telescopic drill rod; wherein the current lowering depth is used to describe the distance between the lowermost end of the telescopic drill rod and the lowermost end of the mast; a depth comparison module, configured to set the difference between the hole depth of the target drill hole and the current lowering depth as a to-be-lowered depth; a first speed adjustment module, configured to set the current lowering speed of the telescopic drill rod according to the current load bearing weight, the power head height, the current lowering depth and the length of the sub drill rod, if the to-be-lowered depth is greater than a depth threshold; wherein the current load bearing weight is used to describe the weight of all the sub drill rods lowered to the power head, and the power head height is used to describe the distance between the lowermost end of the power head and the lowermost end of the mast. A second speed adjustment module is configured to control the motor of the electric main hoist mechanism to output a reverse torque if the current lowering depth is less than or equal to the depth threshold, and to control the motor of the electric main hoist mechanism to stop rotating when a preset condition is met; the preset condition is that the lowermost end of the telescopic drill pipe reaches the bottom of the target borehole and the tension value of the steel wire rope is equal to the target pretightening force value. The process of setting the current lowering speed of the telescopic drill pipe by the first speed adjustment module according to the current load weight, the power head height, the current lowering depth and the length of the sub drill pipe includes: calculating a current relative distance according to the power head height and the current lowering depth; the current relative distance is used to describe the distance between the lowermost end of the telescopic drill pipe and the lowermost end of the power head; determining the weight and length of each sub drill pipe in the telescopic drill pipe; initializing the value of i to 0; setting the sum of the lengths of the first i+1 sub drill pipes minus the value of the current relative distance as a reference distance; setting the sum of the weights of the first i+1 sub drill pipes as a reference weight; determining whether the reference distance is greater than a buffer distance; if yes, setting a first lowering speed as the current lowering speed of the telescopic drill pipe; if no, setting a second lowering speed as the current lowering speed of the telescopic drill pipe; the first lowering speed is greater than the second lowering speed; if the current load weight is greater than or equal to the reference weight, increasing the value of i by 1 so as to update the reference distance and the reference weight. The drill pipe lowering control system of the rotary drilling rig further includes a parameter setting module configured to set the buffer distance according to the value of i and the reference weight before determining whether the reference distance is greater than the buffer distance; the buffer distance is positively correlated with the value of i and the buffer distance is positively correlated with the reference weight.

7. An electronic device, comprising: A device includes a memory and a processor, the memory stores a computer program, and the processor calls the computer program in the memory to realize the steps of the drill pipe lowering control method of the rotary drilling rig according to any one of claims 1 to 5.

8. A storage medium, characterized by The storage medium stores computer executable instructions, and the computer executable instructions are loaded and executed by the processor to realize the steps of the drill pipe lowering control method of the rotary drilling rig according to any one of claims 1 to 5.

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