Horizontal directional drilling machine function safety control method and system and horizontal directional drilling machine

Abstract

The invention discloses a function safety control method and system for a horizontal directional drilling machine and the horizontal directional drilling machine. The method comprises the steps that action signals of a working device of the horizontal directional drilling machine are collected; performing function rechecking on the collected action signal, and outputting a rechecking result; when the re-checking result is'fault ', executing a security program, and entering a security state; and after entering a safe state, inputting the current operation parameters of the horizontal directional drilling machine containing the action signal into the trained Bayesian fault diagnosis model, and outputting a predicted fault type and a probability value thereof. The working process of the horizontal directional drilling machine can be effectively monitored, safety protection of the horizontal directional drilling machine is achieved, and meanwhile fault reasons can be objectively, accurately and efficiently analyzed when faults occur.

Description

Technical Field

[0001] This invention belongs to the field of horizontal directional drilling technology, specifically relating to a functional safety control method, system, and horizontal directional drilling rig. Background Technology

[0002] Horizontal directional drilling rigs have been widely used in various infrastructure construction projects. In complex locations, horizontal directional drilling often requires continuous operation of working devices such as vises. In the current operating environment, the execution of actions of the horizontal directional drilling rig's working devices, such as clamping and releasing the vise, mainly relies on operator commands. Whether the actions meet the operator's expectations, whether malfunctions occur, and emergency handling of malfunctions are all left to the operator's subjective judgment. This places a heavy reliance on the operator's experience in horizontal directional drilling operations and does not meet functional safety requirements. In particular, with the rapid development of electrical control technology, the complexity of the action control of electrically controlled horizontal directional drilling rig working devices is constantly increasing. Communication failures and electronic component failures may lead to more risks. On the other hand, relying solely on the operator's subjective judgment to control the working devices no longer meets functional safety standards. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a functional safety control method, system, and horizontal directional drilling rig, which can effectively monitor the working process of the horizontal directional drilling rig and achieve safety protection for it. Furthermore, it can objectively, accurately, and efficiently analyze the causes of malfunctions when they occur.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: Firstly, a functional safety control method for a horizontal directional drilling rig is provided, comprising: acquiring action signals of the working device of the horizontal directional drilling rig; performing a functional verification on the acquired action signals and outputting the verification result; when the verification result is "fault", executing a safety procedure and entering a safe state; after entering the safe state, inputting the current operating parameters of the horizontal directional drilling rig containing the action signals into a trained Bayesian fault diagnosis model, and outputting the predicted fault type and its probability value.

[0005] In conjunction with the first aspect, the functional verification includes: when the action signal of the horizontal directional drilling rig working device is acquired, checking whether there is a control command input; if there is no control command input, the verification result is "fault"; if there is a control command input, checking whether the acquired action signal of the horizontal directional drilling rig working device is consistent with the currently input control command; if they are inconsistent, the verification result is "fault".

[0006] In conjunction with the first aspect, check whether the collected action signals of the horizontal directional drilling rig working device are consistent with the currently input control commands, including: functional consistency and result consistency; the functional consistency means that the horizontal directional drilling rig working device acts according to the input control commands; the result consistency means that the horizontal directional drilling rig working device acts according to the input control commands, and the action result is consistent with the expectation.

[0007] In conjunction with the first aspect, the safety procedure includes: when the verification result is "fault", de-energizing the control valve executing the current control command and stopping the specific action.

[0008] In conjunction with the first aspect, the training of the Bayesian fault diagnosis model includes: constructing a set of faults of the working device, denoted by set S, S=[s1, s2, s3...]; where s1 is the fault of action 1, s2 is the fault of action 2, and s3 is the fault of action 3; collecting and summarizing the causes of the faults, denoted by set R, R=[r1, r2, r3, r4, r5...]; where r1 is the activation of unexpected commands, r2 is the bus communication fault, r3 is the handle fault, r4 is the solenoid valve fault, and r5 is the accidental touch fault; training the Bayesian fault diagnosis model with historical fault data of the horizontal directional drilling rig working device, establishing the correspondence between set S and set R, and the probability value of predicting the fault type, denoted by set P, P=[pr1, pr2, pr3, pr4, pr5...].

[0009] Secondly, a functional safety control system for a horizontal directional drilling rig is provided, comprising: a signal monitoring module for collecting action signals of the working device of the horizontal directional drilling rig; a function verification module for performing function verification on the collected action signals and outputting the verification result; a safety program module for executing a safety program and entering a safe state when the verification result is "fault"; and a fault detection module for inputting the current operating parameters of the horizontal directional drilling rig containing the action signals into a trained Bayesian fault diagnosis model after entering the safe state, and outputting the predicted fault type and its probability value.

[0010] In conjunction with the second aspect, the functional verification includes: when the action signal of the horizontal directional drilling rig working device is acquired, checking whether there is a control command input. If there is no control command input, the verification result is "fault". If there is a control command input, checking whether the acquired action signal of the horizontal directional drilling rig working device is consistent with the currently input control command. If they are inconsistent, the verification result is "fault".

[0011] In conjunction with the second aspect, check whether the collected action signals of the horizontal directional drilling rig's working device are consistent with the currently input control commands, including: functional consistency and result consistency; the functional consistency means that the horizontal directional drilling rig's working device acts according to the input control commands; the result consistency means that the horizontal directional drilling rig's working device acts according to the input control commands, and the action result is consistent with expectations.

[0012] In conjunction with the second aspect, the safety procedure includes: when the verification result is "fault", de-energizing the control valve executing the current control command and stopping the specific action.

[0013] Thirdly, a horizontal directional drilling rig is provided, wherein the horizontal directional drilling rig is equipped with a horizontal directional drilling rig functional safety control system as described in the second aspect.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention collects the action signals of the working device of the horizontal directional drilling rig; performs functional verification on the collected action signals and outputs the verification results; when the verification result is "fault", a safety procedure is executed and a safe state is entered; after entering the safe state, the current operating parameters of the horizontal directional drilling rig containing the action signals are input into a trained Bayesian fault diagnosis model, and the predicted fault type and its probability value are output; the present invention can effectively monitor the working process of the horizontal directional drilling rig and realize the safety protection of the horizontal directional drilling rig. At the same time, it can objectively, accurately and efficiently analyze the cause of the fault when a fault occurs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall process of a functional safety control method for a horizontal directional drilling rig provided in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the specific execution flow of the vise clamping / releasing function safety module in an embodiment of the present invention; Figure 3 This is a schematic diagram of the vise clamping / releasing safety function system architecture in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the Bayesian fault diagnosis model in an embodiment of the present invention. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0017] Example 1 A functional safety control method for a horizontal directional drilling rig includes: acquiring action signals of the working device of the horizontal directional drilling rig; performing a functional verification on the acquired action signals and outputting the verification result; when the verification result is "fault", executing a safety procedure and entering a safe state; after entering the safe state, inputting the current operating parameters of the horizontal directional drilling rig containing the action signals into a trained Bayesian fault diagnosis model, and outputting the predicted fault type and its probability value.

[0018] 1. Collect the action signals of the horizontal directional drilling rig's working device.

[0019] Set up a signal monitoring module to monitor the action signals of each component of the horizontal directional drilling rig and define the corresponding action signals of the current working device.

[0020] like Figure 1 As shown, firstly, a signal monitoring module for the working device is set up to monitor specific action signals such as clamping / loosening of the vise, and to start the traditional control program for the corresponding action and the functional safety module corresponding to each action.

[0021] The functional safety modules are defined and divided in detail, and the fault types to be considered are at least categorized as follows: (1) Non-command activation; (2) Failed to implement as required; (3) Non-command deactivation; (4) Failed to release as required.

[0022] 2. Perform a functional verification on the collected action signals and output the verification results.

[0023] When the signal module detects the corresponding component action signal, it activates the component control signal to ensure the basic operation of the component.

[0024] Safety functions are defined for typical actions of horizontal directional drilling rigs, such as clamping and loosening the vise. If the operation of the working device does not meet the operator's expectations or encounters a malfunction, it will promptly enter a safe state.

[0025] When the action signal of the horizontal directional drilling rig working device is acquired, check whether there is a control command input. If no control command is input, the verification result is "fault". If a control command is input, check whether the acquired action signal of the horizontal directional drilling rig working device is consistent with the currently input control command. If they are inconsistent, the verification result is "fault".

[0026] Check whether the collected action signals of the horizontal directional drilling rig working device are consistent with the currently input control commands, including: functional consistency and result consistency; functional consistency means that the horizontal directional drilling rig working device acts according to the input control commands; result consistency means that the horizontal directional drilling rig working device acts according to the input control commands, and the action result is consistent with the expectation.

[0027] 3. When the verification result is "fault", execute the safety procedure and enter the safe state.

[0028] When the verification result is "fault", the control valve that is executing the current control command will be de-energized and the specific action will be stopped.

[0029] Safety functions are defined for typical actions of horizontal directional drilling rigs, such as clamping and releasing the vise. If the operation of the working device does not meet the operator's expectations or encounters a malfunction, the system will promptly enter a safe state. Figure 2 As shown, during the execution of specific actions, the functional safety module monitors several defined faults and uses the functional safety module to monitor operator requests and the movement of the working device. If the movement of the working device is activated without a command, the safety function stops the specific action and immediately de-energizes the corresponding control valve to stop the specific action, thereby ensuring functional safety.

[0030] IV. After entering a safe state, the current operating parameters of the horizontal directional drilling rig containing the action signals are input into the trained Bayesian fault diagnosis model, and the predicted fault type and its probability value are output.

[0031] This invention uses historical fault data of the working device of a horizontal directional drilling rig to learn and train the historical fault data using a Bayesian structure learning algorithm, and constructs a Bayesian fault diagnosis model.

[0032] like Figure 3 To construct a safety loop, a diagnostic loop with safety functions is added to the traditional control loop to ensure the independence and effectiveness of the control loops.

[0033] If a system malfunctions, while activating safety functions for protection, it is necessary to further diagnose the cause of the malfunction. Therefore, the patent utilizes Bayesian methods to train a fault diagnosis model on historical data of each component of the working device, and then uses reverse reasoning to deduce the cause of the malfunction and resolve it. The steps are as follows: (1) Construct a set of faults in the working device, denoted by set S. S = [s1, s2, s3, ...]; Here, s1 represents the fault of action 1, s2 represents the fault of action 2, and s3 represents the fault of action 3. The set S can be expanded at any time.

[0034] (2) Collect and summarize the causes of the malfunctions, and represent them as set R. R=[r1, r2, r3, r4, r5···]; Among them, r1 is the unexpected command activation, r2 is the bus communication failure, r3 is the handle failure, r4 is the solenoid valve failure, and r5 is the accidental touch failure. The set of failure causes can be expanded at any time.

[0035] (3) Train the system using historical fault data of the horizontal directional drilling rig's working device, establish the correspondence between set S and set R, and derive a Bayesian fault diagnosis model, such as... Figure 4 As shown.

[0036] (4) After training and obtaining the Bayesian fault diagnosis model, based on Bayes' theorem, reverse reasoning is performed on the faults that occur to obtain the probability values ​​corresponding to r1~r5, which are represented by the set P. P=[pr1, pr2, pr3, pr4, pr5···].

[0037] (5) Sort pr1~pr5 from largest to smallest, and according to the order of probability values, find out the specific causes of the failure of the working device components of the horizontal directional drilling rig and solve the failure.

[0038] This invention can effectively monitor operator requests and the movement of the working device. If any action has a fault such as non-command activation, the corresponding solenoid valve of each action will be de-energized in the traditional control program to ensure that each action is in a safe working state. This technical solution can monitor and protect against potential risks that traditional control does not consider from a deeper level of functional safety, making the specific actions of the horizontal directional drilling rig working device safer. In addition, a Bayesian fault diagnosis model is constructed. When a system fault occurs, the diagnostic model can be used to perform reverse reasoning to quickly find the potential causes of the fault and troubleshoot and resolve the fault.

[0039] Example 2 Based on the functional safety control method for a horizontal directional drilling rig described in Embodiment 1, this embodiment provides a functional safety control system for a horizontal directional drilling rig, including: The signal monitoring module is used to collect the action signals of the working device of the horizontal directional drilling rig; The function verification module is used to perform function verification on the collected action signals and output the verification results; The safety procedure module is used to execute the safety procedure and enter a safe state when the review result is "fault". The fault detection module is used to input the current operating parameters of the horizontal directional drilling rig, which includes the action signals, into the trained Bayesian fault diagnosis model after entering a safe state, and output the predicted fault type and its probability value.

[0040] Example 3 Based on the functional safety control system for a horizontal directional drilling rig described in Embodiment 2, this embodiment provides a horizontal directional drilling rig equipped with the functional safety control system for a horizontal directional drilling rig described in Embodiment 2.

[0041] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A functional safety control method for a horizontal directional drilling rig, characterized in that, include: Collect the action signals of the working device of the horizontal directional drilling rig; Perform a functional verification on the collected action signals and output the verification results; When the verification result is "fault", execute the safety procedure and enter the safe state; Once the system enters a safe state, the current operating parameters of the horizontal directional drilling rig, which contain the action signals, are input into the trained Bayesian fault diagnosis model, which then outputs the predicted fault type and its probability value.

2. The functional safety control method for horizontal directional drilling rigs according to claim 1, characterized in that, The function verification includes: when the action signal of the horizontal directional drilling rig working device is collected, checking whether there is a control command input. If there is no control command input, the verification result is "fault". If there is a control command input, checking whether the collected action signal of the horizontal directional drilling rig working device is consistent with the currently input control command. If they are inconsistent, the verification result is "fault".

3. The functional safety control method for horizontal directional drilling rigs according to claim 2, characterized in that, Check whether the collected action signals of the horizontal directional drilling rig working device are consistent with the currently input control commands, including: functional consistency and result consistency; functional consistency means that the horizontal directional drilling rig working device acts according to the input control commands; result consistency means that the horizontal directional drilling rig working device acts according to the input control commands, and the action result is consistent with the expectation.

4. The functional safety control method for horizontal directional drilling rigs according to claim 1, characterized in that, The safety procedure includes: when the verification result is "fault", de-energizing the control valve that is executing the current control command and stopping the specific action.

5. The functional safety control method for horizontal directional drilling rigs according to claim 1, characterized in that, The training of the Bayesian fault diagnosis model includes: Construct a set of faults for the working device, denoted by set S, where S = [s1, s2, s3, ...]; where s1 represents fault 1 of action, s2 represents fault 2 of action, and s3 represents fault 3 of action. The causes of the malfunctions are collected and summarized, and represented by a set R, R = [r1, r2, r3, r4, r5, ...]; where r1 is the unexpected command activation, r2 is the bus communication failure, r3 is the handle failure, r4 is the solenoid valve failure, and r5 is the accidental touch failure. The Bayesian fault diagnosis model is trained using historical fault data of the horizontal directional drilling rig's working device. The correspondence between set S and set R is established, as well as the probability value for predicting the fault type, denoted by set P, where P = [pr1, pr2, pr3, pr4, pr5, ...].

6. A functional safety control system for a horizontal directional drilling rig, characterized in that, include: The signal monitoring module is used to collect the action signals of the working device of the horizontal directional drilling rig; The function verification module is used to perform function verification on the collected action signals and output the verification results; The safety procedure module is used to execute the safety procedure and enter a safe state when the review result is "fault". The fault detection module is used to input the current operating parameters of the horizontal directional drilling rig, which includes the action signals, into the trained Bayesian fault diagnosis model after entering a safe state, and output the predicted fault type and its probability value.

7. The functional safety control system for horizontal directional drilling rigs according to claim 6, characterized in that, The function verification includes: when the action signal of the horizontal directional drilling rig working device is collected, checking whether there is a control command input. If there is no control command input, the verification result is "fault". If there is a control command input, checking whether the collected action signal of the horizontal directional drilling rig working device is consistent with the currently input control command. If they are inconsistent, the verification result is "fault".

8. The functional safety control system for horizontal directional drilling rigs according to claim 7, characterized in that, Check whether the collected action signals of the horizontal directional drilling rig working device are consistent with the currently input control commands, including: functional consistency and result consistency; functional consistency means that the horizontal directional drilling rig working device acts according to the input control commands; result consistency means that the horizontal directional drilling rig working device acts according to the input control commands, and the action result is consistent with the expectation.

9. The functional safety control system for horizontal directional drilling rigs according to claim 6, characterized in that, The safety procedure includes: when the verification result is "fault", de-energizing the control valve that is executing the current control command and stopping the specific action.

10. A horizontal directional drilling rig, characterized in that, The horizontal directional drilling rig is equipped with a functional safety control system for a horizontal directional drilling rig as described in any one of claims 6 to 9.

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