Drilling machine double-instruction channel control method and system

Abstract

The invention discloses a drilling machine double-instruction channel control method and system. The method comprises the following steps that an instruction is transmitted to a control unit through a first instruction channel adopting a wireless connection mode or / and a second instruction channel adopting a wired connection mode; running state data of the drilling machine are acquired in real time through the state acquisition unit and transmitted to the control unit; the control unit performs priority judgment on the transmitted instruction based on the operation state data and a preset priority judgment rule; and based on the judgment result, the control unit selects an execution instruction and transmits a corresponding control signal to the execution unit to control the operation of the drilling machine. The method has the advantages that the problem of limitation of single channel control can be solved, instruction conflicts are avoided by constructing a wireless and wired dual-instruction channel cooperative control architecture and combining operation state data and preset priority judgment rules, safe switching of control rights of a plurality of terminals under complex working conditions is realized, and the safety of the control rights of the terminals is improved. And the continuity and the safety of the operation of the drilling machine are ensured.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for engineering machinery, specifically to a dual-command-channel control method and system for drilling rigs. Background Technology

[0002] As a key piece of equipment in foundation engineering construction, the reliability, response speed, and safety of the drilling rig's control system directly affect construction efficiency and personnel safety. With the development of intelligent technology, remote control of drilling rigs has become an important direction for improving operational flexibility and adaptability to the working environment. However, existing remote control systems for drilling rigs still have significant shortcomings, especially under complex working conditions and with the need for multi-mode human-machine interaction, where their technical bottlenecks are becoming increasingly prominent.

[0003] In the current drilling rig control field, traditional control systems mostly adopt a single operation mode, mainly divided into two types: hard-wired control from the control room and single wireless remote control. Hard-wired control from the control room relies on a wired connection, which, while ensuring signal transmission stability to a certain extent, greatly limits its flexibility and convenience in complex working conditions, such as when there are many obstacles on the construction site or when long-distance operation is required. While single wireless remote control solves the problem of operating distance, it has revealed many problems in practical applications. Regarding signal interference, the complex environment of the construction site contains various sources of electromagnetic interference, such as the operation of other large machinery and interference from radio signals. The signal transmission frequency band used by single wireless remote control systems is relatively limited, resulting in weak anti-interference capabilities. Once interfered with by external signals, it is easy to cause interruption or error in the transmission of operating commands, leading to loss of control of the drilling rig and posing a serious threat to construction safety. Whether it's aging wiring or poor contact in hard-wired control from the control room, or a damaged remote controller or insufficient battery power in single wireless remote control, both can directly lead to operation interruption. When this happens at critical moments in construction, it not only delays the construction progress but may also cause equipment damage due to the drilling rig's inability to stop or adjust operations in time, increasing construction costs. In addition, the single-channel control mode has a low safety level and lacks effective backup control measures. Once the main control channel has a problem, it is impossible to quickly switch to the backup channel to continue operation, which further exacerbates the construction risks.

[0004] Existing wireless remote control systems mostly employ low-frequency communication technologies such as 433MHz, which have limited transmission bandwidth, high command transmission delays, and system response speeds that cannot meet the requirements of high-precision control. Furthermore, these systems typically only transmit limited, basic status data (such as drilling rig inclination and oil pressure), failing to achieve real-time acquisition and in-depth analysis of numerous critical parameters, thus restricting the realization of intelligent diagnostic and control functions.

[0005] In terms of control management, existing systems generally lack effective arbitration and safe handover mechanisms for command conflicts. When multiple operating terminals issue control commands simultaneously or when a system emergency occurs, the ownership of control cannot be quickly and automatically determined, which can easily lead to misoperation or system chaos, further increasing operational risks. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a drilling rig dual-command channel control method and system that can solve the limitation of single-channel control by constructing a dual-command channel collaborative control architecture with both wireless and wired connections, and combining it with operation status data and preset priority determination rules to avoid command conflicts, realize safe switching of control rights of multiple terminals under complex working conditions, and ensure the continuity and safety of drilling rig operation.

[0007] To address the aforementioned technical problems, the present invention provides a dual-command-channel control method for drilling rigs, comprising the following steps: Commands are transmitted to the control unit via a first command channel using a wireless connection and / or a second command channel using a wired connection. The drilling rig's operating status data is acquired in real time by the status acquisition unit, and the operating status data is transmitted to the control unit. The control unit determines the priority of the instructions transmitted by the first instruction channel and the second instruction channel based on the operating status data and the preset priority determination rules. Based on the determination result, the control unit selects to execute the instruction transmitted by the first instruction channel or the second instruction channel, and transmits the corresponding control signal to the execution unit to control the operation of the drilling rig.

[0008] In a preferred embodiment, the priority determination rule includes at least an urgency level and an operational level; If any command channel transmits an emergency stop command to the control unit, the transmitted command is determined to be an emergency level command, and the control unit transmits the corresponding control signal to the execution unit to cut off the drilling rig's power output; If there is a conflict between the instructions transmitted to the control unit by the first instruction channel and the second instruction channel, the transmitted instruction is determined to be an operation-level instruction. The control unit switches the instruction channel according to the preset channel weight parameters and executes the instruction transmitted by the corresponding instruction channel, and transmits the corresponding control signal to the execution unit to control the drilling rig.

[0009] In a preferred embodiment, the control unit switches instruction channels according to preset channel weight parameters and executes the instructions transmitted by the corresponding instruction channel, specifically including: The control unit switches the instruction channel with the high channel weight parameter to the effective control state and switches the instruction channel with the low channel weight parameter to the ineffective control state. The control unit executes the instruction transmitted by the instruction channel in the effective control state and transmits the corresponding control signal to the execution unit to control the drilling rig operation. After the control unit completes the transmission of control signals, it switches all command channels to the effective control state.

[0010] In a preferred embodiment, the priority determination rule further includes a regular level; If only the first command channel or the second command channel is in an effective control state, the command transmitted by this command channel is determined to be at the normal level. The control unit executes the command transmitted by this command channel and transmits the corresponding control signal to the execution unit to control the drilling rig.

[0011] In a preferred embodiment, the control unit transmits the operating status data and permission request signal to the wireless controller via the first instruction channel; The control unit also transmits the operating status data and permission request signal to the control room through the second command channel.

[0012] In a preferred embodiment, the control unit sends the permission request signal through the instruction channel with a low channel weight parameter. If no confirmation response signal is received from the instruction channel within a preset time, the other instruction channel with a high channel weight parameter is switched to the effective control state.

[0013] In a preferred embodiment, the control unit continuously monitors the communication status of the first command channel and the second command channel; If any command channel signal is lost or malfunctions, this command channel is switched to an invalid control state, and another command channel is switched to an effective control state. The control unit executes the commands transmitted by the command channel in the effective control state, transmits the corresponding control signals to the execution unit to control the drilling rig, and records fault information for early warning.

[0014] In a preferred embodiment, the first command channel communicates using the 433MHz-915MHz frequency band; If the first command channel is in a state of signal loss or failure, the communication frequency band is switched and the communication connection with the control unit is re-established by frequency hopping spread spectrum.

[0015] The present invention also provides a drilling rig dual command channel control system, which includes at least a first command channel, a second command channel, a status acquisition unit, a control unit, and an execution unit; The first instruction channel is wirelessly connected to the control unit and is used to transmit instructions to the control unit; The second command channel is connected to the control unit via wired communication and is used to transmit commands to the control unit; The status acquisition unit is signal-connected to the control unit and is used to acquire the drilling rig's operating status data in real time and transmit the operating status data to the control unit. The execution unit is signal-connected to the control unit and is used to receive control signals transmitted by the control unit and drive the drilling rig to operate based on the control signals. The control unit is configured as follows: Based on the operating status data and the preset priority determination rules, the priorities of the instructions transmitted by the first instruction channel and the second instruction channel are determined. Based on the determination result, the control unit selects to execute the instruction transmitted by the first instruction channel or the second instruction channel, and transmits the corresponding control signal to the execution unit to control the operation of the drilling rig.

[0016] In a preferred embodiment, the status acquisition unit includes a triaxial attitude sensor for detecting the drilling rig's attitude, a hydraulic sensor for detecting parameters of the drilling rig's hydraulic system, and a displacement or angle encoder for detecting the position of the drilling rig's actuator.

[0017] The drilling rig dual-command channel control method and system of the present invention have the following advantages compared with the prior art: (1) The drilling rig dual-command channel control method of the present invention includes the following steps: Commands are transmitted to the control unit via a first command channel using a wireless connection and / or a second command channel using a wired connection. The first command channel using a wireless connection and the second command channel using a wired connection form a dual-channel architecture, with each channel serving as a backup for the other. If either channel experiences signal interference, equipment failure, or other issues, operation can be immediately switched to the other channel. This avoids the limitations of single-channel control, the limited flexibility and convenience of wired connections in complex working conditions, and the operational interruption issues that can easily occur with wireless connections due to signal interference or equipment failure. Through the collaborative work of the two channels and the switching between them, the requirements for flexible long-distance operation and reliable control are simultaneously met, adapting to various complex construction environments.

[0018] The system acquires real-time operating status data of the drilling rig through a status acquisition unit and transmits the data to the control unit. On one hand, real-time and comprehensive status data provides the control unit with decision-making support, enabling the system to make precise adjustments based on actual working conditions and improving control accuracy. On the other hand, through real-time feedback of status data, the system can quickly identify changes in working conditions and make corresponding adjustments, improving overall response speed.

[0019] Based on operational status data and preset priority determination rules, the control unit prioritizes the commands transmitted through the first and second command channels. On one hand, the preset priority determination rules provide the control unit with an effective command conflict arbitration mechanism. When multiple operating terminals simultaneously issue control commands or an emergency occurs in the system, the control unit can quickly and automatically determine control ownership according to the preset rules, avoiding misoperation or system chaos. On the other hand, prioritizing and selecting commands based on real-time operational status data enables the system to respond to commands more quickly, improving system response speed and meeting the requirements of high-precision control.

[0020] Based on the determination result, the control unit selects to execute the command transmitted through the first command channel or the second command channel, and transmits the corresponding control signal to the execution unit to control the drilling rig's operation. According to the command priority of the dual command channels and the actual operating status of the drilling rig, the control strategy is flexibly adjusted to select and execute the most suitable command, improving construction efficiency and operational accuracy, and ensuring the continuity and stability of operation under complex working conditions.

[0021] (2) In the drilling rig dual command channel control method of the present invention, if any command channel transmits an emergency stop command to the control unit, the transmitted command is determined to be an emergency level, and the control unit transmits the corresponding control signal to the execution unit to cut off the drilling rig power output. In the event of signal interference or equipment failure, any emergency stop command in the dual channels can trigger global protection, thus solving the problem of insufficient safety redundancy under single channel control.

[0022] If there is a conflict between the instructions transmitted to the control unit by the first and second instruction channels, the transmitted instructions are determined to be at the operational level. The control unit switches the instruction channels according to the preset channel weight parameters and executes the instructions transmitted by the corresponding instruction channel. The corresponding control signals are then transmitted to the execution unit to control the drilling rig. On the one hand, by clearly defining the priority determination rules, the control rights of the system are clarified, avoiding conflicts between multiple terminals and preventing mechanical stress damage or loss of control due to instruction conflicts. On the other hand, by dividing the system into "emergency level" and "operation level", a hierarchical safety response mechanism is established, which takes into account both absolute safety in extreme situations and orderly safety in daily operations.

[0023] The control unit switches command channels according to preset channel weight parameters and executes the commands transmitted by the corresponding command channels. Specifically, this includes: switching command channels with high channel weight parameters to an effective control state and switching command channels with low channel weight parameters to an ineffective control state; the control unit executes the commands transmitted by the command channels in the effective control state and transmits the corresponding control signals to the execution unit to control the drilling rig; after completing the control signal transmission, the control unit switches all command channels to the effective control state. On the one hand, state isolation achieves a clear transfer of control rights, avoids ambiguity of authority, isolates low-weight channels during conflicts to prevent interfering commands from affecting system operation, and ensures the uniqueness of control rights; on the other hand, after completing the control signal transmission, all command channels are restored to the effective control state, ensuring that the dual-channel hot standby feature is restored after each command determination, preventing the system from degenerating into a single-channel mode, dynamically restoring the backup channel function, and providing immediate backup support for possible subsequent failures. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the technical process of an embodiment of the drilling rig dual command channel control method and system of the present invention; Figure 2 This is a priority diagram illustrating the preference level determination rule of Embodiment 1 of the drilling rig dual command channel control method and system of the present invention; Figure 3 This is a technical flowchart illustrating the command priority determination in Embodiment 1 of the drilling rig dual command channel control method and system of the present invention. Figure 4 This is a schematic diagram of the structure of the drilling rig dual-command-channel control system, which is a second embodiment of the drilling rig dual-command-channel control method and system of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0026] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; they can refer to the internal connection of two components; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] Example 1 This embodiment provides a dual-command channel control method for drilling rigs, such as... Figure 1 As shown, it includes the following steps: Step S1: The command is transmitted to the control unit via a first command channel using a wireless connection and / or a second command channel using a wired connection. The first command channel using a wireless connection and the second command channel using a wired connection form a dual-channel architecture. The two command channels serve as backups for each other. If either channel experiences signal interference, equipment failure, or other reasons, operation can be immediately switched to the other channel. This avoids the limitations of single-channel control, the limited flexibility and convenience of wired connections in complex working conditions, and the problem of operation interruption caused by signal interference and equipment failure in wireless connections. Through the collaborative work of the two channels and the switching between them, the requirements for flexible long-distance operation and reliable control are simultaneously met, adapting to various complex construction environments.

[0029] Step S2 involves acquiring the drilling rig's operating status data in real time through the status acquisition unit and transmitting the data to the control unit. On one hand, real-time and comprehensive status data provides the control unit with a basis for decision-making, enabling the system to make precise adjustments based on actual working conditions and improving control accuracy. On the other hand, through real-time feedback of status data, the system can quickly identify changes in working conditions and make corresponding adjustments, improving overall response speed.

[0030] In step S3, the control unit determines the priority of commands transmitted through the first and second command channels based on the operating status data and preset priority determination rules. On one hand, the preset priority determination rules provide the control unit with an effective command conflict arbitration mechanism. When multiple operating terminals simultaneously issue control commands or an emergency occurs in the system, the control unit can quickly and automatically determine the ownership of control according to the preset rules, avoiding misoperation or system chaos. On the other hand, prioritizing and selecting commands based on real-time operating status data enables the system to respond to commands more quickly, improving the system's response speed and meeting the requirements of high-precision control.

[0031] Step S4: Based on the determination result, the control unit selects to execute the command transmitted by the first command channel or the second command channel, and transmits the corresponding control signal to the execution unit to control the drilling rig's operation. The control strategy is flexibly adjusted according to the command priority of the dual command channels and the actual operating status of the drilling rig, selecting the most suitable command to execute, improving construction efficiency and operational accuracy, and ensuring the continuity and stability of operation under complex working conditions.

[0032] It should be noted that the order of steps S1 and S2 in this embodiment can be changed. When no instructions are transmitted to the control unit through the first instruction channel and the second instruction channel, the status acquisition unit collects the operating status data in real time during the standby process of the drilling rig to detect the working status of the drilling rig.

[0033] Priority determination rules, such as Figure 2 As shown, priority settings include three levels: emergency, operational, and normal. Emergency has a higher priority than operational, and operational has a higher priority than normal.

[0034] (1) If any command channel transmits an emergency stop command to the control unit, the transmitted command is determined to be an emergency level command, and the control unit transmits the corresponding control signal to the execution unit to cut off the drilling rig's power output. With this design, in the event of signal interference or equipment failure, any emergency stop command in the dual channels can trigger global protection, solving the problem of insufficient safety redundancy under single-channel control.

[0035] (2) If there is a conflict between the instructions transmitted to the control unit by the first instruction channel and the second instruction channel, the transmitted instruction is determined to be at the operation level. The control unit switches the instruction channel according to the preset channel weight parameters and executes the instruction transmitted by the corresponding instruction channel, and transmits the corresponding control signal to the execution unit to control the drilling rig. On the one hand, by clearly defining the priority determination rules, the control rights of the system are clarified, multi-terminal operation conflicts are avoided, and mechanical stress damage or loss of control due to instruction conflicts are prevented. On the other hand, by dividing "emergency level" and "operation level", a hierarchical safety response mechanism is established, which takes into account both absolute safety in extreme situations and orderly safety in daily operations.

[0036] The control unit switches command channels according to preset channel weight parameters and executes the commands transmitted by the corresponding command channel, specifically including: The command channel with the high channel weight parameter is switched to the effective control state, and the command channel with the low channel weight parameter is switched to the ineffective control state. The control unit executes the command transmitted by the command channel in the effective control state and transmits the corresponding control signal to the execution unit to control the operation of the drilling rig. After the control unit completes the control signal transmission, it switches all command channels to the effective control state. On the one hand, state isolation ensures a clear transfer of control authority, avoids ambiguity of permissions, isolates low-weight channels during conflicts to prevent interfering commands from affecting system operation, and ensures the uniqueness of control authority. On the other hand, after completing the control signal transmission, it restores all command channels to the effective control state, ensuring that the dual-channel hot standby feature is restored after each command determination, preventing the system from degrading to single-channel mode, dynamically restoring the backup channel function, and providing immediate backup support for possible subsequent failures.

[0037] In this embodiment, the first instruction channel is set as an instruction channel with a low channel weight parameter, and the second instruction channel is set as an instruction channel with a high channel weight parameter.

[0038] (3) If only the first command channel or the second command channel is in a valid control state, the command transmitted by this command channel is determined to be of the normal level. The control unit executes the command transmitted by this command channel and transmits the corresponding control signal to the execution unit to control the drilling rig. During most non-emergency and conflict-free normal operating hours, the system automatically enters the "normal level" mode. In this mode, the control unit does not need to execute complex arbitration logic and directly executes the command of the only valid channel, achieving extremely low control delay and the highest transmission efficiency. This ensures that the drilling rig can obtain the fastest system response speed during stable operation, directly improving the operating experience and construction efficiency, and avoiding unnecessary processing overhead. The "normal level", "emergency level", and "operation level" together constitute a logically rigorous closed-loop management system covering all working conditions. The emergency level is used to handle safety crises; the operation level handles permission conflicts; and the normal level handles conflict-free daily operations. For drilling rigs that need to operate continuously for a long time, optimizing energy consumption and ensuring the stable operation of the controller are crucial. This feature allows the system to maintain a "light load" operating state most of the time, improving reliability.

[0039] In this embodiment, the control unit determines the priority of the instructions transmitted through the first and second instruction channels based on operating status data and preset priority determination rules, such as... Figure 3 As shown, the specific steps include the following: Step S301, drilling rig operating status assessment, specifically includes: The control unit receives and analyzes the operating status data collected by the status acquisition unit in real time, and compares the operating status data with the preset safety threshold. If the operating status data is outside the safety threshold, the drilling rig is determined to be in an abnormal operating state, a warning signal is sent, and the execution of the commands transmitted by the first command channel and the second command channel is stopped. If the operating status data is within the safety threshold, the drilling rig is determined to be in a normal operating state.

[0040] Step S302: If the drilling rig is operating normally, the priorities of the commands transmitted through the first command channel and the second command channel are determined based on the preset priority determination rules. Specifically, this includes the following steps: Step S3021, Emergency Level Priority Determination: If any command channel transmits an emergency stop command to the control unit, the transmitted command is determined to be emergency level. The control unit then transmits the corresponding control signal to the execution unit to cut off the drilling rig's power output.

[0041] Step S3022: Determine the effective control status of the first command channel and the second command channel. If only the first command channel or the second command channel is in an effective control state, the transmitted command is determined to be at the normal level. The control unit executes the transmitted command and transmits the corresponding control signal to the execution unit to control the drilling rig. If both the first command channel and the second command channel are in an effective control state, proceed to step S3023. Step S3023: Conflict determination is performed on the commands transmitted through the first command channel and the second command channel. If a conflict exists, the transmitted command is determined to be at the operation level. The control unit switches the command channel according to the preset channel weight parameters and executes the command transmitted through the corresponding command channel. The corresponding control signal is transmitted to the execution unit to control the drilling rig. After the control unit completes the control signal transmission, all command channels are switched to the effective control state. If there is no conflict, the control unit executes the transmitted commands sequentially and transmits the corresponding control signal to the execution unit to control the drilling rig.

[0042] In this embodiment, the control unit transmits the operating status data and permission request signal to the wireless controller through the first command channel; the control unit also transmits the operating status data and permission request signal to the control room through the second command channel. On the one hand, operators at both control terminals can obtain completely consistent and comprehensive drilling rig operating status information, making decisions based on identical information, avoiding misjudgments caused by information asymmetry, and providing a common information basis for safe and accurate operation; on the other hand, the proactive transmission of the permission request signal changes the switching of control from "silent seizure" to "active negotiation," so that operators at different control terminals can obtain conflict warnings and status notifications, reducing blind operation and improving the friendliness and safety of human-machine interaction.

[0043] Preferably, the control unit sends an authorization request signal through the command channel with the lower channel weight parameter. If no confirmation response signal is received from the command channel within a preset time, the other command channel with the higher channel weight parameter is switched to the effective control state. This automatic timeout handling mechanism resolves the potential "stalemate" state that may occur when conflicts arise, ensuring a rapid and decisive switch of control and greatly improving construction efficiency.

[0044] The control unit continuously monitors the communication status of the first and second command channels. If a signal loss or fault is detected in either command channel, that channel is switched to an invalid control state, while the other command channel is switched to an effective control state. The control unit executes the commands transmitted by the command channel in the effective control state, transmitting the corresponding control signals to the execution unit to control the drilling rig's operation, and records fault information for early warning. On one hand, the continuous monitoring and automatic switching mechanism ensures that the backup channel is not merely decorative but a "hot standby" unit always ready to take over, maximizing the value of hardware redundancy. On the other hand, the recorded fault information provides accurate information for rapid fault location and repair, significantly reducing maintenance time.

[0045] Preferably, the first command channel uses the 433MHz-915MHz frequency band for communication. If the first command channel is in a state of signal loss or failure, the communication frequency band is switched and the communication connection with the control unit is re-established through frequency hopping spread spectrum. On the one hand, by hopping within the frequency band, the system can intelligently utilize the physical characteristics of different frequency bands to adapt to different field environments (such as moving from an open area to a partially obstructed area) and find the best communication quality, overcoming the shortcomings of poor environmental adaptability of a single frequency band; on the other hand, even if one or more frequency points are flooded by strong electromagnetic interference in the field, the communication will only be affected momentarily and negligibly, and the signal will immediately switch to a clean frequency point to continue transmission.

[0046] Example 2 This embodiment provides a drilling rig dual-command channel control system, such as Figure 4 As shown, it includes at least a first instruction channel, a second instruction channel, a status acquisition unit, a control unit, and an execution unit; The first command channel is wirelessly connected to the control unit and is used to transmit commands to the control unit; The second command channel is connected to the control unit via wired communication and is used to transmit commands to the control unit; The status acquisition unit is connected to the control unit to acquire the drilling rig's operating status data in real time and transmit the operating status data to the control unit. The execution unit is signal-connected to the control unit and is used to receive control signals transmitted by the control unit and drive the drilling rig to operate based on the control signals. The control unit is configured as follows: Based on the running status data and the preset priority determination rules, the priorities of the instructions transmitted by the first instruction channel and the second instruction channel are determined. Based on the determination result, the control unit selects to execute the command transmitted by the first command channel or the second command channel, and transmits the corresponding control signal to the execution unit to control the operation of the drilling rig.

[0047] Preferably, the status acquisition unit includes a three-axis attitude sensor for detecting the drilling rig's attitude, a hydraulic sensor for detecting the parameters of the drilling rig's hydraulic system, and a displacement or angle encoder for detecting the position of the drilling rig's actuator.

[0048] In summary, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-command-channel control method for a drilling rig, characterized in that, Includes the following steps: Commands are transmitted to the control unit via a first command channel using a wireless connection and / or a second command channel using a wired connection. The drilling rig's operating status data is acquired in real time by the status acquisition unit, and the operating status data is transmitted to the control unit. The control unit determines the priority of the instructions transmitted by the first instruction channel and the second instruction channel based on the operating status data and the preset priority determination rules. Based on the determination result, the control unit selects to execute the instruction transmitted by the first instruction channel or the second instruction channel, and transmits the corresponding control signal to the execution unit to control the operation of the drilling rig.

2. The drilling rig dual-command channel control method according to claim 1, characterized in that: The priority determination rules include at least an emergency level and an operational level; If any command channel transmits an emergency stop command to the control unit, the transmitted command is determined to be an emergency level command, and the control unit transmits the corresponding control signal to the execution unit to cut off the drilling rig's power output; If there is a conflict between the instructions transmitted to the control unit by the first instruction channel and the second instruction channel, the transmitted instruction is determined to be an operation-level instruction. The control unit switches the instruction channel according to the preset channel weight parameters and executes the instruction transmitted by the corresponding instruction channel, and transmits the corresponding control signal to the execution unit to control the drilling rig.

3. A drilling rig dual-command channel control method according to claim 2, characterized in that: The control unit switches command channels according to preset channel weight parameters and executes the commands transmitted by the corresponding command channel, specifically including: The control unit switches the instruction channel with the high channel weight parameter to the effective control state and switches the instruction channel with the low channel weight parameter to the ineffective control state. The control unit executes the instruction transmitted by the instruction channel in the effective control state and transmits the corresponding control signal to the execution unit to control the drilling rig operation. After the control unit completes the transmission of control signals, it switches all command channels to the effective control state.

4. A drilling rig dual-command channel control method according to claim 2 or 3, characterized in that: The priority determination rules also include a regular level; If only the first command channel or the second command channel is in an effective control state, the command transmitted by this command channel is determined to be at the normal level. The control unit executes the command transmitted by this command channel and transmits the corresponding control signal to the execution unit to control the drilling rig.

5. A drilling rig dual-command channel control method according to claim 4, characterized in that: The control unit transmits the operating status data and permission request signal to the wireless controller through the first instruction channel; The control unit also transmits the operating status data and permission request signal to the control room through the second command channel.

6. A drilling rig dual-command channel control method according to claim 5, characterized in that: The control unit sends the permission request signal through the instruction channel with the lower channel weight parameter. If no confirmation response signal is received from the instruction channel within a preset time, the other instruction channel with the higher channel weight parameter is switched to the effective control state.

7. A drilling rig dual-command channel control method according to any one of claims 1-3 or 5-6, characterized in that: The control unit continuously monitors the communication status of the first command channel and the second command channel; If any command channel signal is lost or malfunctions, this command channel is switched to an invalid control state, and another command channel is switched to an effective control state. The control unit executes the commands transmitted by the command channel in the effective control state, transmits the corresponding control signals to the execution unit to control the drilling rig, and records fault information for early warning.

8. A drilling rig dual-command channel control method according to any one of claims 1-3 or 5-6, characterized in that: The first command channel uses the 433MHz-915MHz frequency band for communication; If the first command channel is in a state of signal loss or failure, the communication frequency band is switched and the communication connection with the control unit is re-established by frequency hopping spread spectrum.

9. A drilling rig dual-command channel control system, characterized in that, It includes at least a first instruction channel, a second instruction channel, a status acquisition unit, a control unit, and an execution unit; The first instruction channel is wirelessly connected to the control unit and is used to transmit instructions to the control unit; The second command channel is connected to the control unit via wired communication and is used to transmit commands to the control unit; The status acquisition unit is signal-connected to the control unit and is used to acquire the drilling rig's operating status data in real time and transmit the operating status data to the control unit. The execution unit is signal-connected to the control unit and is used to receive control signals transmitted by the control unit and drive the drilling rig to operate based on the control signals. The control unit is configured as follows: Based on the operating status data and the preset priority determination rules, the priorities of the instructions transmitted by the first instruction channel and the second instruction channel are determined. Based on the determination result, the control unit selects to execute the instruction transmitted by the first instruction channel or the second instruction channel, and transmits the corresponding control signal to the execution unit to control the operation of the drilling rig.

10. A drilling rig dual-command channel control system according to claim 9, characterized in that: The status acquisition unit includes a three-axis attitude sensor for detecting the drilling rig's attitude, a hydraulic sensor for detecting the parameters of the drilling rig's hydraulic system, and a displacement or angle encoder for detecting the position of the drilling rig's actuator.

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