Drilling perpendicularity control method and system of rotary drilling rig and rotary drilling rig

Abstract

The invention discloses a drilling perpendicularity control method and system of a rotary drilling rig and the rotary drilling rig, and relates to the technical field of rotary drilling rigs. The drilling perpendicularity control method of the rotary drilling rig comprises the steps that the deviation distance between a steel wire rope and the center of a power head is obtained in the drilling process; the drilling perpendicularity deviation value is calculated according to the deviation distance; and when the drilling perpendicularity deviation value exceeds a preset threshold value, the drilling mast is adjusted to correct the drilling perpendicularity. According to the drilling perpendicularity control method of the rotary drilling rig, the problems that in traditional drilling operation, perpendicularity detection is prone to being affected by the environment, the detection efficiency is low, and construction safety quality risks and hidden dangers exist are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rotary drilling rigs, in particular to a rotary drilling rig hole verticality control method and system and a rotary drilling rig. BACKGROUND

[0002] With the increasing requirements of building, bridge and railway engineering on bearing capacity, as the main form of deep foundation, the pile verticality control of cast-in-place pile has become a key indicator to ensure the bearing performance of pile body, reduce uneven settlement and avoid structural additional internal force. The current "Construction Foundation Engineering Construction Quality Acceptance Standard" (GB 50202-2018) clearly stipulates that the allowable deviation of cast-in-place pile verticality shall not be greater than 1%. However, the traditional construction and detection means still have the following three bottlenecks in achieving the above precision requirements:

[0003] First, the measurement accuracy is easily disturbed by the construction environment: the existing verticality detection generally uses the plumb method. Under the interference of site vibration, airflow and mud flow in the hole, the swing amplitude is large and the reading repeatability is poor, which makes it difficult to meet the requirements of stable high-precision construction detection.

[0004] Second, the detection mode is lagging and cannot achieve dynamic monitoring: the traditional method can only measure offline by manually lowering the measuring tool after the drilling machine stops drilling and lifting the drill rod. Since the detection relies on manual operation, the efficiency is low, and it lags behind the construction process, so it cannot timely identify and correct the verticality deviation of the drill rod.

[0005] Third, the safety and quality risk is high: if the verticality deviation cannot be identified and corrected at the early stage, it is easy to cause quality problems such as hole inclination and irregular hole diameter, and in severe cases, it may lead to drill rod fracture and induce safety accidents, directly affecting the project progress and equipment safety. SUMMARY

[0006] The purpose of the present application is to provide a rotary drilling rig hole verticality control method, system and rotary drilling rig, which solves the problems of verticality detection being easily affected by the environment, low detection efficiency and construction safety and quality risk in traditional drilling operation.

[0007] To achieve the above purpose, the present application provides a rotary drilling rig hole verticality control method applied to a rotary drilling rig, which includes a drill mast, a power head for providing rotary power to a drill rod, and a steel wire rope connected with the drill mast and used for lifting the drill rod. The control method comprises:

[0008] obtaining the deviation distance between the steel wire rope and the center of the power head during drilling;

[0009] calculating the hole verticality deviation amount according to the deviation distance;

[0010] adjusting the drilling mast to correct the drilling verticality when the drilling verticality deviation exceeds a preset threshold.

[0011] In some embodiments, the step of adjusting the drilling mast to correct the drilling verticality comprises:

[0012] obtaining the deviation angle of the drilling mast relative to the vertical direction;

[0013] controlling the action of the luffing cylinder of the drilling mast according to the deviation angle of the drilling mast relative to the vertical direction to correct the drilling verticality.

[0014] In some embodiments, the step of controlling the action of the luffing cylinder of the drilling mast according to the deviation angle of the drilling mast relative to the vertical direction comprises:

[0015] controlling the action of the luffing cylinder at a first preset speed when the deviation angle of the drilling mast relative to the vertical direction does not reach a first preset condition;

[0016] controlling the action of the luffing cylinder at an extension and retraction speed lower than the first preset speed according to the remaining deviation angle to be adjusted for straightening the drilling mast when the deviation angle of the drilling mast relative to the vertical direction reaches the first preset condition;

[0017] locking the luffing cylinder when the deviation angle of the drilling mast relative to the vertical direction reaches a second preset condition and does not fluctuate for a preset time.

[0018] In some embodiments, the step of controlling the action of the luffing cylinder of the drilling mast according to the deviation angle of the drilling mast relative to the vertical direction further comprises:

[0019] obtaining displacement data of the luffing cylinder;

[0020] controlling the luffing cylinder to pause when the displacement data reaches a target value, and reacquiring the deviation angle of the drilling mast relative to the vertical direction after the drilling mast is stabilized.

[0021] In some embodiments, after the step of obtaining the deviation angle of the drilling mast relative to the vertical direction, the method further comprises:

[0022] reducing the extension and retraction speed of the luffing cylinder to 1 mm / s when the deviation angle of the drilling mast relative to the vertical direction reaches a third preset condition;

[0023] locking the luffing cylinder when the deviation angle of the drilling mast relative to the vertical direction reaches a second preset condition and does not fluctuate for a preset time.

[0024] In some embodiments, the step of obtaining the deviation distance between the steel wire rope and the center of the power head during drilling comprises:

[0025] installing the visual detection module on the drilling mast and positioning the visual detection module directly above the power head;

[0026] obtaining the deviation distance between the wire rope and the center of the power head in the drilling process by the visual detection module.

[0027] In some embodiments, the step of calculating the hole verticality deviation amount according to the deviation distance comprises:

[0028] constructing a deviation distance set of the wire rope and the center of the power head according to the continuously collected deviation distances;

[0029] obtaining a deviation direction vector of the drill rod according to the deviation distance set;

[0030] calculating the hole verticality deviation amount according to the deviation direction vector.

[0031] In some embodiments, after the step of calculating the hole verticality deviation amount according to the deviation distance, the method further comprises:

[0032] displaying the hole verticality deviation amount on the display screen and issuing corresponding warning information.

[0033] The application also provides a rotary drilling rig hole verticality control system adopting any of the rotary drilling rig hole verticality control methods described above, and the control system comprises:

[0034] a visual detection module installed on the drill mast and located directly above the power head, for obtaining the deviation distance between the wire rope and the center of the power head in the drilling process;

[0035] a calculation module connected to the visual detection module, for calculating the hole verticality deviation amount according to the deviation distance;

[0036] an adjustment module connected to the calculation module, for adjusting the drill mast to correct the hole verticality when the hole verticality deviation amount exceeds a preset threshold.

[0037] The application also provides a rotary drilling rig comprising the rotary drilling rig hole verticality control system described above, and further comprising a platform, a drill mast, a power head, a main winch, a wire rope, a drill rod, a goose head and an amplitude cylinder, the main winch being installed on the platform, the power head being installed on the drill mast for providing rotary power to the drill rod, the wire rope being connected to the drill mast through the goose head for hoisting the drill rod, and the amplitude cylinder being used for controlling the inclination angle of the drill mast.

[0038] Compared with the background art, the rotary drilling rig hole verticality control method provided by the embodiments of the application comprises: obtaining the deviation distance between the wire rope and the center of the power head in the drilling process; calculating the hole verticality deviation amount according to the deviation distance; and adjusting the drill mast to correct the hole verticality when the hole verticality deviation amount exceeds a preset threshold.

[0039] The rotary drilling rig hole drilling verticality control method has the beneficial effects mainly including:

[0040] Firstly, the present application directly takes the instantaneous distance from the steel wire rope to the center of the power head as the measurement object, eliminates the swing error of the plumb bob caused by air flow, vibration and mud damping when detecting the verticality by the traditional plumb bob method, and improves the accuracy of hole drilling verticality detection.

[0041] Secondly, the measurement is synchronized with the drilling process, without the offline steps of stopping drilling, lifting the drill, and manually lowering the ruler, the single-meter detection time is significantly shortened, and the real-time detection of hole drilling verticality data and the zero-lag of hole quality information are realized.

[0042] Thirdly, once the hole drilling verticality deviation exceeds the limit, the system immediately controls and adjusts the drill mast to complete the closed-loop correction of the hole drilling verticality, so that the whole process of measurement, calculation and correction is moved to the cab, and a single person can complete high-precision hole drilling, reducing the experience dependence, avoiding the bending and breaking of the drill pipe and the collapse of the hole caused by hole deviation, reducing the equipment downtime, and making the construction safer. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0044] Figure 1 The flow chart of the hole drilling verticality control method of the rotary drilling rig in the embodiments of the present application.

[0045] Figure 2 The overall structure schematic diagram of the rotary drilling rig in the embodiments of the present application.

[0046] Figure 3 The installation position schematic diagram of the visual detection module on the rotary drilling rig.

[0047] Figure 4 The power head and the steel wire rope edge detection result schematic diagram.

[0048] Figure 5 The drill mast angle measurement schematic diagram.

[0049] Figure 6 The connection block diagram of the hole drilling verticality control system of the rotary drilling rig in the embodiments of the present application.

[0050] Among them:

[0051] 1-platform, 2-drill mast, 3-power head, 4-main winch, 5-steel wire rope, 6-drill pipe, 7-swivel, 8-drilling tool, 9-luffing cylinder, 91-left luffing cylinder, 92-right luffing cylinder, 10-visual detection module, 11-computing module, 12-adjusting module, 13-inclination sensor, 14-displacement sensor. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] In order for those skilled in the art in the technical field to better understand the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0054] Please refer to Figure 1 and Figure 2 The drilling verticality control method of the rotary drilling rig provided by the embodiments of the present application is applied to a rotary drilling rig, which comprises a drill mast 2, a power head 3 for providing rotary power to a drill pipe 6, and a steel wire rope 5 for hoisting the drill pipe 6 and connected with the drill mast 2.

[0055] Specifically, the drilling verticality control method of the rotary drilling rig comprises:

[0056] S1: obtaining a deviation distance between the steel wire rope 5 and the center of the power head 3 during drilling;

[0057] S2: calculating a drilling verticality deviation amount according to the deviation distance;

[0058] S3: when the drilling verticality deviation amount exceeds a preset threshold, adjusting the drill mast 2 to correct the drilling verticality.

[0059] It should be noted that the current “Standard for Construction Quality Acceptance of Building Foundation Engineering” (GB 50202-2018) clearly stipulates that the allowable deviation of cast-in-place pile verticality should not be greater than 1%. Therefore, the preset threshold can be 1%.

[0060] The present application directly takes the instantaneous distance from the steel wire rope 5 to the center of the power head 3 as the measurement object, eliminates the swing error of the plumb bob caused by air flow, vibration, and mud damping when detecting the verticality by the traditional plumb method, and improves the accuracy of the drilling verticality detection. At the same time, the measurement is synchronized with the drilling process, without the need for offline steps such as stopping drilling, lifting the drill, and manually lowering the ruler, the single-meter detection time is significantly shortened, the real-time detection of the drilling verticality data is realized, and the zero-lag of the hole quality information is achieved. In addition, once the drilling verticality deviation exceeds the limit, the system immediately controls the adjustment of the drilling mast 2 to complete the closed-loop correction of the drilling verticality, thereby moving the whole process of measurement, calculation, and correction into the cab, and a single person can complete high-precision hole forming, reducing the dependence on experience, and avoiding the bending, breaking, and hole collapse accidents of the drill pipe 6 caused by hole deviation, reducing the downtime of the equipment, and making the construction safer.

[0061] The step of adjusting the drilling mast 2 to correct the drilling verticality includes:

[0062] Obtaining the deviation angle (also referred to as the inclination angle) of the drilling mast 2 relative to the vertical direction;

[0063] Controlling the action of the luffing oil cylinder 9 of the drilling mast 2 according to the deviation angle of the drilling mast 2 relative to the vertical direction to correct the drilling verticality.

[0064] Of course, according to the actual situation, the present application can be based on the detected drilling verticality and the actual working scene to select the drilling verticality repair after stopping or the timely drilling verticality repair during the drilling process.

[0065] In this way, unlike the traditional drilling verticality detection and repair, which requires stopping for detection and determining the repair scheme before proceeding, the present embodiment can detect the verticality during the drilling process and perform drilling verticality repair after stopping, or automatically repair the drilling verticality during the next drilling process, thereby improving the repair efficiency.

[0066] In some embodiments, when the drilling verticality deviation exceeds the preset threshold, the drilling verticality repair can be performed after stopping.

[0067] Specifically, after obtaining the deviation angle of the drilling mast 2 relative to the vertical direction, the step of controlling the action of the luffing oil cylinder 9 of the drilling mast 2 according to the deviation angle of the drilling mast 2 relative to the vertical direction includes:

[0068] When the deviation angle of the drilling mast 2 relative to the vertical direction does not reach the first preset condition, controlling the action of the luffing oil cylinder 9 at a first preset speed;

[0069] When the deviation angle of the drilling mast 2 relative to the vertical direction reaches the first preset condition, controlling the action of the luffing oil cylinder 9 at a telescopic speed lower than the first preset speed according to the remaining deviation angle to be adjusted for straightening the drilling mast 2;

[0070] When the deviation angle of the drill mast 2 relative to the vertical direction reaches the second preset condition and remains unchanged for a preset time, the lock the variable amplitude cylinder 9.

[0071] It should be noted that the first preset condition that the deviation angle of the drill mast 2 relative to the vertical direction reaches can be that the deviation angle of the drill mast 2 relative to the vertical direction is reduced to within ±2°, and the first preset speed can be 5 mm / s. The second preset condition that the deviation angle of the drill mast 2 relative to the vertical direction reaches and remains unchanged for a preset time can be that the deviation angle of the drill mast 2 relative to the vertical direction is stabilized within ±0.1° and remains unchanged for 10 seconds.

[0072] Of course, the specific deviation angle threshold setting range, the extension and retraction speed of the cylinder, and the duration of no fluctuation can be adjusted according to the actual working conditions, and are not limited to the above values.

[0073] The deviation angle and direction of the drill mast 2 relative to the vertical direction specifically include: the roll angle (also known as the roll angle) in the left-right direction, with the right as positive; the pitch angle in the up-down direction, with the upward direction as positive.

[0074] In some embodiments, before the step of obtaining the deviation angle of the drill mast 2 relative to the vertical direction, the method further comprises:

[0075] Controlling the platform 1 of the rotary drilling rig to return to normal;

[0076] Activating the system for adjusting the drill mast 2 through the control panel.

[0077] The following takes the left tilt of the drill mast 2 as an example:

[0078] The platform 1 of the rotary drilling rig is operated to return to normal, the drill mast 2 posture monitoring system is activated through the control panel, the tilt angle of the drill mast 2 is obtained in real time, and is displayed on the operation interface. If the drill mast 2 tilts to the left and the tilt angle of the drill mast 2 does not reach within ±2°, the control system automatically sends instructions to make the left variable amplitude cylinder 91 of the drill mast 2 elongate and the right variable amplitude cylinder 92 simultaneously shorten, as shown in Figure 5 , and is executed at a preset speed (such as 5 mm / s). When the tilt angle of the drill mast 2 is reduced to within ±2°, the cylinder action is paused and the fine adjustment stage is entered.

[0079] The specific steps of the fine adjustment stage include: starting the PID (Proportional-Integral-Derivative) control algorithm, and dynamically adjusting the cylinder extension and retraction speed according to the remaining deviation angle to be adjusted for straightening the drill mast 2. For example, when the angle deviation is ±1°, the cylinder speed is reduced to 2 mm / s; when the angle deviation is less than ±0.5°, the cylinder speed is reduced to 1 mm / s. When the tilt angle of the drill mast 2 is stabilized within ±0.1° and remains unchanged for 10 seconds, the system determines that the straightening is completed, and automatically locks the position of the left and right variable amplitude cylinders 9.

[0080] That is, the step of controlling the action of the luffing cylinder 9 at an extension and retraction speed lower than the first preset speed according to the remaining deviation angle to be adjusted for straightening the drill mast 2 comprises:

[0081] When the angle deviation is ±1°, the cylinder speed is reduced to 2mm / s; when the angle deviation is less than ±0.5°, the cylinder speed is reduced to 1mm / s.

[0082] It should be noted that the rotary drilling rig does not carry out construction work during the fine adjustment stage, but only ensures that the drill mast 2 is straightened in the initial working state of the rotary drilling rig.

[0083] In some embodiments, the step of controlling the action of the luffing cylinder 9 of the drill mast 2 according to the deviation angle of the drill mast 2 relative to the vertical direction further comprises:

[0084] Obtaining displacement data of the luffing cylinder 9;

[0085] When the displacement data reaches the target value, the luffing cylinder 9 is controlled to pause, and the deviation angle of the drill mast 2 relative to the vertical direction is reacquired after the drill mast 2 is stabilized.

[0086] That is, the displacement data of the luffing cylinder 9 is acquired in real time by the displacement sensor 14, and the angle data is reacquired after the drill mast 2 is stabilized after pausing for 1-2 seconds each time the cylinder is adjusted (e.g. 5mm extension and retraction), which can avoid over-adjustment of the drill mast 2 caused by inertia.

[0087] In addition to the above-mentioned repair method of adjusting the drill mast 2 after stopping, timely dynamic adjustment can also be made during the operation.

[0088] Specifically, after the step of obtaining the deviation angle of the drill mast 2 relative to the vertical direction, the method further comprises:

[0089] When the deviation angle of the drill mast 2 relative to the vertical direction reaches a third preset condition, the extension and retraction speed of the luffing cylinder 9 is reduced to 1mm / s;

[0090] When the deviation angle of the drill mast 2 relative to the vertical direction reaches a second preset condition and does not fluctuate for a preset time, the luffing cylinder 9 is locked.

[0091] It should be noted that the so-called deviation angle of the drill mast 2 relative to the vertical direction reaching the third preset condition can be that the roll angle or pitch angle of the drill mast 2 is greater than ±0.5°.

[0092] Specifically, after each drilling, the platform 1 is returned to the vertical position, and the deviation angle data of the drill mast 2 relative to the vertical direction detected by the inclination sensor 13 is detected. If the roll angle or the pitch angle of the drill mast 2 is greater than ±0.5°, it is determined that dynamic adjustment is needed, and the speed of the left-right luffing oil cylinder 9 is reduced to 1 mm / s. After each adjustment (e.g., the oil cylinder is extended or retracted by 5 mm), the angle data is collected again after a pause of 1-2 seconds to avoid over-adjustment caused by inertia. When the inclination angle of the drill mast 2 is stable within ±0.1° and remains unchanged for 10 seconds, the left-right luffing oil cylinder 9 is locked, and the system determines that the straightening is completed.

[0093] In this way, the present application can automatically correct the drilling process in a timely manner based on the detected drilling perpendicularity, which is different from the traditional drilling perpendicularity detection and repair, which requires stopping the machine for detection and determining the repair scheme before proceeding. The present embodiment can detect the perpendicularity during drilling and automatically repair the drilling perpendicularity during the next drilling process, thereby improving the efficiency of repair.

[0094] In some embodiments, the step of acquiring the deviation distance between the steel wire rope 5 and the center of the power head 3 during drilling includes:

[0095] The visual detection module 10 is installed on the drill mast 2 and located directly above the power head 3.

[0096] The visual detection module 10 acquires the deviation distance between the steel wire rope 5 and the center of the power head 3 during drilling.

[0097] It should be noted that during the construction process of the rotary drilling rig, the relative positional relationship between the steel wire rope 5 and the power head 3 is observed through the camera to determine whether the current drilling process has deviated from the vertical position. To further accurately acquire the positional deviation data between the steel wire rope 5 and the center of the power head 3, a visual detection module 10 (such as an industrial camera) is installed on the drill mast 2 of the rotary drilling rig, as shown in Figure 3 The industrial camera is installed on the drill mast 2 directly above the power head 3, and the shooting angle is downwardly directed to the power head 3. The distance from the industrial camera to the plane of the power head 3 is L1, and the outer circle of the power head 3 has a circular diameter of L2.

[0098] During installation, the lens focal length, aperture, and other parameters of the industrial camera are precisely adjusted according to the actual installation distance and imaging requirements, so that the collected images can clearly present the outlines of the steel wire rope 5 and the power head 3.

[0099] In some embodiments, the step of calculating the drilling perpendicularity deviation amount based on the deviation distance includes:

[0100] A deviation distance set of the steel wire rope 5 and the center of the power head 3 is constructed based on the continuously collected deviation distances.

[0101] According to the deviation distance set, the deviation direction vector of the drill pipe 6 is obtained;

[0102] According to the deviation direction vector, the deviation amount of the drilling verticality is calculated.

[0103] The industrial camera collects images of the steel wire rope 5 and the power head 3 every fixed time interval of 100 ms. The collected color images are first subjected to grayscale processing to convert the RGB format images into grayscale images, reducing the data volume and facilitating subsequent processing. A Gaussian filtering algorithm is used to perform noise reduction processing on the grayscale images to remove noise interference in the images and make the images smoother. Then, a machine vision detection and recognition algorithm is used to extract edge information in the images, highlighting the contour edges of the steel wire rope 5 and the power head 3, and providing clear edge features for subsequent center position recognition, as shown in FIG. 2. Figure 4

[0104] In actual drilling, the position of the power head 3 generally does not change. For simple calculation, the center point coordinate (0, 0) of the power head 3 is set as the origin of the x-y coordinate system. After normalization, the point coordinates recognized by the image, the offset distance between the center point coordinate (x1, y1) of the steel wire rope 5 and the center point coordinate (0, 0) of the power head 3 is , and the calculation formula is as follows:

[0105] (1)

[0106] Therefore, the angle of deviation . Since the industrial camera continuously collects data during construction, a center deviation data set of the steel wire rope 5 and the power head 3 can be established as .

[0107] (2)

[0108] Since the center deviation distance of the steel wire rope 5 and the power head 3 can only reflect the drilling verticality at a certain moment, and in the actual operation of the equipment, affected by engine vibration and other factors, in addition to the vertical direction downward drilling, there is a certain vibration in the horizontal direction during the drilling process of the drill pipe 6. In order to accurately assess the drilling verticality, statistical analysis needs to be performed on the collected center deviation data of the steel wire rope 5 and the power head 3 to obtain more accurate drilling verticality deviation data.

[0109] Given the deviation data of the steel wire rope 5 and the power head 3 at time ί as , then the deviation vector of the steel wire rope 5 and the power head 3 at time ί is , and the distribution of in the T0 time is as follows:

[0110] (3) ​

[0111] Assume that the random vibration satisfies a normal distribution with a variance of 0. Then, for the deviation vector between the wire rope 5 and the power head 3 within the time T0 By performing vector accumulation and summation, the influence of the random vibration can be removed. If the modulus of the accumulated deviation vector is not 0, it can be known that the drill pipe 6 is affected by a comprehensive external force during the drilling process. Within the time T0, the decomposition direction of the comprehensive external force in the horizontal direction is the same as the vector direction. Finally, within the time T0, under the influence of the comprehensive external force, the deviation direction vector and the deviation displacement of the drill pipe 6 are as follows:

[0112] (4)

[0113] (5)

[0114] In order to meet the requirements of the construction site for the drilling垂直度, the deviation displacement is converted into the requirements of the construction site for the drilling垂直度, such as 1%. Finally, the visual inspection drilling垂直度 D is converted as follows:

[0115] (6)

[0116] In some embodiments, after the step of calculating the drilling垂直度 deviation amount based on the deviation distance, the following is further included:

[0117] Display the drilling垂直度 deviation amount on the display screen and issue a corresponding warning message.

[0118] During the actual operation process, in order to more conveniently prompt the operator, the currently detected drilling垂直度 information is prompted on the display screen. The displayed information includes the drilling depth, the drilling垂直度, and the corresponding warning message. The warning message can be: The currently detected drilling垂直度 exceeds the preset threshold. Please stop the machine for inspection.

[0119] With such settings: Aiming at the problems existing in traditional drilling operations, such as the垂直度 detection being easily affected by the environment, the detection efficiency being low, and potential risks and hidden dangers in construction safety and quality, this application has been improved in many aspects based on technologies such as machine vision recognition.

[0120] First, a machine vision inspection device needs to be precisely installed at a specific location on the drilling mast 2 of the rotary drilling rig. An industrial camera is securely fixed above the power head 3 of the rotary drilling rig using a customized bracket, providing a top-down view. This installation layout cleverly avoids direct contact with the drilling area, effectively isolating it from interference from complex working conditions such as mud splashes and mechanical vibrations. Because the camera is positioned at a high, non-contact monitoring point overlooking the borehole, the acquired borehole image data remains stable and clear, significantly reducing the impact of environmental noise on visual inspection. This provides a high-quality data source for subsequent image-based borehole quality monitoring, ensuring the reliability and stability of the inspection system in harsh construction environments.

[0121] Secondly, real-time image acquisition of the area between the wire rope 5 and the power head 3 is performed using an industrial camera. The images acquired by the camera contain rich details. Image processing algorithms are used to preprocess the images, such as grayscale conversion, noise reduction, and edge detection, to highlight the contour features of the wire rope 5 and the power head 3. Pattern recognition technology is employed to train a model that can accurately identify the center position of the wire rope 5 and the power head 3 by learning from a large number of labeled image samples of the positions of the wire rope 5 and the power head 3. Next, statistical analysis is performed based on the acquired data to obtain statistical values ​​of the verticality deviation over a period of time, which are then promptly displayed on the rotary drilling operation screen to improve detection efficiency.

[0122] Finally, the statistical value of the borehole verticality deviation is exchanged with the control system of the drilling equipment in real time. When the verticality deviation exceeds the preset threshold, the control system can automatically adjust the drilling parameters to correct the verticality of the drill rod 6, ensuring the progress of the project and the safety of the equipment.

[0123] Please refer to the following: Figure 6 The rotary drilling rig verticality control system provided in this application adopts the rotary drilling rig verticality control method described in the above specific embodiments. The control system includes:

[0124] The vision inspection module 10 is installed on the drill mast 2 and located directly above the power head 3. It is used to obtain the deviation distance between the wire rope 5 and the center of the power head 3 during the drilling process.

[0125] The calculation module 11 is connected to the vision inspection module 10 by signal, and is used to calculate the borehole verticality deviation based on the deviation distance;

[0126] The adjustment module 12 is connected to the calculation module 11 by signal and is used to adjust the drill mast 2 to correct the drill verticality when the borehole verticality deviation exceeds a preset threshold.

[0127] Please refer to the following: Figure 2The rotary drilling rig provided in this application includes the rotary drilling rig verticality control system described in the above specific embodiments, and also includes a platform 1, a drilling mast 2, a power head 3, a main winch 4, a wire rope 5, a drill rod 6, a gooseneck 7, and a luffing cylinder 9. The drill rod 6 is connected to the drilling tool 8 for drilling. The main winch 4 is installed on the platform 1, and the power head 3 is installed on the drilling mast 2 for providing rotational power to the drill rod 6. The wire rope 5 is connected to the drilling mast 2 through the gooseneck 7 for lifting the drill rod 6. The luffing cylinder 9 is used to control the tilt angle of the drilling mast 2. The vision detection module 10 of the rotary drilling rig's drilling verticality control system is installed on the drill mast 2 and located directly above the power head 3. The vision detection module 10 is used to obtain the deviation distance between the center of the wire rope 5 and the center of the power head 3 during drilling. The calculation module 11 is connected to the vision detection module 10 and is used to calculate the drilling verticality deviation based on the deviation distance. The adjustment module 12 is connected to the calculation module 11 and is used to adjust the drill mast 2 to correct the drilling verticality when the drilling verticality deviation exceeds a preset threshold.

[0128] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0129] The above provides a detailed description of the rotary drilling rig verticality control method, system, and rotary drilling rig provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the solution and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A method for controlling the verticality of a rotary drilling rig, applied to a rotary drilling rig, the rotary drilling rig comprising a drill mast, a power head for providing rotational power to a drill rod, and a wire rope connected to the drill mast for lifting the drill rod, characterized in that, The control method includes: During the drilling process, the deviation distance between the wire rope and the center of the power head is obtained; The borehole verticality deviation is calculated based on the deviation distance. When the borehole verticality deviation exceeds a preset threshold, the drill mast is adjusted to correct the borehole verticality.

2. The method for controlling the verticality of rotary drilling rig boreholes as described in claim 1, characterized in that, The step of adjusting the drill mast to correct the borehole verticality includes: Obtain the deviation angle of the drill mast relative to the vertical direction; The amplification cylinder of the drill mast is controlled according to the deviation angle of the drill mast relative to the vertical direction in order to correct the verticality of the borehole.

3. The method for controlling the verticality of rotary drilling rig boreholes as described in claim 2, characterized in that, The step of controlling the actuation of the boom cylinder of the drill mast based on the deviation angle of the drill mast relative to the vertical direction includes: When the deviation angle of the drill mast relative to the vertical direction does not reach the first preset condition, the luffing cylinder is controlled to move at the first preset speed. When the deviation angle of the drill mast relative to the vertical direction reaches the first preset condition, the luffing cylinder is controlled to move at a speed lower than the first preset speed according to the remaining deviation angle to be adjusted to straighten the drill mast. When the deviation angle of the drill mast relative to the vertical direction reaches the second preset condition and remains unchanged for a preset time, the variable amplitude cylinder is locked.

4. The method for controlling the verticality of rotary drilling rig boreholes as described in claim 3, characterized in that, The step of controlling the actuation of the luffing cylinder of the drill mast based on the deviation angle of the drill mast relative to the vertical direction further includes: Obtain the displacement data of the variable amplitude cylinder; When the displacement data reaches the target value, the variable amplitude cylinder is controlled to pause, and the deviation angle of the drill mast relative to the vertical direction is re-acquired after the drill mast stabilizes.

5. The method for controlling the verticality of rotary drilling rig boreholes as described in claim 2, characterized in that, After the step of obtaining the deviation angle of the drill mast relative to the vertical direction, the method further includes: When the deviation angle of the drill mast relative to the vertical direction reaches the third preset condition, the extension and retraction speed of the luffing cylinder is reduced to 1 mm / s; When the deviation angle of the drill mast relative to the vertical direction reaches the second preset condition and remains unchanged for a preset time, the variable amplitude cylinder is locked.

6. The method for controlling the verticality of rotary drilling rig boreholes as described in any one of claims 1-5, characterized in that, The step of obtaining the deviation distance between the wire rope and the center of the power head during drilling includes: The vision inspection module is installed on the drill mast and positioned directly above the power head. The visual inspection module acquires the deviation distance between the wire rope and the center of the power head during the drilling process.

7. The method for controlling the verticality of rotary drilling rig boreholes as described in any one of claims 1-5, characterized in that, The step of calculating the borehole verticality deviation based on the deviation distance includes: The deviation distance set between the wire rope and the center of the power head is constructed based on the continuously collected deviation distances; The deviation direction vector of the drill pipe is obtained based on the deviation distance set; The borehole verticality deviation is calculated based on the deviation direction vector.

8. The method for controlling the verticality of rotary drilling rig boreholes as described in any one of claims 1-5, characterized in that, After the step of calculating the borehole verticality deviation based on the deviation distance, the method further includes: The borehole verticality deviation is displayed on the screen, and a corresponding alarm message is issued.

9. A rotary drilling rig verticality control system, employing the rotary drilling rig verticality control method according to any one of claims 1-8, characterized in that, The control system includes: The vision inspection module, installed on the drill mast and located directly above the power head, is used to obtain the deviation distance between the wire rope and the center of the power head during drilling. The calculation module, which is signal-connected to the vision detection module, is used to calculate the borehole verticality deviation based on the deviation distance. An adjustment module, signal-connected to the calculation module, is used to adjust the drill mast to correct the borehole verticality when the borehole verticality deviation exceeds a preset threshold.

10. A rotary drilling rig, characterized in that, The rotary drilling rig verticality control system as described in claim 9 further includes a platform, a drill mast, a power head, a main winch, a wire rope, a drill rod, a gooseneck, and a luffing cylinder. The main winch is mounted on the platform, the power head is mounted on the drill mast and is used to provide rotational power to the drill rod, the wire rope is connected to the drill mast through the gooseneck and is used to lift the drill rod, and the luffing cylinder is used to control the tilt angle of the drill mast.

Images