Drilling rig calibration systems, methods, apparatuses, devices, media, and drilling rigs

Abstract

The application provides a drilling machine calibration system, method, device, equipment, medium and drilling machine. The system comprises a controller and the following sensors electrically connected with the controller: a vehicle body inclination sensor for measuring a vehicle body pitch rotation angle and a vehicle body roll rotation angle; a large arm left displacement sensor for measuring a large arm left cylinder length; a large arm right displacement sensor for measuring a large arm right cylinder length; a large arm inclination sensor for measuring a large arm pitch rotation angle; a large arm telescopic displacement sensor for measuring a large arm telescopic displacement; a drill arm inclination sensor for measuring a drill arm pitch rotation angle; a push beam inclination sensor for measuring a push beam roll rotation angle and a push beam pitch rotation angle; a compensation telescopic displacement sensor for measuring a push beam telescopic displacement; and a push displacement sensor for measuring a drill bit telescopic displacement. The application can realize an efficient and accurate automatic calibration process.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology for drilling rigs, and in particular to a drilling rig calibration system, method, apparatus, equipment, medium, and drilling rig. Background Technology

[0002] In the process of calculating the kinematics of the drilling rig's boom position, the correspondence and accuracy between the measured values ​​of the drilling rig's sensor system and the actual position of the equipment are fundamental to the entire calculation. Traditional sensor system calibration methods rely on measuring tapes and levels, performed manually. Due to the high degree of freedom of the drilling rig, manual calibration is inefficient, and the calibration dimensions are affected by calibration tools and human factors, making it difficult to guarantee calibration consistency and accuracy. Summary of the Invention

[0003] This application aims to provide a drilling rig calibration system, method, apparatus, equipment, medium, and drilling rig that can achieve an efficient and accurate automatic calibration process.

[0004] According to a first aspect embodiment of this application, a drilling rig calibration system is applied to a drilling rig. The drilling rig includes a vehicle body with outriggers, a boom mounted on the vehicle body, a drill arm connected to the boom, a feed beam connected to the drill arm, a drill bit located on the feed beam, and a variable amplitude left-right angle sensor, a variable amplitude up-down angle sensor, a front variable amplitude left-right angle sensor, a front variable amplitude up-down angle sensor, a straightening angle sensor, and a torsion angle sensor. The variable amplitude left-right angle sensor is used to measure the left-right rotation angle of the boom, the variable amplitude up-down angle sensor is used to measure the pitch rotation angle of the boom, the front variable amplitude left-right angle sensor is used to measure the left-right rotation angle of the drill arm, the front variable amplitude up-down angle sensor is used to measure the pitch rotation angle of the drill arm, the straightening angle sensor is used to measure the pitch rotation angle of the feed beam, and the torsion angle sensor is used to measure the left-right roll angle of the feed beam. The drilling rig calibration system includes a controller and components electrically connected to the controller: Vehicle tilt sensor is used to measure the vehicle's pitch and roll angles. The boom left displacement sensor is used to measure the length of the boom left cylinder; The boom right displacement sensor is used to measure the length of the boom right cylinder. Boom tilt sensor, used to measure the boom pitch and rotation angle; Boom extension displacement sensor, used to measure boom extension displacement; Drill arm tilt sensor, used to measure the pitch and rotation angle of the drill arm; The propulsion beam tilt sensor is used to measure the roll rotation angle and pitch rotation angle of the propulsion beam. Compensating for the expansion and contraction displacement sensor, used to measure the expansion and contraction displacement of the propulsion beam; A thrust displacement sensor is used to measure the extension and retraction displacement of the drill bit.

[0005] The drilling rig calibration method according to the second aspect of this application, applied to the drilling rig calibration system as described in the first aspect of the present application, includes the following steps: Adjust the outriggers based on the vehicle's pitch and roll angles to make the vehicle level. Based on the length of the left and right cylinders of the boom, the boom pitch and rotation angle, and the boom telescopic displacement, the boom is adjusted so that it is in the center position, the horizontal position, and the fully retracted position, respectively. Under these conditions, the left and right angle sensors, the up and down angle sensors, and the boom telescopic displacement sensor are calibrated to zero position. Based on the measured values ​​fed back by the left and right angle sensors of the front amplitude transformer and the pitch and rotation angle of the drill arm, the drill arm is adjusted so that the drill arm is in the center state and the drill arm is in the horizontal state respectively. When the drill arm is in the center state and the drill arm is in the horizontal state respectively, the left and right angle sensors of the front amplitude transformer and the up and down angle sensors of the front amplitude transformer are calibrated at zero position. Based on the roll rotation angle, pitch rotation angle, and telescopic displacement of the propulsion beam, the propulsion beam is adjusted so that it is in the upright posture state, the horizontal posture state, and the fully retracted posture state, respectively. Under the conditions of the propulsion beam being in the upright posture state, the horizontal posture state, and the fully retracted posture state, the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor are calibrated to zero position. Based on the drill bit extension and retraction displacement, the drill bit is adjusted so that it is in the fully retracted state, and the feed displacement sensor is calibrated to zero position when the drill bit is in the fully retracted state.

[0006] According to some embodiments of this application, the adjustment of the boom based on the length of the left boom cylinder, the length of the right boom cylinder, the boom pitch angle, and the boom telescopic displacement, so that the boom is respectively in a centered state, a horizontal state, and a fully retracted state, and the zero-position calibration of the luffing left and right angle sensors, the luffing up and down angle sensors, and the boom telescopic displacement sensors under the conditions of the boom being in the centered state, the horizontal state, and the fully retracted state, includes: Based on the lengths of the left and right hydraulic cylinders of the boom, the boom is adjusted to rotate left and right so that it is in the centered position. When the boom is in the centered position, the left and right angle sensors of the amplitude are calibrated to zero position. Based on the boom pitch angle, the boom is adjusted to rotate up and down so that the boom is in a horizontal state. When the boom is in a horizontal state, the amplitude up and down angle sensor is calibrated to zero position. Based on the boom extension and retraction displacement, the boom retraction is adjusted so that the boom is in the fully retracted state, and the boom extension and retraction displacement sensor is calibrated to zero position when the boom is in the fully retracted state.

[0007] According to some embodiments of this application, the step of adjusting the drill arm based on the measured values ​​fed back by the left and right angle sensors of the front amplitude transformer and the pitch rotation angle of the drill arm, so that the drill arm is in a centered state and a horizontal state respectively, and performing zero-position calibration of the left and right angle sensors and the up and down angle sensors of the front amplitude transformer when the drill arm is in the centered state and the horizontal state respectively, includes: Based on the measurement value fed back by the front amplitude left and right angle sensor, the drill arm is adjusted to rotate left and right so that the drill arm is in the center position. When the drill arm is in the center position, the front amplitude left and right angle sensor is calibrated to zero position. Based on the pitch rotation angle of the drill arm, the up and down rotation of the drill arm is adjusted so that the drill arm is in the horizontal state, and the front amplitude up and down angle sensor is calibrated to zero position when the drill arm is in the horizontal state.

[0008] According to some embodiments of this application, adjusting the left and right rotation of the drill arm based on the measured value fed back by the left and right angle sensor of the front amplitude transformer to make the drill arm in the center position includes: Adjust the drill arm to rotate to the left limit position and obtain the first angle value fed back by the left and right angle sensors of the front amplitude transformer. Adjust the drill arm to rotate to the right limit position and obtain the second angle value fed back by the front amplitude left and right angle sensor; Calculate the median of the first angle value and the second angle value to obtain the third angle value; Based on the third angle value, determine the range of the centering angle value; Adjust the drill arm to rotate left and right so that the measured value fed back by the front amplitude left and right angle sensor is within the range of the center angle value. When the measured value fed back by the front amplitude left and right angle sensor is within the range of the center angle value, the drill arm is in the center state.

[0009] According to some embodiments of this application, the step of adjusting the propulsion beam based on the propulsion beam roll rotation angle, propulsion beam pitch rotation angle, and propulsion beam telescopic displacement, so that the propulsion beam is in a propulsion beam upright state, a propulsion beam horizontal state, and a propulsion beam fully retracted state, and then performing zero-position calibration on the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor while the propulsion beam is in the upright state, the horizontal state, and the fully retracted state, includes: Based on the tumbling rotation angle of the propulsion beam, the propulsion beam is adjusted to tumble left and right so that the tumbling rotation angle of the propulsion beam is less than a first threshold. When the tumbling rotation angle of the propulsion beam is less than the first threshold, the propulsion beam is in the correct posture state, and the torsion angle sensor is calibrated to zero position. Based on the pitch rotation angle of the propulsion beam, the propulsion beam is adjusted to rotate up and down so that the propulsion beam is in a horizontal state, and the straightening angle sensor is calibrated to zero position when the propulsion beam is in a horizontal state. Based on the telescopic displacement of the propulsion beam, the propulsion beam is adjusted to retract so that it is in a fully retracted state. Then, the compensating telescopic displacement sensor is calibrated to zero position while the propulsion beam is in the fully retracted state.

[0010] A drilling rig calibration apparatus according to a third aspect embodiment of this application includes: The vehicle leveling module is used to adjust the outriggers based on the vehicle's pitch and roll angles to make the vehicle level. The first calibration module is used to adjust the boom based on the length of the left boom cylinder, the length of the right boom cylinder, the boom pitch rotation angle, and the boom telescopic displacement, so that the boom is in the boom centering state, the boom horizontal state, and the boom fully retracted state, respectively. Under the conditions that the boom is in the boom centering state, the boom horizontal state, and the boom fully retracted state, the module performs zero-position calibration on the luffing left and right angle sensors, the luffing up and down angle sensors, and the boom telescopic displacement sensors. The second calibration module is used to adjust the drill arm based on the measured values ​​fed back by the left and right angle sensors of the front amplitude and the pitch rotation angle of the drill arm, so that the drill arm is in the center state and the horizontal state respectively, and to perform zero-position calibration on the left and right angle sensors of the front amplitude and the up and down angle sensors of the front amplitude based on the measured values ​​fed back by the left and right angle sensors of the front amplitude and the horizontal state respectively. The third calibration module is used to adjust the propulsion beam based on the propulsion beam roll rotation angle, propulsion beam pitch rotation angle, and propulsion beam telescopic displacement, so that the propulsion beam is in the propulsion beam upright state, the propulsion beam horizontal state, and the propulsion beam fully retracted state, respectively. Under the conditions that the propulsion beam is in the propulsion beam upright state, the propulsion beam horizontal state, and the propulsion beam fully retracted state, the module performs zero-position calibration on the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor. The fourth calibration module is used to adjust the drill bit based on its extension and retraction displacement so that the drill bit is in a fully retracted state, and to perform zero-position calibration on the propulsion displacement sensor when the drill bit is in the fully retracted state.

[0011] An electronic device according to a fourth aspect of this application includes a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions being executed by the processor to implement the steps of the drilling rig calibration method as described in any of the first aspect embodiments above.

[0012] The drilling rig according to the fifth aspect of this application includes the drilling rig calibration system as described in the first aspect of the present application.

[0013] A computer-readable storage medium according to a sixth aspect embodiment of the present application stores computer-executable instructions for performing the drilling rig calibration method as described in the first aspect embodiment above.

[0014] In this embodiment of the application, a new sensing system for the drilling rig is established, and an automatic calibration process is designed based on the new sensing system to complete the calibration of the original sensing system on the drilling rig. No manual intervention is required during the calibration process, which can significantly shorten the calibration time of the drilling rig sensing system and improve the measurement accuracy of the drilling rig sensing system and the boom positioning accuracy.

[0015] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a partial structural schematic diagram of the drilling rig and drilling rig calibration system of this application; Figure 2 This is a partial structural schematic diagram of the drilling rig and drilling rig calibration system of this application from another perspective; Figure 3 This is a schematic flowchart of an embodiment of the drilling rig calibration method of this application; Figure 4 This is a schematic diagram of an embodiment of the drilling rig calibration device of this application; Figure 5 This is a schematic diagram of the hardware structure of an embodiment of the electronic device of this application. Detailed Implementation

[0017] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0018] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0019] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0020] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0021] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0022] Figure 1 This is a partial structural schematic diagram of the drilling rig and drilling rig calibration system of this application; Figure 2 This is a partial structural schematic diagram of the drilling rig and drilling rig calibration system of this application from another perspective; Figure 3 A schematic flowchart of the drilling rig calibration method provided in this application; Figure 4This is a schematic diagram of an embodiment of the drilling rig calibration device of this application; Figure 5 This is a schematic diagram of the hardware structure of an embodiment of the electronic device of this application. See below. Figures 1 to 5 The embodiments of this application will be further described below.

[0023] like Figure 1 and Figure 2 As shown in the embodiment of this application, a drilling rig calibration system is proposed and applied to a drilling rig. The drilling rig includes a vehicle body with outriggers, a boom mounted on the vehicle body, a drill arm connected to the boom, a feed beam connected to the drill arm, a drill bit located on the feed beam, and a variable amplitude left and right angle sensor, a variable amplitude up and down angle sensor, a front variable amplitude left and right angle sensor, a front variable amplitude up and down angle sensor, a straightening angle sensor, and a torsion angle sensor. The variable amplitude left and right angle sensor is used to measure the left and right rotation angle of the boom, the variable amplitude up and down angle sensor is used to measure the pitch rotation angle of the boom, the front variable amplitude left and right angle sensor is used to measure the left and right rotation angle of the drill arm, the front variable amplitude up and down angle sensor is used to measure the pitch rotation angle of the drill arm, the straightening angle sensor is used to measure the pitch rotation angle of the feed beam, and the torsion angle sensor is used to measure the left and right roll angle of the feed beam. The drilling rig calibration system includes a controller and components electrically connected to the controller: Vehicle tilt sensor is used to measure the vehicle's pitch and roll angles. The boom left displacement sensor is used to measure the length of the boom left cylinder; The boom right displacement sensor is used to measure the length of the boom right cylinder. Boom tilt sensor, used to measure the boom pitch and rotation angle; Boom extension displacement sensor, used to measure boom extension displacement; Drill arm tilt sensor, used to measure the pitch and rotation angle of the drill arm; The propulsion beam tilt sensor is used to measure the roll rotation angle and pitch rotation angle of the propulsion beam. Compensating for the expansion and contraction displacement sensor, used to measure the expansion and contraction displacement of the propulsion beam; A thrust displacement sensor is used to measure the extension and retraction displacement of the drill bit.

[0024] In this embodiment of the application, by establishing a new sensing system for the drilling rig, an automatic calibration process can be designed based on the new sensing system to complete the calibration of the original sensing system on the drilling rig. No manual intervention is required during the calibration process, which can significantly shorten the calibration time of the drilling rig sensing system and improve the measurement accuracy of the drilling rig sensing system and the boom positioning accuracy.

[0025] Existing drilling rigs typically include a chassis with outriggers, a boom mounted on the chassis, a drill arm connected to the boom, a feed beam connected to the drill arm, a drill bit located on the feed beam, and a sensing system. The sensing system includes a luffing left and right angle sensor, a luffing up and down angle sensor, a front luffing left and right angle sensor, a front luffing up and down angle sensor, a straightening angle sensor, a torsion angle sensor, a compensation displacement sensor, and a feed displacement sensor. These sensors need to be calibrated before the drilling rig is put into operation.

[0026] The boom is connected to the vehicle body via a lower triangle, which is the boom slewing mechanism. Located between the drilling rig's vehicle body and the boom, this lower triangle is a base that can rotate left and right and pitch up and down. It controls the boom's left and right slewing and pitching movements. Left and right slewing refers to driving the entire boom, along with its entire upper structure at the front end (including the upper triangle, drill arm, etc.), to rotate left or right on the horizontal plane. The variable amplitude left and right angle sensor in the sensing system is used to measure the boom's left and right rotation angle. Pitching refers to driving the boom to lift and lower, i.e., rotate up and down. The variable amplitude up and down angle sensor in the sensing system is used to measure the boom's up and down rotation angle.

[0027] The drill arm is connected to the boom via an upper triangle, which is the drill arm rotation mechanism. Located between the end of the boom and the drill arm, the upper triangle allows for more precise adjustments based on the general orientation determined by the lower triangle. It controls the left-right swing and up-down pitch of the drill arm, similar to the control of the boom's left-right rotation and up-down pitch, so it will not be described in detail here. Similarly, the sensing system includes a front amplitude left-right angle sensor and a front amplitude up-down angle sensor, which are used to detect the corresponding left-right and up-down rotation angles of the drill arm.

[0028] The propulsion beam is connected to the drill arm via a rotary cylinder. The rotary cylinder can drive the propulsion beam to rotate 360° around its axis, thus enabling the propulsion beam to roll left and right. The torsion angle sensor in the sensing system is used to measure the left and right roll angle of the propulsion beam. A telescopic cylinder is also installed at the connection between the propulsion beam and the drill arm, which enables the propulsion beam to pitch up and down. The straightening angle sensor in the sensing system is used to measure the pitch rotation angle of the propulsion beam.

[0029] Specifically, such as Figure 1 and Figure 2 As shown, it is understandable that Figure 1 and Figure 2The diagram only includes the boom, drill arm, push beam, and drill bit; it does not include the vehicle body. Furthermore, the sensors are not shown; only their potential locations are indicated. The luffing left / right angle sensor can be located at point a in the diagram to measure the boom's left / right rotation angle; the luffing up / down angle sensor can be located at point b to measure the boom's pitch rotation angle; the front luffing left / right angle sensor can be located at point c to measure the drill arm's left / right rotation angle; the front luffing up / down angle sensor can be located at point d to measure the drill arm's pitch rotation angle; the straightening angle sensor can be located at point e to measure the push beam's pitch rotation angle; and the torsion angle sensor can be located at point f to measure the push beam's left / right roll angle.

[0030] To calibrate the aforementioned sensing systems, including the luffing left and right angle sensors, luffing up and down angle sensors, front luffing left and right angle sensors, front luffing up and down angle sensors, centering angle sensors, and torsion angle sensors, this application proposes a drilling rig calibration system. This system includes a new sensing system and a controller. The new sensing system includes a body tilt sensor, a boom left displacement sensor, a boom right displacement sensor, a boom tilt sensor, a boom telescopic displacement sensor, a drill arm tilt sensor, a feed beam tilt sensor, a compensation telescopic displacement sensor, and a feed displacement sensor. In some cases, the drilling rig equipment includes both the existing sensing system and the various sensors included in the new sensing system; all sensors together constitute the new sensor system.

[0031] Specifically, such as Figure 1 and Figure 2As shown, the body tilt sensor can be installed at point g in the diagram, or on the body (not shown), to measure the body's pitch and roll angles. The boom left displacement sensor can be installed inside the boom left cylinder, specifically at point h in the diagram, to measure the boom left cylinder length. The boom right displacement sensor can be installed inside the boom right cylinder, specifically at point i in the diagram, to measure the boom right cylinder length. The boom tilt sensor can be installed on the boom, specifically at point j in the diagram, to measure the boom pitch angle. The boom telescopic displacement sensor can be installed inside the boom telescopic cylinder. Specifically, a sensor can be installed at point k in the diagram to measure the extension and retraction displacement of the boom; a drill arm tilt sensor can be installed on the drill arm, specifically at point l in the diagram, to measure the drill arm pitch and rotation angle; a feed beam tilt sensor can be installed on the feed beam, specifically at point m in the diagram, to measure the feed beam roll and pitch rotation angles; a compensation extension and retraction displacement sensor can be installed inside the feed beam compensation cylinder, specifically at point n in the diagram, to measure the feed beam extension and retraction displacement; and a feed displacement sensor can be installed at the drill bit end, specifically at point o in the diagram, to measure the drill bit extension and retraction displacement.

[0032] Among them, the body tilt sensor can assist in leveling the front of the vehicle; the boom left displacement sensor, boom right displacement sensor, and boom tilt sensor can assist in lower triangular calibration, that is, calibrating the luffing left and right angle sensors and the luffing up and down angle sensors; the drill arm tilt sensor and the front luffing left and right angle sensor can assist in upper triangular calibration, that is, calibrating the front luffing up and down angle sensors and the front luffing left and right angle sensors themselves; the push beam tilt sensor can detect the angle of the push beam in the up and down pitch direction and the left and right roll direction, that is, measure the pitch rotation angle and the roll rotation angle of the push beam, so it can assist in the calibration of the straightening angle sensor and the torsion angle sensor; the boom telescopic displacement sensor, the compensation telescopic displacement sensor, and the push displacement sensor can achieve their own calibration.

[0033] like Figure 3 As shown in the embodiments of this application, a drilling rig calibration method is also proposed. This method can be applied to the above-mentioned drilling rig calibration system. The drilling rig calibration method includes the following steps: Step 101: Based on the vehicle body pitch and roll angles, adjust the outriggers to make the vehicle body level. Step 102: Based on the length of the left cylinder of the boom, the length of the right cylinder of the boom, the boom pitch rotation angle, and the boom telescopic displacement, adjust the boom so that the boom is in the center position, the horizontal position, and the fully retracted position respectively. Under the conditions of the boom being in the center position, the horizontal position, and the fully retracted position respectively, perform zero-position calibration on the luffing left and right angle sensor, the luffing up and down angle sensor, and the boom telescopic displacement sensor. Step 103: Based on the measured values ​​fed back by the left and right angle sensors of the front amplitude transformer and the pitch and rotation angle of the drill arm, adjust the drill arm so that the drill arm is in the center state and the drill arm is in the horizontal state respectively. Under the condition that the drill arm is in the center state and the drill arm is in the horizontal state respectively, perform zero-position calibration on the left and right angle sensors of the front amplitude transformer and the up and down angle sensors of the front amplitude transformer. Step 104: Based on the roll rotation angle, pitch rotation angle, and telescopic displacement of the propulsion beam, adjust the propulsion beam so that it is in the upright posture state, the horizontal posture state, and the fully retracted posture state, respectively. Under the conditions of the propulsion beam being in the upright posture state, the horizontal posture state, and the fully retracted posture state, perform zero-position calibration on the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor. Step 105: Based on the drill bit extension and retraction displacement, adjust the drill bit so that it is in the fully retracted state, and perform zero-position calibration on the feed displacement sensor when the drill bit is in the fully retracted state.

[0034] In this embodiment, by establishing a new sensing system for the drilling rig, an automated calibration process can be designed based on this new sensing system to calibrate the original sensing system on the drilling rig. No manual intervention is required during the calibration process, significantly reducing the calibration time of the drilling rig's sensing system and improving the measurement accuracy of the drilling rig's sensing system and the boom positioning accuracy. The calibration process sequentially involves automatic leveling of the vehicle body, adjustment of the boom, adjustment of the drill arm, adjustment of the feed beam, and adjustment of the drill bit to complete the calibration of each sensor on the drilling rig, while simultaneously adjusting the drilling rig to its reference position before formal operation.

[0035] In some implementations, the outriggers are adjusted based on the vehicle's pitch and roll angles to bring the vehicle to a horizontal position.

[0036] In this embodiment, by acquiring the vehicle body pitch and roll angles measured by the vehicle body tilt sensor, the extension and retraction of the front, rear, left, and right outriggers are adjusted so that the vehicle body pitch and roll angles fed back by the vehicle body tilt sensor are both less than a first threshold. At this point, it can be determined that the vehicle body has reached a level state, and the next step can be carried out. The first threshold can be 0.1°.

[0037] In some implementations, based on the length of the left boom cylinder, the length of the right boom cylinder, the boom pitch angle, and the boom telescopic displacement, the boom is adjusted to be in a centered state, a horizontal state, and a fully retracted state, respectively. Then, under these conditions, the luffing angle sensors (left and right), luffing angle sensors (up and down), and boom telescopic displacement sensors are zero-point calibrated, including: Based on the lengths of the left and right hydraulic cylinders of the boom, adjust the boom to rotate left and right so that the boom is in the center position. When the boom is in the center position, perform zero-position calibration on the left and right angle sensors of the luffing. Based on the boom pitch and rotation angle, adjust the boom up and down rotation to make the boom horizontal, and when the boom is horizontal, perform zero-position calibration on the luffing up and down angle sensor. Based on the boom extension and retraction displacement, the boom retraction is adjusted so that the boom is in the fully retracted state, and the boom extension and retraction displacement sensor is calibrated to zero position when the boom is in the fully retracted state.

[0038] In this embodiment, firstly, by acquiring the length of the left cylinder of the boom measured by the left boom displacement sensor and the length of the right cylinder of the boom measured by the right boom displacement sensor, the extension and retraction of the left and right cylinders are adjusted to drive the boom to rotate left and right, so that the lengths of the left and right cylinders are equal. This determines that the boom is in the centered state, and the luffing angle sensor is zero-calibrated at this time. Secondly, by acquiring the boom pitch angle measured by the boom tilt angle sensor, the extension and retraction of the left and right cylinders are adjusted to drive the boom to rotate up and down, so that the boom pitch angle is less than a first threshold. This determines that the boom is in the horizontal state, and the luffing angle sensor is zero-calibrated at this time. The first threshold can be 0.1°. Finally, by measuring the boom extension and retraction displacement by the boom extension and retraction displacement sensor, the boom is adjusted to retract to the limit position, i.e., retracted until the boom extension and retraction displacement remains unchanged. This determines that the boom is in the fully retracted state, and the boom extension and retraction displacement sensor is zero-calibrated at this time.

[0039] In some implementations, based on the lengths of the left and right hydraulic cylinders of the boom, the boom is adjusted to rotate left and right to bring it into a centered position. While the boom is in this centered position, the luffing angle sensors are zero-point calibrated, including: Adjust the boom to rotate to the left limit position and obtain the limit boom left cylinder length value measured by the boom left displacement sensor; Adjust the boom to rotate to the right limit position and obtain the limit boom right cylinder length value measured by the boom right displacement sensor; Calculate the median value of the maximum boom left cylinder length and the maximum boom right cylinder length to obtain the median cylinder length; Determine the range of values ​​for the length of the center cylinder based on the median length of the cylinder. Adjust the boom to rotate left and right so that the measured lengths of the left and right cylinders of the boom are both within the range of the length of the center cylinder. When the lengths of the left and right cylinders of the boom are both within the range of the length of the center cylinder, the boom is in the center position.

[0040] Specifically, for example, if the maximum left cylinder length of the boom is 3 and the maximum right cylinder length is 5, then the cylinder length is 4. In this case, the boom rotation needs to be adjusted so that the lengths of both the left and right cylinders approach 4 in order to center the boom back to its normal position. It is understood that the above process is only for illustrative purposes and no specific units are mentioned.

[0041] Specifically, based on the median length of the hydraulic cylinder, the range of the centered hydraulic cylinder length can be determined by adding or subtracting 1mm from the median length of the hydraulic cylinder.

[0042] In some implementations, based on the measured values ​​fed back by the left and right angle sensors of the front amplitude transformer and the pitch rotation angle of the drill arm, the drill arm is adjusted so that the drill arm is in a centered state and a horizontal state, respectively. Then, while the drill arm is in the centered state and the horizontal state, the left and right angle sensors of the front amplitude transformer and the up and down angle sensors of the front amplitude transformer are zero-position calibrated, including: Based on the measurement values ​​fed back by the left and right angle sensors of the front amplitude transformer, the drill arm is adjusted to rotate left and right so that the drill arm is in the center position. When the drill arm is in the center position, the left and right angle sensors of the front amplitude transformer are calibrated to zero position. Based on the pitch rotation angle of the drill arm, adjust the up and down rotation of the drill arm to make the drill arm horizontal, and perform zero-position calibration on the front amplitude up and down angle sensor when the drill arm is in a horizontal state.

[0043] In this embodiment, the left and right angle sensors of the front amplitude transformer are first calibrated to zero position, followed by the up and down angle sensors of the front amplitude transformer. Zero-position calibration of the up and down angle sensors is performed by acquiring the drill arm pitch rotation angle measured by the drill arm tilt angle sensor, adjusting the drill arm's up and down rotation so that the drill arm pitch rotation angle is less than a first threshold. This indicates that the drill arm is in a horizontal state, at which point the up and down angle sensors of the front amplitude transformer are calibrated to zero position. The first threshold can be 0.1°.

[0044] In some implementations, the drill arm is rotated left and right based on the measurement values ​​fed back by the left and right angle sensors of the front amplitude transformer, so that the drill arm is in a centered state, including: Adjust the drill arm to rotate to the left limit position and obtain the first angle value fed back by the left and right angle sensors of the front amplitude transformer. Adjust the drill arm to rotate to the right limit position and obtain the second angle value fed back by the left and right angle sensors of the front amplitude transformer; Calculate the median of the first and second angle values ​​to obtain the third angle value; Determine the range of centering angle values ​​based on the third angle value; Adjust the drill arm to rotate left and right so that the measured value fed back by the left and right angle sensors of the front amplitude transformer is within the center angle range. When the measured value fed back by the left and right angle sensors of the front amplitude transformer is within the center angle range, the drill arm is in the center state.

[0045] Specifically, based on the third angle value, the range of centering angle values ​​can be determined by adding or subtracting 0.1° from the third angle value.

[0046] In some implementations, the propulsion beam is adjusted based on its roll rotation angle, pitch rotation angle, and telescopic displacement to achieve three states: a positive posture, a horizontal posture, and a fully retracted posture. Then, under these conditions, the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor are calibrated to zero position. Based on the tumbling rotation angle of the propulsion beam, the left and right tumbling of the propulsion beam is adjusted so that the tumbling rotation angle of the propulsion beam is less than the first threshold. When the tumbling rotation angle of the propulsion beam is less than the first threshold, the propulsion beam is in the correct posture state, and the torsion angle sensor is calibrated at zero position. Based on the pitch rotation angle of the propulsion beam, adjust the up and down rotation of the propulsion beam to make the propulsion beam horizontal, and perform zero-position calibration on the straightening angle sensor when the propulsion beam is horizontal. Based on the telescopic displacement of the propulsion beam, the telescopic displacement is adjusted to retract so that the propulsion beam is in a fully retracted state. Then, the compensating telescopic displacement sensor is calibrated to zero position while the propulsion beam is in a fully retracted state.

[0047] In this embodiment, firstly, by acquiring the roll rotation angle of the propulsion beam measured by the propulsion beam tilt angle sensor, the propulsion beam is adjusted to roll left and right until the roll rotation angle is less than a first threshold, thus determining that the propulsion beam is in a positive posture state. At this time, the torsion angle sensor is zero-calibrated. Secondly, by acquiring the pitch rotation angle of the propulsion beam measured by the propulsion beam tilt angle sensor, the propulsion beam is adjusted to rotate up and down until the pitch rotation angle is less than a first threshold, thus determining that the propulsion beam is in a horizontal state. At this time, the straightening angle sensor is zero-calibrated. The first threshold can be 0.1°. Finally, by measuring the extension displacement of the propulsion beam measured by the compensation extension displacement sensor, the propulsion beam is adjusted to retract to its limit position, i.e., retracted until the extension displacement remains unchanged, thus determining that the propulsion beam is in a fully retracted state. At this time, the compensation extension displacement sensor is zero-calibrated.

[0048] In some implementations, the drill bit is adjusted based on its extension and retraction displacement to ensure it is in a fully retracted state. Then, the feed displacement sensor is calibrated to zero position when the drill bit is in this fully retracted state. This can be achieved by acquiring the drill bit extension and retraction displacement measured by the feed displacement sensor, adjusting the drill bit to its limit position (i.e., retracting until the extension and retraction displacement remains constant), thus determining that the drill bit is in a fully retracted state. At this point, the feed displacement sensor is calibrated to zero position.

[0049] In some implementations, after completing the calibration of all sensors in the sensing system according to the above-described automatic calibration process, the relevant calibration values ​​are immediately written into the controller's power-off retention register, ensuring that the data is not lost after the system is powered off. It is understood that when the device replaces sensors or its structure changes, the self-calibration system needs to be restarted to perform the sensor system calibration again.

[0050] In some implementations, the drilling rig is equipped with luffing left and right angle sensors, luffing up and down angle sensors, front luffing left and right angle sensors, front luffing up and down angle sensors, straightening angle sensors, and torsion angle sensors, as well as vehicle body tilt sensors, boom left displacement sensors, boom right displacement sensors, boom tilt angle sensors, boom telescopic displacement sensors, drill arm tilt angle sensors, feed beam tilt angle sensors, compensation telescopic displacement sensors, and feed displacement sensors, which together constitute the drilling sensing system. The system consists of 15 sensors, which not only enables the self-calibration system function but also makes the equipment measurement system redundant, thereby improving the reliability of the system.

[0051] The drilling rig calibration method provided in this application embodiment can be executed by a drilling rig calibration device 200. This application embodiment uses the drilling rig calibration device 200 executing the drilling rig calibration method as an example to illustrate the drilling rig calibration device 200 provided in this application embodiment.

[0052] Please see Figure 4 This is a structural schematic diagram of a drilling rig calibration device 200 provided in an embodiment of this application. Figure 4 As shown, the drilling rig calibration device 200 includes: The vehicle body leveling module 201 is used to adjust the outriggers based on the vehicle body pitch and roll angles to make the vehicle body level. The first calibration module 202 is used to adjust the boom based on the length of the left boom cylinder, the length of the right boom cylinder, the boom pitch rotation angle, and the boom telescopic displacement, so that the boom is in the boom centering state, the boom horizontal state, and the boom fully retracted state respectively. Under the boom centering state, the boom horizontal state, and the boom fully retracted state respectively, the module performs zero-position calibration on the luffing left and right angle sensors, the luffing up and down angle sensors, and the boom telescopic displacement sensors. The second calibration module 203 is used to adjust the drill arm based on the measured values ​​fed back by the left and right angle sensors of the front amplitude and the pitch rotation angle of the drill arm, so that the drill arm is in the center state and the horizontal state respectively, and to perform zero-position calibration on the left and right angle sensors of the front amplitude and the up and down angle sensors of the front amplitude based on the measured values ​​fed back by the left and right angle sensors of the front amplitude and the horizontal state respectively. The third calibration module 204 is used to adjust the propulsion beam based on the roll rotation angle, pitch rotation angle, and telescopic displacement of the propulsion beam, so that the propulsion beam is in the upright posture state, the horizontal posture state, and the fully retracted posture state, respectively. Under the conditions of the propulsion beam being in the upright posture state, the horizontal posture state, and the fully retracted posture state, the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor are calibrated to zero position. The fourth calibration module 205 is used to adjust the drill bit based on the drill bit extension and retraction displacement so that the drill bit is in the fully retracted state, and to perform zero-position calibration of the propulsion displacement sensor when the drill bit is in the fully retracted state.

[0053] In some implementations, the first calibration module 202 may be used to: Based on the lengths of the left and right hydraulic cylinders of the boom, adjust the boom to rotate left and right so that the boom is in the centered position. When the boom is in the centered position, perform zero-position calibration on the left and right angle sensors of the luffing arm. Based on the boom pitch angle, adjust the boom up and down rotation to make the boom horizontal, and when the boom is horizontal, perform zero-position calibration on the luffing angle sensor. Based on the boom extension and retraction displacement, the boom retraction is adjusted so that the boom is in the fully retracted state, and the boom extension and retraction displacement sensor is calibrated to zero position when the boom is in the fully retracted state.

[0054] In some implementations, the second calibration module 203 can be used to: Based on the measured values ​​fed back by the left and right angle sensors of the front amplitude transformer, the drill arm is rotated left and right to make the drill arm centered. When the drill arm is centered, the left and right angle sensors of the front amplitude transformer are calibrated to zero position. Based on the pitch rotation angle of the drill arm, adjust the up and down rotation of the drill arm to make the drill arm horizontal, and perform zero-position calibration on the front amplitude up and down angle sensor when the drill arm is in a horizontal state.

[0055] In some implementations, the second calibration module 203 can be used to: Adjust the drill arm to rotate to the left limit position and obtain the first angle value fed back by the left and right angle sensors of the front amplitude transformer. Adjust the drill arm to rotate to the right limit position and obtain the second angle value fed back by the left and right angle sensors of the front amplitude transformer; Calculate the median of the first and second angle values ​​to obtain the third angle value; Determine the range of centering angle values ​​based on the third angle value; Adjust the drill arm to rotate left and right so that the measured value fed back by the left and right angle sensors of the front amplitude transformer is within the center angle range. When the measured value fed back by the left and right angle sensors of the front amplitude transformer is within the center angle range, the drill arm is in the center state.

[0056] In some implementations, the third calibration module 204 can be used to: Based on the tumbling rotation angle of the propulsion beam, the left and right tumbling of the propulsion beam is adjusted so that the tumbling rotation angle of the propulsion beam is less than the first threshold. When the tumbling rotation angle of the propulsion beam is less than the first threshold, the propulsion beam is in the correct posture state, and the torsion angle sensor is calibrated at zero position. Based on the pitch rotation angle of the propulsion beam, adjust the up and down rotation of the propulsion beam to make the propulsion beam horizontal, and perform zero-position calibration on the straightening angle sensor when the propulsion beam is horizontal. Based on the telescopic displacement of the propulsion beam, the telescopic displacement is adjusted to retract so that the propulsion beam is in a fully retracted state. Then, the compensating telescopic displacement sensor is calibrated to zero position while the propulsion beam is in a fully retracted state.

[0057] Since the drilling rig calibration device 200 adopts all the technical solutions of the drilling rig calibration method of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0058] This application also provides a drilling rig, including the drilling rig calibration system as described in the above embodiments, which also has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described again here.

[0059] Figure 5 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application.

[0060] This electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0061] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0062] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0063] In some embodiments, memory 302 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0064] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any of the drilling rig calibration methods in the above embodiments.

[0065] In one example, the electronic device may also include a communication interface 303 and a bus 310. For example, Figure 5 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0066] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0067] Bus 310 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0068] This electronic device can execute the drilling rig calibration method in the embodiments of this application, thereby achieving a combination Figure 3 and Figure 4 The drilling rig calibration method and apparatus are described.

[0069] Furthermore, in conjunction with the drilling rig calibration methods described in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the drilling rig calibration methods described in the above embodiments.

[0070] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0071] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0072] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0073] Furthermore, the exemplary embodiments mentioned in this application should not be construed as limiting this application. The specific examples are merely to aid in understanding the implementation of the patent's technical solution and do not constitute a limitation on the scope of protection of the claims. Any equivalent substitution, reorganization of technical features, expansion of implementation scenarios, or adjustment of technical parameters based on the core concept of this patent, as long as the technical solution does not depart from the inventive concept of this patent, should be considered to fall within the scope of protection of this patent. Those skilled in the art should understand that the scope of patent protection should be determined by the technical features recorded in the claims and their equivalent features. Specific process parameters, structural details, material selection, and other non-essential technical features recorded in the embodiments of the specification should not be used as the basis for restrictive interpretation. The embodiments described in this patent may have various variations, and the technical features in different embodiments can be combined and reconstructed. These implementation methods derived from the technical concept of this patent all fall within the scope of the rights claimed by this patent.

[0074] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0075] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A drilling rig calibration method, characterized in that, This system is applied to a drilling rig calibration system. The drilling rig includes a chassis with outriggers, a boom mounted on the chassis, a drill arm connected to the boom, a feed beam connected to the drill arm, a drill bit located on the feed beam, and luffing angle sensors (left / right, up / down, front luffing angle, front luffing angle, centering angle, and torsion angle). The luffing angle sensors measure the left / right rotation angle of the boom; the luffing angle sensors measure the pitch rotation angle of the boom; the front luffing angle sensors measure the left / right rotation angle of the drill arm; the front luffing angle sensors measure the pitch rotation angle of the drill arm; the centering angle sensors measure the pitch rotation angle of the feed beam; and the torsion angle sensors measure the angle of the drill bit. The drilling rig calibration system includes a controller and several sensors electrically connected to the controller, including a body tilt sensor, a left boom displacement sensor, a right boom displacement sensor, a boom tilt sensor, a boom telescopic displacement sensor, a drill arm tilt sensor, a feed beam tilt sensor, a compensation telescopic displacement sensor, and a feed displacement sensor. The body tilt sensor measures the body pitch and roll angles. The left boom displacement sensor measures the length of the left boom cylinder. The right boom displacement sensor measures the length of the right boom cylinder. The boom tilt sensor measures the boom pitch angle. The boom telescopic displacement sensor measures the boom telescopic displacement. The drill arm tilt sensor measures the drill arm pitch angle. The feed beam tilt sensor measures the feed beam roll and pitch angles. The compensated telescopic displacement sensor is used to measure the telescopic displacement of the propulsion beam; The thrust displacement sensor is used to measure the extension and retraction displacement of the drill bit; The drilling rig calibration method includes: Adjust the outriggers based on the vehicle's pitch and roll angles to make the vehicle level. Based on the length of the left and right cylinders of the boom, the boom pitch and rotation angle, and the boom telescopic displacement, the boom is adjusted so that it is in the center position, the horizontal position, and the fully retracted position, respectively. Under these conditions, the left and right angle sensors, the up and down angle sensors, and the boom telescopic displacement sensor are calibrated to zero position. Based on the measured values ​​fed back by the left and right angle sensors of the front amplitude transformer and the pitch and rotation angle of the drill arm, the drill arm is adjusted so that the drill arm is in the center state and the drill arm is in the horizontal state respectively. When the drill arm is in the center state and the drill arm is in the horizontal state respectively, the left and right angle sensors of the front amplitude transformer and the up and down angle sensors of the front amplitude transformer are calibrated at zero position. Based on the roll rotation angle, pitch rotation angle, and telescopic displacement of the propulsion beam, the propulsion beam is adjusted so that it is in the upright posture state, the horizontal posture state, and the fully retracted posture state, respectively. Under the conditions of the propulsion beam being in the upright posture state, the horizontal posture state, and the fully retracted posture state, the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor are calibrated to zero position. Based on the drill bit extension and retraction displacement, the drill bit is adjusted so that it is in the fully retracted state, and the feed displacement sensor is calibrated to zero position when the drill bit is in the fully retracted state.

2. The drilling rig calibration method according to claim 1, characterized in that, The process involves adjusting the boom based on the length of the left and right hydraulic cylinders, the boom pitch and rotation angle, and the boom telescopic displacement, so that the boom is in a centered, horizontal, and fully retracted state, respectively. Under these conditions, the process includes zero-point calibration of the luffing angle sensors (left and right), luffing angle sensors (up and down), and boom telescopic displacement sensors. Based on the lengths of the left and right hydraulic cylinders of the boom, the boom is adjusted to rotate left and right so that it is in the centered position. When the boom is in the centered position, the left and right angle sensors of the amplitude are calibrated to zero position. Based on the boom pitch angle, the boom is adjusted to rotate up and down so that the boom is in a horizontal state. When the boom is in a horizontal state, the amplitude up and down angle sensor is calibrated to zero position. Based on the boom extension and retraction displacement, the boom retraction is adjusted so that the boom is in the fully retracted state, and the boom extension and retraction displacement sensor is calibrated to zero position when the boom is in the fully retracted state.

3. The drilling rig calibration method according to claim 1, characterized in that, The process involves adjusting the drill arm based on the measured values ​​fed back by the left and right angle sensors of the front amplitude transformer and the pitch and rotation angle of the drill arm, so that the drill arm is in a centered state and a horizontal state, respectively. Then, while the drill arm is in the centered state and the horizontal state, the zero-position calibration of the left and right angle sensors and the up and down angle sensors of the front amplitude transformer is performed, including: Based on the measurement value fed back by the front amplitude left and right angle sensor, the drill arm is adjusted to rotate left and right so that the drill arm is in the center position. When the drill arm is in the center position, the front amplitude left and right angle sensor is calibrated to zero position. Based on the pitch rotation angle of the drill arm, the up and down rotation of the drill arm is adjusted so that the drill arm is in the horizontal state, and the front amplitude up and down angle sensor is calibrated to zero position when the drill arm is in the horizontal state.

4. The drilling rig calibration method according to claim 3, characterized in that, The step of adjusting the drill arm's left and right rotation based on the measured values ​​fed back by the front amplitude left and right angle sensor to bring the drill arm into a centered state includes: Adjust the drill arm to rotate to the left limit position and obtain the first angle value fed back by the left and right angle sensors of the front amplitude transformer. Adjust the drill arm to rotate to the right limit position and obtain the second angle value fed back by the front amplitude left and right angle sensor; Calculate the median of the first angle value and the second angle value to obtain the third angle value; Based on the third angle value, determine the range of the centering angle value; Adjust the drill arm to rotate left and right so that the measured value fed back by the front amplitude left and right angle sensor is within the range of the center angle value. When the measured value fed back by the front amplitude left and right angle sensor is within the range of the center angle value, the drill arm is in the center state.

5. The drilling rig calibration method according to claim 1, characterized in that, The process involves adjusting the propulsion beam based on its roll rotation angle, pitch rotation angle, and telescopic displacement to achieve three states: a positive posture, a horizontal posture, and a fully retracted posture. Under these conditions, the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor are calibrated to zero position. Based on the tumbling rotation angle of the propulsion beam, the propulsion beam is adjusted to tumble left and right so that the tumbling rotation angle of the propulsion beam is less than a first threshold. When the tumbling rotation angle of the propulsion beam is less than the first threshold, the propulsion beam is in the correct posture state, and the torsion angle sensor is calibrated to zero position. Based on the pitch rotation angle of the propulsion beam, the propulsion beam is adjusted to rotate up and down so that the propulsion beam is in a horizontal state, and the straightening angle sensor is calibrated to zero position when the propulsion beam is in a horizontal state. Based on the telescopic displacement of the propulsion beam, the propulsion beam is adjusted to retract so that it is in a fully retracted state. Then, the compensating telescopic displacement sensor is calibrated to zero position while the propulsion beam is in the fully retracted state.

6. A drilling rig calibration device, characterized in that, This system is applied to a drilling rig calibration system. The drilling rig includes a chassis with outriggers, a boom mounted on the chassis, a drill arm connected to the boom, a feed beam connected to the drill arm, a drill bit located on the feed beam, and luffing angle sensors (left / right, up / down, front luffing angle, front luffing angle, centering angle, and torsion angle). The luffing angle sensors measure the left / right rotation angle of the boom; the luffing angle sensors measure the pitch rotation angle of the boom; the front luffing angle sensors measure the left / right rotation angle of the drill arm; the front luffing angle sensors measure the pitch rotation angle of the drill arm; the centering angle sensors measure the pitch rotation angle of the feed beam; and the torsion angle sensors measure the angle of the drill bit. The drilling rig calibration system includes a controller and several sensors electrically connected to the controller, including a body tilt sensor, a left boom displacement sensor, a right boom displacement sensor, a boom tilt sensor, a boom telescopic displacement sensor, a drill arm tilt sensor, a feed beam tilt sensor, a compensation telescopic displacement sensor, and a feed displacement sensor. The body tilt sensor measures the body pitch and roll angles. The left boom displacement sensor measures the length of the left boom cylinder. The right boom displacement sensor measures the length of the right boom cylinder. The boom tilt sensor measures the boom pitch angle. The boom telescopic displacement sensor measures the boom telescopic displacement. The drill arm tilt sensor measures the drill arm pitch angle. The feed beam tilt sensor measures the feed beam roll and pitch angles. The compensation telescopic displacement sensor is used to measure the telescopic displacement of the propulsion beam; the propulsion displacement sensor is used to measure the telescopic displacement of the drill bit. The drilling rig calibration device includes: The vehicle leveling module is used to adjust the outriggers based on the vehicle's pitch and roll angles to make the vehicle level. The first calibration module is used to adjust the boom based on the length of the left boom cylinder, the length of the right boom cylinder, the boom pitch rotation angle, and the boom telescopic displacement, so that the boom is in the boom centering state, the boom horizontal state, and the boom fully retracted state, respectively. Under the conditions that the boom is in the boom centering state, the boom horizontal state, and the boom fully retracted state, the module performs zero-position calibration on the luffing left and right angle sensors, the luffing up and down angle sensors, and the boom telescopic displacement sensors. The second calibration module is used to adjust the drill arm based on the measured values ​​fed back by the left and right angle sensors of the front amplitude and the pitch rotation angle of the drill arm, so that the drill arm is in the center state and the horizontal state respectively, and to perform zero-position calibration on the left and right angle sensors of the front amplitude and the up and down angle sensors of the front amplitude based on the measured values ​​fed back by the left and right angle sensors of the front amplitude and the horizontal state respectively. The third calibration module is used to adjust the propulsion beam based on the propulsion beam roll rotation angle, propulsion beam pitch rotation angle, and propulsion beam telescopic displacement, so that the propulsion beam is in the propulsion beam upright state, the propulsion beam horizontal state, and the propulsion beam fully retracted state, respectively. Under the conditions that the propulsion beam is in the propulsion beam upright state, the propulsion beam horizontal state, and the propulsion beam fully retracted state, the module performs zero-position calibration on the torsion angle sensor, the straightening angle sensor, and the compensation telescopic displacement sensor. The fourth calibration module is used to adjust the drill bit based on its extension and retraction displacement so that the drill bit is in a fully retracted state, and to perform zero-position calibration on the propulsion displacement sensor when the drill bit is in the fully retracted state.

7. An electronic device, characterized in that, It includes a processor and a memory, the memory storing programs or instructions that can run on the processor, the programs or instructions being executed by the processor to implement the steps of the drilling rig calibration method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the drilling rig calibration method as described in any one of claims 1 to 5.

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