Automatic drilling tool cleaning device suitable for pulling out of hole and cleaning method

By designing an automatic drilling tool cleaning device, which utilizes laser sensors and high-pressure pump sets to achieve automatic cleaning of the drilling tool surface, the problem of poor drilling fluid scraping effect on the drilling tool surface is solved, improving construction efficiency and safety, and reducing water consumption and labor intensity of workers.

CN121875618APending Publication Date: 2026-04-17DAQING DRILLING ENGINEERING CO LTD +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
DAQING DRILLING ENGINEERING CO LTD
Filing Date
2024-10-10
Publication Date
2026-04-17

AI Technical Summary

Technical Problem

In existing technologies, the drilling fluid scraping effect on the drill bit surface is poor, and manual scraping of mud results in long construction cycles, high labor intensity for workers, and safety hazards.

Method used

Design an automatic drill bit cleaning device that uses a laser sensor to identify drill bit movement and automatically cleans the drill bit surface through a high-pressure pump set and two sets of adjustable-angle hose nozzles, achieving intelligent closed-loop control.

Benefits of technology

It enables efficient and automated cleaning of drill bit surfaces, reduces water consumption, lowers labor intensity for workers, avoids drilling fluid spillage and pollution, and improves construction efficiency and safety.

✦ Generated by Eureka AI based on patent content.

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Abstract

The invention relates to the field of petroleum drilling ground testing instruments, in particular to an automatic drilling tool cleaning device suitable for pulling out of a hole and a cleaning method. The problems that an existing drilling tool is poor in cleaning effect, and scraped mud and drilling fluid can be scattered on a drill floor are mainly solved. The cleaning device (5) comprises a base (504), an arc-shaped lower hose (507) and an arc-shaped upper hose (509) are connected to the base (504), and nozzles (511) are arranged on the side walls of the interiors of the upper hose and the lower hose; the arc-shaped end of the upper hose (509) is fixed to the base (504) through a fixing support (512), the middle of the arc-shaped end of the upper hose (509) is connected with a length adjusting frame (513), and the other end of the length adjusting frame (513) is movably connected to the base (504). The automatic cleaning device for the drilling tool automatically cleans drilling fluid and slurry on the surface of the drilling tool in the pulling-out process, the cleaning effect is good, labor of workers is relieved, and the situation that the drilling fluid is scattered to a drill floor and pollutes the environment is avoided.
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Description

Technical Field

[0001] This invention relates to the field of surface testing instruments for oil drilling, specifically an automatic drill string cleaning device and cleaning method suitable for tripping out of the well. Background Technology

[0002] Currently, during the tripping process, drilling fluid from the annulus is carried out of the drill string surface. This requires two people to manually scrape the fluid off the drill string surface using a mud scraper. However, this method is generally ineffective and cannot completely remove the drilling fluid. The manually scraped mud, especially oil-based drilling fluid, spills directly onto the drilling platform, requiring cleaning after tripping. This increases the drilling cycle and the labor intensity for workers, while also posing safety hazards, as the slippery surface greatly increases the risk of injury. Therefore, it is necessary to design an automatic drill string cleaning device to improve construction efficiency, reduce worker labor intensity, and lower the risk of injury. Summary of the Invention

[0003] To overcome the shortcomings of existing drill string cleaning methods, such as poor cleaning performance and the spillage of scraped mud and drilling fluid onto the drilling platform, this invention provides an automatic drill string cleaning device and method suitable for tripping out of the drill string. This automatic drill string cleaning device automatically cleans the drilling fluid and mud on the surface of the drill string during the tripping out process, achieving good cleaning results, reducing worker workload, and preventing drilling fluid from spilling onto the drilling platform and polluting the environment.

[0004] The technical solution of the present invention is: an automatic drill bit cleaning device suitable for tripping drill bits, comprising a cleaning device, the cleaning device comprising a base, the base being hollow at its center, and two symmetrically arranged arc-shaped lower hoses and two symmetrically arranged arc-shaped upper hoses connected to the base respectively, with nozzles provided on the inner sidewalls of the upper and lower hoses; the arc-shaped end of the upper hose is fixed to the base by a fixing bracket, the middle of the arc is connected to a length adjustment frame, and the other end of the length adjustment frame is connected to the base by an adjustment pin.

[0005] Furthermore, it also includes a control console, which includes a high-pressure pump set and a water storage tank, and the high-pressure pump set and the water storage tank are connected to each other; an upper pipeline quick connector is connected to the upper hose, and a lower pipeline quick connector is connected to the lower hose, and the upper pipeline quick connector and the lower pipeline quick connector are respectively connected to the high-pressure pump set through pipelines.

[0006] Furthermore, the length adjustment frame has several pin holes, and the adjustment pin passes through the pin holes and is connected to the base. The tilt angle of the upper hose is adjusted by connecting the adjustment pin to different pin holes.

[0007] Furthermore, several strong magnetic blocks are fixed to the bottom of the base, and the cleaning device is fixed above the outlet manifold by the strong magnetic blocks.

[0008] Furthermore, the base includes a bottom plate and a top plate, which are connected by a riser. The lower hose is fixed to the outer wall of the riser, and the nozzle on the lower hose passes through the side wall of the riser. The upper hose is connected above the top plate, and the top plate is connected to the upper cover plate by fixing bolts. The upper cover plate is hollow at the center.

[0009] Furthermore, the upper cover plate is equipped with at least one laser sensor. When the laser sensor detects the movement of the drill bit, it transmits a signal to the control console, which then starts the high-pressure pump unit of the control console.

[0010] Furthermore, there are two laser sensors, each connected to a quick connector. One laser sensor is connected to the control console via a quick connector, while the other is a spare.

[0011] Furthermore, the cleaning device also includes an upper protective cover and a lower protective cover, with the base connected to the lower protective cover and the upper cover plate connected to the upper protective cover; the lower pipeline quick connector passes through the lower protective cover and the upper pipeline quick connector passes through the upper protective cover; the quick connector of the laser sensor is located above the upper protective cover, and a laser probe protective cover is provided outside the laser sensor quick connector.

[0012] Furthermore, the top of the upper protective cover is fixed with lifting lugs.

[0013] Furthermore, the console also includes an energy storage unit for supplying power to the high-pressure pump unit.

[0014] Furthermore, the high-pressure pump set, water storage tank, and energy storage unit are all fixed on the control console base, and a protective cover is fixed on top of the control console base.

[0015] A cleaning method according to the aforementioned automatic drill string cleaning device includes:

[0016] S1. Lower the cleaning device onto the platform above the outlet manifold and pass the drill string through the center of the base;

[0017] S2. Connect the lower and upper quick-connect pipes to the high-pressure pump unit; connect the laser sensor to the control console via wires.

[0018] S3. Turn on the console switch;

[0019] S4. Start drilling operation. The laser sensor detects the movement of the drill string and transmits the signal to the control console. The high-pressure pump set pumps high-pressure water into the upper and lower hoses and cleans the drill string through the nozzles.

[0020] S5. When the drilling operation is finished, turn off the control panel switch.

[0021] Furthermore, in step S4, the tilt angle of the two upper hoses is adjusted according to the cleaning effect, thereby adjusting the water outlet angle of the nozzle and / or adjusting the water outlet pressure of the high-pressure pump set.

[0022] The present invention has the following beneficial effects: Due to the adoption of the above-mentioned scheme, the automatic drill string cleaning device and method suitable for tripping out of the well achieves intelligent closed-loop control, requiring only one operation during the tripping out process. The movement of the drill string is automatically identified by a laser sensor, and automatic cleaning is performed when the drill string moves, reducing the consumption of flushing water compared to other cleaning devices and conserving valuable water resources. The device is designed with two sets of cleaning pipelines, resulting in a more thorough cleaning of the drill string, and the angle of the upper pipeline is adjustable, achieving optimal cleaning efficiency. The entire device is hoisted from the wellhead, eliminating the need for on-site installation and reducing the workload of operators by eliminating the need for personnel to carry it to the wellhead. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a diagram of the console;

[0025] Figure 3 This is an outline drawing of the cleaning device;

[0026] Figure 4 This is a 3D view of the cleaning device after the protective cover has been removed;

[0027] Figure 5 This is the front view of the cleaning device after the protective cover has been removed;

[0028] Figure 6 This is a bottom view of the cleaning device after the protective cover has been removed;

[0029] Figure 7 This is a schematic diagram of the length adjustment frame in an automatic drill cleaning device;

[0030] Figure 8 This is a schematic diagram of the upper protective cover.

[0031] In the diagram: 1-Control console, 2-Drilling platform, 3-Rotating blowout preventer, 4-Outlet manifold, 5-Cleaning device, 6-Drilling tool, 7-Throttle manifold, 101-High-pressure pump set, 102-Water storage tank, 103-Control console base, 104-Protective cover, 105-Energy storage unit, 501-Lower protective cover, 502-Upper protective cover, 503-Laser probe protective cover, 504-Base, 505-Lower fixing bolt, 506-Lower pipeline quick connector, 507-Lower hose, 508-Upper pipeline quick connector, 509-Upper hose, 510-Bracket, 511-Nozzle, 512-Fixed bracket, 513-Length adjustment bracket, 514-Upper cover plate, 515-Lifting lug, 516-Laser sensor, 517-Upper fixing bolt, 518-Adjusting pin, 519-Strong magnetic block. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "inner," "outer," "top," and "bottom" are based on the orientations or positional relationships shown in the accompanying drawings. They are intended only to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the components referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Depend on Figure 1 As shown, an automatic drill string cleaning device suitable for tripping out of a drill string includes a control console 1, a drill platform 2, a rotary blowout preventer 3, an outlet manifold 4, a cleaning device 5, drill string 6, and a choke manifold 7. The cleaning device 5 is located below the drill platform 2 and is connected to the outlet manifold 4 on the rotary blowout preventer 3. The control console 1 is connected to the cleaning device 5 and provides water and power to the cleaning device 5.

[0035] like Figure 2As shown, the control console 1 includes a high-pressure pump set 101, a water storage tank 102, a control console base 103, a protective cover 104, and an energy storage unit 105. The high-pressure pump set 101 and the water storage tank 102 are connected by pipelines. Considering the safety of the water quality at the drilling site, a metal filter element is installed at the front end of the water inlet of the high-pressure pump set 101 to ensure that impurities do not enter the high-pressure pump set 101 and to ensure stable system operation. The energy storage unit 105 is connected to the high-pressure pump set 101 and is used to supply power to the high-pressure pump set 101. The large-capacity energy storage unit 105 can provide continuous power to the high-pressure pump set 101 for 300 hours, reducing the workload of on-site technicians. The pressure of the high-pressure pump set 101 is adjustable to regulate the outlet water pressure of the cleaning device 5. Once the water storage tank 102 is filled with water, it can guarantee two tripping operations for a 5000m well without the need for additional water pipeline connections. Based on a well depth of 5000m, each tripping operation takes 15-20 hours, and 15-20 tripping operations can be performed, effectively ensuring on-site operations. The high-pressure pump set 101, water tank 102, and energy storage unit 105 are all fixed on the control console base 103, and a protective cover 104 is provided on the upper part, with a small door on the front side plate of the protective cover 104.

[0036] like Figures 3 to 6 As shown, the cleaning device 5 includes a base 504, which is hollow at its center, allowing the drill bit 6 to pass through it during use. Several strong magnetic blocks 519 are fixed to the bottom of the base 504, and the cleaning device 5 is fixed above the outlet manifold 4 via these magnetic blocks. The base 504 includes a bottom plate and a top plate, connected by a riser. A top cover plate 514 is connected to the top plate via fixing bolts 517. The top cover plate 514 is hollow at its center, allowing the drill bit 6 to pass through both the riser and the center of the top cover plate 514.

[0037] The base 504 is connected to a lower hose 507 and an upper hose 509, respectively. Several nozzles 511 are respectively provided on the inner sidewalls of the upper hose 509 and the lower hose 507. The lower hose 507 consists of two arc-shaped tubes symmetrically arranged around the center of the base 504. The lower hose 507 is fixed to the outer wall of a riser between the bottom plate and the top plate, and a through hole is opened on the sidewall of the riser. The nozzles 511 pass through the through hole and can spray liquid into the riser. The angle of the lower hose 507 and the nozzles 511 is not adjustable; it is a horizontal spray.

[0038] The upper flexible hose 509 is connected above the top plate. The upper flexible hose 509 also consists of two arc-shaped tubes symmetrically arranged around the center of the base 504. The tilt angle of the upper flexible hose 509 is adjustable, thereby adjusting the water outlet direction of the nozzle 511 on the upper flexible hose, allowing water to be sprayed onto the surface of the drill bit 6 at different angles, improving cleaning efficiency. The angle adjustment structure of the upper flexible hose 509 can be achieved through the following structure: Since the upper flexible hose 509 is a flexible hose, it can be fixed to an arc-shaped bracket 510 for stability. Both ends of the arc-shaped bracket 510 are fixed to the base 504 by fixed brackets 512, and a rotatable hinge is provided between the end of the bracket 510 and the fixed bracket 512; a length adjustment frame 513 is connected to the middle of the bracket 510, and the other end of the length adjustment frame 513 is connected to the base 504 by an adjustment pin 518. One end of the length adjustment frame 513 has a support groove, see... Figure 7 The upper hose 509 is located in the support groove. The lower part of the length adjustment bracket 513 is provided with several longitudinally arranged pin holes. The adjustment pin 518 passes through different pin holes and is connected to the base 504, so that the height of the middle part of the arc tube can be adjusted, thereby adjusting the tilt angle of the upper hose 509. The tilt angle can be adjusted within the range of 0°-45°. When some impurities cannot be removed well during on-site operations, the cleaning effect can be improved by adjusting the tilt angle of the upper hose 509 and adjusting the water pressure of the high-pressure pump set 101.

[0039] The lower hose 507 is connected to a lower quick-connect coupling 506, and the upper hose 509 is connected to an upper quick-connect coupling 508. The upper quick-connect coupling 508 and the lower quick-connect coupling 506 are respectively connected to a high-pressure pump unit 101 via pipelines, which provides high-pressure water to the upper and lower hoses. The upper quick-connect coupling 508 and the lower quick-connect coupling 506 can withstand a pressure of 25 MPa, and the connection can be completed manually by one person.

[0040] The upper cover plate 514 is connected to the top plate of the base 504 by fixing bolts 517, and the upper flexible hose 509 is located between the top plate and the upper cover plate 514. At least one laser sensor 516 is provided on the upper cover plate 514, and the laser sensor 516 is connected to the control console 1 via a wire. Preferably, there are two laser sensors 516, which are respectively fixed at both ends of the cover plate 514. A laser probe protective cover 503 is provided above the laser sensor 516 to prevent it from being bumped during on-site operations. During operation, one laser sensor 516 is in working condition, while the other is on standby. In case of a problem, simply disconnect the plug from the connector of the working laser sensor 516 and connect it to the standby laser sensor. When drilling begins and drill string 6 moves upward, laser sensor 516 detects the movement of drill string 6 and transmits a signal to control console 1. Control console 1 then controls high-pressure pump unit 101 to start working, pumping high-pressure water into automatic drill string cleaning device 5 through pipeline to clean drill string 6. When one drill string is pulled out, laser sensor 516 detects that drill string 6 has stopped moving upward and transmits a signal to control console 1, shutting down high-pressure pump unit 101. The above actions are repeated when drill string 6 moves upward again.

[0041] The cleaning device 5 also includes an upper protective cover 502 and a lower protective cover 501, both of which are annular. The upper protective cover 502 is shown below. Figure 8 The upper protective cover 502 is connected to the upper cover plate 514 by several upper fixing bolts 517, and the lower protective cover 501 is connected to the base 504 by several lower fixing bolts 505. The lower pipeline quick connector 506 passes through the lower protective cover 501, and the upper pipeline quick connector 508 passes through the upper protective cover 502. Circular holes are provided at the corresponding quick connector locations on both the upper and lower protective covers. During on-site operation, the upper and lower protective covers effectively protect the internal pipelines. The quick connector of the laser sensor 516 is located above the upper protective cover 502, and a laser probe protective cover 503 is provided outside the quick connector of the laser sensor 516. Several lifting lugs 515 are fixed to the top of the upper protective cover 502 for use when hoisting the cleaning device.

[0042] When the cleaning device is in use, the laser sensor 516 detects the movement of the drill bit 6 and transmits the signal to the control console 1. The control console 1 then controls the high-pressure pump set 101 to start, pressurizing the water in the water storage tank 102 and pumping it into the upper hose 509 and lower hose 507. The water is then sprayed onto the drill bit 6 through the nozzle 511 to clean it. The tilt angle of the upper hose 509 and the outlet water pressure of the high-pressure pump set 101 can be adjusted according to the cleaning effect to improve the cleaning effect. Furthermore, if one laser sensor 516 malfunctions, the other laser sensor can be switched on.

[0043] A cleaning method based on the aforementioned automatic drill string cleaning device includes the following steps:

[0044] S1. At the wellhead on the drilling platform 2, use a hoist to suspend the two lifting lugs 515 on the cleaning device 5, and slowly lower the drill string 6 through the center of the base 504 of the cleaning device to the platform below the drilling platform 2 and above the outlet manifold 4. When it is about to reach the platform above the outlet manifold 4, a worker needs to help to straighten it and remove the rope loop on the lifting lug 515.

[0045] S2. Connect the quick connector 506 and quick connector 508 of the lower pipeline to the quick connector on the connecting pipeline of the high-pressure pump set 101; connect the laser sensor 516 to the control console 1 through a wire.

[0046] S3. Turn on the control panel 1 switch to open the water and electrical circuits. The indicator light will turn green and the device will enter standby mode.

[0047] S4. When drilling begins, the laser sensor 516 detects the movement of the drill string 6 and transmits the signal to the control console 1. The high-pressure pump unit 101 pressurizes the water in the water storage tank 102 and pumps it into the upper hose 509 and lower hose 507, which then sprays the water through the nozzle 511 to clean the drill string 6. During this process, if the cleaning effect is not ideal, the cleaning device can be adjusted in two ways: first, adjust the tilt angle of the two upper hoses 509 to adjust the water outlet angle of the nozzle 511; second, adjust the water outlet pressure of the high-pressure pump unit 101. These two methods can be performed simultaneously or separately until the drill string 6 is clean.

[0048] S5. When the drilling operation is completed, turn off the switch of control console 1, release the pressure in the high-pressure pump group 101, close all valves, and wait for the next drilling operation to continue.

[0049] This automatic drill string cleaning device and method, applicable to tripping out of the well, features intelligent closed-loop control throughout the system, requiring only a single operation during tripping. The device automatically detects drill string movement and cleans it automatically as it moves, reducing flushing water consumption and conserving valuable water resources compared to other cleaning devices. The device incorporates two sets of cleaning pipelines for more thorough cleaning, and the adjustable angle of the upper pipeline ensures optimal cleaning efficiency. The device is hoisted from the wellhead, eliminating the need for on-site installation and reducing the workload of operators by eliminating the need for personnel to carry it to the wellhead.

[0050] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An automatic drill string cleaning device suitable for tripping out of a drill string, comprising a cleaning device (5), characterized in that: The cleaning device (5) includes a base (504), which is hollow at the center. Two symmetrically arranged arc-shaped lower hoses (507) and two symmetrically arranged arc-shaped upper hoses (509) are connected to the base (504). The upper hoses (509) and the lower hoses (507) are provided with nozzles (511) on their inner sidewalls. The arc-shaped end of the upper hose (509) is fixed to the base (504) by a fixing bracket (512), and the arc-shaped middle part is connected to a length adjustment bracket (513). The other end of the length adjustment bracket (513) is connected to the base (504) by an adjustment pin (518).

2. The automatic drill string cleaning device for tripping drill strings according to claim 1, characterized in that: It also includes a control console (1), which includes a high-pressure pump set (101) and a water storage tank (102), and the high-pressure pump set (101) and the water storage tank (102) are connected to each other; an upper pipeline quick connector (508) is connected to the upper hose (509), and a lower pipeline quick connector (506) is connected to the lower hose (507), and the upper pipeline quick connector (508) and the lower pipeline quick connector (506) are respectively connected to the high-pressure pump set (101) through pipelines.

3. The automatic drill string cleaning device for tripping drill strings according to claim 2, characterized in that: The length adjustment frame (513) has several pin holes. The adjustment pin (518) passes through the pin holes and is connected to the base (504). The tilt angle of the upper hose (509) is adjusted by connecting the adjustment pin (518) to different pin holes.

4. The automatic drill string cleaning device suitable for tripping drill strings according to claim 2, characterized in that: Several strong magnetic blocks (519) are fixed to the bottom of the base (504), and the cleaning device (5) is fixed above the outlet manifold (4) by the strong magnetic blocks (519).

5. The automatic drill string cleaning device suitable for tripping drill strings according to claim 2, characterized in that: The base (504) includes a bottom plate and a top plate, which are connected by a riser. The lower hose (507) is fixed to the outer wall of the riser, and the nozzle (511) on the lower hose (507) passes through the side wall of the riser. The upper hose (509) is connected above the top plate, and the top plate is connected to the upper cover plate (514) by a fixing bolt (517). The upper cover plate (514) is hollow at the center.

6. The automatic drill string cleaning device for tripping drill strings according to claim 5, characterized in that: At least one laser sensor (516) is provided on the upper cover plate (514). When the laser sensor (516) detects the movement of the drill bit (6), it transmits the signal to the control console (1), and the high-pressure pump group (101) of the control console (1) is started.

7. The automatic drill string cleaning device for tripping drill strings according to claim 6, characterized in that: There are two laser sensors (516), and quick connectors are connected to the two laser sensors (516). One laser sensor (516) is connected to the control console (1) through the quick connector, and the other is a spare.

8. The automatic drill string cleaning device for tripping out of drill string according to claim 7, characterized in that: The cleaning device (5) further includes an upper protective cover (502) and a lower protective cover (501). The base (504) is connected to the lower protective cover (501), and the upper cover (514) is connected to the upper protective cover (502). The lower pipeline quick connector (506) passes through the lower protective cover (501), and the upper pipeline quick connector (508) passes through the upper protective cover (502). The quick connector of the laser sensor (516) is located above the upper protective cover (502), and a laser probe protective cover (503) is provided outside the quick connector of the laser sensor (516).

9. The automatic drill string cleaning device for tripping out of drill string according to claim 8, characterized in that: The top of the upper protective cover (502) is fixed with a lifting lug (515).

10. The automatic drill string cleaning device for tripping drill strings according to claim 2, characterized in that: The console (1) also includes an energy storage unit (105) for supplying power to the high-pressure pump group (101).

11. The automatic drill string cleaning device for tripping out of drill string according to claim 10, characterized in that: The high-pressure pump set (101), water storage tank (102), and energy storage unit (105) are all fixed on the control console base (103), and a protective cover (104) is fixed above the control console base (103).

12. A cleaning method for an automatic drill string cleaning device according to any one of claims 1-11, characterized in that... include: S1. Lower the cleaning device onto the platform above the outlet manifold (4) and make the drill string (6) pass through the center of the base (504); S2. Connect the lower pipeline quick connector (506) and the upper pipeline quick connector (508) to the high-pressure pump set (101); connect the laser sensor (516) to the control console (1) via a wire; S3. Turn on the control panel (1) switch; S4. Start drilling operation. The laser sensor (516) detects the movement of the drill string (6) and transmits the signal to the control console (1). The high-pressure pump set (101) pumps high-pressure water into the upper hose (509) and lower hose (507) and cleans the drill string (6) through the nozzle (511). S5. When the drilling operation is finished, turn off the control panel (1) switch.

13. The cleaning method of the automatic drill string cleaning device according to claim 12, characterized in that: In step S4, the tilt angles of the two upper hoses (509) are adjusted according to the cleaning effect, thereby adjusting the water outlet angle of the nozzle (511) and / or adjusting the water outlet pressure of the high-pressure pump set (101).