A rotary drilling rig hydraulic oil quantity detection method and device

Abstract

This application provides a method and apparatus for detecting the hydraulic oil level of a rotary drilling rig. The method includes: acquiring the tilt angle data of the rotary drilling rig using a vehicle tilt angle sensor; acquiring the oil level information corresponding to each moving component of the rotary drilling rig using the tilt angle data; the moving components include a hoisting anchor cylinder, a mast cylinder, a boom luffing cylinder, a pressurizing cylinder, and a track telescopic cylinder; acquiring the hydraulic oil tank level information using a hydraulic oil tank level sensor; and determining the total hydraulic oil level in the entire vehicle based on the hydraulic oil tank level information and the oil level information corresponding to each moving component. The solution of this application automatically detects the total hydraulic oil level of the machine through a controller, without requiring the equipment to be moved to a specific posture, thus achieving automatic detection of the hydraulic oil level of the rotary drilling rig.

Description

Technical Field

[0001] This application relates to the field of rotary drilling rig technology, and in particular to a method and device for detecting the hydraulic oil volume of a rotary drilling rig. Background Technology

[0002] Typically, construction machinery such as rotary drilling rigs checks the hydraulic oil level by inspecting the level gauge in the hydraulic tank. However, this method, relying on visual observation, has inherent limitations and requires moving the equipment to a level surface and adjusting the positions of its various moving mechanisms to confirm the hydraulic oil level. Furthermore, in certain positions, the hydraulic oil level may not be visible in the gauge's transparent window, easily leading to misjudgments of the tank's hydraulic oil capacity. Summary of the Invention

[0003] This application provides a method and apparatus for detecting the hydraulic oil volume of a rotary drilling rig, in order to solve the problem that the existing technology cannot detect the hydraulic oil tank capacity of a rotary drilling rig in real time under a specific posture.

[0004] In a first aspect, embodiments of this application provide a method for detecting the hydraulic oil volume of a rotary drilling rig, including:

[0005] The tilt angle data of the rotary drilling rig is obtained using the tilt angle sensor of the rig body.

[0006] Using the vehicle tilt angle data, the oil volume information corresponding to each moving part of the rotary drilling rig is obtained; the moving parts include the anchor frame cylinder, mast cylinder, boom luffing cylinder, pressurizing cylinder, and track telescopic cylinder.

[0007] The hydraulic oil tank level sensor of the rotary drilling rig is used to obtain the hydraulic oil tank content information;

[0008] The hydraulic oil volume in the entire vehicle is determined based on the hydraulic oil tank volume information and the oil volume information corresponding to each moving component.

[0009] Optionally, the moving component is the anchor frame cylinder. Using the vehicle body tilt angle data, the oil volume information corresponding to each moving component of the rotary drilling rig is obtained, including:

[0010] Using the vehicle body tilt angle data and the anchor tilt angle sensor, the first anchor posture before the anchor cylinder moves is obtained; the first anchor posture includes the first posture data before the anchor cylinder moves and the initial angle of the anchor.

[0011] Based on the first posture data and the first preset calibration data, obtain the first oil volume before the anchor cylinder moves;

[0012] The second anchor posture before the movement of the anchor cylinder is obtained; the second anchor posture includes the second posture data after the movement of the anchor cylinder and the rotation angle of the anchor.

[0013] Based on the difference between the second posture data and the first posture data, and the difference between the rotation angle and the initial angle, the change in the first extension length before and after the movement of the anchor cylinder is determined.

[0014] Based on the first change in the extension length, determine the first change in the oil volume after the anchor cylinder moves;

[0015] Based on the first oil quantity, the change in the first oil quantity, and the number of the anchor cylinders, the first target oil quantity after the anchor cylinders move is obtained.

[0016] Optionally, the moving component is the boom luffing cylinder. Using the vehicle tilt angle data, the oil volume information corresponding to each moving component of the rotary drilling rig is obtained, including:

[0017] Using the vehicle body tilt angle data and boom tilt angle sensor, and using the boom tilt angle sensor and the first calculation formula, the first extension length and the second extension length before and after the boom luffing cylinder moves are obtained;

[0018] Based on the first telescopic length and the second preset calibration data, obtain the second oil volume before the boom luffing cylinder moves;

[0019] Based on the first telescopic length and the second telescopic length, determine the change in the second telescopic length before and after the boom luffing cylinder moves;

[0020] Based on the second telescopic length change, determine the second oil volume change after the boom luffing cylinder moves;

[0021] Based on the second oil quantity, the change in the second oil quantity, and the number of boom luffing cylinders, the second target oil quantity after the boom luffing cylinders move is obtained.

[0022] Optionally, the moving component is the mast cylinder. Using the vehicle tilt angle data, the oil level information corresponding to each moving component of the rotary drilling rig is obtained, including:

[0023] Using the vehicle body tilt angle data and the mast tilt angle sensor, the mast posture before the mast cylinder moves and the change in the third extension length before and after the mast cylinder moves are obtained;

[0024] Based on the mast posture and the third preset calibration data, obtain the third oil volume before the mast cylinder moves;

[0025] Based on the third telescopic length change and the second calculation formula, determine the third oil volume change after the mast cylinder moves;

[0026] Based on the third oil quantity, the change in the third oil quantity, and the number of mast cylinders, the second target oil quantity after the mast cylinders move is obtained.

[0027] Optionally, the moving component is the pressurized hydraulic cylinder, and the acquisition of hydraulic quantity information corresponding to each moving component of the rotary drilling rig includes:

[0028] The length of the piston extension rod before the pressurized cylinder moves is obtained using a pressurized cylinder sensor;

[0029] Based on the piston extension rod length and the fourth preset calibration data, the fourth oil volume before the pressurized cylinder moves is obtained;

[0030] The change in the fourth extension length before and after the pressurized cylinder moves is obtained using a pressurized cylinder sensor.

[0031] Based on the fourth extension length change and the third calculation formula, determine the fourth oil volume change after the pressurized cylinder moves;

[0032] Based on the fourth oil quantity and the change in the fourth oil quantity, the second target oil quantity after the pressurized oil cylinder moves is obtained.

[0033] Optionally, the moving component is the track telescopic hydraulic cylinder, and the acquisition of hydraulic quantity information corresponding to each moving component of the rotary drilling rig includes:

[0034] Obtain the diameter of the piston rod of the track telescopic hydraulic cylinder;

[0035] The extension and retraction lengths of the track telescopic cylinders on different tracks are obtained using displacement sensors of the track telescopic cylinders.

[0036] Based on different telescopic lengths, the corresponding oil volume of the track telescopic cylinders on different tracks is determined by combining the fourth calculation formula.

[0037] Based on the corresponding oil volume of the track telescopic cylinder on different tracks, obtain the corresponding oil volume information of the track telescopic cylinder.

[0038] Optionally, after determining the hydraulic oil volume within the vehicle, the method further includes:

[0039] Based on the hydraulic oil volume in the vehicle, the minimum hydraulic oil level in the hydraulic oil tank of the rotary drilling rig is determined by comparing it with the hydraulic oil capacity required by the corresponding model of rotary drilling rig.

[0040] If the current oil level does not meet the minimum liquid level requirement, the rotary drilling rig's display will output an alarm message and input a preset limit action to the boom luffing cylinder and the pressurizing cylinder.

[0041] Secondly, embodiments of this application provide a hydraulic oil quantity detection device for a rotary drilling rig, comprising:

[0042] The first processing module is used to acquire the tilt angle data of the rotary drilling rig using the tilt angle sensor of the rig body.

[0043] The second processing module is used to obtain the oil volume information corresponding to each moving part of the rotary drilling rig using the vehicle tilt angle data; the moving parts include the anchor frame cylinder, mast cylinder, boom luffing cylinder, pressurizing cylinder and track telescopic cylinder;

[0044] The third processing module is used to obtain information about the hydraulic oil tank contents by utilizing the hydraulic oil tank level sensor of the rotary drilling rig.

[0045] The fourth processing module is used to determine the hydraulic oil volume in the vehicle based on the hydraulic oil tank volume information and the oil volume information corresponding to each moving part.

[0046] Thirdly, embodiments of this application provide a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps in the method described in the first aspect.

[0047] Fourthly, embodiments of this application provide a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0048] The beneficial effects of this application are:

[0049] The method includes using a tilt sensor on the rotary drilling rig to acquire the tilt angle data of the rig; using the tilt angle data to acquire the oil level information corresponding to each moving component of the rig; the moving components include the anchor cylinder, mast cylinder, boom luffing cylinder, pressurizing cylinder, and track telescopic cylinder; using a hydraulic oil tank level sensor to acquire the hydraulic oil tank level information; and determining the total hydraulic oil level in the rig based on the hydraulic oil tank level information and the oil level information corresponding to each moving component. The solution in this application automatically detects the total hydraulic oil level of the rig through a controller, without requiring the equipment to be moved to a specific posture, thus achieving automatic detection of the hydraulic oil level of the rotary drilling rig. Attached Figure Description

[0050] Figure 1 This is one of the flowcharts illustrating the hydraulic oil quantity detection method for rotary drilling rigs provided in the embodiments of this application;

[0051] Figure 2 This is a schematic diagram of the structure of the rotary drilling rig provided in the embodiments of this application;

[0052] Figure 3The second flowchart illustrates the hydraulic oil quantity detection method for rotary drilling rigs provided in this application embodiment;

[0053] Figure 4 This is a schematic diagram showing the structure of the hydraulic cylinder of the anchor frame provided in the embodiment of this application before operation;

[0054] Figure 5 This is a schematic diagram showing the structure of the hydraulic cylinder of the anchor frame provided in the embodiment of this application after it is in operation;

[0055] Figure 6 This is a schematic diagram showing the structure of the boom luffing cylinder provided in the embodiments of this application before operation;

[0056] Figure 7 This is a schematic diagram showing the structure of the boom luffing cylinder provided in the embodiment of this application after it has been in operation.

[0057] Figure 8 This is a schematic diagram showing the structure of the mast cylinder before operation according to an embodiment of this application;

[0058] Figure 9 This is a schematic diagram showing the structure of the mast cylinder after operation according to an embodiment of this application;

[0059] Figure 10 This is a schematic diagram showing the structure of the track widening cylinder provided in an embodiment of this application;

[0060] Figure 11 This is a structural diagram of the hydraulic oil quantity detection device for rotary drilling rigs provided in the embodiments of this application. Detailed Implementation

[0061] To make the technical problems, technical solutions, and advantages of this application clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0062] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0063] Reference Figure 1 As shown in the figure, this application provides a method for detecting the hydraulic oil volume of a rotary drilling rig, including:

[0064] Step 11: Use the tilt angle sensor of the rotary drilling rig to obtain the tilt angle data of the rotary drilling rig.

[0065] Step 12: Using the vehicle tilt angle data, obtain the oil volume information corresponding to each moving part of the rotary drilling rig; the moving parts include the anchor frame cylinder, mast cylinder, boom luffing cylinder, pressurizing cylinder, and track telescopic cylinder;

[0066] Step 13: Use the hydraulic oil tank level sensor of the rotary drilling rig to obtain the hydraulic oil tank content information;

[0067] Step 14: Determine the hydraulic oil volume in the entire vehicle based on the hydraulic oil tank volume information and the oil volume information corresponding to each moving component.

[0068] In this embodiment, a vehicle tilt angle sensor is installed in the rotary drilling rig. The vehicle tilt angle data acquired by the sensor is real-time and does not require moving the vehicle. (Refer to...) Figure 2 The rotary drilling rig shown has corresponding sensors installed near the anchor cylinder 1, mast cylinder 2, boom luffing cylinder 3, pressurizing cylinder 4, and track telescopic cylinder 5: anchor tilt sensor 6, mast tilt sensor 7, boom tilt sensor 8, pressurizing cylinder displacement sensor 9, and track telescopic cylinder displacement sensor 10. Different sensors collect variable information from the corresponding components. This variable information is combined with the rig's tilt angle data, and different preset formulas are used to obtain the hydraulic oil level information for each moving part of the rotary drilling rig. Then, the hydraulic oil tank level sensor is used to obtain the hydraulic oil tank's contents. Finally, the hydraulic oil levels for each moving part and the hydraulic oil tank are summed to determine the total hydraulic oil volume within the rotary drilling rig.

[0069] This application can utilize the real-time hydraulic oil volume inside the vehicle and compare it with the preset total flow rate to make timely adjustments to the operating status of the rotary drilling rig.

[0070] Optionally, after step 14 above, the method further includes:

[0071] Based on the hydraulic oil volume in the vehicle, the minimum hydraulic oil level in the hydraulic oil tank of the rotary drilling rig is determined by comparing it with the hydraulic oil capacity required by the corresponding model of rotary drilling rig.

[0072] If the current oil level does not meet the minimum liquid level requirement, the rotary drilling rig's display will output an alarm message and input a preset limit action to the boom luffing cylinder and the pressurizing cylinder.

[0073] In this embodiment, the hydraulic oil level in the vehicle is compared with the hydraulic oil capacity required by the corresponding rotary drilling rig. Here, the required hydraulic oil capacity ensures the minimum oil level for each component to operate; alternatively, it can be the minimum operating oil level to ensure the currently functioning component operates normally without activating other components, based on the current operating status. The minimum hydraulic oil level in the hydraulic tank is output in real-time by the controller. It can be a preset value determined based on historical data, or it can be data predicted in real-time by the built-in controller of the rotary drilling rig using a predictive model, based on the operating status and duration of each component. If the current oil level does not meet the minimum oil level requirement, an alarm message is output on the rotary drilling rig's display, and a preset limit action is input to the boom luffing cylinder and the pressurizing cylinder.

[0074] The controller in this application can combine historical information to provide the minimum hydraulic oil level requirement in the hydraulic tank in real time locally, and can also use predictive models to predict the amount of oil required for devices that are currently running and those that will run in the next moment.

[0075] It should be noted that this application can be set with different modes, including a piling mode and a drilling mode. Each mode includes pre-set working time and operating oil volume for each component. By selecting the corresponding mode and obtaining the oil volume of different components to determine the total oil volume of the vehicle, this application can determine whether it can support the subsequent working time, thereby enabling real-time adjustment of the oil volume required by different components and improving the overall working efficiency of the vehicle.

[0076] This application can also obtain the vehicle's fuel level from different angles in advance as historical data, set a correction parameter, and use the historical data and correction parameter to correct the currently obtained real-time vehicle fuel level to ensure the accuracy of the real-time fuel level.

[0077] Reference Figure 3 The present application can utilize one specific embodiment shown. Figure 2 The various sensors shown include, for example, a vehicle tilt sensor to acquire vehicle tilt angle detection, which the controller uses to acquire the vehicle tilt angle detection (for comparison with the hydraulic tank level and the values ​​of each tilt sensor to calculate relevant absolute values); an anchor bracket tilt sensor to detect the anchor bracket rotation angle, which the controller can use to determine the change in the extension / retraction length of the anchor bracket cylinder and calculate the oil level in the anchor bracket cylinder; similarly, different sensors are used to acquire the change in the extension / retraction length of the corresponding component's cylinder, which can then be used to calculate the oil level in the corresponding cylinder; simultaneously, a hydraulic oil tank level sensor is used to acquire the hydraulic oil level in the hydraulic oil tank and determine the hydraulic oil tank capacity; the oil levels of multiple components are summed to determine the total hydraulic oil level in the vehicle, and this is compared with the required hydraulic oil capacity for this model to confirm the total hydraulic oil level. The system also checks whether the current minimum hydraulic oil level in the tank is lower than a preset minimum hydraulic oil level to prevent the determined total hydraulic oil level from being too low.

[0078] If the current hydraulic oil level in the tank is lower than the preset minimum hydraulic oil level, the rotary drilling rig's display will show that the oil level does not meet the requirements and will output an alarm message. Simultaneously, the movement of the luffing cylinder and the pressurizing cylinder will be restricted to ensure that the oil level in the tank meets the preset minimum hydraulic oil level requirement. If the requirements are not met, the engine speed can also be reduced, limiting the power output of the corresponding components.

[0079] This application can also detect the static hydraulic oil volume of pumps, valves, pipelines, etc. in the hydraulic system other than the anchor cylinder 1, mast cylinder 2, boom luffing cylinder 3, pressurizing cylinder 4, track telescopic cylinder 5, and hydraulic oil tank. The static hydraulic oil volume is obtained through actual testing and input into the controller according to different models. The static hydraulic oil volume of pumps, valves, pipelines, etc. in the hydraulic system is added to the total vehicle oil volume as a judgment basis.

[0080] Optionally, the moving component is the anchor frame cylinder. Using the vehicle body tilt angle data, the oil volume information corresponding to each moving component of the rotary drilling rig is obtained, including:

[0081] Using the vehicle body tilt angle data and the anchor tilt angle sensor, the first anchor posture before the anchor cylinder moves is obtained; the first anchor posture includes the first posture data before the anchor cylinder moves and the initial angle of the anchor.

[0082] Based on the first posture data and the first preset calibration data, obtain the first oil volume before the anchor cylinder moves;

[0083] The second anchor posture before the movement of the anchor cylinder is obtained; the second anchor posture includes the second posture data after the movement of the anchor cylinder and the rotation angle of the anchor.

[0084] Based on the difference between the second posture data and the first posture data, and the difference between the rotation angle and the initial angle, the change in the first extension length before and after the movement of the anchor cylinder is determined.

[0085] Based on the first change in the extension length, determine the first change in the oil volume after the anchor cylinder moves;

[0086] Based on the first oil quantity, the change in the first oil quantity, and the number of the anchor cylinders, the first target oil quantity after the anchor cylinders move is obtained.

[0087] In the embodiments of this application, reference is made to Figure 4The diagram shows the first anchor frame posture before the movement of the anchor frame cylinder. The anchor frame is connected to the mast and is rotatable relative to the mast along a first axis. The anchor frame cylinder includes two connection points: a first connection point for the cylinder's telescopic rod and a second connection point connecting the cylinder to the mast. The first anchor frame posture before the cylinder's movement includes a first angle θ1 formed between the first connection point, the first axis, and the second connection point. The initial angle of the anchor frame, i.e., the angle between the anchor frame and the mast, is 0 degrees. (Refer to...) Figure 5 The diagram shows the structure of the anchor frame and its hydraulic cylinder after movement. After movement, the first angle θ1′ is formed between the first connection point, the first shaft, and the second connection point. The angle between the anchor frame and the mast is θ1″ degrees. Figure 4 and Figure 5 As shown, L1 is the length between the first connection point and the first shaft, and H1 is the length between the second connection point and the first shaft. L1 and H1 can be considered constants. When the anchor bracket rotates around the axis by an angle θ1", the piston rod of the hydraulic cylinder retracts by a certain length, θ1 = θ1′ + θ1", where θ1" can be obtained by the tilt sensor. This angle needs to be obtained by comparing it with the vehicle body tilt sensor.

[0088] Based on θ1 from the first attitude data and the first preset calibration data, the hydraulic oil volume in the anchor cylinder at a certain angle (θ1) is calculated by calibrating the cylinder size. The first preset calibration data can be used to calibrate the hydraulic oil volume V1 of a single hydraulic cylinder at θ1. The first length D1 before the cylinder piston rod moves and the second length D2 after the movement are calculated using the following formula.

[0089] D1=√(L1 2 +H1 2 -2×L1×H1×cos(θ1));

[0090] θ1′=θ1-θ1";

[0091] D1 ′ =√(L1) 2 +H1 2 -2×L1×H1×cos(θ1′));

[0092] The first change in the stretch length used ((D1) ′ -D1)), then the change in hydraulic oil volume in the anchor cylinder after the anchor is rotated by an angle θ1" is:

[0093] ΔV1=(π×d1 2 ÷4)×(D1 ′ -D1), where d1 is the piston rod diameter of the anchor cylinder, then we can obtain... Figure 5The first target oil level in the anchor cylinder under the shown posture:

[0094] V1 ′ =1×(V1+ΔV1).

[0095] Here, the number of hydraulic cylinders for the anchor frame in this application is 1.

[0096] Optionally, the moving component is the boom luffing cylinder. Using the vehicle tilt angle data, the oil volume information corresponding to each moving component of the rotary drilling rig is obtained, including:

[0097] Using the vehicle body tilt angle data and boom tilt angle sensor, and using the boom tilt angle sensor and the first calculation formula, the first extension length and the second extension length before and after the boom luffing cylinder moves are obtained;

[0098] Based on the first telescopic length and the second preset calibration data, obtain the second oil volume before the boom luffing cylinder moves;

[0099] Based on the first telescopic length and the second telescopic length, determine the change in the second telescopic length before and after the boom luffing cylinder moves;

[0100] Based on the second change in extension length, determine the second change in oil volume (D2) after the boom luffing cylinder moves. ′ -D2);

[0101] Based on the second oil quantity, the change in the second oil quantity, and the number of boom luffing cylinders, the second target oil quantity after the boom luffing cylinders move is obtained.

[0102] In the embodiments of this application, reference is made to Figure 6 The diagram shown is a schematic of the boom luffing cylinder before its movement. Figure 7 The diagram shown illustrates the movement of the boom luffing cylinder. In this application, the boom cylinder includes a telescopic rod connecting shaft, a boom cylinder fixed shaft, and a boom fixed shaft. The boom distance between the telescopic rod connecting shaft and the boom fixed shaft is H2, and the distance between the boom cylinder fixed shaft and the boom fixed shaft is L2. Figure 6 The angle between the telescopic rod connecting shaft, the boom fixed shaft, and the boom cylinder fixed shaft before the movement is shown to be θ2. Figure 7 The angle between the telescopic rod connecting shaft, the boom fixed shaft, and the boom cylinder fixed shaft after the movement is shown to be θ2′. Calculate the length D2 of the telescopic rod of the boom luffing cylinder before the movement using L2, H2, and θ2. Then, calculate the length D2′ of the telescopic rod of the boom luffing cylinder after the movement based on L2, H2, and θ2′.

[0103] H2 is determined by the structural dimensions and can be considered a constant. The angle change is from θ2 to θ2, and both angles θ2 and θ2 can be measured by the tilt sensor (side L2 is a fixed parameter of the vehicle structure). By calibrating the hydraulic oil volume in the hydraulic cylinder at a certain angle (in this case, V2 can be calibrated as the oil volume of a single hydraulic cylinder at θ2), the change in hydraulic oil volume in the cylinder after the cylinder actuates can be obtained, thus yielding the oil volume in the hydraulic cylinder at that angle.

[0104] D2=√(L2 2 +H2 2 -2×L2×H2×cos(θ2));

[0105] D2 ′ =√(L2) 2 +H2 2 -2×L2×H2×cos(θ2′));

[0106] Therefore, the second target oil quantity after the boom rotates a certain angle due to the action of the luffing cylinder can be derived as: ΔV2=(π×d2) 2 ÷4)×(D2 ′ -D2), where d2 is the piston rod diameter of the boom luffing cylinder. This application uses two boom luffing cylinders. Using the above formula, we can obtain... Figure 7 The second target oil quantity in the two luffing cylinders under the shown posture:

[0107] V2 ′ = 2×(V2+ΔV2).

[0108] Optionally, the moving component is the mast cylinder. Using the vehicle tilt angle data, the oil level information corresponding to each moving component of the rotary drilling rig is obtained, including:

[0109] Using the vehicle body tilt angle data and the mast tilt angle sensor, the mast posture before the mast cylinder moves and the change in the third extension length before and after the mast cylinder moves are obtained;

[0110] Based on the mast posture and the third preset calibration data, obtain the third oil volume before the mast cylinder moves;

[0111] Based on the third telescopic length change and the second calculation formula, determine the third oil volume change (V3+ΔV3) after the mast cylinder moves;

[0112] Based on the third oil quantity, the change in the third oil quantity, and the number of mast cylinders, the second target oil quantity after the mast cylinders move is obtained.

[0113] In the embodiments of this application, reference is made to Figure 8A schematic diagram of the mast cylinder's posture before movement, and Figure 9 The diagram shows the posture of the mast cylinder after its movement. This application requires obtaining the length D3 of the mast cylinder's telescopic boom before movement and the length D3′ of the telescopic boom after movement. This application obtains the angle θ3 of the mast cylinder before movement and the change θ3′ after movement. Furthermore, based on the relative positional relationship between the mast cylinder and the mast, the fixed dimensions between several connecting shafts can be obtained, such as... Figure 8 and Figure 9 Using L3 and H3, and combining L3, H3, θ3 and θ3′ with the second calculation formula, D3 and D3′ are calculated.

[0114] It should be noted that, Figure 8 and Figure 9 As shown, L3 and H3 are determined by the structural dimensions and can be considered constants. The angle changes from θ3 to θ3′, and the angle difference between θ3 and θ3′ can be measured by the tilt sensor (side L3 is a fixed parameter of the vehicle structure, and the luffing mechanism is a parallelogram structure, so even during luffing, the angle between this side and the vehicle body is fixed).

[0115] Use the second calculation formula below:

[0116] D3=√(L3 2 +H3 2 -2×L3×H3×cos(θ3));

[0117] D3 ′ =√(L3) 2 +H3 2 -2×L3×H3×cos(θ3′));

[0118] Therefore, the change in hydraulic oil volume within the mast cylinder after the mast rotates by a certain angle can be determined as follows:

[0119] ΔV3=(π×d3 2 ÷4)×(D3 ′ -D3), where d3 is the piston rod diameter of the mast cylinder.

[0120] The mast hydraulic cylinders in this application number 2, which can be obtained in Figure 9 The second target oil quantity for the two mast cylinders in the shown attitude: V3 ′ =2×(V3+ΔV3).

[0121] It should be noted that the mast cylinder has the function of simultaneously adjusting the mast's forward and backward tilt as well as its left and right tilt. Since the left and right adjustment range is small, only the forward and backward adjustment will be briefly considered here, and the calculation of the left and right adjustment will be ignored.

[0122] For example: As the mast tilts from vertical to horizontal, the angle between it and the horizontal changes from 90° to 141°, a difference of 51°. The angle between L3 and H3 changes from 106° to 55°.

[0123] By calibrating the hydraulic oil volume in the hydraulic cylinder at a certain angle (in this case, V3 can be calibrated as the hydraulic oil volume of a single hydraulic cylinder at θ3), the change in the hydraulic oil volume in the cylinder after the cylinder moves can be obtained, and thus the hydraulic oil volume in the hydraulic cylinder at that angle can be obtained.

[0124] Optionally, the moving component is the pressurized hydraulic cylinder, and the acquisition of hydraulic quantity information corresponding to each moving component of the rotary drilling rig includes:

[0125] The length of the piston extension rod before the pressurized cylinder moves is obtained using a pressurized cylinder sensor;

[0126] Based on the piston extension rod length and the fourth preset calibration data, the fourth oil volume before the pressurized cylinder moves is obtained;

[0127] The change in the fourth extension length before and after the pressurized cylinder moves is obtained using a pressurized cylinder sensor.

[0128] Based on the fourth extension length change and the third calculation formula, determine the fourth oil volume change after the pressurized cylinder moves;

[0129] Based on the fourth oil quantity and the change in the fourth oil quantity, the second target oil quantity after the pressurized oil cylinder moves is obtained.

[0130] In this embodiment, a pressure cylinder sensor is used to obtain the piston extension rod length D4 before the pressure cylinder moves. D4 can also be the cylinder in its shortest retracted state. Based on the piston extension rod length D4 and the fourth preset calibration data, the fourth oil volume V4 before the pressure cylinder moves is obtained. Here, V4 is calibrated when the cylinder is in its shortest retracted state as the oil volume of a single hydraulic cylinder in this state. The piston extension rod length D4′ after the pressure cylinder moves is obtained; the piston rod diameter d4 of the pressure cylinder is obtained; using the pressure cylinder sensor, the change in the fourth extension length (D4-D4′) before and after the pressure cylinder moves is obtained. Based on the change in the fourth extension length (D4-D4′) and the third calculation formula, the change in the fourth oil volume ΔV4 after the pressure cylinder moves is determined.

[0131] ΔV4=(π×d4 2 ÷4)×(D4-D4′);

[0132] Based on the fourth oil quantity and the change in the fourth oil quantity, obtain the second target oil quantity V4 after the pressurized cylinder moves. ′ The second target here is V4 fuel. ′ V4 can be used′ =V4+ΔV4 is determined.

[0133] Optionally, the moving component is the track telescopic hydraulic cylinder, and the acquisition of hydraulic quantity information corresponding to each moving component of the rotary drilling rig includes:

[0134] Obtain the diameter of the piston rod of the track telescopic hydraulic cylinder;

[0135] The extension and retraction lengths of the track telescopic cylinders on different tracks are obtained using displacement sensors of the track telescopic cylinders.

[0136] Based on different telescopic lengths, the corresponding oil volume of the track telescopic cylinders on different tracks is determined by combining the fourth calculation formula.

[0137] Based on the corresponding oil volume of the track telescopic cylinder on different tracks, obtain the corresponding oil volume information of the track telescopic cylinder.

[0138] In the embodiments of this application, reference is made to Figure 10 The schematic diagram of the track telescopic cylinder shows that the telescopic lengths (D5 and D6) of the cylinders on different tracks are obtained using displacement sensors. Since the piston rod diameters of the two telescopic cylinders are the same, the piston rod diameter d5 of one of the cylinders is obtained. The hydraulic fluid volumes V5 and V6 of each cylinder are also obtained under calibrated conditions when the cylinder is retracted to its shortest position before movement. Based on the different telescopic lengths, the cylinder change on different tracks is determined using the fourth calculation formula.

[0139] ΔV5=(π×d5 2 ÷4)×D5;

[0140] ΔV6=(π×d5 2 ÷4)×D6;

[0141] Then, by determining the corresponding oil volume of the track telescopic cylinder on different tracks using (V5+ΔV5) and (V5+ΔV6), the corresponding oil volume information V5 of the track telescopic cylinder can be calculated and obtained. ′ .

[0142] V5 ′ =2×(V5+ΔV5)+2×(V5+ΔV6);

[0143] It should be noted that, due to the asynchronous operation of the left and right sides of the track telescopic cylinder, they are monitored and calculated separately.

[0144] The hydraulic oil volume in the cylinders of each component has been determined.

[0145] In this application, the hydraulic oil level "V_tank" in the hydraulic tank can be monitored in various ways, such as using sensors: float-type oil level sensors, capacitive oil level sensors, ultrasonic oil level sensors, etc. However, all of these require the use of tilt sensors to perform capacity conversion and to address situations where the rotary drilling rig is on non-horizontal ground. In this application, the level sensor is positioned at the geometric center of the hydraulic oil tank when viewed from above, eliminating the influence of non-horizontal ground on level monitoring.

[0146] It should be noted that the remaining fuel in the vehicle is distributed in the following locations, and the capacity will not change. Therefore, the sum of the fuel levels of all other components can be determined as V6. ′ Considered as a constant. The hydraulic oil volume in the pump is "Vpump", the hydraulic oil volume in the hydraulic line is "Vline", the hydraulic oil volume in the valve is "Vvalve", the hydraulic oil volume in the motor is "VMotor", and the hydraulic oil volume in other components is "VOther".

[0147] V6 ′ =Vpump + Vpipeline + Vvalve + Vmotor + Vother;

[0148] ∑V total oil quantity = V1 ′ +V2 ′ +V3 ′ +V4 ′ +V5 ′ +V fuel tank +V6 ′ .

[0149] In summary, this application adds tilt sensors and displacement sensors to the relevant mechanisms of the equipment to detect dynamic changes in hydraulic oil levels in each cylinder. The static hydraulic oil levels in each component of the machine are input into the equipment controller. This method can detect hydraulic oil levels for different machine models. It requires accumulating the hydraulic oil capacity in relevant components of each model, such as hydraulic hoses and hydraulic motors. A level sensor is added to the hydraulic oil tank to detect the hydraulic oil level. The controller automatically checks whether the overall hydraulic oil level meets the requirements and displays the result on the cab display, without requiring the equipment to be moved to a specific position. When the overall hydraulic oil level is insufficient, an alarm is displayed, and the engine speed is reduced to limit power output. The vehicle is inspected, hydraulic oil is replenished, and operation resumes.

[0150] Reference Figure 11 As shown in the illustration, this application also provides a hydraulic oil quantity detection device for rotary drilling rigs, comprising:

[0151] The first processing module 1101 is used to acquire the body tilt angle data of the rotary drilling rig using the body tilt angle sensor of the rotary drilling rig.

[0152] The second processing module 1102 is used to obtain the oil volume information corresponding to each moving part of the rotary drilling rig using the vehicle tilt angle data; the moving parts include the anchor frame cylinder, mast cylinder, boom luffing cylinder, pressurizing cylinder and track telescopic cylinder.

[0153] The third processing module 1103 is used to obtain hydraulic oil tank level information using the hydraulic oil tank level sensor of the rotary drilling rig.

[0154] The fourth processing module 1104 is used to determine the hydraulic oil volume in the vehicle based on the hydraulic oil tank volume information and the oil volume information corresponding to each moving part.

[0155] Optionally, the moving component is the anchor cylinder, and the second processing module 1102 is specifically used for:

[0156] Using the vehicle body tilt angle data and the anchor tilt angle sensor, the first anchor posture before the anchor cylinder moves is obtained; the first anchor posture includes the first posture data before the anchor cylinder moves and the initial angle of the anchor.

[0157] Based on the first posture data and the first preset calibration data, obtain the first oil volume before the anchor cylinder moves;

[0158] The second anchor posture before the movement of the anchor cylinder is obtained; the second anchor posture includes the second posture data after the movement of the anchor cylinder and the rotation angle of the anchor.

[0159] Based on the difference between the second posture data and the first posture data, and the difference between the rotation angle and the initial angle, the change in the first extension length before and after the movement of the anchor cylinder is determined.

[0160] Based on the first change in the extension length, determine the first change in the oil volume after the anchor cylinder moves;

[0161] Based on the first oil quantity, the change in the first oil quantity, and the number of the anchor cylinders, the first target oil quantity after the anchor cylinders move is obtained.

[0162] Optionally, the moving component is the boom luffing cylinder, and the second processing module 1102 is specifically used for:

[0163] Using the vehicle body tilt angle data and boom tilt angle sensor, and using the boom tilt angle sensor and the first calculation formula, the first extension length and the second extension length before and after the boom luffing cylinder moves are obtained;

[0164] Based on the first telescopic length and the second preset calibration data, obtain the second oil volume before the boom luffing cylinder moves;

[0165] Based on the first telescopic length and the second telescopic length, determine the change in the second telescopic length before and after the boom luffing cylinder moves;

[0166] Based on the second telescopic length change, determine the second oil volume change after the boom luffing cylinder moves;

[0167] Based on the second oil quantity, the change in the second oil quantity, and the number of boom luffing cylinders, the second target oil quantity after the boom luffing cylinders move is obtained.

[0168] Optionally, the moving component is the mast cylinder, and the second processing module 1102 is specifically used for:

[0169] Using the vehicle body tilt angle data and the mast tilt angle sensor, the mast posture before the mast cylinder moves and the change in the third extension length before and after the mast cylinder moves are obtained;

[0170] Based on the mast posture and the third preset calibration data, obtain the third oil volume before the mast cylinder moves;

[0171] Based on the third telescopic length change and the second calculation formula, determine the third oil volume change after the mast cylinder moves;

[0172] Based on the third oil quantity, the change in the third oil quantity, and the number of mast cylinders, the second target oil quantity after the mast cylinders move is obtained.

[0173] Optionally, the moving part is the pressurizing cylinder, and the second processing module 1102 is specifically used for:

[0174] The length of the piston extension rod before the pressurized cylinder moves is obtained using a pressurized cylinder sensor;

[0175] Based on the piston extension rod length and the fourth preset calibration data, the fourth oil volume before the pressurized cylinder moves is obtained;

[0176] The change in the fourth extension length before and after the pressurized cylinder moves is obtained using a pressurized cylinder sensor.

[0177] Based on the fourth extension length change and the third calculation formula, determine the fourth oil volume change after the pressurized cylinder moves;

[0178] Based on the fourth oil quantity and the change in the fourth oil quantity, the second target oil quantity after the pressurized oil cylinder moves is obtained.

[0179] Optionally, the moving component is the track telescopic cylinder, and the second processing module 1102 is specifically used for:

[0180] Obtain the diameter of the piston rod of the track telescopic hydraulic cylinder;

[0181] The extension and retraction lengths of the track telescopic cylinders on different tracks are obtained using displacement sensors of the track telescopic cylinders.

[0182] Based on different telescopic lengths, the corresponding oil volume of the track telescopic cylinders on different tracks is determined by combining the fourth calculation formula.

[0183] Based on the corresponding oil volume of the track telescopic cylinder on different tracks, obtain the corresponding oil volume information of the track telescopic cylinder.

[0184] Optionally, the apparatus of this application further includes:

[0185] The fifth processing module is used to compare the hydraulic oil volume in the vehicle with the hydraulic oil capacity required by the corresponding rotary drilling rig to determine the minimum hydraulic oil level in the hydraulic oil tank of the rotary drilling rig.

[0186] The sixth processing module is used to output alarm information through the display of the rotary drilling rig and input preset limit actions to the boom luffing cylinder and the pressurizing cylinder if the current oil volume does not meet the minimum liquid level requirement.

[0187] The implementation embodiments of the above-mentioned rotary drilling rig hydraulic oil quantity detection method are all applicable to the embodiments of the rotary drilling rig hydraulic oil quantity detection device, and can achieve the same technical effect.

[0188] This application provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the steps in the rotary drilling rig hydraulic oil quantity detection method described above and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0189] The processor mentioned above is the processor used in the rotary drilling rig hydraulic oil quantity detection method described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0190] This application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the above-described... Figure 1 The various processes of the method embodiments shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0191] The exemplary embodiments described above are with reference to the accompanying drawings. Many different forms and embodiments are feasible without departing from the spirit and teachings of this application. Therefore, this application should not be construed as limiting the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided to make this application complete and convey the scope of this application to those skilled in the art. In these drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless clearly indicated otherwise, the singular forms “a,” “an,” and “the” are intended to include all such forms. It will be further understood that the terms “comprising” and / or “including”, when used in this specification, indicate the presence of the stated features, integers, steps, operations, components, and / or elements, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, and / or groups thereof. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of the range and any subranges in between.

[0192] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship 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.

[0193] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0194] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0195] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0196] The above describes the preferred embodiments of this application. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles described in this application, and these improvements and modifications are also within the protection scope of this application.

Claims

1. A method for detecting the hydraulic oil volume of a rotary drilling rig, characterized in that, include: The tilt angle data of the rotary drilling rig is obtained using the tilt angle sensor of the rig body. Using the vehicle tilt angle data, the oil volume information corresponding to each moving part of the rotary drilling rig is obtained; the moving parts include the anchor frame cylinder, mast cylinder, boom luffing cylinder, pressurizing cylinder, and track telescopic cylinder. The hydraulic oil tank level sensor of the rotary drilling rig is used to obtain the hydraulic oil tank content information; The hydraulic oil volume in the entire vehicle is determined based on the hydraulic oil tank volume information and the oil volume information corresponding to each moving component.

2. The method according to claim 1, characterized in that, The moving component is the hydraulic cylinder of the anchor frame. Using the vehicle body tilt angle data, the hydraulic quantity information corresponding to each moving component of the rotary drilling rig is obtained, including: Using the vehicle body tilt angle data and the anchor tilt angle sensor, the first anchor posture before the anchor cylinder moves is obtained; the first anchor posture includes the first posture data before the anchor cylinder moves and the initial angle of the anchor. Based on the first posture data and the first preset calibration data, obtain the first oil volume before the anchor cylinder moves; The second anchor posture before the movement of the anchor cylinder is obtained; the second anchor posture includes the second posture data after the movement of the anchor cylinder and the rotation angle of the anchor. Based on the difference between the second posture data and the first posture data, and the difference between the rotation angle and the initial angle, the change in the first extension length before and after the movement of the anchor cylinder is determined. Based on the first change in the extension length, determine the first change in the oil volume after the anchor cylinder moves; Based on the first oil quantity, the change in the first oil quantity, and the number of the anchor cylinders, the first target oil quantity after the anchor cylinders move is obtained.

3. The method according to claim 1, characterized in that, The moving component is the boom luffing cylinder. Using the vehicle tilt angle data, the oil volume information corresponding to each moving component of the rotary drilling rig is obtained, including: Using the vehicle body tilt angle data and boom tilt angle sensor, and using the boom tilt angle sensor and the first calculation formula, the first extension length and the second extension length before and after the boom luffing cylinder moves are obtained; Based on the first telescopic length and the second preset calibration data, obtain the second oil volume before the boom luffing cylinder moves; Based on the first telescopic length and the second telescopic length, determine the change in the second telescopic length before and after the boom luffing cylinder moves; Based on the second telescopic length change, determine the second oil volume change after the boom luffing cylinder moves; Based on the second oil quantity, the change in the second oil quantity, and the number of boom luffing cylinders, the second target oil quantity after the boom luffing cylinders move is obtained.

4. The method according to claim 1, characterized in that, The moving component is the mast cylinder. Using the vehicle tilt angle data, the oil level information corresponding to each moving component of the rotary drilling rig is obtained, including: Using the vehicle body tilt angle data and the mast tilt angle sensor, the mast posture before the mast cylinder moves and the change in the third extension length before and after the mast cylinder moves are obtained; Based on the mast posture and the third preset calibration data, obtain the third oil volume before the mast cylinder moves; Based on the third telescopic length change and the second calculation formula, determine the third oil volume change after the mast cylinder moves; Based on the third oil quantity, the change in the third oil quantity, and the number of mast cylinders, the second target oil quantity after the mast cylinders move is obtained.

5. The method according to claim 1, characterized in that, The moving component is the pressurized hydraulic cylinder, and the oil volume information corresponding to each moving component of the rotary drilling rig is acquired, including: The length of the piston extension rod before the pressurized cylinder moves is obtained using a pressurized cylinder sensor; Based on the piston extension rod length and the fourth preset calibration data, the fourth oil volume before the pressurized cylinder moves is obtained; The change in the fourth extension length before and after the pressurized cylinder moves is obtained using a pressurized cylinder sensor. Based on the fourth change in extension length and the third calculation formula, determine the fourth change in oil volume after the pressurized cylinder moves; Based on the fourth oil quantity and the change in the fourth oil quantity, the second target oil quantity after the pressurized oil cylinder moves is obtained.

6. The method according to claim 1, characterized in that, The moving component is the track telescopic hydraulic cylinder, which acquires hydraulic quantity information corresponding to each moving component of the rotary drilling rig, including: Obtain the diameter of the piston rod of the track telescopic hydraulic cylinder; The extension and retraction lengths of the track telescopic cylinders on different tracks are obtained using displacement sensors of the track telescopic cylinders. Based on different telescopic lengths, the corresponding oil volume of the track telescopic cylinders on different tracks is determined by combining the fourth calculation formula. Based on the corresponding oil volume of the track telescopic cylinder on different tracks, obtain the corresponding oil volume information of the track telescopic cylinder.

7. The method according to claim 1, characterized in that, After determining the hydraulic fluid volume within the vehicle, the method further includes: Based on the hydraulic oil volume in the vehicle, the minimum hydraulic oil level in the hydraulic oil tank of the rotary drilling rig is determined by comparing it with the hydraulic oil capacity required by the corresponding model of rotary drilling rig. If the current oil level does not meet the minimum liquid level requirement, the rotary drilling rig's display will output an alarm message and input a preset limit action to the boom luffing cylinder and the pressurizing cylinder.

8. A hydraulic oil quantity detection device for a rotary drilling rig, characterized in that, include: The first processing module is used to acquire the tilt angle data of the rotary drilling rig using the vehicle tilt angle sensor of the rotary drilling rig. The second processing module is used to obtain the oil volume information corresponding to each moving part of the rotary drilling rig using the vehicle tilt angle data; the moving parts include the anchor frame cylinder, mast cylinder, boom luffing cylinder, pressurizing cylinder and track telescopic cylinder; The third processing module is used to obtain information about the hydraulic oil tank contents by utilizing the hydraulic oil tank level sensor of the rotary drilling rig. The fourth processing module is used to determine the hydraulic oil volume in the vehicle based on the hydraulic oil tank volume information and the oil volume information corresponding to each moving part.

9. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, Includes computer instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1 to 7.

Images